/// <summary>
/// Creates the grid of nodes.
/// </summary>
public void CreateGrid()
{
DestroyGrid();
// TODO: Perhaps we might want to snap the extents value when editing the bounding box
// in the editor?
Bounds scanBounds = scanCollider.bounds;
ScanAreaSettings scanSettings = new ScanAreaSettings((float3)scanBounds.center, (float3)scanBounds.extents, walkableMask);
int expectedGridDimension = scanSettings.gridDimension;
// TODO: Could I use nodesTypes invalid to avoid any kind of computation from them?
nodesTransforms = new NativeArray <NodeTransform>(expectedGridDimension, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
nodesTypes = new NativeArray <NodeType>(expectedGridDimension, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
nodesNeighbors = new NativeArray <NodeNeighbor>(expectedGridDimension * NodeNumNeighbors, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
// calculate the initial raycast commands
NativeArray <RaycastCommand> mainCommands = new NativeArray <RaycastCommand>(expectedGridDimension, Allocator.TempJob);
JobHandle createNodesHandle = new CalculateRaycastCommandsJob
{
commands = mainCommands,
scanSettings = scanSettings,
}
.ScheduleParallel(expectedGridDimension, 64, default(JobHandle));
// schedule the commands to retrieve the initial hits
NativeArray <RaycastHit> nodeHits = new NativeArray <RaycastHit>(expectedGridDimension, Allocator.TempJob);
createNodesHandle = RaycastCommand.ScheduleBatch(mainCommands, nodeHits, 32, createNodesHandle);
JobHandle.ScheduleBatchedJobs();
// build the nodes using the received hits and the main raycast commands
createNodesHandle = new CreateNodesJob
{
nodesTransforms = nodesTransforms,
nodesTypes = nodesTypes,
hits = nodeHits,
commands = mainCommands,
}
.ScheduleParallel(expectedGridDimension, 32, createNodesHandle);
// calculate the boxcasts to bake obstacles
NativeArray <BoxcastCommand> boxcastCommands = new NativeArray <BoxcastCommand>(expectedGridDimension, Allocator.TempJob);
JobHandle bakeObstaclesHandle = new CalculateBoxcastCommandsJob
{
commands = boxcastCommands,
nodesTransforms = nodesTransforms,
mask = obstacleMask,
boxNodePercentage = boxToNodeObstaclePercentage,
maxCharacterHeight = maxCharacterHeight,
}
.ScheduleParallel(expectedGridDimension, 64, createNodesHandle);
// schedule the boxcasts to find possible obstacles
NativeArray <RaycastHit> obstacleHits = new NativeArray <RaycastHit>(expectedGridDimension, Allocator.TempJob);
bakeObstaclesHandle = BoxcastCommand.ScheduleBatch(boxcastCommands, obstacleHits, 32, bakeObstaclesHandle);
// prepare the bake obstacles job
bakeObstaclesHandle = new BakeObstaclesJob
{
nodesTypes = nodesTypes,
boxcastHits = obstacleHits,
}
.ScheduleParallel(expectedGridDimension, 128, bakeObstaclesHandle);
// now calculate the neighbors
JobHandle calculateNeighborsHandle = new CalculateNeighborsJob
{
neighbors = nodesNeighbors,
nodesTransforms = nodesTransforms,
scanSettings = scanSettings,
maxWalkableHeightWithStep = maxWalkableHeightWithStep,
}
.ScheduleParallel(expectedGridDimension, 32, createNodesHandle);
JobHandle finalHandle = JobHandle.CombineDependencies(calculateNeighborsHandle, bakeObstaclesHandle);
JobHandle disposeHandle = JobHandle.CombineDependencies(mainCommands.Dispose(finalHandle), nodeHits.Dispose(finalHandle));
disposeHandle = JobHandle.CombineDependencies(disposeHandle, boxcastCommands.Dispose(finalHandle), obstacleHits.Dispose(finalHandle));
// wait to complete all the scheduled stuff
finalHandle.Complete();
gridWidth = scanSettings.gridWidth;
gridDepth = scanSettings.gridDepth;
isGridCreated = true;
OnGridCreation?.Invoke();
Logger.LogFormat("Grid was created with dimension {0}. Width: {1}. Height: {2}.", expectedGridDimension, gridWidth, gridDepth);
disposeHandle.Complete();
}
protected override JobHandle OnUpdate(JobHandle inputDeps)
{
PreCollisionSystem preCollisionSystem = World.Active.GetExistingManager <PreCollisionSystem>();
if (preCollisionSystem != null)
{
var entities = preCollisionSystem.Entities;
var boxcasts = preCollisionSystem.Boxcasts;
var spherecasts = preCollisionSystem.Spherecasts;
var capsulecasts = preCollisionSystem.Capsulecasts;
EntityManager.CompleteAllJobs();
if (boxcasts.IsCreated && boxcasts.Length != 0)
{
var hitBoxCollider = new NativeArray <RaycastHit>(boxcasts.Length, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var transaction = EntityManager.BeginExclusiveEntityTransaction();
var job = new UpdateBoxDistDir {
Boxcasts = boxcasts,
Entities = entities,
entityTransaction = transaction
};
var handle = job.Schedule(boxcasts.Length / 3, 32, inputDeps);
EntityManager.ExclusiveEntityTransactionDependency = handle;
Utils.Utils.ScheduleBatchedJobAndComplete(handle);
EntityManager.EndExclusiveEntityTransaction();
handle = BoxcastCommand.ScheduleBatch(boxcasts, hitBoxCollider, 1, default);
Utils.Utils.ScheduleBatchedJobAndComplete(handle);
InvokeCollisionResponse(entities, hitBoxCollider, 0, boxcasts.Length);
hitBoxCollider.Dispose();
}
if (spherecasts.IsCreated && spherecasts.Length != 0)
{
var hitSphereCollider = new NativeArray <RaycastHit>(spherecasts.Length, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var transaction = EntityManager.BeginExclusiveEntityTransaction();
var job = new UpdateSphereDistDir {
Spherecasts = spherecasts,
Entities = entities,
entityTransaction = transaction,
StartIndex = boxcasts.Length / 3
};
var handle = job.Schedule(spherecasts.Length / 3, 32, inputDeps);
EntityManager.ExclusiveEntityTransactionDependency = handle;
Utils.Utils.ScheduleBatchedJobAndComplete(handle);
EntityManager.EndExclusiveEntityTransaction();
handle = SpherecastCommand.ScheduleBatch(spherecasts, hitSphereCollider, 1, default);
Utils.Utils.ScheduleBatchedJobAndComplete(handle);
InvokeCollisionResponse(entities, hitSphereCollider, boxcasts.Length, spherecasts.Length);
hitSphereCollider.Dispose();
}
if (capsulecasts.IsCreated && capsulecasts.Length != 0)
{
var hitCapsuleCollider = new NativeArray <RaycastHit>(capsulecasts.Length, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var transaction = EntityManager.BeginExclusiveEntityTransaction();
var job = new UpdateCapsuleDistDir {
Capsulecasts = capsulecasts,
Entities = entities,
entityTransaction = transaction,
StartIndex = (boxcasts.Length + spherecasts.Length) / 3
};
var handle = job.Schedule(capsulecasts.Length / 3, 32, inputDeps);
EntityManager.ExclusiveEntityTransactionDependency = handle;
Utils.Utils.ScheduleBatchedJobAndComplete(handle);
EntityManager.EndExclusiveEntityTransaction();
handle = CapsulecastCommand.ScheduleBatch(capsulecasts, hitCapsuleCollider, 1, default);
Utils.Utils.ScheduleBatchedJobAndComplete(handle);
InvokeCollisionResponse(entities, hitCapsuleCollider, spherecasts.Length, capsulecasts.Length);
hitCapsuleCollider.Dispose();
}
}
return(inputDeps);
}
private void AddDistanceSensors(List <CastBatchItem> castBatchItems)
{
if (castBatchItems.Count == 0)
{
return;
}
// Batch'em
NativeArray <RaycastHit> results = new NativeArray <RaycastHit>(castBatchItems.Count, Allocator.TempJob);
NativeArray <BoxcastCommand> commands = new NativeArray <BoxcastCommand>(castBatchItems.Count, Allocator.TempJob);
foreach (CastBatchItem item in castBatchItems)
{
Vector3 dir = item.Transform.TransformDirection(new Vector3(item.Sensor.Direction.x, 0, item.Sensor.Direction.z)).normalized;
Vector3 raySrc = item.Transform.position + (item.Transform.right * item.Sensor.Origin.x) + (item.Transform.forward * item.Sensor.Origin.z) + (item.Transform.up * item.Sensor.Origin.y);
Debug.DrawRay(raySrc, dir * item.Sensor.MaxDistance);
commands[item.BatchIndex] = new BoxcastCommand(raySrc, item.Sensor.Extents, Quaternion.identity, dir, item.Sensor.MaxDistance);
}
// Schedule the batch of raycasts
var handle = BoxcastCommand.ScheduleBatch(commands, results, 64);
// Wait for the batch processing job to complete
handle.Complete();
// Update the results
for (int i = 0; i < results.Length; ++i)
{
CastBatchItem item = castBatchItems[i];
RaycastHit hit = results[i];
double relativeDistance = 0;
double relativeAggression = 0;
double relativeFitness = 0;
if (hit.transform != null)
{
// Distance
relativeDistance = 1 - (hit.distance / item.Sensor.MaxDistance);
// Relative Stats
GameObjectEntity goe = hit.collider.GetComponent <GameObjectEntity>();
if (goe != null)
{
Stats otherStats = EntityManager.GetComponentData <Stats>(goe.Entity);
// Aggression
relativeAggression = item.Stats.Aggression != 0
? Math.Tanh((otherStats.Aggression / item.Stats.Aggression) - 1)
: Math.Tanh(otherStats.Aggression);
// Fitness
if (item.Stats.Tag == otherStats.Tag)
{
relativeFitness = item.Stats.Fitness != 0
? Math.Tanh((otherStats.Fitness / item.Stats.Fitness) - 1)
: Math.Tanh(otherStats.Fitness);
}
else
{
relativeFitness = -1;
}
}
}
item.SensorData.Data[item.ResultIndex + 0] = relativeDistance;
item.SensorData.Data[item.ResultIndex + 1] = relativeAggression;
item.SensorData.Data[item.ResultIndex + 2] = relativeFitness;
}
// Dispose the buffers
results.Dispose();
commands.Dispose();
return;
}
/// <summary>
/// Creates the grid of nodes.
/// </summary>
public void CreateGrid()
{
DestroyGrid();
// Note: perhaps we might want to snap the extents value when editing the bounding box
// in the editor?
Bounds scanBounds = scanCollider.bounds;
ScanAreaSettings scanSettings = new ScanAreaSettings(scanBounds.center, scanBounds.extents, walkableMask);
int gridDimension = scanSettings.dimension;
nodesTransforms = new NativeArray <NodeTransform>(gridDimension, Allocator.Persistent);
nodesTypes = new NativeArray <NodeType>(gridDimension, Allocator.Persistent);
nodesNeighbors = new NativeArray <NodeNeighbor>(gridDimension * NodeNeighbors, Allocator.Persistent);
// calculate the raycast commands
CalculateRaycastCommandsJob calculateCommandsJob = new CalculateRaycastCommandsJob(scanSettings);
JobHandle calculateCommandsHandle = calculateCommandsJob.Schedule(gridDimension, 32);
// schedule the raycast commands to retrieve the hits
NativeArray <RaycastHit> nodeHits = new NativeArray <RaycastHit>(gridDimension, Allocator.TempJob);
JobHandle raycastCommandHandle = RaycastCommand.ScheduleBatch(calculateCommandsJob.commands, nodeHits, 1, calculateCommandsHandle);
// build the nodes using the received hits
CreateNodesJob createNodesJob = new CreateNodesJob(nodesTransforms, nodesTypes, nodeHits, calculateCommandsJob.commands);
JobHandle createNodesHandle = createNodesJob.Schedule(gridDimension, 32, raycastCommandHandle);
// calculate the boxcast commands to bake obstacles
BakeObstaclesSettings bakeObstaclesSettings = new BakeObstaclesSettings(maxCharacterHeight, boxToNodeObstaclePercentage, obstacleMask);
CalculateBoxcastCommandsJob calculateBoxcastCommandsJob = new CalculateBoxcastCommandsJob(bakeObstaclesSettings, nodesTransforms);
JobHandle calculateBoxcastHandle = calculateBoxcastCommandsJob.Schedule(gridDimension, 32, createNodesHandle);
// schedule the boxcast commands to retrieve the hits
NativeArray <RaycastHit> obstacleHits = new NativeArray <RaycastHit>(gridDimension, Allocator.TempJob);
JobHandle boxcastCommandHandle = BoxcastCommand.ScheduleBatch(calculateBoxcastCommandsJob.commands, obstacleHits, 1, calculateBoxcastHandle);
// prepare the bake obstacles job
BakeObstaclesJob bakeObstaclesJob = new BakeObstaclesJob(nodesTypes, obstacleHits);
JobHandle bakeObstaclesHandle = bakeObstaclesJob.Schedule(gridDimension, 32, boxcastCommandHandle);
// now calculate the neighbors
CalculateNeighborsJob calculateNeighborsJob = new CalculateNeighborsJob(nodesNeighbors, nodesTransforms, scanSettings, maxWalkableStep);
JobHandle calculateNeighborsHandle = calculateNeighborsJob.Schedule(gridDimension, 32, bakeObstaclesHandle);
// schedule disposing the stuff
JobHandle disposeHandle = calculateCommandsJob.commands.Dispose(createNodesHandle);
disposeHandle = JobHandle.CombineDependencies(disposeHandle, nodeHits.Dispose(createNodesHandle));
disposeHandle = JobHandle.CombineDependencies(disposeHandle, calculateBoxcastCommandsJob.commands.Dispose(boxcastCommandHandle));
disposeHandle = JobHandle.CombineDependencies(disposeHandle, obstacleHits.Dispose(bakeObstaclesHandle));
// wait to complete all the scheduled stuff
calculateNeighborsHandle.Complete();
gridWidth = scanSettings.gridWidth;
gridDepth = scanSettings.gridDepth;
isGridCreated = true;
#if DEBUG_RENDER
RecalculateDebug();
#endif
}