public static void free(NavigationGraph p_navigationGraph)
{
if (NavigationGraphContainer.UniqueNavigationGraph == p_navigationGraph)
{
NavigationGraphContainer.UniqueNavigationGraph = null;
}
}
public static NavigationNode instanciateAndAddNode(NavigationGraph p_navigationGraph)
{
NavigationNode l_navigationNode = NavigationNode.alloc();
p_navigationGraph.NavigationNodes.Add(l_navigationNode);
return(l_navigationNode);
}
public static void takeSnapshot(NavigationGraph p_navigationGraph)
{
p_navigationGraph.NavigationGraphSnapshot = NavigationGraphSnapshot.alloc(
p_navigationGraph.NodeLinksIndexedByStartNode,
p_navigationGraph.NodeLinksIndexedByEndNode
);
}
/*
* Alter NavigationNodeLinks by restoring NavigationLinks following the rule dictated by p_navigationLinkAlterationMethod (see ENavigationLinkRemovalMethod for more).
* - NavigationNodeLinks are restored from the NavigationGraphSnapshot.
*/
public static void restoreNavigationLinksFromSnapshot(NavigationGraph p_navigationGraph, ENavigationLinkAlterationMethod p_navigationLinkAlterationMethod, NavigationNode p_involvedNode)
{
switch (p_navigationLinkAlterationMethod)
{
case ENavigationLinkAlterationMethod.TO:
// We have to :
// * copy NavigationLinks going to the p_involvedNode (retrieved from snapshot)
// * add NavigationLinks coming from NavigationNodes that goes to the p_involvedNode
List <NavigationLink> l_linksThatPointsTowardsInvolvedNode = p_navigationGraph.NodeLinksIndexedByEndNode[p_involvedNode];
l_linksThatPointsTowardsInvolvedNode.Clear();
l_linksThatPointsTowardsInvolvedNode.AddRange(p_navigationGraph.NavigationGraphSnapshot.NodeLinksIndexedByEndNode[p_involvedNode]);
for (int i = 0; i < l_linksThatPointsTowardsInvolvedNode.Count; i++)
{
NavigationLink l_linkTo = l_linksThatPointsTowardsInvolvedNode[i];
var l_linksFrom_snapshot_enumerator = p_navigationGraph.NavigationGraphSnapshot.NodeLinksIndexedByStartNode[l_linkTo.StartNode].GetEnumerator();
while (l_linksFrom_snapshot_enumerator.MoveNext())
{
NavigationLink l_referenceFromLink = l_linksFrom_snapshot_enumerator.Current;
if (l_referenceFromLink.EndNode == p_involvedNode)
{
p_navigationGraph.NodeLinksIndexedByStartNode[l_referenceFromLink.StartNode].Add(l_referenceFromLink);
}
}
}
break;
}
}
private void InstanciateNavigationLinks(NavigationGraph l_navigationGraph, ref Dictionary <int, NavigationNode> l_serializedKeyToNavigationNode)
{
foreach (var l_navigationLinkEntry in NavigationLinks)
{
NavigationGraph.createLinkBetween(l_navigationGraph, l_serializedKeyToNavigationNode[l_navigationLinkEntry.StartNode], l_serializedKeyToNavigationNode[l_navigationLinkEntry.EndNode], l_navigationLinkEntry.TravelCost);
}
}
public void ClearForNewInstance()
{
NavigationGraph = null;
BeginNode = null;
EndNode = null;
NodesElligibleForNextCurrent.Clear();
NavigationPath.reset(ref ResultPath);
}
public static void prepareForCalculation(CalculatePathRequest p_request, NavigationGraph p_navigationGraph, NavigationNode p_beginNode, NavigationNode p_endNode,
PathCalculationParameters p_pathCalculationParameters)
{
p_request.NavigationGraph = p_navigationGraph;
p_request.BeginNode = p_beginNode;
p_request.EndNode = p_endNode;
p_request.PathCalculationParameters = p_pathCalculationParameters;
}
private void InstanciateNavigationNodes(NavigationGraph l_navigationGraph, ref Dictionary <int, NavigationNode> l_serializedKeyToNavigationNode)
{
foreach (var l_navigationNodeEntry in NavigationNodes)
{
NavigationNode l_instanciatedNavigationNode = NavigationGraph.instanciateAndAddNode(l_navigationGraph);
l_instanciatedNavigationNode.LocalPosition = l_navigationNodeEntry.Value.LocalPosition;
l_serializedKeyToNavigationNode[l_navigationNodeEntry.Key] = l_instanciatedNavigationNode;
}
}
public static NavigationGraph alloc()
{
NavigationGraph l_instanciatedNavigationGraph = new NavigationGraph();
l_instanciatedNavigationGraph.NavigationNodes = new List <NavigationNode>();
l_instanciatedNavigationGraph.NodeLinksIndexedByStartNode = new Dictionary <NavigationNode, List <NavigationLink> >();
l_instanciatedNavigationGraph.NodeLinksIndexedByEndNode = new Dictionary <NavigationNode, List <NavigationLink> >();
NavigationGraphContainer.UniqueNavigationGraph = l_instanciatedNavigationGraph;
return(l_instanciatedNavigationGraph);
}
/// <summary>
/// Intanciate a new <see cref="NavigationGraph"/> object from this asset.
/// </summary>
/// <param name="out_instanciatedNodes"> All <see cref="NavigationNode"/> instanciated.</param>
/// <returns></returns>
public NavigationGraph InstanciateNavigationGraph()
{
NavigationGraph l_navigationGraph = NavigationGraph.alloc();
Dictionary <int, NavigationNode> l_serializedKeyToNavigationNode = new Dictionary <int, NavigationNode>(NavigationNodes.Count);
InstanciateNavigationNodes(l_navigationGraph, ref l_serializedKeyToNavigationNode);
InstanciateNavigationLinks(l_navigationGraph, ref l_serializedKeyToNavigationNode);
NavigationGraph.takeSnapshot(l_navigationGraph);
return(l_navigationGraph);
}
/// <summary>
/// Checks if the <paramref name="p_requestedNode1"/> and <paramref name="p_requestedNode2"/> have a direct <see cref="NavigationLink"/> connection.
/// The checked <see cref="NavigationLink"/> is oriented from <paramref name="p_requestedNode1"/> to <paramref name="p_requestedNode2"/>.
/// </summary>
public static bool areNavigationNodesNeighbors(NavigationGraph p_navigationGraph, NavigationNode p_requestedNode1, NavigationNode p_requestedNode2, NavigationGraphFlag p_navigationGraphFlag)
{
foreach (NavigationNode l_reachableNavigationNode in getReachableNeighborNavigationNodes(p_navigationGraph, p_requestedNode1, p_navigationGraphFlag))
{
if (l_reachableNavigationNode == p_requestedNode2)
{
return(true);
}
}
return(false);
}
/// <summary>
/// Find all NavigationNodes that the <paramref name="p_requestedNode"/> can travel to and have direct <see cref="NavigationLink"/> between them.
/// - "Reachable" : Means that it exists a path between the <paramref name="p_requestedNode"/> and the returned NavigationNode
/// - "Neighbor" : Means that the <paramref name="p_requestedNode"/> and the returned NavigationNode have a direct NavigationLink between them.
/// </summary>
public static IEnumerable <NavigationNode> getReachableNeighborNavigationNodes(NavigationGraph p_navigationGraph, NavigationNode p_requestedNode, NavigationGraphFlag p_navigationGraphFlag)
{
var l_navigationLinksGoingFromTheRequestedNode = NavigationGraph.get_nodeLinksIndexedByStartNode(p_navigationGraph, p_navigationGraphFlag)[p_requestedNode];
var l_navigationLinksGoingFromTheRequestedNodeEnumerator = l_navigationLinksGoingFromTheRequestedNode.GetEnumerator();
while (l_navigationLinksGoingFromTheRequestedNodeEnumerator.MoveNext())
{
yield return(l_navigationLinksGoingFromTheRequestedNodeEnumerator.Current.EndNode);
}
}
private void Awake()
{
NavigationGraph = NavigationGraphAsset.InstanciateNavigationGraph();
NavigationGraphComponentContainer.UniqueNavigationGraphComponent = this;
for (int i = 0; i < NavigationGraph.NavigationNodes.Count; i++)
{
NavigationNodeGameRepresentation[NavigationGraph.NavigationNodes[i]] = NavigationNodeComponent.instanciateFromPrefab(transform, NavigationGraph.NavigationNodes[i], NavigationNodeComponentPrefab);
}
NavigationEngine = NavigationEngine.alloc();
}
public static NavigationNode getNearestNode(NavigationGraph p_navigationGraph, float3 p_localPosition)
{
NavigationNode l_nearestNavigationNode = p_navigationGraph.NavigationNodes[0];
for (int i = 1; i < p_navigationGraph.NavigationNodes.Count; i++)
{
if (math.distance(l_nearestNavigationNode.LocalPosition, p_localPosition) >
math.distance(l_nearestNavigationNode.LocalPosition, p_navigationGraph.NavigationNodes[i].LocalPosition))
{
l_nearestNavigationNode = p_navigationGraph.NavigationNodes[i];
}
}
return(l_nearestNavigationNode);
}
public static void createLinkBetween(NavigationGraph p_navigationGraph, NavigationNode p_startNode, NavigationNode p_endNode, float p_travelCost)
{
NavigationLink l_instanciatedNavigationLink = NavigationLink.alloc(p_startNode, p_endNode, p_travelCost);
if (!p_navigationGraph.NodeLinksIndexedByStartNode.ContainsKey(p_startNode))
{
p_navigationGraph.NodeLinksIndexedByStartNode.Add(p_startNode, new List <NavigationLink>());
}
if (!p_navigationGraph.NodeLinksIndexedByEndNode.ContainsKey(p_endNode))
{
p_navigationGraph.NodeLinksIndexedByEndNode.Add(p_endNode, new List <NavigationLink>());
}
p_navigationGraph.NodeLinksIndexedByStartNode[p_startNode].Add(l_instanciatedNavigationLink);
p_navigationGraph.NodeLinksIndexedByEndNode[p_endNode].Add(l_instanciatedNavigationLink);
}
/*
* Alter NavigationNodeLinks by removing the NavigationLinks following the rule dictated by p_navigationLinkAlterationMethod (see ENavigationLinkRemovalMethod for more).
*/
public static void removeNavigationLinks(NavigationGraph p_navigationGraph, ENavigationLinkAlterationMethod p_navigationLinkAlterationMethod, NavigationNode p_involvedNode)
{
switch (p_navigationLinkAlterationMethod)
{
case ENavigationLinkAlterationMethod.TO:
// We have to :
// * gets NavigationLinks going to the p_involvedNode
// * clear NavigationLinks coming from NavigationNodes that goes to the p_involvedNode
// * clear NavigationLinks going to the p_involvedNode
List <NavigationLink> l_nodesToList = p_navigationGraph.NodeLinksIndexedByEndNode[p_involvedNode];
for (int i = 0; i < l_nodesToList.Count; i++)
{
NavigationLink l_linkTo = l_nodesToList[i];
List <NavigationLink> l_targetList = p_navigationGraph.NodeLinksIndexedByStartNode[l_linkTo.StartNode];
l_targetList.Remove(l_linkTo);
}
p_navigationGraph.NodeLinksIndexedByEndNode[p_involvedNode].Clear();
break;
}
}
public static Dictionary <NavigationNode, List <NavigationLink> > get_nodeLinksIndexedByStartNode(NavigationGraph p_navigationGraph, NavigationGraphFlag p_navigationGraphFlag)
{
if (p_navigationGraphFlag == NavigationGraphFlag.CURRENT)
{
return(p_navigationGraph.NodeLinksIndexedByStartNode);
}
else if (p_navigationGraphFlag == NavigationGraphFlag.SNAPSHOT)
{
return(p_navigationGraph.NavigationGraphSnapshot.NodeLinksIndexedByStartNode);
}
return(null);
}
public static NavigationNode pickRandomNode(NavigationGraph p_navigationGraph)
{
return(p_navigationGraph.NavigationNodes[MyRandom.Random.NextInt(0, p_navigationGraph.NavigationNodes.Count)]);
}
