一、前言
由于之前实现的车辆路线规划的相关功能不够完善，且之前的代码实现较为复杂，在场景中进行使用有一定的难度，所以我编写了一些新的脚本对功能进行了补充。
二、CarPath车辆路线相关脚本及功能
如图所示，在为汽车装载上CarPath脚本之后，就可以为汽车添加Node作为汽车行驶路线的检查点、对汽车行驶路线是否循环、汽车速度等属性进行设置。
[ExecuteInEditMode]
public class CarPath : MonoBehaviour {
[HideInInspector]
public List<GameObject> Nodes = new List<GameObject>();
//public List<float> Speeds = new List<float>();
public List<NodeListClass> NodesProperties = new List<NodeListClass>();
[HideInInspector]
public float RotationSpeed = 50f;
[HideInInspector]
private int NumberOfTurnPoints = 100;
[HideInInspector]
public float NodeThreshold = 0.25f;
public bool Repeat = true;
public bool ReverseDirections = false;
public bool SingleSpeedForAllNodes = false;
[Range(0.01f,120f)]
public float SingleSpeed;
//public bool UpdateAfterEveryLoop = false;
public GameObject NodeParent;
List<Vector3> points = new List<Vector3>();
public IEnumerator ienum;
Quaternion SampledRotation;
void Update(){
}
void OnDrawGizmos(){
if(Repeat){
if(Nodes.Count >= 2){
Gizmos.DrawLine(Nodes.Last().transform.position,Nodes.First().transform.position);
}
}else{
Nodes.First().GetComponent<NodeScript>().BefNode = null;
Nodes.First().GetComponent<NodeScript>().CurvePoint = false;
Nodes.Last().GetComponent<NodeScript>().AftNode = null;
Nodes.Last().GetComponent<NodeScript>().CurvePoint = false;
}
//foreach(Vector3 point in points){
//Gizmos.DrawSphere(point, 0.15f);
//}
}
/*private float m_LastEditorUpdateTime;
public virtual void Play(){
//Debug.Log("Nothing here ATM");
m_LastEditorUpdateTime = Time.realtimeSinceStartup;
EditorApplication.update += OnEditorUpdate;
}
protected virtual void Stop(){
//Debug.Log("Nothing here ATM");
EditorApplication.update -= OnEditorUpdate;
transform.position = points.First();
//transform.LookAt()
}
protected virtual void OnEditorUpdate()
{
// In here you can check the current realtime, see if a certain
// amount of time has elapsed, and perform some task.
}*/
public void AddNode(){
if(NodeParent != null){
GameObject new_node = new GameObject("Node");
new_node.AddComponent<NodeScript>();
if(Nodes.Count == 0){
new_node.transform.position = transform.position;
}else{
new_node.GetComponent<NodeScript>().BefNode = Nodes.Last();
new_node.transform.position = Nodes.Last().transform.position;
Nodes.ToArray()[Nodes.Count-1].GetComponent<NodeScript>().AftNode = new_node;
Nodes.First().GetComponent<NodeScript>().BefNode = new_node;
}
new_node.transform.parent = NodeParent.transform;
new_node.GetComponent<NodeScript>().Car = gameObject;
#if UNITY_EDITOR
Selection.activeGameObject = new_node;
#endif
Nodes.Add(new_node);
}else{
Debug.Log("No Node Parent set, creating one automatically");
NodeParent = new GameObject("NodeParent");
NodeParent.transform.position = Vector3.zero;
GameObject new_node = new GameObject("Node");
new_node.AddComponent<NodeScript>();
if(Nodes.Count == 0){
new_node.transform.position = transform.position;
}else{
new_node.GetComponent<NodeScript>().BefNode = Nodes.Last();
new_node.transform.position = Nodes.Last().transform.position;
Nodes.ToArray()[Nodes.Count-1].GetComponent<NodeScript>().AftNode = new_node;
Nodes.First().GetComponent<NodeScript>().BefNode = new_node;
}
new_node.transform.parent = NodeParent.transform;
new_node.GetComponent<NodeScript>().Car = gameObject;
#if UNITY_EDITOR
Selection.activeGameObject = new_node;
#endif
Nodes.Add(new_node);
}
}
public void RemoveNode(){
if(Nodes.Count != 0){
DestroyImmediate(Nodes.Last());
Nodes.Remove(Nodes.Last());
//Nodes.Last().GetComponent<NodeScript>().AftNode = null;
//Nodes.First().GetComponent<NodeScript>().AftNode = null;
if(Nodes.Last().GetComponent<NodeScript>().CurvePoint || Nodes.First().GetComponent<NodeScript>().CurvePoint){
Nodes.Last().GetComponent<NodeScript>().CurvePoint = false;
Nodes.First().GetComponent<NodeScript>().CurvePoint = false;
}
}else{
Debug.Log("No nodes to remove");
}
}
public void RecalculatePath(){
//if(Application.isPlaying) {
NodesProperties.Clear();
for(int i = 0; i < Nodes.Count; i++) {
//Debug.Log("yup");
NodesProperties.Add(Nodes.ToArray()[i].GetComponent<NodeScript>().ThisNodeClass);
//Debug.Log(Nodes.ToArray()[i].GetComponent<NodeScript>().ThisNodeClass.Speed);
//Debug.Log(NodesTest.ToArray()[i].Speed);
}
float sum = 0f;
foreach(GameObject node in Nodes) {
sum += node.GetComponent<NodeScript>().Speed;
}
sum = sum / Nodes.Count;
//sum_p = sum;
if(sum < 12f) {
NodeThreshold = 0.35f;
RotationSpeed = 30f;
} else if(sum >= 20f && sum < 50f) {
NodeThreshold = 0.95f;
RotationSpeed = 100f;
} else if(sum >= 50f && sum < 100f) {
NodeThreshold = 1.55f;
RotationSpeed = 120f;
} else if(sum >= 100f && sum < 200f) {
NodeThreshold = 1.95f;
RotationSpeed = 150f;
} else if(sum >= 200 && sum < 300) {
NodeThreshold = 2.75f;
RotationSpeed = 250f;
} else if(sum >= 300) {
NodeThreshold = 2.5f;
RotationSpeed = 350f;
}
StopAllCoroutines();
points.Clear();
int n = 0;
while(n < Nodes.ToArray().Length) {
if(Nodes.ToArray()[n].GetComponent<NodeScript>().CurvePoint == true) {
float t = 0f;
Vector3 position = Vector3.zero;
for(int i = 0; i < NumberOfTurnPoints; i++) {
t = i / (NumberOfTurnPoints - 1.0f);
position = (1.0f - t) * (1.0f - t) * Nodes.ToArray()[n].GetComponent<NodeScript>().CurveStartPoint + 2.0f * (1.0f - t) * t * Nodes.ToArray()[n].transform.position + t * t * Nodes.ToArray()[n].GetComponent<NodeScript>().CurveEndPoint;
points.Add(position);
}
n++;
} else {
points.Add(Nodes.ToArray()[n].transform.position);
n++;
}
}
if(ReverseDirections){
points.Reverse ();
}
if(Nodes.Count >= 2) {
StartCoroutine(Following());
} else {
Debug.Log("Too few nodes to follow");
}
//} else {
//Debug.Log("Use 'Recalculate Path' in Play mode, the path gets updated after every loop in edit mode");
//}
}
void OnValidate(){
if(SingleSpeedForAllNodes) {
foreach(NodeListClass node_lc in NodesProperties) {
node_lc.Node.GetComponent<NodeScript>().Speed = SingleSpeed;
}
} else {
foreach(NodeListClass node_lc in NodesProperties) {
node_lc.Node.GetComponent<NodeScript>().Speed = node_lc.Speed;
}
}
//if(Application.isPlaying){
//RecalculatePath();
//}
//RecalculatePath();
}
protected virtual void EditorUpdate(){
if(ienum == null) {
ienum = Following();
}
if(!Application.isPlaying){
if(ienum.MoveNext()) {
for(int i = 0; i < 2500; i++) {
ienum.MoveNext();
}
}
}
}
public void SampleRotation(){
SampledRotation = transform.rotation;
}
public void MTSP(){
transform.position = Nodes.First ().transform.position;
transform.rotation = SampledRotation;
}
#if UNITY_EDITOR
public void Play(){
//MonoBehaviour.res
if(!Application.isPlaying) {
//StopAllCoroutines();
EditorApplication.update -= EditorUpdate;
//RecalculatePath();
EditorApplication.update += EditorUpdate;
//goto restart;
} else {
Debug.Log("Play is only used in edit mode");
}
}
public void Stop(){
if(!Application.isPlaying) {
EditorApplication.update -= EditorUpdate;
//transform.position = Nodes.First().transform.position;
//StopCoroutine(ienum);
StopAllCoroutines();
} else {
Debug.Log("Stop is only used in edit mode");
}
}
#endif
void Start () {
if(!Application.isPlaying) {
ienum = Following();
}
//NodesTest = new List<NodeListClass>(new NodeListClass[Nodes.Count]);
if(NodesProperties.Count == 0){
for(int i = 0; i < Nodes.Count; i++){
//Debug.Log("yup");
NodesProperties.Add(Nodes.ToArray()[i].GetComponent<NodeScript>().ThisNodeClass);
//Debug.Log(Nodes.ToArray()[i].GetComponent<NodeScript>().ThisNodeClass.Speed);
//Debug.Log(NodesTest.ToArray()[i].Speed);
}
}
//EditorApplication.update -= TestUpdate;
//Play();
float sum = 0f;
foreach(GameObject node in Nodes){
sum+=node.GetComponent<NodeScript>().Speed;
}
sum=sum/Nodes.Count;
//sum_p = sum;
if(sum < 12f){
NodeThreshold = 0.35f;
RotationSpeed = 30f;
}else if(sum >= 20f && sum < 50f){
NodeThreshold = 0.95f;
RotationSpeed = 100f;
}else if(sum >= 50f && sum < 100f){
NodeThreshold = 1.35f;
RotationSpeed = 120f;
}else if(sum >= 100f && sum < 200f){
NodeThreshold = 1.55f;
RotationSpeed = 150f;
}else if(sum >= 200 && sum < 300){
NodeThreshold = 2.75f;
RotationSpeed = 250f;
}else if(sum >= 300){
NodeThreshold = 2.5f;
RotationSpeed = 350f;
}
//NodeThreshold = Mathf.Clamp(sum/20f,0.2f, 1.25f);
//RotationSpeed = Mathf.Clamp(sum/1.5f, 20f, 200f);
int n = 0;
while(n < Nodes.ToArray().Length){
if(Nodes.ToArray()[n].GetComponent<NodeScript>().CurvePoint == true){
float t = 0f;
Vector3 position = Vector3.zero;
for(int i = 0; i < NumberOfTurnPoints; i++)
{
t = i / (NumberOfTurnPoints - 1.0f);
position = (1.0f - t) * (1.0f - t) * Nodes.ToArray()[n].GetComponent<NodeScript>().CurveStartPoint + 2.0f * (1.0f - t) * t * Nodes.ToArray()[n].transform.position + t * t * Nodes.ToArray()[n].GetComponent<NodeScript>().CurveEndPoint;
points.Add(position);
}
n++;
}else{
points.Add(Nodes.ToArray()[n].transform.position);
n++;
}
}
if(ReverseDirections){
points.Reverse ();
}
if(Nodes.Count >= 2){
StartCoroutine(Following());
}else{
Debug.Log("Too few nodes to follow");
}
//IEnumerator e = Following();
//while (e.MoveNext());
}
public void ReevaluatePath(){
Nodes.Clear();// = Car.GetComponent<CarPath>().NodeParent.GetComponentsInChildren<GameObject>().ToList();
foreach (Transform child in NodeParent.transform)
{
Nodes.Add(child.gameObject);
}
RecalculatePath();
}
float OriginalSpeed;
public IEnumerator Following(){
restart:
int node_number = 0;
int point_number = 0;
foreach(Vector3 point in points){
bool stopping = false;
bool accelerating = false;
//Debug.Log (Nodes.Count + " - Count");
//Debug.Log (node_number);
if (Nodes.ToArray () [node_number].GetComponent<NodeScript> ().StopPoint && Nodes.ToArray () [node_number].GetComponent<NodeScript> ().SmoothStopping) {
stopping = true;
OriginalSpeed = Nodes.ToArray () [node_number].GetComponent<NodeScript> ().Speed;
} else if (node_number != 0) {
if (Nodes.ToArray () [node_number - 1].GetComponent<NodeScript> ().StopPoint && Nodes.ToArray () [node_number - 1].GetComponent<NodeScript> ().SmoothStopping) {
accelerating = true;
OriginalSpeed = Nodes.ToArray () [node_number].GetComponent<NodeScript> ().Speed;
Nodes.ToArray () [node_number].GetComponent<NodeScript> ().Speed = 2f;
}
}
while(Vector3.Distance(transform.position, point) > NodeThreshold){
if(node_number < Nodes.Count) {
transform.position = Vector3.MoveTowards(transform.position, point, Time.deltaTime * Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed);
} else {
transform.position = Vector3.MoveTowards(transform.position, point, Time.deltaTime * SingleSpeed);
}
if(points[point_number] - transform.position != Vector3.zero) {
transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.LookRotation(points[point_number] - transform.position, Vector3.up), Time.deltaTime * RotationSpeed);
}else if(point_number+1 < points.Count){
transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.LookRotation(points[point_number+1] - transform.position, Vector3.up), Time.deltaTime * RotationSpeed);
}
if(stopping) {
if(Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed <= 0.05f) {
if(SingleSpeedForAllNodes) {
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = SingleSpeed;
} else {
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = OriginalSpeed;
}
break;
} else {
float param = Mathf.InverseLerp(0f, Vector3.Distance(Nodes.ToArray()[node_number].transform.position, Nodes.ToArray()[node_number - 1].transform.position), Vector3.Distance(transform.position, Nodes.ToArray()[node_number - 1].transform.position));
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = Mathf.Lerp(OriginalSpeed, 0f, param);
}
}else if(accelerating){
if(Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed >= OriginalSpeed) {
if(SingleSpeedForAllNodes) {
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = SingleSpeed;
} else {
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = OriginalSpeed;
}
break;
} else {
float param = Mathf.InverseLerp(0f, Vector3.Distance(Nodes.ToArray()[node_number].transform.position, Nodes.ToArray()[node_number-1].transform.position), Vector3.Distance(transform.position, Nodes.ToArray()[node_number-1].transform.position));
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = Mathf.Lerp(2f,OriginalSpeed,param);
}
}
yield return new WaitForFixedUpdate();
}
if(Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed != OriginalSpeed && stopping){
Nodes.ToArray()[node_number].GetComponent<NodeScript>().Speed = OriginalSpeed;
}
point_number++;
foreach(GameObject node in Nodes){
if(point == node.transform.position || point == node.GetComponent<NodeScript>().CurveEndPoint){
if (node_number + 1 < Nodes.Count) {
node_number++;
}
if(node.GetComponent<NodeScript>().StopPoint){
yield return new WaitForSeconds(node.GetComponent<NodeScript>().StopTime);
}
break;
}
}
if(points.Last() == point && Repeat){
StopCoroutine(Following());
StartCoroutine(Following());
}
//Debug.Log(node_number);
}
if(!Application.isPlaying){
RecalculatePath();
goto restart;
}
}
}
三、NodeScript
通过这个脚本，可以对车辆的每一小段路线的驶入速度和使出速度进行过渡，并能够设置转弯点和停止点，使得汽车的行驶更加平滑。
using UnityEngine;
using System.Collections;
using System.Linq;
using System.Collections.Generic;
[ExecuteInEditMode]
public class NodeScript : MonoBehaviour {
public bool CurvePoint = false;
[Tooltip("Stop Points don't work in Edit mode")]
public bool StopPoint = false;
public bool SmoothStopping = false;
public float StopTime = 1f;
[Range(0.0f, 100.0f)]
public float EntryDistance = 2f;
[Range(0.0f, 100.0f)]
public float ExitDistance = 2f;
[HideInInspector]
public float Speed = 15f;
[HideInInspector]
public GameObject BefNode;
[HideInInspector]
public GameObject AftNode;
[HideInInspector]
public Vector3 CurveStartPoint;
[HideInInspector]
public Vector3 CurveEndPoint;
[HideInInspector]
public GameObject Car;
[HideInInspector]
public NodeListClass ThisNodeClass;
void OnDestroy(){
if(Car != null) {
Car.GetComponent<CarPath>().Nodes.Remove(gameObject);
Car.GetComponent<CarPath>().NodesProperties.Remove(ThisNodeClass);
}
if (BefNode != null) {
BefNode.GetComponent<NodeScript> ().AftNode = AftNode;
}
if (AftNode != null) {
AftNode.GetComponent<NodeScript> ().BefNode = BefNode;
}
}
void OnValidate(){
ThisNodeClass.Node = gameObject;
ThisNodeClass.Speed = Speed;
//List<NodeListClass> to_replace = Car.GetComponent<CarPath>().NodesTest;
/*foreach(NodeListClass node_lc in Car.GetComponent<CarPath>().NodesTest) {
if(node_lc.Node == gameObject){
node_lc = ThisNodeClass;
break;
}
}*/
//Car.GetComponent<CarPath>().NodesTest.Find
if(CurvePoint){
StopPoint = false;
}else if(StopPoint){
CurvePoint = false;
}
//Car.GetComponent<CarPath>().NodeThreshold = Speed/
}
public void AddNode(){
Car.GetComponent<CarPath>().AddNode();
}
public void RemoveNode(){
//Car.GetComponent<CarPath>().RemoveNode();
Car.GetComponent<CarPath>().Nodes.Remove(gameObject);
Car.GetComponent<CarPath>().NodesProperties.Remove(ThisNodeClass);
BefNode.GetComponent<NodeScript>().AftNode = AftNode;
AftNode.GetComponent<NodeScript>().BefNode = BefNode;
DestroyImmediate(gameObject);
}
void OnDrawGizmos(){
if(BefNode != null){
Gizmos.DrawLine(transform.position, BefNode.transform.position);
}
if(!CurvePoint && !StopPoint){
Gizmos.color = Color.red;
Gizmos.DrawCube(transform.position, new Vector3(0.5f, 0.5f, 0.5f));
if(BefNode == null && Car.GetComponent<CarPath>().Repeat){
BefNode = Car.GetComponent<CarPath>().Nodes.Last();
}
if(AftNode == null && Car.GetComponent<CarPath>().Repeat){
AftNode = Car.GetComponent<CarPath>().Nodes.First();
}
}else if(CurvePoint && !StopPoint){
List<Vector3> CurvePoints = new List<Vector3>();
float t = 0f;
Vector3 position = Vector3.zero;
for(int i = 0; i < 50; i++)
{
t = i / (50 - 1.0f);
position = (1.0f - t) * (1.0f - t) * CurveStartPoint + 2.0f * (1.0f - t) * t * transform.position + t * t * CurveEndPoint;
CurvePoints.Add(position);
}
foreach(Vector3 pos in CurvePoints){
Gizmos.DrawCube(pos,new Vector3(0.1f, 0.1f, 0.1f));
}
Gizmos.color = Color.blue;
Gizmos.DrawCube(transform.position, new Vector3(0.5f, 0.5f, 0.5f));
CurveStartPoint = Vector3.MoveTowards(transform.position, BefNode.transform.position, EntryDistance);
CurveEndPoint = Vector3.MoveTowards(transform.position, AftNode.transform.position, ExitDistance);
Gizmos.DrawCube(CurveStartPoint, new Vector3(0.15f, 0.15f, 0.15f));
Gizmos.DrawLine(transform.position, CurveStartPoint);
Gizmos.DrawCube(CurveEndPoint,new Vector3(0.15f, 0.15f, 0.15f));
Gizmos.DrawLine(transform.position, CurveEndPoint);
if(AftNode == null){
Debug.LogError("There must be another node after the curve node");
}
}else if(!CurvePoint && StopPoint){
Gizmos.color = Color.yellow;
Gizmos.DrawCube(transform.position, new Vector3(0.5f, 0.5f, 0.5f));
}
}
void Start () {
ThisNodeClass.Node = gameObject;
ThisNodeClass.Speed = Speed;
if(Car.GetComponent<CarPath>().Nodes.Contains(gameObject) == false){
if(AftNode != null) {
if(AftNode.GetComponent<NodeScript>().BefNode != gameObject){
AftNode.GetComponent<NodeScript>().BefNode = gameObject;
}
}
if(BefNode != null) {
if(BefNode.GetComponent<NodeScript>().AftNode != gameObject){
BefNode.GetComponent<NodeScript>().AftNode = gameObject;
}
}
Car.GetComponent<CarPath>().Nodes.Clear();// = Car.GetComponent<CarPath>().NodeParent.GetComponentsInChildren<GameObject>().ToList();
foreach (Transform child in Car.GetComponent<CarPath>().NodeParent.transform)
{
Car.GetComponent<CarPath>().Nodes.Add(child.gameObject);
}
}
}
void Update () {
}
}
