C# NavGraph类代码示例

    public override void OnInspectorGUI(NavGraph target) {

        MyAStarPointGraph graph = target as MyAStarPointGraph;

        graph.maxDistance = EditorGUILayout.FloatField(new GUIContent("Max Distance", "The max distance in world space for a connection to be valid. A zero counts as infinity"), graph.maxDistance);

        EditorGUILayoutx.BeginIndent();
        graph.limits = EditorGUILayout.Vector3Field("Max Distance (axis aligned)", graph.limits);
        EditorGUILayoutx.EndIndent();

        graph.raycast = EditorGUILayout.Toggle(new GUIContent("Raycast", "Use raycasting to check if connections are valid between each pair of nodes"), graph.raycast);

        if (graph.raycast) {
            EditorGUI.indentLevel++;

            graph.thickRaycast = EditorGUILayout.Toggle(new GUIContent("Thick Raycast", "A thick raycast checks along a thick line with radius instead of just along a line"), graph.thickRaycast);

            if (graph.thickRaycast) {
                graph.thickRaycastRadius = EditorGUILayout.FloatField(new GUIContent("Raycast Radius", "The radius in world units for the thick raycast"), graph.thickRaycastRadius);
            }

            graph.mask = EditorGUILayoutx.LayerMaskField(/*new GUIContent (*/"Mask"/*,"Used to mask which layers should be checked")*/, graph.mask);
            EditorGUI.indentLevel--;
        }
    }

    //public GameObject meshRenderer;
    public override void OnInspectorGUI(NavGraph target)
    {
        NavMeshGraph graph = target as NavMeshGraph;
        /*
        #if UNITY_3_3
        graph.sourceMesh = EditorGUILayout.ObjectField ("Source Mesh",graph.sourceMesh,typeof(Mesh)) as Mesh;
        #else
        graph.sourceMesh = EditorGUILayout.ObjectField ("Source Mesh",graph.sourceMesh,typeof(Mesh), true) as Mesh;
        #endif
        */
        graph.sourceMesh = ObjectField ("Source Mesh", graph.sourceMesh, typeof(Mesh), false) as Mesh;

        EditorGUIUtility.LookLikeControls ();
        EditorGUILayoutx.BeginIndent ();
        graph.offset = EditorGUILayout.Vector3Field ("Offset",graph.offset);
        EditorGUILayoutx.EndIndent ();

        EditorGUILayoutx.BeginIndent ();
        graph.rotation = EditorGUILayout.Vector3Field ("Rotation",graph.rotation);
        EditorGUILayoutx.EndIndent ();

        EditorGUIUtility.LookLikeInspector ();

        graph.scale = EditorGUILayout.FloatField (new GUIContent ("Scale","Scale of the mesh"),graph.scale);
        graph.scale = (graph.scale < 0.01F && graph.scale > -0.01F) ? (graph.scale >= 0 ? 0.01F : -0.01F) : graph.scale;

        graph.accurateNearestNode = EditorGUILayout.Toggle (new GUIContent ("Accurate Nearest Node Queries","More accurate nearest node queries. See docs for more info"),graph.accurateNearestNode);
    }

    public override void OnSceneGUI(NavGraph target)
    {
        //NavMeshGraph graph = target as NavMeshGraph;

        /*if (meshRenderer == null) {
            Debug.Log ("IsNull");
            meshRenderer = new GameObject ("NavmeshRenderer");
            meshRenderer.hideFlags = HideFlags.HideAndDontSave;

            Renderer renderer = meshRenderer.AddComponent (typeof(MeshRenderer)) as Renderer;
            MeshFilter filter = meshRenderer.AddComponent (typeof(MeshFilter)) as MeshFilter;

            Mesh mesh = new Mesh ();
            mesh.vertices = graph.vertices;
            mesh.triangles = graph.triangles;

            mesh.RecalculateBounds ();
            mesh.RecalculateNormals ();

            filter.mesh = mesh;

            renderer.material = new Material (Shader.Find ("Transparent/Diffuse"));
            renderer.material.color = AstarColor.MeshColor;
        } else {
            Debug.Log ("Not Null "+meshRenderer.renderer.enabled+" "+meshRenderer.hideFlags);
            //meshRenderer.transform.position = new Vector3 (0,5,0);//meshRenderer.transform.position+Vector3.up*0.5F;
            meshRenderer.active = false;
            meshRenderer.active = true;

        }*/

        //DrawAALine (Vector3.zero,Vector3.one*20);
    }

    /** Exports the INavmesh graph to a file */
    public void ExportToFile(NavGraph target)
    {
        INavmesh graph = (INavmesh)target;
        if (graph == null) return;

        Int3[] vertices = graph.vertices;

        if (vertices == null || target.nodes == null) {
            if (EditorUtility.DisplayDialog	 ("Scan graph before exporting?","The graph does not contain any mesh data. Do you want to scan it?","Ok","Cancel")) {
                AstarPath.MenuScan ();
            } else {
                return;
            }
        }

        vertices = graph.vertices;

        if (vertices == null || target.nodes == null) {
            Debug.LogError ("Graph still does not contain any nodes or vertices. Canceling");
            return;
        }

        string path = EditorUtility.SaveFilePanel ("Export .obj","","navmesh.obj","obj");

        if (path == "") return;

        //Generate .obj
        System.Text.StringBuilder sb = new System.Text.StringBuilder();

        string name = System.IO.Path.GetFileNameWithoutExtension (path);

        sb.Append ("g ").Append(name).AppendLine();

        //Write vertices
        for (int i=0;i<vertices.Length;i++) {
            Vector3 v = (Vector3)vertices[i];
            sb.Append(string.Format("v {0} {1} {2}\n",-v.x,v.y,v.z));
        }

        //Define single texture coordinate to zero
        sb.Append ("vt 0\n");

        //Write triangles
        for (int i=0;i<target.nodes.Length;i++) {
            MeshNode node = target.nodes[i] as MeshNode;
            if (node == null) {
                Debug.LogError ("Node could not be casted to MeshNode. Node was null or no MeshNode");
                return;
            }
            sb.Append(string.Format("f {0}/0 {1}/0 {2}/0\n", node.v1+1,node.v2+1,node.v3+1));
        }

        string obj = sb.ToString();

        using (System.IO.StreamWriter sw = new System.IO.StreamWriter(path))
        {
            sw.Write(obj);
        }
    }

    protected override float h_func(ref NavGraph para_graph, ref NavNode para_nodeID, ref NavNode para_goalNodeID)
    {
        WorldNode wN1 = (WorldNode) para_nodeID;
        WorldNode wN2 = (WorldNode) para_goalNodeID;

        float retHVal = UnityEngine.Vector3.Distance(wN1.getWorldPt(),wN2.getWorldPt());
        return retHVal;
    }

    //NavGraph imgNavGraph;
    //GridProperties gPropImgNav;
    //GridProperties gPropWorldNav;
    public ImgNavToWorldNavGraphBuilder(ref NavGraph para_imgNavGraph,
	                                    ref GridProperties para_gPropImgNavGraph,
	                                    ref GridProperties para_gPropWorldNavGraph)
    {
        //imgNavGraph = para_imgNavGraph;
        //gPropImgNav = para_gPropImgNavGraph;
        //gPropWorldNav = para_gPropWorldNavGraph;
    }

    public override void OnInspectorGUI(NavGraph target)
    {
        PointGraph graph = target as PointGraph;

        /*
        #if UNITY_3_3
        graph.root = (Transform)EditorGUILayout.ObjectField (new GUIContent ("Root","All childs of this object will be used as nodes, if it is not set, a tag search will be used instead (see below)"),graph.root,typeof(Transform));
        #else
        graph.root = (Transform)EditorGUILayout.ObjectField (new GUIContent ("Root","All childs of this object will be used as nodes, if it is not set, a tag search will be used instead (see below)"),graph.root,typeof(Transform),true);
        #endif
        */
        //Debug.Log (EditorGUI.indentLevel);

        graph.root = ObjectField (new GUIContent ("Root","All childs of this object will be used as nodes, if it is not set, a tag search will be used instead (see below)"),graph.root,typeof(Transform),true) as Transform;

        graph.recursive = EditorGUILayout.Toggle (new GUIContent ("Recursive","Should childs of the childs in the root GameObject be searched"),graph.recursive);
        graph.searchTag = EditorGUILayout.TagField (new GUIContent ("Tag","If root is not set, all objects with this tag will be used as nodes"),graph.searchTag);

        if (graph.root != null) {
            GUILayout.Label ("All childs "+(graph.recursive ? "and sub-childs ":"") +"of 'root' will be used as nodes\nSet root to null to use a tag search instead",AstarPathEditor.helpBox);
        } else {
            GUILayout.Label ("All object with the tag '"+graph.searchTag+"' will be used as nodes"+(graph.searchTag == "Untagged" ? "\nNote: the tag 'Untagged' cannot be used" : ""),AstarPathEditor.helpBox);
        }

        graph.maxDistance = EditorGUILayout.FloatField (new GUIContent ("Max Distance","The max distance in world space for a connection to be valid. A zero counts as infinity"),graph.maxDistance);

        EditorGUIUtility.LookLikeControls ();
        #if UNITY_4_0
        graph.limits = EditorGUILayout.Vector3Field ("Max Distance (axis aligned)",graph.limits);
        #else
        EditorGUILayoutx.BeginIndent ();
        graph.limits = EditorGUILayout.Vector3Field ("Max Distance (axis aligned)",graph.limits);
        EditorGUILayoutx.EndIndent ();
        #endif
        EditorGUIUtility.LookLikeInspector ();

        graph.raycast = EditorGUILayout.Toggle (new GUIContent ("Raycast","Use raycasting to check if connections are valid between each pair of nodes"),graph.raycast);

        editor.GUILayoutx.BeginFadeArea (graph.raycast,"raycast");

            EditorGUI.indentLevel++;

         	graph.thickRaycast = EditorGUILayout.Toggle (new GUIContent ("Thick Raycast","A thick raycast checks along a thick line with radius instead of just along a line"),graph.thickRaycast);

         	editor.GUILayoutx.BeginFadeArea (graph.thickRaycast,"thickRaycast");

         		graph.thickRaycastRadius = EditorGUILayout.FloatField (new GUIContent ("Raycast Radius","The radius in world units for the thick raycast"),graph.thickRaycastRadius);

         	editor.GUILayoutx.EndFadeArea ();

            //graph.mask = 1 << EditorGUILayout.LayerField ("Mask",(int)Mathf.Log (graph.mask,2));
            graph.mask = EditorGUILayoutx.LayerMaskField (/*new GUIContent (*/"Mask"/*,"Used to mask which layers should be checked")*/,graph.mask);
            EditorGUI.indentLevel--;

        editor.GUILayoutx.EndFadeArea ();
    }

    public override void OnInspectorGUI(NavGraph target)
    {
        base.OnInspectorGUI(target);
        Separator();

        MyGridGraph graph = target as MyGridGraph;

        GUILayout.BeginHorizontal();
        graph.levelLayerMask = EditorGUILayoutx.LayerMaskField("Level Layers", graph.levelLayerMask);
        GUILayout.EndHorizontal();
    }

    public Graph_SearchDijkstra(NavGraph navGraph,
                       			int sourceNodeID,
                       			int targetNodeID = -1)
    {
        navGraph_ = navGraph;
        shortestPathTree_ = new NavGraphEdge[navGraph.NumNodes()];
        searchFrontier_ = new NavGraphEdge[navGraph.NumNodes()];
        costToThisNode_ = new float[navGraph.NumNodes()];
        sourceNodeID_ = sourceNodeID;
        targetNodeID_ = targetNodeID;

        Search();
    }

	public void SerializeSettings (NavGraph target, AstarSerializer serializer) {
		//NavMeshGraph graph = target as NavMeshGraph;
		
		//string meshPath = AssetDatabase.GetAssetPath (graph.sourceMesh);
		//string meshGUID = AssetDatabase.AssetPathToGUID (meshPath);
		
		
		/*if (graph == null) {
			serializer.writerStream.Write (-1);
		} else {
			int instanceID = graph.sourceMesh != null ? graph.sourceMesh.GetInstanceID () : -1;
			serializer.writerStream.Write (instanceID);
		}*/
	}

    protected override float g_func(ref NavGraph para_graph, ref NavNode para_node1, ref NavNode para_node2)
    {
        NavEdge reqEdge = para_graph.getEdge(para_node1.getNodeID(),para_node2.getNodeID());

        float retGVal = 0;
        if(reqEdge == null)
        {
            retGVal = float.PositiveInfinity;
        }
        else
        {
            retGVal = reqEdge.getCost();
        }
        return retGVal;
    }

	//public GameObject meshRenderer;
	
	public override void OnInspectorGUI (NavGraph target) {
		NavMeshGraph graph = target as NavMeshGraph;
/*
#if UNITY_3_3
		graph.sourceMesh = EditorGUILayout.ObjectField ("Source Mesh",graph.sourceMesh,typeof(Mesh)) as Mesh;
#else
		graph.sourceMesh = EditorGUILayout.ObjectField ("Source Mesh",graph.sourceMesh,typeof(Mesh), true) as Mesh;
#endif
*/
		graph.sourceMesh = ObjectField ("Source Mesh", graph.sourceMesh, typeof(Mesh), false) as Mesh;
		
		graph.offset = EditorGUILayout.Vector3Field ("Offset",graph.offset);
		graph.rotation = EditorGUILayout.Vector3Field ("Rotation",graph.rotation);
		graph.scale = EditorGUILayout.FloatField (new GUIContent ("Scale","Scale of the mesh"),graph.scale);
		graph.scale = (graph.scale < 0.01F && graph.scale > -0.01F) ? (graph.scale >= 0 ? 0.01F : -0.01F) : graph.scale;
	}

	public void DeSerializeSettings (NavGraph target, AstarSerializer serializer) {
		//NavMeshGraph graph = target as NavMeshGraph;
		
		//string meshGUID = serializer.readerStream.ReadString ();
		//int instanceID = serializer.readerStream.ReadInt32 ();
		
		//Mesh ob = EditorUtility.InstanceIDToObject (instanceID) as Mesh;
		
		//if (!Application.isPlaying) {
			//graph.sourceMesh = ob;
			/*string meshPath = AssetDatabase.GUIDToAssetPath (meshGUID);
			Debug.Log (meshGUID +" "+ meshPath);
			graph.sourceMesh = AssetDatabase.LoadAssetAtPath (meshPath,typeof(Mesh)) as Mesh;*/
		//}
		
		//Debug.Log ("Did succeed? "+(graph.sourceMesh != null));
	}

    public Graph_SearchAStar_TS(NavGraph graph, int source, int target)
        : base(SearchType.AStar)
    {
        graph_ = graph;
        shortestPathTree_ = new NavGraphEdge[graph.NumNodes()];
        searchFrontier_ = new NavGraphEdge[graph.NumNodes()];
        gCosts_ = new float[graph.NumNodes()];
        fCosts_ = new float[graph.NumNodes()];
        sourceIdx_ = source;
        targetIdx_ = target;

         	//create the PQ
         	pq_ = new IndexedPriorityQLow(fCosts_, graph_.NumNodes());

        //put the source node on the queue
        pq_.Insert(sourceIdx_);
    }

    public Graph_SearchDijkstras_TS(	NavGraph navGraph,
                          				int sourceNodeIndex,
                          				int targetNodeIndex)
        : base(Graph_SearchTimeSliced.SearchType.Dijkstra)
    {
        navGraph_ = navGraph;
        shortestPathTree_ = new NavGraphEdge[navGraph_.NumNodes()];
        searchFrontier_ = new NavGraphEdge[navGraph_.NumNodes()];
        costToThisNode_ = new float[navGraph_.NumNodes()];
        sourceNodeIndex_ = sourceNodeIndex;
        targetNodeIndex_ = targetNodeIndex;

         	//create the PQ         ,
         	pq_ = new IndexedPriorityQLow( costToThisNode_, navGraph_.NumNodes() );

        //put the source node on the queue
        pq_.Insert( sourceNodeIndex_ );
    }