/** 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;
}
public override NNInfo GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint) {
return GetNearest (this, nodes,position, constraint, accurateNearestNode);
}
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;
}
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);
}
}
}
MeshNode SearchBoxInside (int boxi, Vector3 p, NNConstraint constraint) {
BBTreeBox box = arr[boxi];
if (box.node != null) {
if (box.node.ContainsPoint ((Int3)p)) {
//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
if (constraint == null || constraint.Suitable (box.node)) {
return box.node;
}
} 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
MeshNode g;
if (arr[box.left].Contains (p)) {
g = SearchBoxInside (box.left,p, constraint);
if (g != null) return g;
}
if (arr[box.right].Contains (p)) {
g = SearchBoxInside (box.right, p, constraint);
if (g != null) return g;
}
}
return null;
}
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);
}
public override NNInfo GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint) {
if (nodes == null || depth*width*layerCount != nodes.Length) {
//Debug.LogError ("NavGraph hasn't been generated yet");
return new NNInfo ();
}
var graphPosition = inverseMatrix.MultiplyPoint3x4 (position);
int x = Mathf.Clamp (Mathf.RoundToInt (graphPosition.x-0.5F) , 0, width-1);
int z = Mathf.Clamp (Mathf.RoundToInt (graphPosition.z-0.5F) , 0, depth-1);
var minNode = GetNearestNode (position, x, z, null);
return new NNInfo(minNode);
}
/** Finds the first node which contains \a position.
* "Contains" is defined as \a position is inside the triangle node when seen from above. So only XZ space matters.
* In case of a multilayered environment, which node of the possibly several nodes
* containing the point is undefined.
*
* Returns null if there was no node containing the point. This serves as a quick
* check for "is this point on the navmesh or not".
*
* Note that the behaviour of this method is distinct from the GetNearest method.
* The GetNearest method will return the closest node to a point,
* which is not necessarily the one which contains it in XZ space.
*
* \see GetNearest
*/
public GraphNode PointOnNavmesh (Vector3 position, NNConstraint constraint) {
//return NavMeshGraph.GetNearest (this, nodes,position, constraint, accurateNearestNode);
if (tiles == null) return null;
Vector3 localPosition = position - forcedBounds.min;
int tx = Mathf.FloorToInt (localPosition.x / (cellSize*tileSizeX));
int tz = Mathf.FloorToInt (localPosition.z / (cellSize*tileSizeZ));
// Graph borders
if (tx < 0 || tz < 0 || tx >= tileXCount || tz >= tileZCount) return null;
//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);
NavmeshTile tile = tiles[tx + tz*tileXCount];
if (tile != null) {
GraphNode node = tile.bbTree.QueryInside (position, constraint);
return node;
}
return null;
}
public override NNInfo GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint) {
NNInfo info = GetNearestForce (position, null);
//info.node = info.constrainedNode;
//info.constrainedNode = null;
//info.clampedPosition = info.constClampedPosition;
return info;
}
/** 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;
}
/** This performs a linear search through all polygons returning the closest one */
public static NNInfo GetNearestForce (NavGraph graph, INavmeshHolder navmesh, Vector3 position, NNConstraint constraint, bool accurateNearestNode) {
NNInfo nn = GetNearestForceBoth (graph, navmesh,position,constraint,accurateNearestNode);
nn.node = nn.constrainedNode;
nn.clampedPosition = nn.constClampedPosition;
return nn;
}
/** This performs a linear search through all polygons returning the closest one.
* This is usually only called in the Free version of the A* Pathfinding Project since the Pro one supports BBTrees and will do another query
*/
public override NNInfo GetNearestForce (Vector3 position, NNConstraint constraint) {
return GetNearestForce (this, this,position,constraint, accurateNearestNode);
//Debug.LogWarning ("This function shouldn't be called since constrained nodes are sent back in the GetNearest call");
//return new NNInfo ();
}
/** Queries the tree for the closest node to \a p constrained by the NNConstraint.
* 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
*
* \see QueryCircle
*/
public NNInfo QueryClosest (Vector3 p, NNConstraint constraint, out float distance) {
distance = float.PositiveInfinity;
return QueryClosest (p, constraint, ref distance, new NNInfo (null));
}
private LevelGridNode GetNearestNode (Vector3 position, int x, int z, NNConstraint constraint) {
int index = width*z+x;
float minDist = float.PositiveInfinity;
LevelGridNode minNode = null;
for (int i=0;i<layerCount;i++) {
LevelGridNode node = nodes[index + width*depth*i];
if (node != null) {
float dist = ((Vector3)node.position - position).sqrMagnitude;
if (dist < minDist && (constraint == null || constraint.Suitable (node))) {
minDist = dist;
minNode = node;
}
}
}
return minNode;
}
/** 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 override NNInfo GetNearestForce (Vector3 position, NNConstraint constraint) {
if (nodes == null || depth*width*layerCount != nodes.Length || layerCount == 0) {
return new NNInfo ();
}
Vector3 globalPosition = position;
position = inverseMatrix.MultiplyPoint3x4 (position);
int x = Mathf.Clamp (Mathf.RoundToInt (position.x-0.5F), 0, width-1);
int z = Mathf.Clamp (Mathf.RoundToInt (position.z-0.5F), 0, depth-1);
LevelGridNode minNode;
float minDist = float.PositiveInfinity;
int overlap = getNearestForceOverlap;
minNode = GetNearestNode (globalPosition,x,z,constraint);
if (minNode != null) {
minDist = ((Vector3)minNode.position-globalPosition).sqrMagnitude;
}
if (minNode != null) {
if (overlap == 0) return new NNInfo(minNode);
overlap--;
}
float maxDist = constraint.constrainDistance ? AstarPath.active.maxNearestNodeDistance : float.PositiveInfinity;
float maxDistSqr = maxDist*maxDist;
for (int w = 1;;w++) {
int nx;
int nz = z+w;
// Check if the nodes are within distance limit
if (nodeSize*w > maxDist) {
return new NNInfo(minNode);
}
for (nx = x-w;nx <= x+w;nx++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
LevelGridNode node = GetNearestNode (globalPosition, nx,nz, constraint);
if (node != null) {
float dist = ((Vector3)node.position-globalPosition).sqrMagnitude;
//Debug.DrawRay (nodes[nx+nz*width].position,Vector3.up*dist,Color.cyan);counter++;
if (dist < minDist && dist < maxDistSqr) { minDist = dist; minNode = node; }
}
}
nz = z-w;
for (nx = x-w;nx <= x+w;nx++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
LevelGridNode node = GetNearestNode (globalPosition, nx,nz, constraint);
if (node != null) {
float dist = ((Vector3)node.position-globalPosition).sqrMagnitude;
//Debug.DrawRay (nodes[nx+nz*width].position,Vector3.up*dist,Color.cyan);counter++;
if (dist < minDist && dist < maxDistSqr) { minDist = dist; minNode = node; }
}
}
nx = x-w;
for (nz = z-w+1;nz <= z+w-1; nz++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
LevelGridNode node = GetNearestNode (globalPosition, nx,nz, constraint);
if (node != null) {
float dist = ((Vector3)node.position-globalPosition).sqrMagnitude;
//Debug.DrawRay (nodes[nx+nz*width].position,Vector3.up*dist,Color.cyan);counter++;
if (dist < minDist && dist < maxDistSqr) { minDist = dist; minNode = node; }
}
}
nx = x+w;
for (nz = z-w+1;nz <= z+w-1; nz++) {
if (nx < 0 || nz < 0 || nx >= width || nz >= depth) continue;
LevelGridNode node = GetNearestNode (globalPosition, nx,nz, constraint);
if (node != null) {
float dist = ((Vector3)node.position-globalPosition).sqrMagnitude;
//Debug.DrawRay (nodes[nx+nz*width].position,Vector3.up*dist,Color.cyan);counter++;
if (dist < minDist && dist < maxDistSqr) { minDist = dist; minNode = node; }
}
}
if (minNode != null) {
if (overlap == 0) return new NNInfo(minNode);
overlap--;
}
}
}
public MeshNode QueryInside (Vector3 p, NNConstraint constraint) {
return count != 0 ? SearchBoxInside (0,p, constraint) : null;
}
/** \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;
}
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);
}
}
/** \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;
}
}
}
/** Returns the nearest node to a position using the specified NNConstraint.
* \param position The position to try to find a close node to
* \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 NNInfo GetNearest (Vector3 position, NNConstraint constraint) {
return GetNearest (position, constraint, null);
}
/** Reset all values to their default values.
*
* \note All inheriting path types (e.g ConstantPath, RandomPath, etc.) which declare their own variables need to
* override this function, resetting ALL their variables to enable recycling of paths.
* If this is not done, trying to use that path type for pooling might result in weird behaviour.
* The best way is to reset to default values the variables declared in the extended path type and then
* call this base function in inheriting types with base.Reset ().
*
* \warning This function should not be called manually.
*/
public virtual void Reset () {
#if ASTAR_POOL_DEBUG
pathTraceInfo = "This path was got from the pool or created from here (stacktrace):\n";
pathTraceInfo += System.Environment.StackTrace;
#endif
if (System.Object.ReferenceEquals (AstarPath.active, null))
throw new System.NullReferenceException ("No AstarPath object found in the scene. " +
"Make sure there is one or do not create paths in Awake");
hasBeenReset = true;
state = (int)PathState.Created;
releasedNotSilent = false;
pathHandler = null;
callback = null;
_errorLog = "";
pathCompleteState = PathCompleteState.NotCalculated;
path = ListPool<GraphNode>.Claim();
vectorPath = ListPool<Vector3>.Claim();
currentR = null;
duration = 0;
searchIterations = 0;
searchedNodes = 0;
//calltime
nnConstraint = PathNNConstraint.Default;
next = null;
heuristic = AstarPath.active.heuristic;
heuristicScale = AstarPath.active.heuristicScale;
enabledTags = -1;
tagPenalties = null;
callTime = System.DateTime.UtcNow;
pathID = AstarPath.active.GetNextPathID ();
hTarget = Int3.zero;
hTargetNode = null;
}
/**
* Returns the nearest node to a position using the specified \link Pathfinding.NNConstraint constraint \endlink.
* \returns an NNInfo. This method will only return an empty NNInfo if there are no nodes which comply with the specified constraint.
*/
public virtual NNInfo GetNearestForce (Vector3 position, NNConstraint constraint) {
return GetNearest (position, constraint);
}
public static NNInfo GetNearest (NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode) {
if (nodes == null || nodes.Length == 0) {
Debug.LogError ("NavGraph hasn't been generated yet or does not contain any nodes");
return new NNInfo ();
}
if (constraint == null) constraint = NNConstraint.None;
Int3[] vertices = graph.vertices;
//Query BBTree
if (graph.bbTree == null) {
/** \todo Change method to require a navgraph */
return GetNearestForce (graph, graph, position, constraint, accurateNearestNode);
}
//Searches in radiuses of 0.05 - 0.2 - 0.45 ... 1.28 times the average of the width and depth of the bbTree
float w = (graph.bbTree.Size.width + graph.bbTree.Size.height)*0.5F*0.02F;
NNInfo query = graph.bbTree.QueryCircle (position,w,constraint);//graph.bbTree.Query (position,constraint);
if (query.node == null) {
for (int i=1;i<=8;i++) {
query = graph.bbTree.QueryCircle (position, i*i*w, constraint);
if (query.node != null || (i-1)*(i-1)*w > AstarPath.active.maxNearestNodeDistance*2) { // *2 for a margin
break;
}
}
}
if (query.node != null) {
query.clampedPosition = ClosestPointOnNode (query.node as TriangleMeshNode,vertices,position);
}
if (query.constrainedNode != null) {
if (constraint.constrainDistance && ((Vector3)query.constrainedNode.position - position).sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr) {
query.constrainedNode = null;
} else {
query.constClampedPosition = ClosestPointOnNode (query.constrainedNode as TriangleMeshNode, vertices, position);
}
}
return query;
}