public static void DeserializeVoxelAreaData (byte[] bytes, VoxelArea target) {
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
Ionic.Zip.ZipFile zip = new Ionic.Zip.ZipFile();
System.IO.MemoryStream stream = new System.IO.MemoryStream();
stream.Write(bytes,0,bytes.Length);
stream.Position = 0;
zip = Ionic.Zip.ZipFile.Read(stream);
System.IO.MemoryStream stream2 = new System.IO.MemoryStream();
zip["data"].Extract (stream2);
stream2.Position = 0;
System.IO.BinaryReader reader = new System.IO.BinaryReader(stream2);
int width = reader.ReadInt32();
int depth = reader.ReadInt32();
if (target.width != width) throw new System.ArgumentException ("target VoxelArea has a different width than the data ("+target.width + " != " + width + ")");
if (target.depth != depth) throw new System.ArgumentException ("target VoxelArea has a different depth than the data ("+target.depth + " != " + depth + ")");
LinkedVoxelSpan[] spans = new LinkedVoxelSpan[reader.ReadInt32()];
for (int i=0;i<spans.Length;i++) {
spans[i].area = reader.ReadInt32();
spans[i].bottom = reader.ReadUInt32();
spans[i].next = reader.ReadInt32();
spans[i].top = reader.ReadUInt32();
}
target.linkedSpans = spans;
#else
throw new System.NotImplementedException ("This method only works with !ASTAR_RECAST_CLASS_BASED_LINKED_LIST");
#endif
}
public VoxelArea (int width, int depth) {
this.width = width;
this.depth = depth;
int wd = width*depth;
compactCells = new CompactVoxelCell[wd];
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
// & ~0xF ensures it is a multiple of 16. Required for unrolling
linkedSpans = new LinkedVoxelSpan[((int)(wd*AvgSpanLayerCountEstimate) + 15)& ~0xF];
ResetLinkedVoxelSpans();
#else
cells = new VoxelCell[wd];
#endif
DirectionX = new int[4] {-1,0,1,0};
DirectionZ = new int[4] {0,width,0,-width};
VectorDirection = new Vector3[4] {Vector3.left, Vector3.forward,Vector3.right, Vector3.back};
}
public void AddLinkedSpan (int index, uint bottom, uint top, int area, int voxelWalkableClimb) {
#if ASTAR_RECAST_CLASS_BASED_LINKED_LIST
cells[index].AddSpan(bottom,top,area,voxelWalkableClimb);
#else
// linkedSpans[index] is the span with the lowest y-coordinate at the position x,z such that index=x+z*width
// i.e linkedSpans is a 2D array laid out in a 1D array (for performance and simplicity)
// Check if there is a root span, otherwise we can just add a new (valid) span and exit
if (linkedSpans[index].bottom == InvalidSpanValue) {
linkedSpans[index] = new LinkedVoxelSpan(bottom,top,area);
return;
}
int prev = -1;
// Original index, the first span we visited
int oindex = index;
while (index != -1) {
if (linkedSpans[index].bottom > top) {
// If the current span's bottom higher up than the span we want to insert's top, then they do not intersect
// and we should just insert a new span here
break;
} else if (linkedSpans[index].top < bottom) {
// The current span and the span we want to insert do not intersect
// so just skip to the next span (it might intersect)
prev = index;
index = linkedSpans[index].next;
} else {
// Intersection! Merge the spans
// Find the new bottom and top for the merged span
bottom = System.Math.Min (linkedSpans[index].bottom, bottom);
top = System.Math.Max (linkedSpans[index].top, top);
// voxelWalkableClimb is flagMergeDistance, when a walkable flag is favored before an unwalkable one
// So if a walkable span intersects an unwalkable span, the walkable span can be up to voxelWalkableClimb
// below the unwalkable span and the merged span will still be walkable
if (System.Math.Abs ((int)top - (int)linkedSpans[index].top) <= voxelWalkableClimb) {
// linkedSpans[index] is the lowest span, but we might use that span's area anyway if it is walkable
area = System.Math.Max (area,linkedSpans[index].area);
}
// Find the next span in the linked list
int next = linkedSpans[index].next;
if (prev != -1) {
// There is a previous span
// Remove this span from the linked list
linkedSpans[prev].next = next;
// Enqueue this span index to a list for recycling
PushToSpanRemovedStack (index);
// Move to the next span in the list
index = next;
} else if (next != -1) {
// This was the root span and there is a span left in the linked list
// Remove this span from the linked list by assigning the next span as the root span
linkedSpans[oindex] = linkedSpans[next];
// Recycle the old span index
PushToSpanRemovedStack (next);
// Move to the next span in the list
// NOP since we just removed the current span, the next span
// we want to visit will have the same index as we are on now (i.e oindex)
} else {
// This was the root span and there are no other spans in the linked list
// Just replace the root span with the merged span and exit
linkedSpans[oindex] = new LinkedVoxelSpan(bottom,top,area);
return;
}
}
}
// We now have a merged span that needs to be inserted
// and connected with the existing spans
// The new merged span will be inserted right after 'prev' (if it exists, otherwise before index)
// Make sure that we have enough room in our array
if (linkedSpanCount >= linkedSpans.Length) {
LinkedVoxelSpan[] tmp = linkedSpans;
int count = linkedSpanCount;
int popped = removedStackCount;
linkedSpans = new LinkedVoxelSpan[linkedSpans.Length*2];
ResetLinkedVoxelSpans();
linkedSpanCount = count;
removedStackCount = popped;
for (int i=0;i<linkedSpanCount;i++) {
linkedSpans[i] = tmp[i];
}
Debug.Log ("Layer estimate too low, doubling size of buffer.\nThis message is harmless.");
}
// Take a node from the recycling stack if possible
// Otherwise create a new node (well, just a new index really)
int nextIndex;
if (removedStackCount > 0) {
removedStackCount--;
nextIndex = removedStack[removedStackCount];
} else {
nextIndex = linkedSpanCount;
linkedSpanCount++;
}
if (prev != -1) {
//span.next = prev.next;
//prev.next = span;
linkedSpans[nextIndex] = new LinkedVoxelSpan(bottom,top,area,linkedSpans[prev].next);
linkedSpans[prev].next = nextIndex;
} else {
//span.next = firstSpan;
//firstSpan = span;
linkedSpans[nextIndex] = linkedSpans[oindex];
linkedSpans[oindex] = new LinkedVoxelSpan(bottom,top,area,nextIndex);
}
#endif
}
private void ResetLinkedVoxelSpans () {
int len = linkedSpans.Length;
linkedSpanCount = width*depth;
LinkedVoxelSpan df = new LinkedVoxelSpan(InvalidSpanValue,InvalidSpanValue,-1,-1);
for (int i=0;i<len;) {
// 16x unrolling, actually improves performance
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
linkedSpans[i] = df;i++;
}
removedStackCount = 0;
}
