HK_LongZhiMeng/Assets/Scripts/ANet/PathFinding.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.AI;

public class PathFinding : MonoBehaviour
{
    public Transform PathParent;
    public List<Transform> PathList = new List<Transform>();
    public int NowIndex = 0;
    // Start is called before the first frame update
    void Start()
    {
        foreach (Transform item in PathParent)
        {
            if (item != PathParent)
                PathList.Add(item);
        }
    }

    // Update is called once per frame
    void Update()
    {
        if (Input.GetKeyDown(KeyCode.T))
        {
            if (NowIndex == 0)
            {
                LocationData data = new LocationData();
                data.targetNo = 102;
                data.xAxis = PathList[0].transform.position.x;
                data.yAxis = PathList[0].transform.position.y;
                data.zAxis = PathList[0].transform.position.z;
                data.stations = PathList[0].name;
                var agent = GetComponent<LocationSimulator>().CreateAgent(data);
                agent.enabled = false;
                agent.GetComponent<NavMeshAgent>().enabled = false;
                GetComponent<LocationSimulator>().agentControllers.Add(data.targetNo, agent);
                Vector3 pos = ConversionTransform(data);
                GetComponent<LocationSimulator>().agentControllers[data.targetNo].transform.position = pos;
            }
            else if (NowIndex < PathList.Count)
            {
                LocationData data = new LocationData();
                data.targetNo = 102;
                data.stations = PathList[NowIndex].name;
                data.xAxis = PathList[NowIndex].transform.position.x;
                data.yAxis = PathList[NowIndex].transform.position.y;
                data.zAxis = PathList[NowIndex].transform.position.z;
                Vector3 pos = ConversionTransform(data);
                GetComponent<LocationSimulator>().agentControllers[data.targetNo].transform.position = pos;
            }
            else
            {
                NowIndex = 0;
            }
            NowIndex++;
        }
    }
    /// <summary>
    ///  根据数据转换到Unity坐标
    /// </summary>
    /// <param name="data"></param>
    /// <returns></returns>
    public Vector3 ConversionTransform(LocationData data)
    {
        //判断数据被检测到的区域
        string St1 = Config.LTTopCode;//楼梯入口基站
        string St2 = Config.LTMidCode;//楼梯间基站
        string St3 = Config.LTBottomCode;//楼梯底层基站
        //纠正坐标
        Vector3 p1 = new Vector3(-15.48f, -17.7f, 41.83f);//1.7
        Vector3 p2 = new Vector3(-15.48f, -19.3f, 37.48f);//1.4
        Vector3 p3 = new Vector3(-17.47f, -19.3f, 37.48f);//1.4
        Vector3 p4 = new Vector3(-17.47f, -21.1f, 42.42f);//1.7
        //换算最终位置
        //-4地面高度-17.7f
        float y = -17.7f;
        var pos = new Vector3((float)data.xAxis, y, (float)data.zAxis);
        if (data.stations.Contains(St3) && !data.stations.Contains(St2))
        { //-5地面高度-21.1f
            pos.y = p4.y;
        }
        else if (data.stations.Contains(St1) && data.stations.Contains(St2))
        { //-4到-5楼梯上半段
            if (pos.x < p1.x - 0.8 || pos.x > p1.x + 0.8)
            {
                pos.x = p1.x;
            }
            if (pos.z > p1.z)
            {
                pos.z = p1.z;
            }
            if (pos.z < p2.z)
            {
                pos.z = p2.z;
            }

            pos.y = SetY(pos);
        }
        else if (data.stations.Contains(St2) && data.stations.Contains(St3))
        {   //-4到-5楼梯下半段
            if (pos.x < p3.x - 0.8 || pos.x > p3.x + 0.8)
            {
                pos.x = p3.x;
            }
            if (pos.z > p4.z)
            {
                pos.z = p4.z;
            }
            if (pos.z < p3.z)
            {
                pos.z = p3.z;
            }

            pos.y = SetY(pos);
        }
        else if (data.stations.Contains(St2) && !data.stations.Contains(St1) && !data.stations.Contains(St3))
        {
            //-4到-5楼梯间过度
            if (pos.z < p3.z - 0.4 || pos.z > p3.z + 0.4)
            {
                pos.z = p3.z;
            }
            if (pos.x > p2.x)
            {
                pos.x = p2.x;
            }
            if (pos.x < p3.x)
            {
                pos.x = p3.x;
            }

            pos.y = p3.y;
        }

        return pos;
    }
    /// <summary>
    /// 确保角色始终在地面上
    /// </summary>
    /// <param name="position"></param>
    /// <returns></returns>
    public float SetY(Vector3 position)
    {
        RaycastHit hit;

        var hitlist = Physics.RaycastAll(position, Vector3.down, 100f, ~(1 << (LayerMask.NameToLayer("Defaut") | LayerMask.NameToLayer("Hidden"))));
        if (hitlist.Length > 0)
        {
            foreach (var item in hitlist)
            {
                if (item.transform.gameObject.layer == LayerMask.NameToLayer("Stair"))
                    return item.point.y;
            }
        }

        //if (Physics.Raycast(position, Vector3.down, out hit, 100f, 15))
        //{
        //    // 如果射线击中地面，设置Y轴为地面高度
        //    return hit.point.y;
        //}
        return 0f;
    }
}