RVO的寻路障碍物改进

news2024/11/24 3:44:24

先说下原理：RVO的障碍识别是通过链接的坐标点数组围成的区域，收尾相接形成的。

namespace RVO

{

/**

* <summary>Defines static obstacles in the simulation.</summary>

* 障碍区的点坐标数据结构，是个双向链表结构

*通过Simulator.addObstacle进行添加

internal class Obstacle

{

internal Obstacle next_;

internal Obstacle previous_;

internal Vector2 direction_;

internal Vector2 point_;

internal int id_;

internal bool convex_;

}

//在 ObstacleCollect.cs 的初始化函数中增加圆形区域的识别

using System.Collections;

using System.Collections.Generic;

using RVO;

using UnityEngine;

using Vector2 = RVO.Vector2;

//这个脚本要绑在它的障碍物分组上面，方便进行循环读取，并初始化；

public class ObstacleCollect : MonoBehaviour

{

void Awake()

{

BoxCollider[] boxColliders = GetComponentsInChildren<BoxCollider>();

for (int i = 0; i < boxColliders.Length; i++)

{

float minX = boxColliders[i].transform.position.x - boxColliders[i].size.x*boxColliders[i].transform.lossyScale.x*0.5f;

float minZ = boxColliders[i].transform.position.z - boxColliders[i].size.z*boxColliders[i].transform.lossyScale.z*0.5f;

float maxX = boxColliders[i].transform.position.x + boxColliders[i].size.x*boxColliders[i].transform.lossyScale.x*0.5f;

float maxZ = boxColliders[i].transform.position.z + boxColliders[i].size.z*boxColliders[i].transform.lossyScale.z*0.5f;

IList<Vector2> obstacle = new List<Vector2>();

obstacle.Add(new Vector2(maxX, maxZ));

obstacle.Add(new Vector2(minX, maxZ));

obstacle.Add(new Vector2(minX, minZ));

obstacle.Add(new Vector2(maxX, minZ));

Simulator.Instance.addObstacle(obstacle);

}

//添加圆形障碍区域的坐标List

CapsuleCollider[] capsuleCollider = GetComponentsInChildren<CapsuleCollider>();

for (int i = 0; i < capsuleCollider.Length; i++)

{

//x = x0 + r * cos(angle * PI / 180)

//y = y0 + r * sin(angle * PI / 180)

IList<Vector2> obstacle = new List<Vector2>();

float angle = 30;//采样角度为30度，顺时针，这个根据项目情况自行决定；可以加入三角形的障碍物。

for (int j = 0; j < 360/ angle; j++) {

float x1 = capsuleCollider[i].transform.position.x + capsuleCollider[i].radius * capsuleCollider[i].transform.lossyScale.z * Mathf.Cos(angle * j * Mathf.PI / 180);

float z1 = capsuleCollider[i].transform.position.z + capsuleCollider[i].radius * capsuleCollider[i].transform.lossyScale.z * Mathf.Sin(angle * j * Mathf.PI / 180);