protected override void OnUpdate()
{
if (First)
{
Entities.ForEach((Entity entity, ref PathFindingData data) =>
{
if (!hasDensityPresent && data.avoidMethod == CollisionAvoidanceMethod.DensityGrid)
{
hasDensityPresent = true;
}
});
}
if (!hasDensityPresent)
{
return;
}
MapChanged();
EntityQuery entityQuery = GetEntityQuery(typeof(Translation), typeof(Walker), typeof(CollisionParameters));
var clearJob = new ClearJob()
{
array = densityMatrix
};
var clearHandle = clearJob.Schedule(densityMatrix.Length, batchSize);
var job = new SetProbabilityJob()
{
quadrantHashMap = densityMatrix, oneLayer = Map.OneLayer, max = Map.Values
};
var handle = JobForEachExtensions.Schedule(job, entityQuery, clearHandle);
ForeachColliders();
var addJob = new AddArrayJob()
{
from = collidersDensity, to = densityMatrix
};
var addHandle = addJob.Schedule(densityMatrix.Length, batchSize, handle);
addHandle.Complete();
//Debug();
}
private void NewGoalPointAdded()
{
var clearJob = new ClearJob()
{
array = densityMatrix,
array2 = tempMatrix,
minIndex = densityMatrix.Length - Map.OneLayer * (goalPoints.Length - LastGoalPointCount)
};
var clearHandle = clearJob.Schedule(densityMatrix.Length, batchSize);
clearHandle.Complete();
while (LastGoalPointCount < goalPoints.Length)
{
var index = QuadrantVariables.IndexFromPosition(goalPoints[LastGoalPointCount], float3.zero, Map.Values);
densityMatrix[index.key + Map.OneLayer * LastGoalPointCount] = 0.5f;
tempMatrix[index.key + Map.OneLayer * LastGoalPointCount] = 0.5f;
LastGoalPointCount++;
}
}