孙广东 2015.6.28

看了看  Unity的官方案例，就顺便看了 wayPoint相关。

效果：

WaypointProgressTracker.cs  【固定】

WaypointCircuit.cs  【固定】

using System;
using System.Collections;
using UnityEngine;
#if UNITY_EDITOR
using UnityEditor;

#endif

namespace UnityStandardAssets.Utility
{
    public class WaypointCircuit : MonoBehaviour
    {
        public WaypointList waypointList = new WaypointList();
        [SerializeField] private bool smoothRoute = true;
        private int numPoints;
        private Vector3[] points;
        private float[] distances;

        public float editorVisualisationSubsteps = 100;
        public float Length { get; private set; }

        public Transform[] Waypoints
        {
            get { return waypointList.items; }
        }

        //this being here will save GC allocs
        private int p0n;
        private int p1n;
        private int p2n;
        private int p3n;

        private float i;
        private Vector3 P0;
        private Vector3 P1;
        private Vector3 P2;
        private Vector3 P3;

        // Use this for initialization
        private void Awake()
        {
            if (Waypoints.Length > 1)
            {
                CachePositionsAndDistances();
            }
            numPoints = Waypoints.Length;
        }


        public RoutePoint GetRoutePoint(float dist)
        {
            // position and direction
            Vector3 p1 = GetRoutePosition(dist);
            Vector3 p2 = GetRoutePosition(dist + 0.1f);
            Vector3 delta = p2 - p1;
            return new RoutePoint(p1, delta.normalized);
        }


        public Vector3 GetRoutePosition(float dist)
        {
            int point = 0;

            if (Length == 0)
            {
                Length = distances[distances.Length - 1];
            }

            dist = Mathf.Repeat(dist, Length);

            while (distances[point] < dist)
            {
                ++point;
            }


            // get nearest two points, ensuring points wrap-around start & end of circuit
            p1n = ((point - 1) + numPoints)%numPoints;
            p2n = point;

            // found point numbers, now find interpolation value between the two middle points

            i = Mathf.InverseLerp(distances[p1n], distances[p2n], dist);

            if (smoothRoute)
            {
                // smooth catmull-rom calculation between the two relevant points


                // get indices for the surrounding 2 points, because
                // four points are required by the catmull-rom function
                p0n = ((point - 2) + numPoints)%numPoints;
                p3n = (point + 1)%numPoints;

                // 2nd point may have been the 'last' point - a dupe of the first,
                // (to give a value of max track distance instead of zero)
                // but now it must be wrapped back to zero if that was the case.
                p2n = p2n%numPoints;

                P0 = points[p0n];
                P1 = points[p1n];
                P2 = points[p2n];
                P3 = points[p3n];

                return CatmullRom(P0, P1, P2, P3, i);
            }
            else
            {
                // simple linear lerp between the two points:

                p1n = ((point - 1) + numPoints)%numPoints;
                p2n = point;

                return Vector3.Lerp(points[p1n], points[p2n], i);
            }
        }


        private Vector3 CatmullRom(Vector3 p0, Vector3 p1, Vector3 p2, Vector3 p3, float i)
        {
            // comments are no use here... it's the catmull-rom equation.
            // Un-magic this, lord vector!
            return 0.5f*
                   ((2*p1) + (-p0 + p2)*i + (2*p0 - 5*p1 + 4*p2 - p3)*i*i +
                    (-p0 + 3*p1 - 3*p2 + p3)*i*i*i);
        }


        private void CachePositionsAndDistances()
        {
            // transfer the position of each point and distances between points to arrays for
            // speed of lookup at runtime
            points = new Vector3[Waypoints.Length + 1];
            distances = new float[Waypoints.Length + 1];

            float accumulateDistance = 0;
            for (int i = 0; i < points.Length; ++i)
            {
                var t1 = Waypoints[(i)%Waypoints.Length];
                var t2 = Waypoints[(i + 1)%Waypoints.Length];
                if (t1 != null && t2 != null)
                {
                    Vector3 p1 = t1.position;
                    Vector3 p2 = t2.position;
                    points[i] = Waypoints[i%Waypoints.Length].position;
                    distances[i] = accumulateDistance;
                    accumulateDistance += (p1 - p2).magnitude;
                }
            }
        }


        private void OnDrawGizmos()
        {
            DrawGizmos(false);
        }


        private void OnDrawGizmosSelected()
        {
            DrawGizmos(true);
        }


        private void DrawGizmos(bool selected)
        {
            waypointList.circuit = this;
            if (Waypoints.Length > 1)
            {
                numPoints = Waypoints.Length;

                CachePositionsAndDistances();
                Length = distances[distances.Length - 1];

                Gizmos.color = selected ? Color.yellow : new Color(1, 1, 0, 0.5f);
                Vector3 prev = Waypoints[0].position;
                if (smoothRoute)
                {
                    for (float dist = 0; dist < Length; dist += Length/editorVisualisationSubsteps)
                    {
                        Vector3 next = GetRoutePosition(dist + 1);
                        Gizmos.DrawLine(prev, next);
                        prev = next;
                    }
                    Gizmos.DrawLine(prev, Waypoints[0].position);
                }
                else
                {
                    for (int n = 0; n < Waypoints.Length; ++n)
                    {
                        Vector3 next = Waypoints[(n + 1)%Waypoints.Length].position;
                        Gizmos.DrawLine(prev, next);
                        prev = next;
                    }
                }
            }
        }


        [Serializable]
        public class WaypointList
        {
            public WaypointCircuit circuit;
            public Transform[] items = new Transform[0];
        }

        public struct RoutePoint
        {
            public Vector3 position;
            public Vector3 direction;


            public RoutePoint(Vector3 position, Vector3 direction)
            {
                this.position = position;
                this.direction = direction;
            }
        }
    }
}

namespace UnityStandardAssets.Utility.Inspector
{
#if UNITY_EDITOR
    [CustomPropertyDrawer(typeof (WaypointCircuit.WaypointList))]
    public class WaypointListDrawer : PropertyDrawer
    {
        private float lineHeight = 18;
        private float spacing = 4;


        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
        {
            EditorGUI.BeginProperty(position, label, property);

            float x = position.x;
            float y = position.y;
            float inspectorWidth = position.width;

            // Draw label


            // Don't make child fields be indented
            var indent = EditorGUI.indentLevel;
            EditorGUI.indentLevel = 0;

            var items = property.FindPropertyRelative("items");
            var titles = new string[] {"Transform", "", "", ""};
            var props = new string[] {"transform", "^", "v", "-"};
            var widths = new float[] {.7f, .1f, .1f, .1f};
            float lineHeight = 18;
            bool changedLength = false;
            if (items.arraySize > 0)
            {
                for (int i = -1; i < items.arraySize; ++i)
                {
                    var item = items.GetArrayElementAtIndex(i);

                    float rowX = x;
                    for (int n = 0; n < props.Length; ++n)
                    {
                        float w = widths[n]*inspectorWidth;

                        // Calculate rects
                        Rect rect = new Rect(rowX, y, w, lineHeight);
                        rowX += w;

                        if (i == -1)
                        {
                            EditorGUI.LabelField(rect, titles[n]);
                        }
                        else
                        {
                            if (n == 0)
                            {
                                EditorGUI.ObjectField(rect, item.objectReferenceValue, typeof (Transform), true);
                            }
                            else
                            {
                                if (GUI.Button(rect, props[n]))
                                {
                                    switch (props[n])
                                    {
                                        case "-":
                                            items.DeleteArrayElementAtIndex(i);
                                            items.DeleteArrayElementAtIndex(i);
                                            changedLength = true;
                                            break;
                                        case "v":
                                            if (i > 0)
                                            {
                                                items.MoveArrayElement(i, i + 1);
                                            }
                                            break;
                                        case "^":
                                            if (i < items.arraySize - 1)
                                            {
                                                items.MoveArrayElement(i, i - 1);
                                            }
                                            break;
                                    }
                                }
                            }
                        }
                    }

                    y += lineHeight + spacing;
                    if (changedLength)
                    {
                        break;
                    }
                }
            }
            else
            {
                // add button
                var addButtonRect = new Rect((x + position.width) - widths[widths.Length - 1]*inspectorWidth, y,
                                             widths[widths.Length - 1]*inspectorWidth, lineHeight);
                if (GUI.Button(addButtonRect, "+"))
                {
                    items.InsertArrayElementAtIndex(items.arraySize);
                }

                y += lineHeight + spacing;
            }

            // add all button
            var addAllButtonRect = new Rect(x, y, inspectorWidth, lineHeight);
            if (GUI.Button(addAllButtonRect, "Assign using all child objects"))
            {
                var circuit = property.FindPropertyRelative("circuit").objectReferenceValue as WaypointCircuit;
                var children = new Transform[circuit.transform.childCount];
                int n = 0;
                foreach (Transform child in circuit.transform)
                {
                    children[n++] = child;
                }
                Array.Sort(children, new TransformNameComparer());
                circuit.waypointList.items = new Transform[children.Length];
                for (n = 0; n < children.Length; ++n)
                {
                    circuit.waypointList.items[n] = children[n];
                }
            }
            y += lineHeight + spacing;

            // rename all button
            var renameButtonRect = new Rect(x, y, inspectorWidth, lineHeight);
            if (GUI.Button(renameButtonRect, "Auto Rename numerically from this order"))
            {
                var circuit = property.FindPropertyRelative("circuit").objectReferenceValue as WaypointCircuit;
                int n = 0;
                foreach (Transform child in circuit.waypointList.items)
                {
                    child.name = "Waypoint " + (n++).ToString("000");
                }
            }
            y += lineHeight + spacing;

            // Set indent back to what it was
            EditorGUI.indentLevel = indent;
            EditorGUI.EndProperty();
        }


        public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
        {
            SerializedProperty items = property.FindPropertyRelative("items");
            float lineAndSpace = lineHeight + spacing;
            return 40 + (items.arraySize*lineAndSpace) + lineAndSpace;
        }


        // comparer for check distances in ray cast hits
        public class TransformNameComparer : IComparer
        {
            public int Compare(object x, object y)
            {
                return ((Transform) x).name.CompareTo(((Transform) y).name);
            }
        }
    }
#endif
}

using System;
using UnityEngine;

namespace UnityStandardAssets.Utility
{
    public class WaypointProgressTracker : MonoBehaviour
    {
        // This script can be used with any object that is supposed to follow a
        // route marked out by waypoints.

        // This script manages the amount to look ahead along the route,
        // and keeps track of progress and laps.

        [SerializeField] private WaypointCircuit circuit; // A reference to the waypoint-based route we should follow

        [SerializeField] private float lookAheadForTargetOffset = 5;
        // The offset ahead along the route that the we will aim for

        [SerializeField] private float lookAheadForTargetFactor = .1f;
        // A multiplier adding distance ahead along the route to aim for, based on current speed

        [SerializeField] private float lookAheadForSpeedOffset = 10;
        // The offset ahead only the route for speed adjustments (applied as the rotation of the waypoint target transform)

        [SerializeField] private float lookAheadForSpeedFactor = .2f;
        // A multiplier adding distance ahead along the route for speed adjustments

        [SerializeField] private ProgressStyle progressStyle = ProgressStyle.SmoothAlongRoute;
        // whether to update the position smoothly along the route (good for curved paths) or just when we reach each waypoint.

        [SerializeField] private float pointToPointThreshold = 4;
        // proximity to waypoint which must be reached to switch target to next waypoint : only used in PointToPoint mode.

        public enum ProgressStyle
        {
            SmoothAlongRoute,
            PointToPoint,
        }

        // these are public, readable by other objects - i.e. for an AI to know where to head!
        public WaypointCircuit.RoutePoint targetPoint { get; private set; }
        public WaypointCircuit.RoutePoint speedPoint { get; private set; }
        public WaypointCircuit.RoutePoint progressPoint { get; private set; }

        public Transform target;

        private float progressDistance; // The progress round the route, used in smooth mode.
        private int progressNum; // the current waypoint number, used in point-to-point mode.
        private Vector3 lastPosition; // Used to calculate current speed (since we may not have a rigidbody component)
        private float speed; // current speed of this object (calculated from delta since last frame)

        // setup script properties
        private void Start()
        {
            // we use a transform to represent the point to aim for, and the point which
            // is considered for upcoming changes-of-speed. This allows this component
            // to communicate this information to the AI without requiring further dependencies.

            // You can manually create a transform and assign it to this component *and* the AI,
            // then this component will update it, and the AI can read it.
            if (target == null)
            {
                target = new GameObject(name + " Waypoint Target").transform;
            }

            Reset();
        }


        // reset the object to sensible values
        public void Reset()
        {
            progressDistance = 0;
            progressNum = 0;
            if (progressStyle == ProgressStyle.PointToPoint)
            {
                target.position = circuit.Waypoints[progressNum].position;
                target.rotation = circuit.Waypoints[progressNum].rotation;
            }
        }


        private void Update()
        {
            if (progressStyle == ProgressStyle.SmoothAlongRoute)
            {
                // determine the position we should currently be aiming for
                // (this is different to the current progress position, it is a a certain amount ahead along the route)
                // we use lerp as a simple way of smoothing out the speed over time.
                if (Time.deltaTime > 0)
                {
                    speed = Mathf.Lerp(speed, (lastPosition - transform.position).magnitude/Time.deltaTime,
                                       Time.deltaTime);
                }
                target.position =
                    circuit.GetRoutePoint(progressDistance + lookAheadForTargetOffset + lookAheadForTargetFactor*speed)
                           .position;
                target.rotation =
                    Quaternion.LookRotation(
                        circuit.GetRoutePoint(progressDistance + lookAheadForSpeedOffset + lookAheadForSpeedFactor*speed)
                               .direction);


                // get our current progress along the route
                progressPoint = circuit.GetRoutePoint(progressDistance);
                Vector3 progressDelta = progressPoint.position - transform.position;
                if (Vector3.Dot(progressDelta, progressPoint.direction) < 0)
                {
                    progressDistance += progressDelta.magnitude*0.5f;
                }

                lastPosition = transform.position;
            }
            else
            {
                // point to point mode. Just increase the waypoint if we're close enough:

                Vector3 targetDelta = target.position - transform.position;
                if (targetDelta.magnitude < pointToPointThreshold)
                {
                    progressNum = (progressNum + 1)%circuit.Waypoints.Length;
                }


                target.position = circuit.Waypoints[progressNum].position;
                target.rotation = circuit.Waypoints[progressNum].rotation;

                // get our current progress along the route
                progressPoint = circuit.GetRoutePoint(progressDistance);
                Vector3 progressDelta = progressPoint.position - transform.position;
                if (Vector3.Dot(progressDelta, progressPoint.direction) < 0)
                {
                    progressDistance += progressDelta.magnitude;
                }
                lastPosition = transform.position;
            }
        }


        private void OnDrawGizmos()
        {
            if (Application.isPlaying)
            {
                Gizmos.color = Color.green;
                Gizmos.DrawLine(transform.position, target.position);
                Gizmos.DrawWireSphere(circuit.GetRoutePosition(progressDistance), 1);
                Gizmos.color = Color.yellow;
                Gizmos.DrawLine(target.position, target.position + target.forward);
            }
        }
    }
}

最后： 看看Unity5的 sample中的 Car 和 飞机 的AI案例中：