3D寻路系统NavMesh-服务端篇

上一节讲到的客户端使用Unity 自带的 NavMesh 来做寻路 3D寻路系统NavMesh-客户端篇。然而，怪物的刷新、移动，和AI是由服务器负责的，怪物的寻路是由服务器控制的，或者像SLG，大地图寻路在玩家离线的情况下要继续寻路，这必须要服务器来主导寻路。
那么，这怎么去实现呢？
我们服务器必须要有一份导航网格的寻路数据。
用ExportSceneToObj 工具导出场景，这个好像不依赖于烘焙出来的导航网格。

//TODO 贴一下源码:
第一份源码是不依赖于导航网格的生成工具：

using System.IO;
using System.Text;
using UnityEditor;
using UnityEngine;
using UnityEngine.SceneManagement;public class ExportScene : EditorWindow
{private const string CUT_LB_OBJ_PATH = "export/bound_lb";private const string CUT_RT_OBJ_PATH = "export/bound_rt";private static float autoCutMinX = 1000;private static float autoCutMaxX = 0;private static float autoCutMinY = 1000;private static float autoCutMaxY = 0;private static float cutMinX = 0;private static float cutMaxX = 0;private static float cutMinY = 0;private static float cutMaxY = 0;private static long startTime = 0;private static int totalCount = 0;private static int count = 0;private static int counter = 0;private static int progressUpdateInterval = 10000;[MenuItem("ExportScene/ExportSceneToObj")][MenuItem("GameObject/ExportScene/ExportSceneToObj")]public static void Export(){ExportSceneToObj(false);}[MenuItem("ExportScene/ExportSceneToObj(AutoCut)")][MenuItem("GameObject/ExportScene/ExportSceneToObj(AutoCut)")]public static void ExportAutoCut(){ExportSceneToObj(true);}[MenuItem("ExportScene/ExportSelectedObj")][MenuItem("GameObject/ExportScene/ExportSelectedObj", priority = 44)]public static void ExportObj(){GameObject selectObj = Selection.activeGameObject;if (selectObj == null){Debug.LogWarning("Select a GameObject");return;}string path = GetSavePath(false, selectObj);if (string.IsNullOrEmpty(path)) return;Terrain terrain = selectObj.GetComponent<Terrain>();MeshFilter[] mfs = selectObj.GetComponentsInChildren<MeshFilter>();SkinnedMeshRenderer[] smrs = selectObj.GetComponentsInChildren<SkinnedMeshRenderer>();Debug.Log(mfs.Length + "," + smrs.Length);ExportSceneToObj(path, terrain, mfs, smrs, false, false);}public static void ExportSceneToObj(bool autoCut){string path = GetSavePath(autoCut, null);if (string.IsNullOrEmpty(path)) return;Terrain terrain = UnityEngine.Object.FindObjectOfType<Terrain>();MeshFilter[] mfs = UnityEngine.Object.FindObjectsOfType<MeshFilter>();SkinnedMeshRenderer[] smrs = UnityEngine.Object.FindObjectsOfType<SkinnedMeshRenderer>();ExportSceneToObj(path, terrain, mfs, smrs, autoCut, true);}public static void ExportSceneToObj(string path, Terrain terrain, MeshFilter[] mfs,SkinnedMeshRenderer[] smrs, bool autoCut, bool needCheckRect){int vertexOffset = 0;string title = "export GameObject to .obj ...";StreamWriter writer = new StreamWriter(path);startTime = GetMsTime();UpdateCutRect(autoCut);counter = count = 0;progressUpdateInterval = 5;totalCount = (mfs.Length + smrs.Length) / progressUpdateInterval;foreach (var mf in mfs){UpdateProgress(title);if (mf.GetComponent<Renderer>() != null &&(!needCheckRect || (needCheckRect && IsInCutRect(mf.gameObject)))){ExportMeshToObj(mf.gameObject, mf.sharedMesh, ref writer, ref vertexOffset);}}foreach (var smr in smrs){UpdateProgress(title);if (!needCheckRect || (needCheckRect && IsInCutRect(smr.gameObject))){ExportMeshToObj(smr.gameObject, smr.sharedMesh, ref writer, ref vertexOffset);}}if (terrain){ExportTerrianToObj(terrain.terrainData, terrain.GetPosition(),ref writer, ref vertexOffset, autoCut);}writer.Close();EditorUtility.ClearProgressBar();long endTime = GetMsTime();float time = (float)(endTime - startTime) / 1000;Debug.Log("Export SUCCESS:" + path);Debug.Log("Export Time:" + time + "s");OpenDir(path);}private static void OpenDir(string path){DirectoryInfo dir = Directory.GetParent(path);int index = path.LastIndexOf("/");OpenCmd("explorer.exe", dir.FullName);}private static void OpenCmd(string cmd, string args){System.Diagnostics.Process.Start(cmd, args);}private static string GetSavePath(bool autoCut, GameObject selectObject){string dataPath = Application.dataPath;string dir = dataPath.Substring(0, dataPath.LastIndexOf("/"));string sceneName = UnityEngine.SceneManagement.SceneManager.GetActiveScene().name;string defaultName = "";if (selectObject == null){defaultName = (autoCut ? sceneName + "(autoCut)" : sceneName);}else{defaultName = (autoCut ? selectObject.name + "(autoCut)" : selectObject.name);}return EditorUtility.SaveFilePanel("Export .obj file", dir, defaultName, "obj");}private static long GetMsTime(){return System.DateTime.Now.Ticks / 10000;//return (System.DateTime.Now.ToUniversalTime().Ticks - 621355968000000000) / 10000;}private static void UpdateCutRect(bool autoCut){cutMinX = cutMaxX = cutMinY = cutMaxY = 0;if (!autoCut){Vector3 lbPos = GetObjPos(CUT_LB_OBJ_PATH);Vector3 rtPos = GetObjPos(CUT_RT_OBJ_PATH);cutMinX = lbPos.x;cutMaxX = rtPos.x;cutMinY = lbPos.z;cutMaxY = rtPos.z;}}private static void UpdateAutoCutRect(Vector3 v){if (v.x < autoCutMinX) autoCutMinX = v.x;if (v.x > autoCutMaxX) autoCutMaxX = v.x;if (v.z < autoCutMinY) autoCutMinY = v.z;if (v.z > autoCutMaxY) autoCutMaxY = v.z;}private static bool IsInCutRect(GameObject obj){if (cutMinX == 0 && cutMaxX == 0 && cutMinY == 0 && cutMaxY == 0) return true;Vector3 pos = obj.transform.position;if (pos.x >= cutMinX && pos.x <= cutMaxX && pos.z >= cutMinY && pos.z <= cutMaxY)return true;elsereturn false;}private static void ExportMeshToObj(GameObject obj, Mesh mesh, ref StreamWriter writer, ref int vertexOffset){Quaternion r = obj.transform.localRotation;StringBuilder sb = new StringBuilder();foreach (Vector3 vertice in mesh.vertices){Vector3 v = obj.transform.TransformPoint(vertice);UpdateAutoCutRect(v);sb.AppendFormat("v {0} {1} {2}\n", -v.x, v.y, v.z);}foreach (Vector3 nn in mesh.normals){Vector3 v = r * nn;sb.AppendFormat("vn {0} {1} {2}\n", -v.x, -v.y, v.z);}foreach (Vector3 v in mesh.uv){sb.AppendFormat("vt {0} {1}\n", v.x, v.y);}for (int i = 0; i < mesh.subMeshCount; i++){int[] triangles = mesh.GetTriangles(i);for (int j = 0; j < triangles.Length; j += 3){sb.AppendFormat("f {1} {0} {2}\n",triangles[j] + 1 + vertexOffset,triangles[j + 1] + 1 + vertexOffset,triangles[j + 2] + 1 + vertexOffset);}}vertexOffset += mesh.vertices.Length;writer.Write(sb.ToString());}private static void ExportTerrianToObj(TerrainData terrain, Vector3 terrainPos,ref StreamWriter writer, ref int vertexOffset, bool autoCut){int tw = terrain.heightmapResolution;int th = terrain.heightmapResolution;Vector3 meshScale = terrain.size;meshScale = new Vector3(meshScale.x / (tw - 1), meshScale.y, meshScale.z / (th - 1));Vector2 uvScale = new Vector2(1.0f / (tw - 1), 1.0f / (th - 1));Vector2 terrainBoundLB, terrainBoundRT;if (autoCut){terrainBoundLB = GetTerrainBoundPos(new Vector3(autoCutMinX, 0, autoCutMinY), terrain, terrainPos);terrainBoundRT = GetTerrainBoundPos(new Vector3(autoCutMaxX, 0, autoCutMaxY), terrain, terrainPos);}else{terrainBoundLB = GetTerrainBoundPos(CUT_LB_OBJ_PATH, terrain, terrainPos);terrainBoundRT = GetTerrainBoundPos(CUT_RT_OBJ_PATH, terrain, terrainPos);}int bw = (int)(terrainBoundRT.x - terrainBoundLB.x);int bh = (int)(terrainBoundRT.y - terrainBoundLB.y);int w = bh != 0 && bh < th ? bh : th;int h = bw != 0 && bw < tw ? bw : tw;int startX = (int)terrainBoundLB.y;int startY = (int)terrainBoundLB.x;if (startX < 0) startX = 0;if (startY < 0) startY = 0;Debug.Log(string.Format("Terrian:tw={0},th={1},sw={2},sh={3},startX={4},startY={5}",tw, th, bw, bh, startX, startY));float[,] tData = terrain.GetHeights(0, 0, tw, th);Vector3[] tVertices = new Vector3[w * h];Vector2[] tUV = new Vector2[w * h];int[] tPolys = new int[(w - 1) * (h - 1) * 6];for (int y = 0; y < h; y++){for (int x = 0; x < w; x++){Vector3 pos = new Vector3(-(startY + y), tData[startX + x, startY + y], (startX + x));tVertices[y * w + x] = Vector3.Scale(meshScale, pos) + terrainPos;tUV[y * w + x] = Vector2.Scale(new Vector2(x, y), uvScale);}}int index = 0;for (int y = 0; y < h - 1; y++){for (int x = 0; x < w - 1; x++){tPolys[index++] = (y * w) + x;tPolys[index++] = ((y + 1) * w) + x;tPolys[index++] = (y * w) + x + 1;tPolys[index++] = ((y + 1) * w) + x;tPolys[index++] = ((y + 1) * w) + x + 1;tPolys[index++] = (y * w) + x + 1;}}count = counter = 0;progressUpdateInterval = 10000;totalCount = (tVertices.Length + tUV.Length + tPolys.Length / 3) / progressUpdateInterval;string title = "export Terrain to .obj ...";for (int i = 0; i < tVertices.Length; i++){UpdateProgress(title);StringBuilder sb = new StringBuilder(22);sb.AppendFormat("v {0} {1} {2}\n", tVertices[i].x, tVertices[i].y, tVertices[i].z);writer.Write(sb.ToString());}for (int i = 0; i < tUV.Length; i++){UpdateProgress(title);StringBuilder sb = new StringBuilder(20);sb.AppendFormat("vt {0} {1}\n", tUV[i].x, tUV[i].y);writer.Write(sb.ToString());}for (int i = 0; i < tPolys.Length; i += 3){UpdateProgress(title);int x = tPolys[i] + 1 + vertexOffset; ;int y = tPolys[i + 1] + 1 + vertexOffset;int z = tPolys[i + 2] + 1 + vertexOffset;StringBuilder sb = new StringBuilder(30);sb.AppendFormat("f {0} {1} {2}\n", x, y, z);writer.Write(sb.ToString());}vertexOffset += tVertices.Length;}private static Vector2 GetTerrainBoundPos(string path, TerrainData terrain, Vector3 terrainPos){var go = GameObject.Find(path);if (go){Vector3 pos = go.transform.position;return GetTerrainBoundPos(pos, terrain, terrainPos);}return Vector2.zero;}private static Vector2 GetTerrainBoundPos(Vector3 worldPos, TerrainData terrain, Vector3 terrainPos){Vector3 tpos = worldPos - terrainPos;return new Vector2((int)(tpos.x / terrain.size.x * terrain.heightmapResolution),(int)(tpos.z / terrain.size.z * terrain.heightmapResolution));}private static Vector3 GetObjPos(string path){var go = GameObject.Find(path);if (go){return go.transform.position;}return Vector3.zero;}private static void UpdateProgress(string title){if (counter++ == progressUpdateInterval){counter = 0;float process = Mathf.InverseLerp(0, totalCount, ++count);long currTime = GetMsTime();float sec = ((float)(currTime - startTime)) / 1000;string text = string.Format("{0}/{1}({2:f2} sec.)", count, totalCount, sec);EditorUtility.DisplayProgressBar(title, text, process);}}
}

第二份是要基于导航网格的，但生成的效果不大理想,所以没有采用:

/************************************************* 文件名:ExportNavMesh.cs* 描述:导出NavMesh数据给服务器使用* ************************************************/using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEditor;
using System.IO;
using UnityEngine.AI;
using UnityEngine.SceneManagement;public class ExportNavMesh
{[MenuItem("NavMesh/Export")]static void Export(){Debug.Log("ExportNavMesh");NavMeshTriangulation tmpNavMeshTriangulation = NavMesh.CalculateTriangulation();//新建文件string tmpPath = Application.dataPath + "/" + UnityEngine.SceneManagement.SceneManager.GetActiveScene().name + ".obj";StreamWriter tmpStreamWriter = new StreamWriter(tmpPath);//顶点for (int i = 0; i < tmpNavMeshTriangulation.vertices.Length; i++){tmpStreamWriter.WriteLine("v  " + tmpNavMeshTriangulation.vertices[i].x + " " +tmpNavMeshTriangulation.vertices[i].y + " " +tmpNavMeshTriangulation.vertices[i].z);}tmpStreamWriter.WriteLine("g pPlane1");//索引for (int i = 0; i < tmpNavMeshTriangulation.indices.Length;){tmpStreamWriter.WriteLine("f " + (tmpNavMeshTriangulation.indices[i] + 1) + " " +(tmpNavMeshTriangulation.indices[i + 1] + 1) + " " +(tmpNavMeshTriangulation.indices[i + 2] + 1));i = i + 3;}tmpStreamWriter.Flush();tmpStreamWriter.Close();Debug.Log("ExportNavMesh Success");}
}

选中场景，选择菜单,ExportScene–>ExportSelectedObj，会生成一个Main Terrain.obj文件，大概20几M.
然后用recast 工具打开：
选择solomesh,

调整Agent下Radius参数，与当前项目中最大寻路单位的半径保持一致，点击 Build ，等待一段时间后，中间渲染图形会显示生成后的寻路网格，

蓝色地块就是可通点，可以尝试寻路一下。原始的recast是没有开始点和结束点的坐标的，那如何能显示出来呢？

void NavMeshTesterTool::handleRenderOverlay(double* proj, double* model, int* view)
{GLdouble x, y, z;char buf[64];// Draw start and end point labelsif (m_sposSet && gluProject((GLdouble)m_spos[0], (GLdouble)m_spos[1], (GLdouble)m_spos[2],model, proj, view, &x, &y, &z)){if (m_showCoord){snprintf(buf, sizeof(buf), "Start (%.1f, %.1f, %.1f)", m_spos[0], m_spos[1], m_spos[2]);imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, buf, imguiRGBA(0, 0, 0, 220));}elseimguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, "Start", imguiRGBA(0, 0, 0, 220));}if (m_toolMode == TOOLMODE_RAYCAST && m_hitResult && m_showCoord &&gluProject((GLdouble)m_hitPos[0], (GLdouble)m_hitPos[1], (GLdouble)m_hitPos[2],model, proj, view, &x, &y, &z)){snprintf(buf, sizeof(buf), "HitPos (%.1f, %.1f, %.1f)", m_hitPos[0], m_hitPos[1], m_hitPos[2]);imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, buf, imguiRGBA(0, 0, 0, 220));}if (m_eposSet && gluProject((GLdouble)m_epos[0], (GLdouble)m_epos[1], (GLdouble)m_epos[2],model, proj, view, &x, &y, &z)){if (m_showCoord){float totalCost = 0.0f;for (int i = 0; i + 1 < m_nstraightPath; i++)totalCost += dtVdist(&m_straightPath[i * 3], &m_straightPath[(i + 1) * 3]);snprintf(buf, sizeof(buf), "End (%.1f, %.1f, %.1f), Cost %.1f", m_epos[0], m_epos[1], m_epos[2], totalCost);imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, buf, imguiRGBA(0, 0, 0, 220));}elseimguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, "End", imguiRGBA(0, 0, 0, 220));}
}

那么，如何能显示出关键点point list?，首先，路径搜索的模式要改成TOOLMODE_PATHFIND_STRAIGHT模式，代码需要增加如下的打印，
在NavMeshTesterTool.cpp中增加，

void NavMeshTesterTool::recalc(){....
....if (m_toolMode == TOOLMODE_PATHFIND_STRAIGHT) {m_sample->getContext()->log(RC_LOG_PROGRESS, "total point size=%d", m_nstraightPath);for (int i = 0; i < m_nstraightPath; ++i){m_sample->getContext()->log(RC_LOG_PROGRESS, "(%.1f, %.1f, %.1f)", m_straightPath[i * 3], m_straightPath[i * 3 + 1], m_straightPath[i * 3 + 2]);}}
}

在Sample.h中增加

public:Sample();virtual ~Sample();void setContext(BuildContext* ctx) { m_ctx = ctx; }BuildContext* getContext() {return m_ctx;}

寻路结果为：

这里要提一下，这里导出的坐标是以左手坐标系，也就是(x,y,z)，这和unity一致，实际上客服端发给服务器的是x,z 当做坐标点，这点要特别注意，左手坐标系是什么样的？如图所示

点击 save ，会在当前目录下生成【导出文件】 solo_navmesh.bin，只有156KB,就是服务器导航需要的bin文件。
引入第三方库：

基于recast4j封装的Java版本3D游戏寻路组件

<dependency><groupId>com.github.silencesu</groupId><artifactId>Easy3dNav</artifactId><version>1.1.0</version>
</dependency>

       Easy3dNav   javaNav = new Easy3dNav();javaNav.setPrintMeshInfo(false);javaNav.setUseU3dData(false);javaNav .init(id, "../../../../game_data/server/navmesh/solo_navmesh.bin");List<float[]> array = javaNav.find(new float[]{-107.4f, 0f, 148.5f}, new float[]{-51.7f, 0.2f, 150f}, new float[]{1.f, 1.f, 1.f});

执行结果为:

point 5 array=[[-107.4, 0.3209684, 148.5], [-64.09999, 1.2, 137.40001], [-56.299988, 0.6, 139.8], [-54.5, 0.6, 142.5], [-51.7, 0.4, 150.0]]

与工具生成的一致。
以上是JAVA版本的服务器寻路，如何用JNI制作更高性能的寻路包呢，下一篇文章中会做说明。

如果用工具寻路出来的数据和程序寻路出来的数据一致，说明navmesh寻路成功。
接下去就是动态寻路，优化寻路结果。

相关参考：

ExportSceneToObj
Recast & Detour
将Unity场景（包含物件和地形）导出到.obj文件
Easy3dNav

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