private static byte[] SerializeNodeIndices(NavGraph[] graphs)
{
MemoryStream memoryStream = new MemoryStream();
BinaryWriter writer = new BinaryWriter(memoryStream);
int maxNodeIndexInAllGraphs = AstarSerializer.GetMaxNodeIndexInAllGraphs(graphs);
writer.Write(maxNodeIndexInAllGraphs);
int maxNodeIndex2 = 0;
Action <GraphNode> < > 9__0;
for (int i = 0; i < graphs.Length; i++)
{
if (graphs[i] != null)
{
NavGraph navGraph = graphs[i];
Action <GraphNode> action;
if ((action = < > 9__0) == null)
{
action = (< > 9__0 = delegate(GraphNode node)
{
maxNodeIndex2 = Math.Max(node.NodeIndex, maxNodeIndex2);
writer.Write(node.NodeIndex);
});
}
navGraph.GetNodes(action);
}
}
if (maxNodeIndex2 != maxNodeIndexInAllGraphs)
{
throw new Exception("Some graphs are not consistent in their GetNodes calls, sequential calls give different results.");
}
byte[] result = memoryStream.ToArray();
writer.Close();
return(result);
}
private IEnumerable <Progress> ScanGraph(NavGraph graph)
{
if (AstarPath.OnGraphPreScan != null)
{
yield return(new Progress(0f, "Pre processing"));
AstarPath.OnGraphPreScan(graph);
}
yield return(new Progress(0f, ""));
foreach (Progress progress in graph.ScanInternal())
{
yield return(new Progress(Mathf.Lerp(0f, 0.95f, progress.progress), progress.description));
}
IEnumerator <Progress> enumerator = null;
yield return(new Progress(0.95f, "Assigning graph indices"));
graph.GetNodes(delegate(GraphNode node)
{
node.GraphIndex = graph.graphIndex;
});
if (AstarPath.OnGraphPostScan != null)
{
yield return(new Progress(0.99f, "Post processing"));
AstarPath.OnGraphPostScan(graph);
}
yield break;
yield break;
}
private static int GetMaxNodeIndexInAllGraphs(NavGraph[] graphs)
{
int maxIndex = 0;
Action <GraphNode> < > 9__0;
for (int i = 0; i < graphs.Length; i++)
{
if (graphs[i] != null)
{
NavGraph navGraph = graphs[i];
Action <GraphNode> action;
if ((action = < > 9__0) == null)
{
action = (< > 9__0 = delegate(GraphNode node)
{
maxIndex = Math.Max(node.NodeIndex, maxIndex);
if (node.NodeIndex == -1)
{
Debug.LogError("Graph contains destroyed nodes. This is a bug.");
}
});
}
navGraph.GetNodes(action);
}
}
return(maxIndex);
}
IEnumerable <Progress> ScanGraph(NavGraph graph)
{
if (OnGraphPreScan != null)
{
yield return(new Progress(0, "Pre processing"));
OnGraphPreScan(graph);
}
yield return(new Progress(0, ""));
foreach (var p in ((IGraphInternals)graph).ScanInternal())
{
yield return(p.MapTo(0, 0.95f));
}
yield return(new Progress(0.95f, "Assigning graph indices"));
// Assign the graph index to every node in the graph
graph.GetNodes(node => node.GraphIndex = (uint)graph.graphIndex);
if (OnGraphPostScan != null)
{
yield return(new Progress(0.99f, "Post processing"));
OnGraphPostScan(graph);
}
}
/** Used to serialize references to other nodes e.g connections.
* Nodes use the GraphSerializationContext.GetNodeIdentifier and
* GraphSerializationContext.GetNodeFromIdentifier methods
* for serialization and deserialization respectively.
*/
static byte[] SerializeGraphNodeReferences(NavGraph graph)
{
var stream = new MemoryStream();
var writer = new BinaryWriter(stream);
var ctx = new GraphSerializationContext(writer);
graph.GetNodes(node => node.SerializeReferences(ctx));
writer.Close();
var bytes = stream.ToArray();
return(bytes);
}
private static byte[] SerializeGraphNodeReferences(NavGraph graph)
{
MemoryStream memoryStream = new MemoryStream();
BinaryWriter binaryWriter = new BinaryWriter(memoryStream);
GraphSerializationContext ctx = new GraphSerializationContext(binaryWriter);
graph.GetNodes(delegate(GraphNode node)
{
node.SerializeReferences(ctx);
});
binaryWriter.Close();
return(memoryStream.ToArray());
}
void DeserializeNodeReferences(NavGraph graph, GraphNode[] int2Node)
{
var zipIndex = graphIndexInZip[graph];
var entry = GetEntry("graph" + zipIndex + "_references" + binaryExt);
if (entry == null)
{
throw new Exception("Node references for graph " + zipIndex + " not found in the data. Was this loaded from an older version of the A* Pathfinding Project?");
}
var reader = GetBinaryReader(entry);
var ctx = new GraphSerializationContext(reader, int2Node, graph.graphIndex, meta);
graph.GetNodes(node => node.DeserializeReferences(ctx));
}
/// <summary>
/// Returns the node closest to the ray (slow).
/// Warning: This function is brute-force and very slow, use with caution
/// </summary>
public GraphNode GetNearest(Ray ray)
{
if (graphs == null)
{
return(null);
}
float minDist = Mathf.Infinity;
GraphNode nearestNode = null;
Vector3 lineDirection = ray.direction;
Vector3 lineOrigin = ray.origin;
for (int i = 0; i < graphs.Length; i++)
{
NavGraph graph = graphs[i];
graph.GetNodes(node => {
Vector3 pos = (Vector3)node.position;
Vector3 p = lineOrigin + (Vector3.Dot(pos - lineOrigin, lineDirection) * lineDirection);
float tmp = Mathf.Abs(p.x - pos.x);
tmp *= tmp;
if (tmp > minDist)
{
return;
}
tmp = Mathf.Abs(p.z - pos.z);
tmp *= tmp;
if (tmp > minDist)
{
return;
}
float dist = (p - pos).sqrMagnitude;
if (dist < minDist)
{
minDist = dist;
nearestNode = node;
}
return;
});
}
return(nearestNode);
}
private GraphNode[] DeserializeNodeReferenceMap()
{
ZipEntry entry = this.GetEntry("graph_references.binary");
if (entry == null)
{
throw new Exception("Node references not found in the data. Was this loaded from an older version of the A* Pathfinding Project?");
}
BinaryReader reader = AstarSerializer.GetBinaryReader(entry);
int num = reader.ReadInt32();
GraphNode[] int2Node = new GraphNode[num + 1];
try
{
Action <GraphNode> < > 9__0;
for (int i = 0; i < this.graphs.Length; i++)
{
NavGraph navGraph = this.graphs[i];
Action <GraphNode> action;
if ((action = < > 9__0) == null)
{
action = (< > 9__0 = delegate(GraphNode node)
{
int num2 = reader.ReadInt32();
int2Node[num2] = node;
});
}
navGraph.GetNodes(action);
}
}
catch (Exception innerException)
{
throw new Exception("Some graph(s) has thrown an exception during GetNodes, or some graph(s) have deserialized more or fewer nodes than were serialized", innerException);
}
if (reader.BaseStream.Position != reader.BaseStream.Length)
{
throw new Exception(string.Concat(new object[]
{
reader.BaseStream.Length / 4L,
" nodes were serialized, but only data for ",
reader.BaseStream.Position / 4L,
" nodes was found. The data looks corrupt."
}));
}
reader.Close();
return(int2Node);
}
private void DeserializeNodeReferences(NavGraph graph, GraphNode[] int2Node)
{
int num = this.graphIndexInZip[graph];
ZipEntry entry = this.GetEntry("graph" + num + "_references.binary");
if (entry == null)
{
throw new Exception("Node references for graph " + num + " not found in the data. Was this loaded from an older version of the A* Pathfinding Project?");
}
BinaryReader binaryReader = AstarSerializer.GetBinaryReader(entry);
GraphSerializationContext ctx = new GraphSerializationContext(binaryReader, int2Node, graph.graphIndex, this.meta);
graph.GetNodes(delegate(GraphNode node)
{
node.DeserializeReferences(ctx);
});
}
public GraphNode GetNearest(Ray ray)
{
if (this.graphs == null)
{
return(null);
}
float minDist = float.PositiveInfinity;
GraphNode nearestNode = null;
Vector3 lineDirection = ray.direction;
Vector3 lineOrigin = ray.origin;
Action <GraphNode> < > 9__0;
for (int i = 0; i < this.graphs.Length; i++)
{
NavGraph navGraph = this.graphs[i];
Action <GraphNode> action;
if ((action = < > 9__0) == null)
{
action = (< > 9__0 = delegate(GraphNode node)
{
Vector3 vector = (Vector3)node.position;
Vector3 vector2 = lineOrigin + Vector3.Dot(vector - lineOrigin, lineDirection) * lineDirection;
float num = Mathf.Abs(vector2.x - vector.x);
if (num * num > minDist)
{
return;
}
float num2 = Mathf.Abs(vector2.z - vector.z);
if (num2 * num2 > minDist)
{
return;
}
float sqrMagnitude = (vector2 - vector).sqrMagnitude;
if (sqrMagnitude < minDist)
{
minDist = sqrMagnitude;
nearestNode = node;
}
});
}
navGraph.GetNodes(action);
}
return(nearestNode);
}
/** Used to serialize references to other nodes e.g connections.
* Nodes use the GraphSerializationContext.GetNodeIdentifier and
* GraphSerializationContext.GetNodeFromIdentifier methods
* for serialization and deserialization respectively.
*/
static byte[] SerializeGraphNodeReferences(NavGraph graph)
{
var stream = new MemoryStream();
var wr = new BinaryWriter(stream);
var ctx = new GraphSerializationContext(wr);
graph.GetNodes(node => {
node.SerializeReferences(ctx);
return(true);
});
#if NETFX_CORE
wr.Dispose();
#else
wr.Close();
#endif
var bytes = stream.ToArray();
return(bytes);
}
public GraphNode GetNearest(Ray ray)
{
if (this.graphs == null)
{
return(null);
}
float minDist = float.PositiveInfinity;
GraphNode nearestNode = null;
Vector3 lineDirection = ray.direction;
Vector3 lineOrigin = ray.origin;
for (int i = 0; i < this.graphs.Length; i++)
{
NavGraph navGraph = this.graphs[i];
navGraph.GetNodes(delegate(GraphNode node)
{
Vector3 vector = (Vector3)node.position;
Vector3 a = lineOrigin + Vector3.Dot(vector - lineOrigin, lineDirection) * lineDirection;
float num = Mathf.Abs(a.x - vector.x);
num *= num;
if (num > minDist)
{
return(true);
}
num = Mathf.Abs(a.z - vector.z);
num *= num;
if (num > minDist)
{
return(true);
}
float sqrMagnitude = (a - vector).sqrMagnitude;
if (sqrMagnitude < minDist)
{
minDist = sqrMagnitude;
nearestNode = node;
}
return(true);
});
}
return(nearestNode);
}
private bool AnyDestroyedNodesInGraphs()
{
bool result = false;
Action <GraphNode> < > 9__0;
for (int i = 0; i < this.graphs.Length; i++)
{
NavGraph navGraph = this.graphs[i];
Action <GraphNode> action;
if ((action = < > 9__0) == null)
{
action = (< > 9__0 = delegate(GraphNode node)
{
if (node.Destroyed)
{
result = true;
}
});
}
navGraph.GetNodes(action);
}
return(result);
}
private void RecalculateDebugLimits()
{
this.debugFloor = float.PositiveInfinity;
this.debugRoof = float.NegativeInfinity;
bool ignoreSearchTree = !this.showSearchTree || this.debugPathData == null;
Action <GraphNode> < > 9__0;
for (int i = 0; i < this.graphs.Length; i++)
{
if (this.graphs[i] != null && this.graphs[i].drawGizmos)
{
NavGraph navGraph = this.graphs[i];
Action <GraphNode> action;
if ((action = < > 9__0) == null)
{
action = (< > 9__0 = delegate(GraphNode node)
{
if (ignoreSearchTree || GraphGizmoHelper.InSearchTree(node, this.debugPathData, this.debugPathID))
{
if (this.debugMode == GraphDebugMode.Penalty)
{
this.debugFloor = Mathf.Min(this.debugFloor, node.Penalty);
this.debugRoof = Mathf.Max(this.debugRoof, node.Penalty);
return;
}
if (this.debugPathData != null)
{
PathNode pathNode = this.debugPathData.GetPathNode(node);
switch (this.debugMode)
{
case GraphDebugMode.G:
this.debugFloor = Mathf.Min(this.debugFloor, pathNode.G);
this.debugRoof = Mathf.Max(this.debugRoof, pathNode.G);
return;
case GraphDebugMode.H:
this.debugFloor = Mathf.Min(this.debugFloor, pathNode.H);
this.debugRoof = Mathf.Max(this.debugRoof, pathNode.H);
break;
case GraphDebugMode.F:
this.debugFloor = Mathf.Min(this.debugFloor, pathNode.F);
this.debugRoof = Mathf.Max(this.debugRoof, pathNode.F);
return;
default:
return;
}
}
}
});
}
navGraph.GetNodes(action);
}
}
if (float.IsInfinity(this.debugFloor))
{
this.debugFloor = 0f;
this.debugRoof = 1f;
}
if (this.debugRoof - this.debugFloor < 1f)
{
this.debugRoof += 1f;
}
}
public bool DrawGraph (NavGraph graph, GraphEditor graphEditor) {
Color tmp1 = GUI.color;
EditorGUILayoutx.FadeArea topFadeArea = GUILayoutx.BeginFadeArea (graph.open,"","graph_"+graph.guid,graphBoxStyle);
Color tmp2 = GUI.color;
GUI.color = tmp1;
GUILayout.BeginHorizontal ();
string graphNameControl = "graph_"+graph.guid+"_name";
if (graph.name == null) graph.name = graphEditorTypes[graph.GetType ().Name].displayName;
GUI.SetNextControlName (graphNameControl);
graph.name = GUILayout.TextField (graph.name, EditorGUILayoutx.defaultLabelStyle, GUILayout.ExpandWidth(false),GUILayout.ExpandHeight(false));
if (graph.name == "" && Event.current.type == EventType.Repaint && GUI.GetNameOfFocusedControl() != graphNameControl) {
graph.name = graphEditorTypes[graph.GetType ().Name].displayName;
}
if (GUILayout.Button ("",EditorGUILayoutx.defaultLabelStyle)) {
graph.open = !graph.open;
if (!graph.open) {
graph.infoScreenOpen = false;
}
RepaintSceneView ();
return true;
}
if (script.prioritizeGraphs) {
if (GUILayout.Button (new GUIContent ("Up","Increase the graph priority"),GUILayout.Width (40))) {
int index = script.astarData.GetGraphIndex (graph);
//Find the next non null graph
int next = index-1;
for (;next >= 0;next--) if (script.graphs[next] != null) break;
if (next >= 0) {
NavGraph tmp = script.graphs[next];
script.graphs[next] = graph;
script.graphs[index] = tmp;
GraphEditor tmpEditor = graphEditors[next];
graphEditors[next] = graphEditors[index];
graphEditors[index] = tmpEditor;
}
CheckGraphEditors ();
Repaint ();
}
if (GUILayout.Button (new GUIContent ("Down","Decrease the graph priority"),GUILayout.Width (40))) {
int index = script.astarData.GetGraphIndex (graph);
//Find the next non null graph
int next = index+1;
for (;next<script.graphs.Length;next++) if (script.graphs[next] != null) break;
if (next < script.graphs.Length) {
NavGraph tmp = script.graphs[next];
script.graphs[next] = graph;
script.graphs[index] = tmp;
GraphEditor tmpEditor = graphEditors[next];
graphEditors[next] = graphEditors[index];
graphEditors[index] = tmpEditor;
}
CheckGraphEditors ();
Repaint ();
}
}
bool drawGizmos = GUILayout.Toggle (graph.drawGizmos,"Draw Gizmos",graphGizmoButtonStyle);
if (drawGizmos != graph.drawGizmos) {
graph.drawGizmos = drawGizmos;
RepaintSceneView ();
}
if (GUILayout.Toggle (graph.infoScreenOpen,"Info",graphInfoButtonStyle)) {
if (!graph.infoScreenOpen) {
graph.infoScreenOpen = true;
graph.open = true;
}
} else {
graph.infoScreenOpen = false;
}
if (GUILayout.Button ("Delete",graphDeleteButtonStyle)) {
RemoveGraph (graph);
return true;
}
GUILayout.EndHorizontal ();
if (topFadeArea.Show () ) {
EditorGUILayoutx.FadeArea fadeArea = GUILayoutx.BeginFadeArea (graph.infoScreenOpen,"graph_info_"+graph.guid,0);
if (fadeArea.Show ()) {
bool nodenull = false;
int total = 0;
int numWalkable = 0;
KeyValuePair<float,KeyValuePair<int,int>> pair;
if ( graphNodeCounts == null ) graphNodeCounts = new Dictionary<NavGraph, KeyValuePair<float, KeyValuePair<int, int>>>();
if ( !graphNodeCounts.TryGetValue ( graph, out pair ) || (Time.realtimeSinceStartup-pair.Key) > 2 ) {
GraphNodeDelegateCancelable counter = delegate (GraphNode node) {
if (node == null) {
nodenull = true;
return true;
}
total++;
if (node.Walkable) numWalkable++;
return true;
};
graph.GetNodes (counter);
pair = new KeyValuePair<float, KeyValuePair<int, int>> (Time.realtimeSinceStartup, new KeyValuePair<int,int>( total, numWalkable ) );
graphNodeCounts[graph] = pair;
}
total = pair.Value.Key;
numWalkable = pair.Value.Value;
EditorGUI.indentLevel++;
if (nodenull) {
//EditorGUILayout.HelpBox ("Some nodes in the graph are null. Please report this error.", MessageType.Info);
Debug.LogError ("Some nodes in the graph are null. Please report this error.");
}
EditorGUILayout.LabelField ("Nodes",total.ToString());
EditorGUILayout.LabelField ("Walkable",numWalkable.ToString ());
EditorGUILayout.LabelField ("Unwalkable",(total-numWalkable).ToString ());
if (total == 0) EditorGUILayout.HelpBox ("The number of nodes in the graph is zero. The graph might not be scanned",MessageType.Info);
EditorGUI.indentLevel--;
}
GUILayoutx.EndFadeArea ();
GUI.color = tmp2;
graphEditor.OnInspectorGUI (graph);
graphEditor.OnBaseInspectorGUI (graph);
}
GUILayoutx.EndFadeArea ();
return false;
}
