434 lines
13 KiB
C#
434 lines
13 KiB
C#
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using UnityEngine;
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namespace RoR2.Navigation;
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[ExecuteInEditMode]
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public class MapNode : MonoBehaviour
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{
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public struct Link
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{
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public MapNode nodeB;
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public float distanceScore;
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public float minJumpHeight;
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public int hullMask;
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public int jumpHullMask;
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public string gateName;
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}
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public class MoveProbe
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{
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public CharacterController testCharacterController;
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private float testTimeStep = 1f / 15f;
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public void Init()
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{
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GameObject gameObject = new GameObject();
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gameObject.name = "NodeGraphProbe";
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_ = gameObject.transform;
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testCharacterController = gameObject.AddComponent<CharacterController>();
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testCharacterController.stepOffset = 0.5f;
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testCharacterController.slopeLimit = 60f;
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}
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public void SetHull(HullClassification hullClassification)
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{
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HullDef hullDef = HullDef.Find(hullClassification);
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testCharacterController.radius = hullDef.radius;
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testCharacterController.height = hullDef.height;
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}
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public void Destroy()
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{
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Object.DestroyImmediate(testCharacterController.gameObject);
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}
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private static float DistanceXZ(Vector3 a, Vector3 b)
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{
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a.y = 0f;
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b.y = 0f;
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return Vector3.Distance(a, b);
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}
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public static Vector3 GetGroundPosition(Vector3 footPosition, float height, float radius)
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{
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Vector3 vector = Vector3.up * (height * 0.5f - radius);
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Vector3 vector2 = Vector3.up * (height * 0.5f);
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Vector3 vector3 = footPosition + vector2;
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float num = radius * 0.5f + 0.005f;
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Vector3 vector4 = footPosition + Vector3.up * num;
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Vector3 vector5 = vector3 + Vector3.up * num;
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if (Physics.CapsuleCast(vector5 + vector, vector5 - vector, radius, Vector3.down, out var hitInfo, num * 2f + 0.005f, LayerIndex.world.mask, QueryTriggerInteraction.Ignore))
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{
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Vector3 vector6 = hitInfo.distance * Vector3.down;
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return vector4 + vector6;
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}
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return footPosition;
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}
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public Vector3 GetGroundPosition(Vector3 footPosition)
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{
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return GetGroundPosition(footPosition, testCharacterController.height, testCharacterController.radius);
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}
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public bool CapsuleOverlapTest(Vector3 centerOfCapsule)
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{
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Vector3 vector = Vector3.up * (testCharacterController.height * 0.5f - testCharacterController.radius);
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_ = Vector3.up * (testCharacterController.height * 0.5f);
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return Physics.OverlapCapsule(centerOfCapsule + vector, centerOfCapsule - vector, testCharacterController.radius, (int)LayerIndex.world.mask | (int)LayerIndex.CommonMasks.characterBodiesOrDefault, QueryTriggerInteraction.Ignore).Length == 0;
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}
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public bool FlyTest(Vector3 startPos, Vector3 endPos, float flySpeed)
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{
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Vector3 vector = Vector3.up * (testCharacterController.height * 0.5f - testCharacterController.radius);
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return !Physics.CapsuleCast(startPos + vector, startPos - vector, testCharacterController.radius, (endPos - startPos).normalized, (endPos - startPos).magnitude, LayerIndex.world.mask);
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}
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private void MoveCapsule(Vector3 displacement)
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{
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testCharacterController.Move(displacement);
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}
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private void SetCapsulePosition(Vector3 position)
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{
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testCharacterController.transform.position = position;
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Physics.SyncTransforms();
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}
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public bool GroundTest(Vector3 startCenterOfCapsulePos, Vector3 endCenterOfCapsulePos, float hSpeed)
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{
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MoveCapsule(Vector3.zero);
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Vector3 zero = Vector3.zero;
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float num = DistanceXZ(startCenterOfCapsulePos, endCenterOfCapsulePos);
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SetCapsulePosition(startCenterOfCapsulePos + Vector3.up);
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int num2 = Mathf.CeilToInt(num * 1.5f / hSpeed / testTimeStep);
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Vector3 vector = testCharacterController.transform.position;
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for (int i = 0; i < num2; i++)
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{
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Vector3 vector2 = endCenterOfCapsulePos - testCharacterController.transform.position;
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if (vector2.sqrMagnitude <= 0.25f)
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{
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return true;
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}
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Vector3 vector3 = vector2;
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vector3.y = 0f;
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vector3.Normalize();
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zero.x = vector3.x * hSpeed;
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zero.z = vector3.z * hSpeed;
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zero += Physics.gravity * testTimeStep;
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MoveCapsule(zero * testTimeStep);
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Vector3 position = testCharacterController.transform.position;
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if (position == vector)
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{
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return false;
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}
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vector = position;
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}
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return false;
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}
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public float JumpTest(Vector3 startCenterOfCapsulePos, Vector3 endCenterOfCapsulePos, float hSpeed)
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{
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float y = Trajectory.CalculateInitialYSpeed(Trajectory.CalculateGroundTravelTime(hSpeed, DistanceXZ(startCenterOfCapsulePos, endCenterOfCapsulePos)), endCenterOfCapsulePos.y - startCenterOfCapsulePos.y);
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testCharacterController.Move(Vector3.zero);
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Vector3 vector = endCenterOfCapsulePos - startCenterOfCapsulePos;
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vector.y = 0f;
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vector.Normalize();
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vector *= hSpeed;
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vector.y = y;
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float num = DistanceXZ(startCenterOfCapsulePos, endCenterOfCapsulePos);
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SetCapsulePosition(startCenterOfCapsulePos);
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int num2 = Mathf.CeilToInt(num * 1.5f / hSpeed / testTimeStep);
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float num3 = float.NegativeInfinity;
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Vector3 vector2 = testCharacterController.transform.position;
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for (int i = 0; i < num2; i++)
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{
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Vector3 vector3 = endCenterOfCapsulePos - testCharacterController.transform.position;
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if (vector3.sqrMagnitude <= 4f)
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{
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return num3 - startCenterOfCapsulePos.y;
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}
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num3 = Mathf.Max(testCharacterController.transform.position.y, num3);
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Vector3 vector4 = vector3;
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vector4.y = 0f;
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vector4.Normalize();
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vector.x = vector4.x * hSpeed;
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vector.z = vector4.z * hSpeed;
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vector += Physics.gravity * testTimeStep;
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testCharacterController.Move(vector * testTimeStep);
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Vector3 position = testCharacterController.transform.position;
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if (position == vector2)
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{
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return 0f;
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}
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vector2 = position;
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}
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return 0f;
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}
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}
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private static List<MapNode> _instances = new List<MapNode>();
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private static ReadOnlyCollection<MapNode> instancesReadOnly = _instances.AsReadOnly();
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public static readonly float maxConnectionDistance = 15f;
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public List<Link> links = new List<Link>();
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[EnumMask(typeof(HullMask))]
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public HullMask forbiddenHulls;
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[EnumMask(typeof(NodeFlags))]
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public NodeFlags flags;
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[Tooltip("The name of the nodegraph gate associated with this node. If the named gate is closed this node will be treated as though it does not exist.")]
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public string gateName = "";
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public static ReadOnlyCollection<MapNode> instances => instancesReadOnly;
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public void OnEnable()
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{
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_instances.Add(this);
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}
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public void OnDisable()
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{
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_instances.Remove(this);
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}
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private void AddLink(MapNode nodeB, float distanceScore, float minJumpHeight, HullClassification hullClassification)
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{
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int num = links.FindIndex((Link item) => item.nodeB == nodeB);
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if (num == -1)
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{
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links.Add(new Link
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{
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nodeB = nodeB
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});
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num = links.Count - 1;
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}
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Link value = links[num];
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value.distanceScore = Mathf.Max(value.distanceScore, distanceScore);
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value.minJumpHeight = Mathf.Max(value.minJumpHeight, minJumpHeight);
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value.hullMask |= 1 << (int)hullClassification;
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if (minJumpHeight > 0f)
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{
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value.jumpHullMask |= 1 << (int)hullClassification;
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}
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if (string.IsNullOrEmpty(value.gateName))
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{
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value.gateName = nodeB.gateName;
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}
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links[num] = value;
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}
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private void BuildGroundLinks(ReadOnlyCollection<MapNode> nodes, MoveProbe moveProbe)
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{
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Vector3 position = base.transform.position;
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for (int i = 0; i < nodes.Count; i++)
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{
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MapNode mapNode = nodes[i];
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if (mapNode == this)
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{
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continue;
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}
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Vector3 position2 = mapNode.transform.position;
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float num = maxConnectionDistance;
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float num2 = num * num;
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float sqrMagnitude = (position2 - position).sqrMagnitude;
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if (!(sqrMagnitude < num2))
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{
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continue;
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}
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float distanceScore = Mathf.Sqrt(sqrMagnitude);
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for (int j = 0; j < 3; j++)
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{
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moveProbe.SetHull((HullClassification)j);
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if (((uint)forbiddenHulls & (uint)(1 << j)) != 0 || ((uint)mapNode.forbiddenHulls & (uint)(1 << j)) != 0)
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{
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continue;
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}
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Vector3 vector = Vector3.up * (moveProbe.testCharacterController.height * 0.5f);
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Vector3 vector2 = Vector3.up * 0.01f;
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Vector3 vector3 = moveProbe.GetGroundPosition(position) + vector2;
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Vector3 vector4 = moveProbe.GetGroundPosition(position2) + vector2;
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Vector3 vector5 = vector3 + vector;
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Vector3 vector6 = vector4 + vector;
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if (moveProbe.CapsuleOverlapTest(vector5) && moveProbe.CapsuleOverlapTest(vector6))
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{
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bool num3 = moveProbe.GroundTest(vector5, vector6, 6f);
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float num4 = ((!num3) ? moveProbe.JumpTest(vector5, vector6, 7.5f) : 0f);
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if (num3 || (num4 > 0f && num4 < 10f))
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{
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AddLink(mapNode, distanceScore, num4, (HullClassification)j);
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}
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}
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}
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}
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}
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private void BuildAirLinks(ReadOnlyCollection<MapNode> nodes, MoveProbe moveProbe)
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{
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Vector3 position = base.transform.position;
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for (int i = 0; i < nodes.Count; i++)
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{
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MapNode mapNode = nodes[i];
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if (mapNode == this)
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{
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continue;
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}
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Vector3 position2 = mapNode.transform.position;
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float num = maxConnectionDistance * 2f;
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float num2 = num * num;
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float sqrMagnitude = (position2 - position).sqrMagnitude;
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if (!(sqrMagnitude < num2))
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{
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continue;
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}
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float distanceScore = Mathf.Sqrt(sqrMagnitude);
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for (int j = 0; j < 3; j++)
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{
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if (((uint)forbiddenHulls & (uint)(1 << j)) == 0 && ((uint)mapNode.forbiddenHulls & (uint)(1 << j)) == 0)
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{
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moveProbe.SetHull((HullClassification)j);
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Vector3 vector = position;
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Vector3 vector2 = position2;
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if (moveProbe.CapsuleOverlapTest(vector) && moveProbe.CapsuleOverlapTest(vector2) && moveProbe.FlyTest(vector, vector2, 6f))
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{
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AddLink(mapNode, distanceScore, 0f, (HullClassification)j);
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}
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}
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}
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}
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}
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private void BuildRailLinks(ReadOnlyCollection<MapNode> nodes, MoveProbe moveProbe)
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{
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Vector3 position = base.transform.position;
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for (int i = 0; i < nodes.Count; i++)
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{
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MapNode mapNode = nodes[i];
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if (mapNode == this)
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{
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continue;
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}
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Vector3 position2 = mapNode.transform.position;
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float num = maxConnectionDistance * 2f;
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float num2 = num * num;
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float sqrMagnitude = (position2 - position).sqrMagnitude;
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if (!(sqrMagnitude < num2))
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{
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continue;
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}
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float distanceScore = Mathf.Sqrt(sqrMagnitude);
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for (int j = 0; j < 3; j++)
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{
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HullDef hullDef = HullDef.Find((HullClassification)j);
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if (((uint)forbiddenHulls & (uint)(1 << j)) != 0 || ((uint)mapNode.forbiddenHulls & (uint)(1 << j)) != 0)
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{
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continue;
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}
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moveProbe.SetHull((HullClassification)j);
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Vector3 vector = position;
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Vector3 vector2 = position2;
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if (!(Vector3.Angle(Vector3.up, vector2 - vector) <= 50f))
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{
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vector.y += hullDef.height;
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vector2.y += hullDef.height;
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if (moveProbe.CapsuleOverlapTest(vector) && moveProbe.CapsuleOverlapTest(vector2) && moveProbe.FlyTest(vector, vector2, 6f))
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{
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AddLink(mapNode, distanceScore, 0f, (HullClassification)j);
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}
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}
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}
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}
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}
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public void BuildLinks(ReadOnlyCollection<MapNode> nodes, MapNodeGroup.GraphType graphType)
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{
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links.Clear();
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Vector3 position = base.transform.position;
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MoveProbe moveProbe = new MoveProbe();
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moveProbe.Init();
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switch (graphType)
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{
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case MapNodeGroup.GraphType.Ground:
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BuildGroundLinks(nodes, moveProbe);
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break;
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case MapNodeGroup.GraphType.Air:
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BuildAirLinks(nodes, moveProbe);
|
||
|
|
break;
|
||
|
|
case MapNodeGroup.GraphType.Rail:
|
||
|
|
BuildRailLinks(nodes, moveProbe);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
MapNodeLink[] components = GetComponents<MapNodeLink>();
|
||
|
|
foreach (MapNodeLink mapNodeLink in components)
|
||
|
|
{
|
||
|
|
if (!mapNodeLink.other)
|
||
|
|
{
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
Link link = default(Link);
|
||
|
|
link.nodeB = mapNodeLink.other;
|
||
|
|
link.distanceScore = Vector3.Distance(position, mapNodeLink.other.transform.position);
|
||
|
|
link.minJumpHeight = mapNodeLink.minJumpHeight;
|
||
|
|
link.gateName = mapNodeLink.gateName;
|
||
|
|
link.hullMask = -1;
|
||
|
|
Link link2 = link;
|
||
|
|
bool flag = false;
|
||
|
|
for (int j = 0; j < links.Count; j++)
|
||
|
|
{
|
||
|
|
if (links[j].nodeB == mapNodeLink.other)
|
||
|
|
{
|
||
|
|
links[j] = link2;
|
||
|
|
flag = true;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (!flag)
|
||
|
|
{
|
||
|
|
links.Add(link2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
moveProbe.Destroy();
|
||
|
|
}
|
||
|
|
|
||
|
|
public bool TestLineOfSight(MapNode other)
|
||
|
|
{
|
||
|
|
return !Physics.Linecast(base.transform.position + Vector3.up, other.transform.position + Vector3.up, LayerIndex.world.mask);
|
||
|
|
}
|
||
|
|
|
||
|
|
public bool TestNoCeiling()
|
||
|
|
{
|
||
|
|
return !Physics.Raycast(new Ray(base.transform.position, Vector3.up), float.PositiveInfinity, LayerIndex.world.mask, QueryTriggerInteraction.Ignore);
|
||
|
|
}
|
||
|
|
|
||
|
|
public bool TestTeleporterOK()
|
||
|
|
{
|
||
|
|
float num = 15f;
|
||
|
|
int num2 = 20;
|
||
|
|
float num3 = 7f;
|
||
|
|
float num4 = 3f;
|
||
|
|
float num5 = 360f / (float)num2;
|
||
|
|
for (int i = 0; i < num2; i++)
|
||
|
|
{
|
||
|
|
Vector3 vector = Quaternion.AngleAxis(num5 * (float)i, Vector3.up) * (Vector3.forward * num);
|
||
|
|
Vector3 origin = base.transform.position + vector + Vector3.up * num3;
|
||
|
|
if (!Physics.Raycast(new Ray(origin, Vector3.down), out var _, num4 + num3, LayerIndex.world.mask, QueryTriggerInteraction.Ignore))
|
||
|
|
{
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
Debug.DrawRay(base.transform.position, base.transform.up * 20f, Color.green, 15f);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|