void SearchBox (int boxi, Vector3 p, NNConstraint constraint, ref NNInfo nnInfo) {//, int intendentLevel = 0) {
BBTreeBox box = arr[boxi];
if (box.node != null) {
//Leaf node
if (box.node.ContainsPoint ((Int3)p)) {
//Update the NNInfo
if (nnInfo.node == null) {
nnInfo.node = box.node;
} else if (Mathf.Abs(((Vector3)box.node.position).y - p.y) < Mathf.Abs (((Vector3)nnInfo.node.position).y - p.y)) {
nnInfo.node = box.node;
}
if (constraint.Suitable (box.node)) {
if (nnInfo.constrainedNode == null) {
nnInfo.constrainedNode = box.node;
} else if (Mathf.Abs(box.node.position.y - p.y) < Mathf.Abs (nnInfo.constrainedNode.position.y - p.y)) {
nnInfo.constrainedNode = box.node;
}
}
}
return;
}
//Search children
if (arr[box.left].Contains(p)) {
SearchBox (box.left,p, constraint, ref nnInfo);
}
if (arr[box.right].Contains(p)) {
SearchBox (box.right,p, constraint, ref nnInfo);
}
}
/** Returns the nearest node to a position using the specified NNConstraint.
* \param position The position to try to find a close node to
* \param hint Can be passed to enable some graph generators to find the nearest node faster.
* \param constraint Can for example tell the function to try to return a walkable node. If you do not get a good node back, consider calling GetNearestForce. */
public virtual NNInfo GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint) {
// This is a default implementation and it is pretty slow
// Graphs usually override this to provide faster and more specialised implementations
float maxDistSqr = constraint.constrainDistance ? AstarPath.active.maxNearestNodeDistanceSqr : float.PositiveInfinity;
float minDist = float.PositiveInfinity;
GraphNode minNode = null;
float minConstDist = float.PositiveInfinity;
GraphNode minConstNode = null;
// Loop through all nodes and find the closest suitable node
GetNodes (node => {
float dist = (position-(Vector3)node.position).sqrMagnitude;
if (dist < minDist) {
minDist = dist;
minNode = node;
}
if (dist < minConstDist && dist < maxDistSqr && constraint.Suitable (node)) {
minConstDist = dist;
minConstNode = node;
}
return true;
});
var nnInfo = new NNInfo (minNode);
nnInfo.constrainedNode = minConstNode;
if (minConstNode != null) {
nnInfo.constClampedPosition = (Vector3)minConstNode.position;
} else if (minNode != null) {
nnInfo.constrainedNode = minNode;
nnInfo.constClampedPosition = (Vector3)minNode.position;
}
return nnInfo;
}
void SearchBoxClosest (int boxi, Vector3 p, ref float closestDist, NNConstraint constraint, ref NNInfo nnInfo) {
BBTreeBox box = arr[boxi];
if (box.node != null) {
//Leaf node
if (NodeIntersectsCircle (box.node,p,closestDist)) {
//Update the NNInfo
#if ASTARDEBUG
Debug.DrawLine ((Vector3)box.node.GetVertex(1) + Vector3.up*0.2f,(Vector3)box.node.GetVertex(2) + Vector3.up*0.2f,Color.red);
Debug.DrawLine ((Vector3)box.node.GetVertex(0) + Vector3.up*0.2f,(Vector3)box.node.GetVertex(1) + Vector3.up*0.2f,Color.red);
Debug.DrawLine ((Vector3)box.node.GetVertex(2) + Vector3.up*0.2f,(Vector3)box.node.GetVertex(0) + Vector3.up*0.2f,Color.red);
#endif
Vector3 closest = box.node.ClosestPointOnNode (p);
if (constraint == null || constraint.Suitable (box.node)) {
float dist = (closest-p).sqrMagnitude;
if (nnInfo.constrainedNode == null) {
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
closestDist = (float)Math.Sqrt (dist);
} else if (dist < closestDist*closestDist) {
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
closestDist = (float)Math.Sqrt (dist);
}
}
} else {
#if ASTARDEBUG
Debug.DrawLine ((Vector3)box.node.GetVertex(0),(Vector3)box.node.GetVertex(1),Color.blue);
Debug.DrawLine ((Vector3)box.node.GetVertex(1),(Vector3)box.node.GetVertex(2),Color.blue);
Debug.DrawLine ((Vector3)box.node.GetVertex(2),(Vector3)box.node.GetVertex(0),Color.blue);
#endif
}
} else {
#if ASTARDEBUG
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMin),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMax),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMin,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMax,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
#endif
//Search children
if (RectIntersectsCircle (arr[box.left].rect,p,closestDist)) {
SearchBoxClosest (box.left,p, ref closestDist, constraint, ref nnInfo);
}
if (RectIntersectsCircle (arr[box.right].rect,p,closestDist)) {
SearchBoxClosest (box.right,p, ref closestDist, constraint, ref nnInfo);
}
}
}
void SearchBoxCircle (int boxi, Vector3 p, float radius, NNConstraint constraint, ref NNInfo nnInfo) {//, int intendentLevel = 0) {
BBTreeBox box = arr[boxi];
if (box.node != null) {
//Leaf node
if (NodeIntersectsCircle (box.node,p,radius)) {
//Update the NNInfo
#if ASTARDEBUG
Debug.DrawLine ((Vector3)box.node.GetVertex(0),(Vector3)box.node.GetVertex(1),Color.red);
Debug.DrawLine ((Vector3)box.node.GetVertex(1),(Vector3)box.node.GetVertex(2),Color.red);
Debug.DrawLine ((Vector3)box.node.GetVertex(2),(Vector3)box.node.GetVertex(0),Color.red);
#endif
Vector3 closest = box.node.ClosestPointOnNode (p);//NavMeshGraph.ClosestPointOnNode (box.node,graph.vertices,p);
float dist = (closest-p).sqrMagnitude;
if (nnInfo.node == null) {
nnInfo.node = box.node;
nnInfo.clampedPosition = closest;
} else if (dist < (nnInfo.clampedPosition - p).sqrMagnitude) {
nnInfo.node = box.node;
nnInfo.clampedPosition = closest;
}
if (constraint == null || constraint.Suitable (box.node)) {
if (nnInfo.constrainedNode == null) {
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
} else if (dist < (nnInfo.constClampedPosition - p).sqrMagnitude) {
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
}
}
} else {
#if ASTARDEBUG
Debug.DrawLine ((Vector3)box.node.GetVertex(0),(Vector3)box.node.GetVertex(1),Color.blue);
Debug.DrawLine ((Vector3)box.node.GetVertex(1),(Vector3)box.node.GetVertex(2),Color.blue);
Debug.DrawLine ((Vector3)box.node.GetVertex(2),(Vector3)box.node.GetVertex(0),Color.blue);
#endif
}
return;
}
#if ASTARDEBUG
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMin),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMax),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMin,0,box.rect.yMin),new Vector3 (box.rect.xMin,0,box.rect.yMax),Color.white);
Debug.DrawLine (new Vector3 (box.rect.xMax,0,box.rect.yMin),new Vector3 (box.rect.xMax,0,box.rect.yMax),Color.white);
#endif
//Search children
if (RectIntersectsCircle (arr[box.left].rect,p,radius)) {
SearchBoxCircle (box.left,p, radius, constraint, ref nnInfo);
}
if (RectIntersectsCircle (arr[box.right].rect,p,radius)) {
SearchBoxCircle (box.right,p, radius, constraint, ref nnInfo);
}
}
/** Queries the tree for the best node, searching within a circle around \a p with the specified radius.
* Will fill in both the constrained node and the not constrained node in the NNInfo.
*
* \see QueryClosest
*/
public NNInfo QueryCircle (Vector3 p, float radius, NNConstraint constraint) {
if ( count == 0 ) return new NNInfo(null);
var nnInfo = new NNInfo (null);
SearchBoxCircle (0,p, radius, constraint, ref nnInfo);
nnInfo.UpdateInfo ();
return nnInfo;
}
/** Queries the tree for the closest node to \a p constrained by the NNConstraint trying to improve an existing solution.
* Note that this function will, unlike QueryCircle, only fill in the constrained node.
* If you want a node not constrained by any NNConstraint, do an additional search with constraint = NNConstraint.None
*
* \param p Point to search around
* \param constraint Optionally set to constrain which nodes to return
* \param distance The best distance for the \a previous solution. Will be updated with the best distance
* after this search. Will be positive infinity if no node could be found.
* Set to positive infinity if there was no previous solution.
* \param previous This search will start from the \a previous NNInfo and improve it if possible.
* Even if the search fails on this call, the solution will never be worse than \a previous.
*
* \see QueryCircle
*/
public NNInfo QueryClosest (Vector3 p, NNConstraint constraint, ref float distance, NNInfo previous) {
if ( count == 0 ) return previous;
SearchBoxClosest (0,p, ref distance, constraint, ref previous);
return previous;
}
public NNInfo Query (Vector3 p, NNConstraint constraint) {
if ( count == 0 ) return new NNInfo(null);
var nnInfo = new NNInfo ();
SearchBox (0,p, constraint, ref nnInfo);
nnInfo.UpdateInfo ();
return nnInfo;
}
/** \todo Set clamped position for Grid Graph */
public override NNInfo GetNearestForce (Vector3 position, NNConstraint constraint) {
if (nodes == null || depth*width != nodes.Length) {
return new NNInfo ();
}
// Position in global space
Vector3 globalPosition = position;
// Position in graph space
position = inverseMatrix.MultiplyPoint3x4 (position);
// Find the coordinates of the closest node
float xf = position.x-0.5F;
float zf = position.z-0.5f;
int x = Mathf.Clamp (Mathf.RoundToInt (xf) , 0, width-1);
int z = Mathf.Clamp (Mathf.RoundToInt (zf) , 0, depth-1);
// Closest node
GridNode node = nodes[x+z*width];
GridNode minNode = null;
float minDist = float.PositiveInfinity;
int overlap = getNearestForceOverlap;
Vector3 clampedPosition = Vector3.zero;
var nn = new NNInfo(null);
// If the closest node was suitable
if (constraint.Suitable (node)) {
minNode = node;
minDist = ((Vector3)minNode.position-globalPosition).sqrMagnitude;
float y = inverseMatrix.MultiplyPoint3x4((Vector3)node.position).y;
clampedPosition = matrix.MultiplyPoint3x4 (new Vector3(Mathf.Clamp(xf,x-0.5f,x+0.5f)+0.5f, y, Mathf.Clamp(zf,z-0.5f,z+0.5f)+0.5f));
}
if (minNode != null) {
nn.node = minNode;
nn.clampedPosition = clampedPosition;
// We have a node, and we don't need to search more, so just return
if (overlap == 0) return nn;
overlap--;
}
// Search up to this distance
float maxDist = constraint.constrainDistance ? AstarPath.active.maxNearestNodeDistance : float.PositiveInfinity;
float maxDistSqr = maxDist*maxDist;
// Search a square/spiral pattern around the point
for (int w = 1;;w++) {
//Check if the nodes are within distance limit
if (nodeSize*w > maxDist) {
nn.node = minNode;
nn.clampedPosition = clampedPosition;
return nn;
}
bool anyInside = false;
int nx;
int nz = z+w;
int nz2 = nz*width;
// Side 1 on the square
for (nx = x-w;nx <= x+w;nx++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
anyInside = true;
if (constraint.Suitable (nodes[nx+nz2])) {
float dist = ((Vector3)nodes[nx+nz2].position-globalPosition).sqrMagnitude;
if (dist < minDist && dist < maxDistSqr) {
// Minimum distance so far
minDist = dist;
minNode = nodes[nx+nz2];
// Closest point on the node if the node is treated as a square
clampedPosition = matrix.MultiplyPoint3x4 (new Vector3 (Mathf.Clamp(xf,nx-0.5f,nx+0.5f)+0.5f, inverseMatrix.MultiplyPoint3x4((Vector3)minNode.position).y, Mathf.Clamp(zf,nz-0.5f,nz+0.5f)+0.5f));
}
}
}
nz = z-w;
nz2 = nz*width;
// Side 2 on the square
for (nx = x-w;nx <= x+w;nx++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
anyInside = true;
if (constraint.Suitable (nodes[nx+nz2])) {
float dist = ((Vector3)nodes[nx+nz2].position-globalPosition).sqrMagnitude;
if (dist < minDist && dist < maxDistSqr) {
minDist = dist;
minNode = nodes[nx+nz2];
clampedPosition = matrix.MultiplyPoint3x4 (new Vector3 (Mathf.Clamp(xf,nx-0.5f,nx+0.5f)+0.5f, inverseMatrix.MultiplyPoint3x4((Vector3)minNode.position).y, Mathf.Clamp(zf,nz-0.5f,nz+0.5f)+0.5f));
}
}
}
nx = x-w;
// Side 3 on the square
for (nz = z-w+1;nz <= z+w-1; nz++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
anyInside = true;
if (constraint.Suitable (nodes[nx+nz*width])) {
float dist = ((Vector3)nodes[nx+nz*width].position-globalPosition).sqrMagnitude;
if (dist < minDist && dist < maxDistSqr) {
minDist = dist;
minNode = nodes[nx+nz*width];
clampedPosition = matrix.MultiplyPoint3x4 (new Vector3 (Mathf.Clamp(xf,nx-0.5f,nx+0.5f)+0.5f, inverseMatrix.MultiplyPoint3x4((Vector3)minNode.position).y, Mathf.Clamp(zf,nz-0.5f,nz+0.5f)+0.5f));
}
}
}
nx = x+w;
// Side 4 on the square
for (nz = z-w+1;nz <= z+w-1; nz++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
anyInside = true;
if (constraint.Suitable (nodes[nx+nz*width])) {
float dist = ((Vector3)nodes[nx+nz*width].position-globalPosition).sqrMagnitude;
if (dist < minDist && dist < maxDistSqr) {
minDist = dist;
minNode = nodes[nx+nz*width];
clampedPosition = matrix.MultiplyPoint3x4 (new Vector3 (Mathf.Clamp(xf,nx-0.5f,nx+0.5f)+0.5f, inverseMatrix.MultiplyPoint3x4((Vector3)minNode.position).y, Mathf.Clamp(zf,nz-0.5f,nz+0.5f)+0.5f));
}
}
}
// We found a suitable node
if (minNode != null) {
// If we don't need to search more, just return
// Otherwise search for 'overlap' iterations more
if (overlap == 0) {
nn.node = minNode;
nn.clampedPosition = clampedPosition;
return nn;
}
overlap--;
}
// No nodes were inside grid bounds
// We will not be able to find any more valid nodes
// so just return
if (!anyInside) {
nn.node = minNode;
nn.clampedPosition = clampedPosition;
return nn;
}
}
}
/** \todo Set clamped position for Grid Graph */
public override NNInfo GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint) {
if (nodes == null || depth*width != nodes.Length) {
return new NNInfo ();
}
position = inverseMatrix.MultiplyPoint3x4 (position);
float xf = position.x-0.5F;
float zf = position.z-0.5f;
int x = Mathf.Clamp (Mathf.RoundToInt (xf) , 0, width-1);
int z = Mathf.Clamp (Mathf.RoundToInt (zf) , 0, depth-1);
var nn = new NNInfo(nodes[z*width+x]);
float y = inverseMatrix.MultiplyPoint3x4((Vector3)nodes[z*width+x].position).y;
nn.clampedPosition = matrix.MultiplyPoint3x4 (new Vector3(Mathf.Clamp(xf,x-0.5f,x+0.5f)+0.5f,y,Mathf.Clamp(zf,z-0.5f,z+0.5f)+0.5f));
return nn;
}
public override NNInfo GetNearestForce (Vector3 position, NNConstraint constraint) {
//return NavMeshGraph.GetNearest (this, nodes,position, constraint, accurateNearestNode);
if (tiles == null) return new NNInfo ();
Vector3 localPosition = position - forcedBounds.min;
int tx = Mathf.FloorToInt (localPosition.x / (cellSize*tileSizeX));
int tz = Mathf.FloorToInt (localPosition.z / (cellSize*tileSizeZ));
//Clamp to graph borders
tx = Mathf.Clamp (tx, 0, tileXCount-1);
tz = Mathf.Clamp (tz, 0, tileZCount-1);
int wmax = Math.Max (tileXCount, tileZCount);
var best = new NNInfo();
float bestDistance = float.PositiveInfinity;
bool xzSearch = nearestSearchOnlyXZ || ( constraint != null && constraint.distanceXZ );
//Debug.DrawRay (new Vector3(tx,0,tz)*cellSize*tileSize + forcedBounds.min, Vector3.up*15, Color.blue);
//Debug.DrawRay (new Vector3(tx,0,tz)*cellSize*tileSize + forcedBounds.min + Vector3.forward*5, Vector3.back*10, Color.blue);
//Debug.DrawRay (new Vector3(tx,0,tz)*cellSize*tileSize + forcedBounds.min + Vector3.left*5, Vector3.right*10, Color.blue);
//Search outwards in a diamond pattern from the closest tile
for (int w=0;w<wmax;w++) {
if (!xzSearch && bestDistance < (w-1)*cellSize*Math.Max (tileSizeX, tileSizeZ)) break;
int zmax = Math.Min (w+tz +1, tileZCount);
for (int z=Math.Max(-w+tz, 0); z < zmax; z++) {
//Solve for z such that abs(x-tx) + abs(z-tx) == w
//Delta X coordinate
int dx = Math.Abs( w - Math.Abs(z-tz));
//Solution is dx + tx and -dx + tx
//First solution negative delta x
if (-dx + tx >= 0) {
//Absolute x coordinate
int x = -dx + tx;
NavmeshTile tile = tiles[x + z*tileXCount];
if (tile != null) {
if (xzSearch) {
best = tile.bbTree.QueryClosestXZ (position, constraint, ref bestDistance, best);
if ( bestDistance < float.PositiveInfinity ) break;
} else {
best = tile.bbTree.QueryClosest (position, constraint, ref bestDistance, best);
}
}
}
//Other solution, make sure it is not the same solution by checking x != 0
if (dx != 0 && dx + tx < tileXCount) {
//Absolute x coordinate
int x = dx + tx;
NavmeshTile tile = tiles[x + z*tileXCount];
if (tile != null) {
if (xzSearch) {
best = tile.bbTree.QueryClosestXZ (position, constraint, ref bestDistance, best);
if ( bestDistance < float.PositiveInfinity ) break;
} else {
best = tile.bbTree.QueryClosest (position, constraint, ref bestDistance, best);
}
}
}
}
}
best.node = best.constrainedNode;
best.constrainedNode = null;
best.clampedPosition = best.constClampedPosition;
return best;
//return GetNearestForce (position, constraint);
}
/** This performs a linear search through all polygons returning the closest one.
* This will fill the NNInfo with .node for the closest node not necessarily complying with the NNConstraint, and .constrainedNode with the closest node
* complying with the NNConstraint.
* \see GetNearestForce(Node[],Int3[],Vector3,NNConstraint,bool)
*/
public static NNInfo GetNearestForceBoth (NavGraph graph, INavmeshHolder navmesh, Vector3 position, NNConstraint constraint, bool accurateNearestNode) {
var pos = (Int3)position;
float minDist = -1;
GraphNode minNode = null;
float minConstDist = -1;
GraphNode minConstNode = null;
float maxDistSqr = constraint.constrainDistance ? AstarPath.active.maxNearestNodeDistanceSqr : float.PositiveInfinity;
GraphNodeDelegateCancelable del = delegate (GraphNode _node) {
var node = _node as TriangleMeshNode;
if (accurateNearestNode) {
Vector3 closest = node.ClosestPointOnNode (position);
float dist = ((Vector3)pos-closest).sqrMagnitude;
if (minNode == null || dist < minDist) {
minDist = dist;
minNode = node;
}
if (dist < maxDistSqr && constraint.Suitable (node)) {
if (minConstNode == null || dist < minConstDist) {
minConstDist = dist;
minConstNode = node;
}
}
} else {
if (!node.ContainsPoint ((Int3)position)) {
float dist = (node.position-pos).sqrMagnitude;
if (minNode == null || dist < minDist) {
minDist = dist;
minNode = node;
}
if (dist < maxDistSqr && constraint.Suitable (node)) {
if (minConstNode == null || dist < minConstDist) {
minConstDist = dist;
minConstNode = node;
}
}
} else {
int dist = AstarMath.Abs (node.position.y-pos.y);
if (minNode == null || dist < minDist) {
minDist = dist;
minNode = node;
}
if (dist < maxDistSqr && constraint.Suitable (node)) {
if (minConstNode == null || dist < minConstDist) {
minConstDist = dist;
minConstNode = node;
}
}
}
}
return true;
};
graph.GetNodes (del);
var nninfo = new NNInfo (minNode);
//Find the point closest to the nearest triangle
if (nninfo.node != null) {
var node = nninfo.node as TriangleMeshNode;//minNode2 as MeshNode;
Vector3 clP = node.ClosestPointOnNode (position);
nninfo.clampedPosition = clP;
}
nninfo.constrainedNode = minConstNode;
if (nninfo.constrainedNode != null) {
var node = nninfo.constrainedNode as TriangleMeshNode;//minNode2 as MeshNode;
Vector3 clP = node.ClosestPointOnNode (position);
nninfo.constClampedPosition = clP;
}
return nninfo;
}
