仿真物流仓库拣货车拣货

一：S型路径

1、预设货架八行四列，加上每列startPos和endPos，一共十行四列

2、给路径点改名字，便于随机和查找

3、先从32个点中随机出来10个点，要求不能重复，将随机出来的点存储到数组里面

public void SuiJiSecond()
{//随机出来的目标点数组List<Transform> tempList = new List<Transform>();//随机for (int i = 0; i < 10; i++){GetName();Transform tran = Points.Find(name);tempList.Add(tran);nameList.Add(name);}Debug.Log("temp:" + tempList.Count);}

void GetName(){int line = Random.Range(1, 5);int row = Random.Range(1, 9);name = "p" + line + "-" + row;if (line < 10){name = "p0" + line + "-" + row;}else{name = "p" + line + "-" + row;}if (nameList.Contains(name)){GetName();}}

4、接下来进行排序，S型路径要求1s—>1e—>2e—>2s—>3s—>3e—>4e—>4s—>初始点；如果某一列没有目标点，则直接跳过

 //一层排序--列的顺序从小到大排//一层排序后的目标数组List<Transform> tempList2 = new List<Transform>();for (int j = 0; j < 5; j++){for (int i = 0; i < tempList.Count; i++){Transform tran1 = tempList[i];string tran1name = tran1.name.Substring(1, 2);int num = int.Parse(tran1name);if (num <= j){if (tempList2.Contains(tran1)){continue;}else{tempList2.Add(tran1);}}}}Debug.Log("tempList2:" + tempList2.Count);

//二层排序--通过判断具体有第几列的随机数，控制a的值。//targetList 为最终的目标数组List<Transform> targetList = new List<Transform>();for (int j = 1; j < 5; j++){kaifang = true;for (int i = 0; i < tempList2.Count; i++){Transform tran2 = tempList2[i];string tran2name = tran2.name.Substring(1, 2);int num = int.Parse(tran2name);if (num == j){if (kaifang){kaifang = false;a++;}tempList3.Add(tran2);}else { continue; }}ErCengPaiXu();}Debug.Log("targetList:" + targetList.Count);for (int i = 0; i < targetList.Count; i++){string tname = targetList[i].name;Debug.Log("name:" + tname);}TargetModel = targetList[i];

/// <summary>/// a为奇数正着排，a为偶数倒着排/// </summary>public void ErCengPaiXu(){if (a % 2 == 1){for (int m = 1; m < 9; m++){for (int n = 0; n < tempList3.Count; n++){Transform tran3 = tempList3[n];string tran3name = tran3.name.Substring(4, 1);int num = int.Parse(tran3name);Debug.Log(num);if (num <= m){if (targetList.Contains(tran3)){continue;}else{Debug.Log(num);Debug.Log("tran3name" + tran3.name);targetList.Add(tran3);}}}}}else if (a % 2 == 0){for (int m = 8; m > 0; m--){for (int n = 0; n < tempList3.Count; n++){Transform tran3 = tempList3[n];string tran3name = tran3.name.Substring(4, 1);int num = int.Parse(tran3name);Debug.Log(num);if (num >= m){if (targetList.Contains(tran3)){continue;}else{Debug.Log(num);Debug.Log("tran3name" + tran3.name);targetList.Add(tran3);}}}}}tempList3.Clear();}

5、然后设置路径的添加与删除

//S型public List<Transform> GetSecondPath(){Lujing.Clear();if (SourceModel == null){string pstartName = TargetModel.name.Substring(0, 3);//p05-11Debug.Log("pstartName:" + pstartName);Transform ps = Points.Find(pstartName + "s");Lujing.Add(ps);Lujing.Add(TargetModel);}else{string psourceName = SourceModel.name.Substring(0, 3);//p05-11string ptargetName = TargetModel.name.Substring(0, 3);//p05-11Transform pe1 = Points.Find(psourceName + "s");Transform pe2 = Points.Find(ptargetName + "s");Transform pe3 = Points.Find(psourceName + "e");Transform pe4 = Points.Find(ptargetName + "e");if (psourceName == ptargetName){Lujing.Add(TargetModel);}else{b++;if (b % 2 == 1){Lujing.Add(pe3);Lujing.Add(pe4);Lujing.Add(TargetModel);}else if (b % 2 == 0){Lujing.Add(pe1);Lujing.Add(pe2);Lujing.Add(TargetModel);}Debug.Log("b="+b);}}return Lujing;}

6、最后设置小车的移动

void Update(){if (IsRun){Transform endObj = Lujing[0];Vector3 direction = endObj.position - transform.position;transform.position += direction.normalized * Speed * Time.deltaTime;transform.LookAt(endObj);//timer += Time.deltaTime;float dis = Vector3.Distance(transform.position, endObj.position);if (dis < 0.5f){Lujing.RemoveAt(0);}if (Lujing.Count == 0){IsRun = false;Debug.Log("eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee:" + timer);SourceModel = TargetModel;transform.position = TargetModel.position;StartCoroutine(Change());}}}

        IEnumerator Change(){yield return new WaitForSeconds(2);if (i < targetList.Count - 1){i++;TargetModel = targetList[i];//GetFirstPath();GetSecondPath();//GetThirdPath();IsRun = true;}}

中点型路径

要求，每列先捡前一半，再捡后一半。s—>s—>s—>s—>e—>e—>e—>e—>s—>初始位置，某列没有则跳过

返回型

要求每列捡完后从下一列的s点开始，不需要e点。1s—>1s—>2s—>2s—>3s—>3s—>4s—>4s—>初始点，某列没有则跳过
算法与s型路径类似，不添加e点即可

下面完整代码

public class LuXian : MonoBehaviour {public bool IsRun = false;float Speed = 10;public static Transform SourceModel;public Transform TargetModel;public List<Transform> Lujing = new List<Transform>();List<Transform> targetList = new List<Transform>();List<string> nameList = new List<string>();public Transform Points;float timer = 0;List<Transform> tempList = new List<Transform>();List<Transform> tempList2 = new List<Transform>();List<Transform> tempList3 = new List<Transform>();public int i = 0;//List<int> numBuf = new List<int>();string name = "";bool kaifang = false;int a = 0;int b = 0;/// <summary>/// Unity Method/// </summary>void Start(){//SuiJiFirst();//GetFirstPath();SuiJiSecond();GetSecondPath();//SuiJiThird();//GetThirdPath();IsRun = true;//CeShi();}public void SuiJiFirst(){List<Transform> tempList = new List<Transform>();List<Transform> tempList2 = new List<Transform>();//随机for (int i = 0; i < 5; i++){GetName();Transform tran = Points.Find(name);tempList.Add(tran);nameList.Add(name);}Debug.Log("temp:" + tempList.Count);//一层排序for (int j = 0; j < 5; j++){for (int i = 0; i < tempList.Count; i++){Transform tran1 = tempList[i];string tran1name = tran1.name.Substring(4, 1);int num = int.Parse(tran1name);if (num <= j){if (tempList2.Contains(tran1)){continue;}else{tempList2.Add(tran1);}}}}二层排序for (int j = 0; j < 5; j++){for (int i = 0; i < tempList2.Count; i++){Transform tran = tempList2[i];string tranname = tran.name.Substring(1, 2);int num = int.Parse(tranname);if (num <= j){if (targetList.Contains(tran)){continue;}else{targetList.Add(tran);}}}}Debug.Log("targetList:" + targetList.Count);for (int i = 0; i < targetList.Count; i++){string tname = targetList[i].name;Debug.Log("name:" + tname);}TargetModel = targetList[i];}public void SuiJiSecond(){//随机for (int i = 0; i < 10; i++){GetName();Transform tran = Points.Find(name);tempList.Add(tran);nameList.Add(name);}Debug.Log("temp:" + tempList.Count);//一层排序--列的顺序从小到大排for (int j = 0; j < 5; j++){for (int i = 0; i < tempList.Count; i++){Transform tran1 = tempList[i];string tran1name = tran1.name.Substring(1, 2);int num = int.Parse(tran1name);if (num <= j){if (tempList2.Contains(tran1)){continue;}else{tempList2.Add(tran1);}}}}Debug.Log("tempList2:" + tempList2.Count);//for (int i = 0; i < tempList2.Count; i++)//{//    string tname = tempList2[i].name;//    Debug.Log("name:" + tname);//}//二层排序--通过判断具体有第几列的随机数，控制a的值。for (int j = 1; j < 5; j++){kaifang = true;for (int i = 0; i < tempList2.Count; i++){Transform tran2 = tempList2[i];string tran2name = tran2.name.Substring(1, 2);int num = int.Parse(tran2name);if (num == j){if (kaifang){kaifang = false;a++;}tempList3.Add(tran2);}else { continue; }}//Debug.Log("tempList3:" + tempList3.Count);//for (int i = 0; i < tempList3.Count; i++)//{//    string tname = tempList3[i].name;//    Debug.Log("tempList3name:" + tname);//}ErCengPaiXu();
#region//if (a % 2 == 1)//{//    for (int k = 0; k < 5; k++)//    {//        for (int l = 0; l < tempList3.Count; l++)//        {//            Transform tran3 = tempList3[l];//            string tran3name = tran3.name.Substring(4, 1);//            int num = int.Parse(tran3name);//            Debug.Log(111111111111111111);//            if (num <= k)//            {//                Debug.Log(22222222222222222);//                if (targetList.Contains(tran3))//                {//                    Debug.Log("aaaaaaaaaaa");//                    continue;//                }//                else//                {//                    targetList.Add(tran3);//                    Debug.Log(333333333333333);//                }//            }//        }//    }//}//else if (a % 2 == 0)//{//    for (int k = 4; k > 0; k--)//    {//        for (int l = 0; l < tempList3.Count; l++)//        {//            Transform tran3 = tempList3[l];//            string tran3name = tran3.name.Substring(4, 1);//            int num = int.Parse(tran3name);//            Debug.Log(4444444444444444);//            if (num <= k)//            {//                Debug.Log(555555555555);//                if (targetList.Contains(tran3))//                {//                    Debug.Log("bbbbbbbbbbbbbbbb");//                    continue;//                }//                else//                {//                    targetList.Add(tran3);//                    Debug.Log(66666666666666);//                }//            }//        }//    }//}#endregion}Debug.Log("targetList:" + targetList.Count);for (int i = 0; i < targetList.Count; i++){string tname = targetList[i].name;Debug.Log("name:" + tname);}TargetModel = targetList[i];}/// <summary>/// a为奇数正着排，a为偶数倒着排/// </summary>public void ErCengPaiXu(){if (a % 2 == 1){for (int m = 1; m < 9; m++){for (int n = 0; n < tempList3.Count; n++){Transform tran3 = tempList3[n];string tran3name = tran3.name.Substring(4, 1);int num = int.Parse(tran3name);Debug.Log(num);if (num <= m){if (targetList.Contains(tran3)){continue;}else{Debug.Log(num);Debug.Log("tran3name" + tran3.name);targetList.Add(tran3);}}}}}else if (a % 2 == 0){for (int m = 8; m > 0; m--){for (int n = 0; n < tempList3.Count; n++){Transform tran3 = tempList3[n];string tran3name = tran3.name.Substring(4, 1);int num = int.Parse(tran3name);Debug.Log(num);if (num >= m){if (targetList.Contains(tran3)){continue;}else{Debug.Log(num);Debug.Log("tran3name" + tran3.name);targetList.Add(tran3);}}}}}tempList3.Clear();}public void SuiJiThird(){//随机for (int i = 0; i < 20; i++){GetName();Transform tran = Points.Find(name);tempList.Add(tran);nameList.Add(name);}//Debug.Log("tempList:" + tempList.Count);//for (int i = 0; i < tempList.Count; i++)//{//    string tname = tempList[i].name;//    Debug.Log("tempListname:" + tname);//}//第一种#region //第一层排序for (int j = 0; j < 9; j++){for (int i = 0; i < tempList.Count; i++){Transform tran1 = tempList[i];string tran1name = tran1.name.Substring(4, 1);int num = int.Parse(tran1name);if (num <= j){if (tempList2.Contains(tran1)){continue;}else{tempList2.Add(tran1);}}}}Debug.Log("tempList2:" + tempList2.Count);for (int i = 0; i < tempList2.Count; i++){string tempList2name = tempList2[i].name;Debug.Log("tempList2name:" + tempList2name);}//第一段for (int i = 0; i < tempList2.Count; i++){Transform tran2 = tempList2[i];string tran2name = tran2.name.Substring(4, 1);int num = int.Parse(tran2name);if (num < 5){tempList3.Add(tran2);}}for (int m = 0; m < 5; m++){for (int n = 0; n < tempList3.Count; n++){Transform tran3 = tempList3[n];string tran3name = tran3.name.Substring(1, 2);int num = int.Parse(tran3name);if (num <= m){if (targetList.Contains(tran3)){continue;}else{targetList.Add(tran3);}}}}//Debug.Log("targetList:" + targetList.Count);//for (int i = 0; i < targetList.Count; i++)//{//    string tname = targetList[i].name;//    Debug.Log("name:" + tname);//}tempList3.Clear();//第二段for (int i = 0; i < tempList2.Count; i++){Transform tran2 = tempList2[i];string tran2name = tran2.name.Substring(4, 1);int num = int.Parse(tran2name);if (num >= 5){tempList3.Add(tran2);}}for (int m = 5; m > 0; m--){for (int n = 0; n < tempList3.Count; n++){Transform tran3 = tempList3[n];string tran3name = tran3.name.Substring(1, 2);int num = int.Parse(tran3name);if (num >= m){if (targetList.Contains(tran3)){continue;}else{targetList.Add(tran3);}}}}tempList3.Clear();Debug.Log("targetList:" + targetList.Count);for (int i = 0; i < targetList.Count; i++){string tname = targetList[i].name;Debug.Log("name:" + tname);}#endregion//第二种#region第一段排序//for (int i = 0; i < tempList.Count; i++)//{//    Transform tran1 = tempList[i];//    string tran1name = tran1.name.Substring(4, 1);//    int num = int.Parse(tran1name);//    if (num < 5)//    {//        tempList2.Add(tran1);//    }//}第一段第一层//for (int i = 1; i < 9; i++)//{//    for (int j = 0; j < tempList2.Count; j++)//    {//        Transform tran2 = tempList2[j];//        string tran2name = tran2.name.Substring(4, 1);//        int num = int.Parse(tran2name);//        if (num <= i)//        {//            if (tempList3.Contains(tran2))//            {//                continue;//            }//            else//            {//                tempList3.Add(tran2);//            }//        }//    }//}第一段第二层//for (int m = 1; m < 5; m++)//{//    for (int n = 0; n < tempList3.Count; n++)//    {//        Transform tran3 = tempList3[n];//        string tran3name = tran3.name.Substring(1, 2);//        int num = int.Parse(tran3name);//        if (num <= m)//        {//            if (targetList.Contains(tran3))//            {//                continue;//            }//            else//            {//                targetList.Add(tran3);//            }//        }//    }//}//tempList2.Clear();//tempList3.Clear();第二段排序//for (int i = 0; i < tempList.Count; i++)//{//    Transform tran1 = tempList[i];//    string tran1name = tran1.name.Substring(4, 1);//    int num = int.Parse(tran1name);//    if (num >= 5)//    {//        tempList2.Add(tran1);//    }//}第二段第一层//for (int i = 1; i < 9; i++)//{//    for (int j = 0; j < tempList2.Count; j++)//    {//        Transform tran2 = tempList2[j];//        string tran2name = tran2.name.Substring(4, 1);//        int num = int.Parse(tran2name);//        if (num <= i)//        {//            if (tempList3.Contains(tran2))//            {//                continue;//            }//            else//            {//                tempList3.Add(tran2);//            }//        }//    }//}第二段第二层//for (int m = 5; m > 0; m--)//{//    for (int n = 0; n < tempList3.Count; n++)//    {//        Transform tran3 = tempList3[n];//        string tran3name = tran3.name.Substring(1, 2);//        int num = int.Parse(tran3name);//        if (num >= m)//        {//            if (targetList.Contains(tran3))//            {//                continue;//            }//            else//            {//                Debug.Log("11111111");//                targetList.Add(tran3);//            }//        }//    }//}//tempList2.Clear();//tempList3.Clear();//Debug.Log("targetList:" + targetList.Count);//for (int i = 0; i < targetList.Count; i++)//{//    string tname = targetList[i].name;//    Debug.Log("name:" + tname);//}#endregionTargetModel = targetList[i];}void GetName(){int line = Random.Range(1, 5);int row = Random.Range(1, 9);name = "p" + line + "-" + row;if (line < 10){name = "p0" + line + "-" + row;}else{name = "p" + line + "-" + row;}if (nameList.Contains(name)){GetName();}}public List<Transform> GetFirstPath(){Lujing.Clear();if (SourceModel == null){string pstartName = TargetModel.name.Substring(0, 3);//p05-11Debug.Log("pstartName:" + pstartName);Transform ps = Points.Find(pstartName + "s");Lujing.Add(ps);Lujing.Add(TargetModel);}else{string psourceName = SourceModel.name.Substring(0, 3);//p05-11string ptargetName = TargetModel.name.Substring(0, 3);//p05-11Transform pe1 = Points.Find(psourceName + "s");Transform pe2 = Points.Find(ptargetName + "s");if (psourceName == ptargetName){Lujing.Add(TargetModel);}else{Lujing.Add(pe1);Lujing.Add(pe2);Lujing.Add(TargetModel);}}return Lujing;}//S型public List<Transform> GetSecondPath(){Lujing.Clear();if (SourceModel == null){string pstartName = TargetModel.name.Substring(0, 3);//p05-11Debug.Log("pstartName:" + pstartName);Transform ps = Points.Find(pstartName + "s");Lujing.Add(ps);Lujing.Add(TargetModel);}else{string psourceName = SourceModel.name.Substring(0, 3);//p05-11string ptargetName = TargetModel.name.Substring(0, 3);//p05-11Transform pe1 = Points.Find(psourceName + "s");Transform pe2 = Points.Find(ptargetName + "s");Transform pe3 = Points.Find(psourceName + "e");Transform pe4 = Points.Find(ptargetName + "e");if (psourceName == ptargetName){Lujing.Add(TargetModel);}else{b++;if (b % 2 == 1){Lujing.Add(pe3);Lujing.Add(pe4);Lujing.Add(TargetModel);}else if (b % 2 == 0){Lujing.Add(pe1);Lujing.Add(pe2);Lujing.Add(TargetModel);}Debug.Log("b="+b);}}return Lujing;}//中点型public List<Transform> GetThirdPath(){Lujing.Clear();if (SourceModel == null){string pstartName = TargetModel.name.Substring(0, 3);//p05-11Debug.Log("pstartName:" + pstartName);Transform ps = Points.Find(pstartName + "s");Lujing.Add(ps);Lujing.Add(TargetModel);}else{string psourceName = SourceModel.name.Substring(0, 3);//p05-11string ptargetName = TargetModel.name.Substring(0, 3);//p05-11int ptargetNum = int.Parse(TargetModel.name.Substring(4, 1));int Snum = int.Parse(SourceModel.name.Substring(1, 2));int Tnum = int.Parse(TargetModel.name.Substring(1, 2));Transform pe1 = Points.Find(psourceName + "s");Transform pe2 = Points.Find(ptargetName + "s");Transform pe3 = Points.Find(psourceName + "e");Transform pe4 = Points.Find(ptargetName + "e");if (ptargetNum < 5){if (psourceName == ptargetName){Lujing.Add(TargetModel);}else{Lujing.Add(pe1);Lujing.Add(pe2);Lujing.Add(TargetModel);}}else{if (psourceName == ptargetName){Lujing.Add(TargetModel);}else {if (Snum < Tnum){Lujing.Add(pe1);Lujing.Add(pe2);Lujing.Add(TargetModel);}else{Lujing.Add(pe3);Lujing.Add(pe4);Lujing.Add(TargetModel);}}}}return Lujing;}/// <summary>/// Unity Method/// </summary>void Update(){if (IsRun){Transform endObj = Lujing[0];Vector3 direction = endObj.position - transform.position;transform.position += direction.normalized * Speed * Time.deltaTime;transform.LookAt(endObj);//timer += Time.deltaTime;float dis = Vector3.Distance(transform.position, endObj.position);if (dis < 0.5f){Lujing.RemoveAt(0);}if (Lujing.Count == 0){IsRun = false;Debug.Log("eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee:" + timer);SourceModel = TargetModel;transform.position = TargetModel.position;StartCoroutine(Change());}}}IEnumerator Change(){yield return new WaitForSeconds(2);if (i < targetList.Count - 1){i++;TargetModel = targetList[i];//GetFirstPath();GetSecondPath();//GetThirdPath();IsRun = true;}}}

需要模型拣货的过程，只需要在到达下一路径点时，写出对应的功能即可，如下

void Update(){if (IsRun){Transform endObj = Lujing[0];Vector3 direction = endObj.position - transform.position;transform.position += direction.normalized * Speed * Time.deltaTime;transform.LookAt(endObj);//timer += Time.deltaTime;float dis = Vector3.Distance(transform.position, endObj.position);if (dis < 1f){Lujing.RemoveAt(0);}if (Lujing.Count == 0){IsRun = false;//Debug.Log("eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee:" + timer);SourceModel = TargetModel;transform.position = TargetModel.position;if (TargetModel == StartPos){StartCoroutine(TuiChu());}else{transform.LookAt(new Vector3(targetWuTi.position.x, transform.position.y, targetWuTi.position.z));StartCoroutine(PlayAnim());}}}if (JiShi){timer += Time.deltaTime;time.text = timer.ToString("f1") + "s";count.text = num.ToString();}}IEnumerator TuiChu(){yield return new WaitForSeconds(0.1f);JiShi = false;TiShi.gameObject.SetActive(true);TimeText.text = time.text;}IEnumerator PlayAnim(){if (i < targetList.Count - 1){Zhou5.transform.DOLocalMoveX(-0.292f, 1);yield return new WaitForSeconds(1);targetWuTi.GetChild(0).gameObject.SetActive(false);GameObject go = Instantiate(Resources.Load<GameObject>("wuti"), Zhou5.transform);yield return new WaitForSeconds(0.2f);Zhou5.transform.DOLocalMoveX(0.42f, 1);yield return new WaitForSeconds(1);Zhou6.transform.DOLocalMoveY((0.1f * i + 0.32f), 2);yield return new WaitForSeconds(2.1f);go.transform.SetParent(transform);yield return new WaitForSeconds(0.1f);Zhou6.transform.DOLocalMoveY(3.5f, 2);yield return new WaitForSeconds(2.1f);num++;i++;TargetModel = targetList[i];targetWuTi = wuti[i];GetFirstPath();IsRun = true;}else{Zhou5.transform.DOLocalMoveX(-0.292f, 1);yield return new WaitForSeconds(1);targetWuTi.GetChild(0).gameObject.SetActive(false);GameObject go = Instantiate(Resources.Load<GameObject>("wuti"), Zhou5.transform);yield return new WaitForSeconds(0.2f);Zhou5.transform.DOLocalMoveX(0.42f, 1);yield return new WaitForSeconds(1);Zhou6.transform.DOLocalMoveY((0.1f * i + 0.32f), 2);yield return new WaitForSeconds(2.1f);go.transform.SetParent(transform);yield return new WaitForSeconds(0.1f);Zhou6.transform.DOLocalMoveY(3.5f, 2);yield return new WaitForSeconds(2.1f);num++;TargetModel = StartPos;GetFirstPath();IsRun = true;}}

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仿真物流仓库拣货车拣货

一：S型路径

中点型路径

返回型

需要模型拣货的过程，只需要在到达下一路径点时，写出对应的功能即可，如下

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