最初的Unity导航系统很不完善,只能静态烘焙场景图的可行走区域,而且必须在本地保存场景的NavMesh数据,难以运行时动态计算;这使得鲜有开发者愿意再尝试Unity内置的导航功能,转向了AStar寻路算法的研究。
但实际上AStar算法真的适合大多数开发情况且性能较优么?
了解过AStar算法的都知道,它是基于格子来遍历计算行走权重的,算法复杂度其实是相对较高的,受到格子密度,地图大小和路线长度的的影响较大。
AStar更适合的是策略性寻路,该算法更有利于找出最短路径的最优解,能够达到足够的精确性。
而Unity的NavMesh是用的拐角点算法,随便找一个场景烘焙一下便可得知,例如:
image.png烘焙出来的NavMesh区域只在障碍物边缘与平面边缘存在顶点,而不会像AStar一样均匀的布满整个平面;如果是一个无任何障碍物的平面,那就只会有平面边缘的几个顶点,算法效率是相对较高的,并不会因为地图变大而有明显算法复杂度上的变化。
相反,NavMesh的缺点也正是AStar的优点,那就是难以保证寻路的最优解,更多的时候是用于AI能够更快计算出绕过障碍物朝向目标前进的路径。
对于场景不变的静态地图来说,Unity最初的NavMesh已经能够满足需求,但如果地图随机生成或障碍物的位置随时变化,此时静态NavMesh一下子就捉襟见肘了。
好在随着Unity版本的更新,关于动态烘焙的方法也已经能有效实现,这样无论是以怎样千变万化的方式生成的随机地图,随机地图在游戏中如何构建重组,都能动态刷新出NavMesh的可行走区域。
using UnityEngine;
using UnityEngine.AI;
using System.Collections.Generic;
// Tagging component for use with the LocalNavMeshBuilder
// Supports mesh-filter and terrain - can be extended to physics and/or primitives
[DefaultExecutionOrder(-200)]
public class NavMeshSourceTag : MonoBehaviour
{
// Global containers for all active mesh/terrain tags
public static List<MeshFilter> m_Meshes = new List<MeshFilter>();
public static List<Terrain> m_Terrains = new List<Terrain>();
void OnEnable()
{
var m = GetComponent<MeshFilter>();
if (m != null)
{
m_Meshes.Add(m);
}
var t = GetComponent<Terrain>();
if (t != null)
{
m_Terrains.Add(t);
}
}
void OnDisable()
{
var m = GetComponent<MeshFilter>();
if (m != null)
{
m_Meshes.Remove(m);
}
var t = GetComponent<Terrain>();
if (t != null)
{
m_Terrains.Remove(t);
}
}
// Collect all the navmesh build sources for enabled objects tagged by this component
public static void Collect(ref List<NavMeshBuildSource> sources)
{
sources.Clear();
for (var i = 0; i < m_Meshes.Count; ++i)
{
var mf = m_Meshes[i];
if (mf == null) continue;
var m = mf.sharedMesh;
if (m == null) continue;
var s = new NavMeshBuildSource();
s.shape = NavMeshBuildSourceShape.Mesh;
s.sourceObject = m;
s.transform = mf.transform.localToWorldMatrix;
s.area = 0;
sources.Add(s);
}
for (var i = 0; i < m_Terrains.Count; ++i)
{
var t = m_Terrains[i];
if (t == null) continue;
var s = new NavMeshBuildSource();
s.shape = NavMeshBuildSourceShape.Terrain;
s.sourceObject = t.terrainData;
// Terrain system only supports translation - so we pass translation only to back-end
s.transform = Matrix4x4.TRS(t.transform.position, Quaternion.identity, Vector3.one);
s.area = 0;
sources.Add(s);
}
}
}
NavMeshSourceTag类是为了收集需要录入烘焙列表的模型网格数据和地形数据,用的是一个全局的静态数据列表来存储,需要挂载在场景的网格物件上,标记哪些物件的网格在生成数据时需要考虑在内。
当然了,如果一个物体是由多个网格拼接而成,读者只需要将OnEnable和OnDisable中的代码稍作修改,改为读取子物体中的所以MeshFilter和Terrain组件即可:
foreach (var m in GetComponentsInChildren<MeshFilter>())
{
if (m != null)
{
m_Meshes.Add(m);
}
}
将之前收集到的网格物件的源数据动态烘焙刷新生成NavMesh:
using UnityEngine;
using UnityEngine.AI;
using System.Collections;
using System.Collections.Generic;
using NavMeshBuilder = UnityEngine.AI.NavMeshBuilder;
// Build and update a localized navmesh from the sources marked by NavMeshSourceTag
[DefaultExecutionOrder(-102)]
public class LocalNavMeshBuilder : MonoBehaviour
{
// The center of the build
public Transform m_Tracked;
// The size of the build bounds
public Vector3 m_Size = new Vector3(80.0f, 20.0f, 80.0f);
NavMeshData m_NavMesh;
AsyncOperation m_Operation;
NavMeshDataInstance m_Instance;
List<NavMeshBuildSource> m_Sources = new List<NavMeshBuildSource>();
IEnumerator Start()
{
while (true)
{
UpdateNavMesh(true);
yield return m_Operation;
}
}
void OnEnable()
{
Bake();
}
void OnDisable()
{
//Unload navmesh and clear handle
m_Instance.Remove();
}
/// <summary>
/// 按范围动态更新NavMesh
/// </summary>
/// <param name="asyncUpdate">是否异步加载</param>
void UpdateNavMesh(bool asyncUpdate = false)
{
NavMeshSourceTag.Collect(ref m_Sources);
var defaultBuildSettings = NavMesh.GetSettingsByID(0);
var bounds = QuantizedBounds();
if (asyncUpdate)
m_Operation = NavMeshBuilder.UpdateNavMeshDataAsync(m_NavMesh, defaultBuildSettings, m_Sources, bounds);
else
NavMeshBuilder.UpdateNavMeshData(m_NavMesh, defaultBuildSettings, m_Sources, bounds);
}
static Vector3 Quantize(Vector3 v, Vector3 quant)
{
float x = quant.x * Mathf.Floor(v.x / quant.x);
float y = quant.y * Mathf.Floor(v.y / quant.y);
float z = quant.z * Mathf.Floor(v.z / quant.z);
return new Vector3(x, y, z);
}
Bounds QuantizedBounds()
{
// Quantize the bounds to update only when theres a 0.1% change in size
var center = m_Tracked ? m_Tracked.position : transform.position;
return new Bounds(Quantize(center, .001f * m_Size), m_Size);
}
//选择物体时在Scene中绘制Bound区域
void OnDrawGizmosSelected()
{
if (m_NavMesh)
{
Gizmos.color = Color.green;
Gizmos.DrawWireCube(m_NavMesh.sourceBounds.center, m_NavMesh.sourceBounds.size);
}
Gizmos.color = Color.yellow;
var bounds = QuantizedBounds();
Gizmos.DrawWireCube(bounds.center, bounds.size);
Gizmos.color = Color.green;
var center = m_Tracked ? m_Tracked.position : transform.position;
Gizmos.DrawWireCube(center, m_Size);
}
//动态烘焙NavMesh
public void Bake()
{
// Construct and add navmesh
m_NavMesh = new NavMeshData();
m_Instance = NavMesh.AddNavMeshData(m_NavMesh);
if (m_Tracked == null)
m_Tracked = transform;
UpdateNavMesh(false);
}
}
有一个地方需要注意,因为NavMeshBuilder.UpdateNavMeshData(m_NavMesh, defaultBuildSettings, m_Sources, bounds); 刷新NavMeshData时需要读取模型的网格信息,此时需要将导入的模型读写打开,设置位置如下:
image.png用法示例:
using UnityEngine;
public class LocalNavMeshCtrl : MonoBehaviour
{
public LocalNavMeshBuilder Bulider;
public float Offse;
void Awake()
{
EventManager.AddListener<EnterRoomEvent>(EnterRoomHanlder);
}
private void EnterRoomHanlder(EnterRoomEvent e)
{
if (Bulider != null)
{
var rooms = BattleUtils.MapMgr.Rooms;
if (rooms.ContainsKey(e.RoomIndex) && rooms[e.RoomIndex].RoomType == RoomType.Battle)
{
Bulider.m_Tracked = rooms[e.RoomIndex].transform;
var size = PTBattleMgr.CurRoomCtrl.Size;
Bulider.m_Size = new Vector3(size.x * 4 + Offse, 10, size.y * 4 + Offse);
}
}
}
private void OnDestroy()
{
EventManager.RemoveListener<EnterRoomEvent>(EnterRoomHanlder);
}
}
例如进入某一房间或区域就按照该房间区域的大小进行NavMesh的动态烘焙,可以非常方便的改变烘焙的范围和中心点等,也可以考虑让该烘焙范围一直跟随玩家的Transform运动。
一个区域内的NavMesh动态烘焙完成后,很多AI可能需要在NavMesh中取随机点进行导航的目标点的设置或巡逻等,可以写一个扩展方法得到NavMesh的顶点数据,取任何一个三角内的点即可:
public static Vector3 GetNavMeshRandomPos(this GameObject obj)
{
NavMeshTriangulation navMeshData = NavMesh.CalculateTriangulation();
int t = Random.Range(0, navMeshData.indices.Length - 3);
Vector3 point = Vector3.Lerp(navMeshData.vertices[navMeshData.indices[t]], navMeshData.vertices[navMeshData.indices[t + 1]], Random.value);
point = Vector3.Lerp(point, navMeshData.vertices[navMeshData.indices[t + 2]], Random.value);
return point;
}
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