/// <summary>
/// Returns the current max speed of an agent
/// </summary>
public float MaxSpeed(NavAgent agent)
{
if (m_agentKinematics == null)
{
return(agent.configuration.movement.topSpeed);
}
movingAllAgents.Complete();
int archetypeIndex = archetypes.IndexOf(agent.configuration.archetype);
return(m_agentKinematics[archetypeIndex][agent.index].maxSpeed);
}
/// <summary>
/// Changes the current max speed of an agent
/// </summary>
public void SetMaxSpeed(NavAgent agent, float maxSpeed)
{
movingAllAgents.Complete();
int archetypeIndex = archetypes.IndexOf(agent.configuration.archetype);
AgentKinematics kinematics = m_agentKinematics[archetypeIndex][agent.index];
kinematics.maxSpeed = maxSpeed;
NativeArray <AgentKinematics> agentKinematics = m_agentKinematics[archetypeIndex];
agentKinematics[agent.index] = kinematics;
}
//-------------------------------------------------
#region Public API
/// <summary>
/// Initializes the agent manager with an array of agent transforms
/// </summary>
public virtual void Initialize(Dictionary <NavAgentArchetype, List <Transform> > agents)
{
Dispose(); // clear any existing memory
int configCount = configurations.Count;
int archetypeCount = archetypes.Count;
// initialize agent movement configurations
m_movementTypes = new NativeArray <AgentMovement>(configCount, Allocator.Persistent);
for (int i = 0; i < configCount; i++)
{
m_movementTypes[i] = configurations[i].movement;
}
// initialize job handle arrays
m_updatingHandles = new NativeArray <JobHandle>(archetypeCount, Allocator.Persistent);
m_movingByArchetype = new NativeArray <JobHandle>(archetypeCount, Allocator.Persistent);
// initialize the agent properties
m_agentMovementTypes = new List <NativeArray <int> >(archetypeCount);
m_agentBehaviors = new List <NativeArray <AgentBehaviors> >(archetypeCount);
m_agentKinematics = new List <NativeArray <AgentKinematics> >(archetypeCount);
m_transformAccess = new List <TransformAccessArray>(archetypeCount);
m_agentSteering = new List <NativeArray <float3> >(archetypeCount);
m_totalAgents = new List <int>(archetypeCount);
// initialize the flow field data structures
int length = world.size.x * world.size.y * world.size.z;
m_flowFields = new List <NativeArray <byte> >(archetypeCount);
m_costFields = new List <NativeArray <byte> >(archetypeCount);
m_intFields = new List <NativeArray <ushort> >(archetypeCount);
m_openNodes = new List <NativeQueue <int3> >(archetypeCount);
// cached data to build the flow fields
m_targetPositions = new NativeList <int3>(Allocator.Persistent);
// initialize each archetype
for (int i = 0; i < archetypeCount; i++)
{
// initialize flow field data for each archetype
m_openNodes.Add(new NativeQueue <int3>(Allocator.Persistent));
m_flowFields.Add(new NativeArray <byte>(length, Allocator.Persistent));
m_costFields.Add(new NativeArray <byte>(length, Allocator.Persistent));
m_intFields.Add(new NativeArray <ushort>(length, Allocator.Persistent));
// initialize agent data for each archetype
Transform[] transforms = agents[archetypes[i]].ToArray();
int count = transforms.Length;
TransformAccessArray transformAccess = new TransformAccessArray(transforms);
NativeArray <int> movementTypes = new NativeArray <int>(count, Allocator.Persistent);
NativeArray <float3> steering = new NativeArray <float3>(count, Allocator.Persistent);
NativeArray <AgentKinematics> kinematics = new NativeArray <AgentKinematics>(count, Allocator.Persistent);
NativeArray <AgentBehaviors> behaviors = new NativeArray <AgentBehaviors>(count, Allocator.Persistent);
// read agent configuration
for (int a = 0; a < count; a++)
{
NavAgent agent = transforms[a].GetComponent <NavAgent>();
int movementType = configurations.IndexOf(agent.configuration);
AgentKinematics agentKinematics = new AgentKinematics();
agentKinematics.maxSpeed = agent.configuration.movement.topSpeed;
movementTypes[a] = movementType;
kinematics[a] = agentKinematics;
}
m_agentMovementTypes.Add(movementTypes);
m_transformAccess.Add(transformAccess);
m_agentKinematics.Add(kinematics);
m_agentBehaviors.Add(behaviors);
m_agentSteering.Add(steering);
m_totalAgents.Add(count);
}
// initialize the agent spatial map
m_spatialMap = new NativeMultiHashMap <int3, SpatialMapData>(m_totalAgents.Sum(), Allocator.Persistent);
m_spatialMapWriter = m_spatialMap.AsParallelWriter();
// cache all directions
m_directions = new NativeArray <int3>(27, Allocator.Persistent);
for (int i = 0; i < 27; i++)
{
Vector3Int dir = Core.Direction3Int.Directions[i];
m_directions[i] = new int3(dir.x, dir.y, dir.z);
}
// cache directions for climbable check
m_directionsNESW = new NativeArray <int>(4, Allocator.Persistent);
m_directionsNESW[0] = 3;
m_directionsNESW[1] = 5;
m_directionsNESW[2] = 7;
m_directionsNESW[3] = 9;
// convert blocks to a struct and cache the data
byte defaultCost = 1;
int blockCount = blockManager.blocks.Count;
m_blockTypes = new List <NativeArray <Block> >();
for (int a = 0; a < archetypeCount; a++)
{
NativeArray <Block> blocks = new NativeArray <Block>(
blockCount, Allocator.Persistent);
for (int i = 0; i < blockCount; i++)
{
BlockConfiguration block = blockManager.blocks[i];
int index = archetypes[a].movementCosts
.FindIndex(x => x.block == block);
Block navBlock = new Block();
if (index == -1)
{
navBlock.cost = defaultCost;
}
else
{
navBlock.cost = archetypes[a]
.movementCosts[index].cost;
}
navBlock.solid = block.collidable;
blocks[i] = navBlock;
}
m_blockTypes.Add(blocks);
}
}
