void Initialize(int capacity)
{
var world = NavMeshWorld.GetDefaultWorld();
var queryCount = world.IsValid() ? k_QueryCount : 0;
var agentCount = world.IsValid() ? capacity : 0;
m_PlanPathForAgent = new NativeList <bool1>(agentCount, Allocator.Persistent);
m_EmptyPlanPathForAgent = new NativeList <bool1>(0, Allocator.Persistent);
m_PathRequestIdForAgent = new NativeList <uint>(agentCount, Allocator.Persistent);
m_PathRequests = new NativeList <PathQueryQueueEcs.RequestEcs>(k_PathRequestsPerTick, Allocator.Persistent);
m_PathRequests.ResizeUninitialized(k_PathRequestsPerTick);
for (var i = 0; i < m_PathRequests.Length; i++)
{
m_PathRequests[i] = new PathQueryQueueEcs.RequestEcs {
uid = PathQueryQueueEcs.RequestEcs.invalidId
};
}
m_PathRequestsRange = new NativeArray <int>(k_DataSize, Allocator.Persistent);
m_PathRequestsRange[k_Start] = 0;
m_PathRequestsRange[k_Count] = 0;
m_UniqueIdStore = new NativeArray <uint>(1, Allocator.Persistent);
m_CurrentAgentIndex = new NativeArray <int>(1, Allocator.Persistent);
m_CurrentAgentIndex[0] = 0;
m_NavMeshQuery = new NavMeshQuery(world, Allocator.Persistent);
m_QueryQueues = new PathQueryQueueEcs[queryCount];
m_QueryJobs = new UpdateQueriesJob[queryCount];
m_AfterQueriesProcessed = new NativeArray <JobHandle>(queryCount, Allocator.Persistent);
m_AfterQueriesCleanup = new JobHandle();
m_AfterMovedRequestsForgotten = new JobHandle();
m_IsEmptyQueryQueue = new bool[queryCount];
for (var i = 0; i < m_QueryQueues.Length; i++)
{
m_QueryQueues[i] = new PathQueryQueueEcs(k_MaxQueryNodes, k_MaxRequestsPerQuery);
m_QueryJobs[i] = new UpdateQueriesJob()
{
maxIterations = k_MaxQueryIterationsPerTick, queryQueue = m_QueryQueues[i]
};
m_AfterQueriesProcessed[i] = new JobHandle();
m_IsEmptyQueryQueue[i] = true;
}
}
public void OnRemoveSwapBack(int index)
{
var replacementAgent = m_PlanPathForAgent.Length - 1;
m_PlanPathForAgent.RemoveAtSwapBack(index);
m_PathRequestIdForAgent.RemoveAtSwapBack(index);
m_AfterQueriesCleanup.Complete();
for (var i = 0; i < m_QueryQueues.Length; i++)
{
m_QueryQueues[i].RemoveAgentRecords(index, replacementAgent);
}
m_AfterMovedRequestsForgotten.Complete();
var rangeEnd = m_PathRequestsRange[k_Start] + m_PathRequestsRange[k_Count];
for (var i = m_PathRequestsRange[k_Start]; i < rangeEnd; i++)
{
if (m_PathRequests[i].agentIndex == index)
{
if (i < rangeEnd - 1)
{
m_PathRequests[i] = m_PathRequests[rangeEnd - 1];
m_PathRequests[rangeEnd - 1] = new PathQueryQueueEcs.RequestEcs {
uid = PathQueryQueueEcs.RequestEcs.invalidId
};
}
rangeEnd--;
i--;
}
else if (m_PathRequests[i].agentIndex == replacementAgent)
{
var req = m_PathRequests[i];
req.agentIndex = index;
m_PathRequests[i] = req;
}
}
m_PathRequestsRange[k_Count] = rangeEnd - m_PathRequestsRange[k_Start];
#if DEBUG_CROWDSYSTEM_ASSERTS
Debug.Assert(m_PathRequestsRange[k_Count] >= 0);
#endif
}
public void Execute()
{
if (agents.Length == 0)
{
return;
}
// add new requests to the end of the range
var reqEnd = pathRequestsRange[k_Start] + pathRequestsRange[k_Count];
var reqMax = pathRequests.Length - 1;
var firstAgent = currentAgentIndex[0];
for (var i = 0; i < agents.Length; ++i)
{
if (reqEnd > reqMax)
{
break;
}
var index = (i + firstAgent) % agents.Length;
var agentNavigator = agentNavigators[index];
if (planPathForAgent.Length > 0 && planPathForAgent[index] ||
agentNavigator.newDestinationRequested && pathRequestIdForAgent[index] == PathQueryQueueEcs.RequestEcs.invalidId)
{
if (!agentNavigator.active)
{
if (planPathForAgent.Length > 0)
{
planPathForAgent[index] = false;
}
agentNavigator.newDestinationRequested = false;
agentNavigators[index] = agentNavigator;
continue;
}
var agent = agents[index];
if (!query.IsValid(agent.location))
{
continue;
}
if (uniqueIdStore[0] == PathQueryQueueEcs.RequestEcs.invalidId)
{
uniqueIdStore[0] = 1 + PathQueryQueueEcs.RequestEcs.invalidId;
}
pathRequests[reqEnd++] = new PathQueryQueueEcs.RequestEcs()
{
agentIndex = index,
agentType = agent.type,
mask = NavMesh.AllAreas,
uid = uniqueIdStore[0],
start = agent.location.position,
end = agentNavigator.requestedDestination
};
pathRequestIdForAgent[index] = uniqueIdStore[0];
uniqueIdStore[0]++;
if (planPathForAgent.Length > 0)
{
planPathForAgent[index] = false;
}
agentNavigator.newDestinationRequested = false;
agentNavigators[index] = agentNavigator;
}
currentAgentIndex[0] = index;
}
pathRequestsRange[k_Count] = reqEnd - pathRequestsRange[k_Start];
}
