protected override void DrawCollisionEditor (GraphCollision collision) {
base.DrawCollisionEditor(collision);
if (collision.thickRaycast) {
EditorGUILayout.HelpBox("Note: Thick raycast cannot be used with this graph type", MessageType.Error);
}
}
public override void Scan()
{
scans++;
if (nodeSize <= 0) {
return;
}
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
return;
}
//GenerateBounds ();
/*neighbourOffsets = new int[8] {
-width-1,-width,-width+1,
-1,1,
width-1,width,width+1
}*/
SetUpOffsetsAndCosts ();
//GridNode.RemoveGridGraph (this);
int gridIndex = LevelGridNode.SetGridGraph (this);
//graphNodes = new LevelGridNode[width*depth];
//nodes = CreateNodes (width*depth);
//graphNodes = nodes as LevelGridNode[];
maxClimb = Mathf.Clamp (maxClimb,0,characterHeight);
LinkedLevelCell[] linkedCells = new LinkedLevelCell[width*depth];
if (collision == null) {
collision = new GraphCollision ();
}
collision.Initialize (matrix,nodeSize);
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
linkedCells[z*width+x] = new LinkedLevelCell ();
LinkedLevelCell llc = linkedCells[z*width+x];
//GridNode node = graphNodes[z*width+x];//new LevelGridNode ();
//node.SetIndex (z*width+x);
Vector3 pos = matrix.MultiplyPoint3x4 (new Vector3 (x+0.5F,0,z+0.5F));
RaycastHit[] hits = collision.CheckHeightAll (pos);
//Sort the hits based on distance with bubble sort (fast enough)
//Furthest away first (i.e lowest nodes in the graph)
/*bool changed = true;
while (changed) {
changed = false;
for (int i=0;i<hits.Length-1;i++) {
if (hits[i].distance < hits[i+1].distance) {
RaycastHit tmp = hits[i];
hits[i] = hits[i+1];
hits[i+1] = tmp;
changed = true;
}
}
}*/
for (int i=0;i<hits.Length/2;i++) {
RaycastHit tmp = hits[i];
hits[i] = hits[hits.Length-1-i];
hits[hits.Length-1-i] = tmp;
}
if (hits.Length > 0) {
//lln.position = hits[0].point;
//lln.walkable = collision.Check (lln.position);
/*LinkedLevelNode lln = new LinkedLevelNode ();
lln.position = hits[0].point;
lln.walkable = collision.Check (lln.position);
llc.first = lln;*/
LinkedLevelNode lln = null;
for (int i=0;i<hits.Length;i++) {
LinkedLevelNode tmp = new LinkedLevelNode ();
tmp.position = hits[i].point;
if (lln != null) {
/** \todo Use hit.distance instead */
if (tmp.position.y - lln.position.y <= mergeSpanRange) {
//if (tmp.position.y > lln.position.y) {
lln.position = tmp.position;
lln.hit = hits[i];
lln.walkable = collision.Check (tmp.position);
//}
continue;
}
}
tmp.walkable = collision.Check (tmp.position);
tmp.hit = hits[i];
tmp.height = float.PositiveInfinity;
if (llc.first == null) {
llc.first = tmp;
lln = tmp;
} else {
lln.next = tmp;
lln.height = tmp.position.y - lln.position.y;
lln = lln.next;
}
}
} else {
LinkedLevelNode lln = new LinkedLevelNode ();
lln.position = pos;
lln.height = float.PositiveInfinity;
lln.walkable = !collision.unwalkableWhenNoGround;
llc.first = lln;
}
//node.penalty = 0;//Mathf.RoundToInt (Random.value*100);
//node.walkable = collision.Check (node.position);
//node.SetGridIndex (gridIndex);
}
}
int spanCount = 0;
layerCount = 0;
//Count the total number of nodes in the graph
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
LinkedLevelCell llc = linkedCells[z*width+x];
LinkedLevelNode lln = llc.first;
int cellCount = 0;
//Loop through all nodes in this cell
do {
cellCount++;
spanCount++;
lln = lln.next;
} while (lln != null);
layerCount = cellCount > layerCount ? cellCount : layerCount;
}
}
if (layerCount > LevelGridNode.MaxLayerCount) {
Debug.LogError ("Too many layers, a maximum of LevelGridNode.MaxLayerCount are allowed (found "+layerCount+")");
return;
}
//Create all nodes
nodes = CreateNodes (width*depth*layerCount);
int nodeIndex = 0;
//Max slope in cosinus
float cosAngle = Mathf.Cos (maxSlope*Mathf.Deg2Rad);
for (int z = 0; z < depth; z++) {
for (int x = 0; x < width; x++) {
LinkedLevelCell llc = linkedCells[z*width+x];
LinkedLevelNode lln = llc.first;
llc.index = nodeIndex;
int count = 0;
int layerIndex = 0;
do {
LevelGridNode node = nodes[z*width+x + width*depth*layerIndex] as LevelGridNode;
#if ASTAR_SET_LEVELGRIDNODE_HEIGHT
node.height = lln.height;
#endif
node.position = (Int3)lln.position;
node.walkable = lln.walkable;
node.Bit15 = node.walkable;
//Adjust penalty based on the surface slope
if (lln.hit.normal != Vector3.zero && (penaltyAngle || cosAngle < 1.0f)) {
//Take the dot product to find out the cosinus of the angle it has (faster than Vector3.Angle)
float angle = Vector3.Dot (lln.hit.normal.normalized,collision.up);
//Add penalty based on normal
if (penaltyAngle) {
node.penalty += (uint)Mathf.RoundToInt ((1F-angle)*penaltyAngleFactor);
}
//Check if the slope is flat enough to stand on
if (angle < cosAngle) {
node.walkable = false;
}
}
node.SetIndex (z*width+x);
//node.nodeOffset = count;
if (lln.height < characterHeight) {
node.walkable = false;
}
nodeIndex++;
count++;
lln = lln.next;
layerIndex++;
} while (lln != null);
for (;layerIndex<layerCount;layerIndex++) {
nodes[z*width+x + width*depth*layerIndex] = null;
}
llc.count = count;
}
}
nodeIndex = 0;
nodeCellIndices = new int[linkedCells.Length];
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
/*LinkedLevelCell llc = linkedCells[z*width+x];
LinkedLevelNode lln = llc.first;
nodeCellIndices[z*width+x] = llc.index;
do {
LevelGridNode node = (LevelGridNode)nodes[nodeIndex];
CalculateConnections (nodes,linkedCells,node,x,z,n);
nodeIndex++;
lln = lln.next;
} while (lln != null);*/
for (int i=0;i<layerCount;i++) {
Node node = nodes[z*width+x + width*depth*i];
CalculateConnections (nodes,node,x,z,i);
}
}
}
for (int i=0;i<nodes.Length;i++) {
LevelGridNode lgn = nodes[i] as LevelGridNode;
if (lgn == null) continue;
UpdatePenalty (lgn);
lgn.SetGridIndex (gridIndex);
//Set the node to be unwalkable if it hasn't got any connections
if (!lgn.HasAnyGridConnections ()) {
lgn.walkable = false;
}
}
/*GridNode node = graphNodes[z*width+x];
CalculateConnections (graphNodes,x,z,node);
if (z == 5 && x == 5) {
int index = z*width+x;
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.red);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.green);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.blue);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.yellow);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.cyan);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.magenta);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.black);
Debug.DrawRay (node.position,(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.white);
}*/
//}
//}
ErodeWalkableArea (0,0,width,depth);
}
public void DeSerializeSettings(AstarSerializer serializer)
{
//width = (int)serializer.GetValue ("Width",typeof(int));
//depth = (int)serializer.GetValue ("Depth",typeof(int));
//height = (float)serializer.GetValue ("Height",typeof(float));
unclampedSize = (Vector2)serializer.GetValue ("unclampedSize",typeof(Vector2));
cutCorners = (bool)serializer.GetValue ("cutCorners",typeof(bool));
neighbours = (NumNeighbours)serializer.GetValue ("neighbours",typeof(int));
rotation = (Vector3)serializer.GetValue ("rotation",typeof(Vector3));
nodeSize = (float)serializer.GetValue ("nodeSize",typeof(float));
collision = (GraphCollision)serializer.GetValue ("collision",typeof(GraphCollision));
center = (Vector3)serializer.GetValue ("center",typeof(Vector3));
maxClimb = (float)serializer.GetValue ("maxClimb",typeof(float));
maxClimbAxis = (int)serializer.GetValue ("maxClimbAxis",typeof(int),1);
maxSlope = (float)serializer.GetValue ("maxSlope",typeof(float),90.0F);
erodeIterations = (int)serializer.GetValue ("erodeIterations",typeof(int));
penaltyAngle = (bool)serializer.GetValue ("penaltyAngle",typeof(bool));
penaltyAngleFactor = (float)serializer.GetValue ("penaltyAngleFactor",typeof(float));
penaltyPosition = (bool)serializer.GetValue ("penaltyPosition",typeof(bool));
penaltyPositionOffset = (float)serializer.GetValue ("penaltyPositionOffset",typeof(float));
penaltyPositionFactor = (float)serializer.GetValue ("penaltyPositionFactor",typeof(float));
aspectRatio = (float)serializer.GetValue ("aspectRatio",typeof(float),1F);
textureData = serializer.GetValue ("textureData",typeof(TextureData)) as TextureData;
if (textureData == null) textureData = new TextureData ();
#if UNITY_EDITOR
Matrix4x4 oldMatrix = matrix;
#endif
GenerateMatrix ();
SetUpOffsetsAndCosts ();
#if UNITY_EDITOR
if (serializer.onlySaveSettings) {
if (oldMatrix != matrix && nodes != null) {
AstarPath.active.AutoScan ();
}
}
#endif
//Debug.Log ((string)serializer.GetValue ("SomeString",typeof(string)));
//Debug.Log ((Bounds)serializer.GetValue ("SomeBounds",typeof(Bounds)));
}
/** Draws the inspector for a \link Pathfinding.GraphCollision GraphCollision class \endlink */
public void DrawCollisionEditor(GraphCollision collision)
{
if (collision == null) {
collision = new GraphCollision ();
}
/*GUILayout.Space (5);
Rect r = EditorGUILayout.BeginVertical (AstarPathEditor.graphBoxStyle);
GUI.Box (r,"",AstarPathEditor.graphBoxStyle);
GUILayout.Space (2);*/
Separator ();
/*GUILayout.BeginHorizontal ();
GUIStyle boxHeader = AstarPathEditor.astarSkin.FindStyle ("CollisionHeader");
GUILayout.Label ("Collision testing",boxHeader);
collision.collisionCheck = GUILayout.Toggle (collision.collisionCheck,"");
bool preEnabledRoot = GUI.enabled;
GUI.enabled = collision.collisionCheck;
GUILayout.EndHorizontal ();*/
collision.collisionCheck = ToggleGroup ("Collision testing",collision.collisionCheck);
bool preEnabledRoot = GUI.enabled;
GUI.enabled = collision.collisionCheck;
//GUILayout.BeginHorizontal ();
collision.type = (ColliderType)EditorGUILayout.EnumPopup("Collider type",collision.type);
//new string[3] {"Sphere","Capsule","Ray"}
bool preEnabled = GUI.enabled;
if (collision.type != ColliderType.Capsule && collision.type != ColliderType.Sphere) {
GUI.enabled = false;
}
collision.diameter = EditorGUILayout.FloatField (new GUIContent ("Diameter","Diameter of the capsule of sphere where 1 equals one node"),collision.diameter);
GUI.enabled = preEnabled;
if (collision.type != ColliderType.Capsule && collision.type != ColliderType.Ray) {
GUI.enabled = false;
}
collision.height = EditorGUILayout.FloatField (new GUIContent ("Height/Length","Height of cylinder of length of ray in world units"),collision.height);
GUI.enabled = preEnabled;
collision.collisionOffset = EditorGUILayout.FloatField (new GUIContent("Offset","Offset upwards from the node. Can be used so obstacles can be used as ground and as obstacles for lower nodes"),collision.collisionOffset);
//collision.mask = 1 << EditorGUILayout.LayerField ("Mask",Mathf.Clamp ((int)Mathf.Log (collision.mask,2),0,31));
collision.mask = EditorGUILayoutx.LayerMaskField ("Mask",collision.mask);
GUILayout.Space (2);
GUI.enabled = preEnabledRoot;
collision.heightCheck = ToggleGroup ("Height testing",collision.heightCheck);
GUI.enabled = collision.heightCheck && GUI.enabled;
/*GUILayout.BeginHorizontal ();
GUILayout.Label ("Height testing",boxHeader);
collision.heightCheck = GUILayout.Toggle (collision.heightCheck,"");
GUI.enabled = collision.heightCheck;
GUILayout.EndHorizontal ();*/
collision.fromHeight = EditorGUILayout.FloatField (new GUIContent ("Ray length","The height from which to check for ground"),collision.fromHeight);
collision.heightMask = EditorGUILayoutx.LayerMaskField ("Mask",collision.heightMask);
//collision.heightMask = 1 << EditorGUILayout.LayerField ("Mask",Mathf.Clamp ((int)Mathf.Log (collision.heightMask,2),0,31));
collision.thickRaycast = EditorGUILayout.Toggle (new GUIContent ("Thick Raycast", "Use a thick line instead of a thin line"),collision.thickRaycast);
editor.GUILayoutx.BeginFadeArea (collision.thickRaycast,"thickRaycastDiameter");
if (editor.GUILayoutx.DrawID ("thickRaycastDiameter")) {
EditorGUI.indentLevel++;
collision.thickRaycastDiameter = EditorGUILayout.FloatField (new GUIContent ("Diameter","Diameter of the thick raycast"),collision.thickRaycastDiameter);
EditorGUI.indentLevel--;
}
editor.GUILayoutx.EndFadeArea ();
collision.unwalkableWhenNoGround = EditorGUILayout.Toggle (new GUIContent ("Unwalkable when no ground","Make nodes unwalkable when no ground was found with the height raycast. If height raycast is turned off, this doesn't affect anything"), collision.unwalkableWhenNoGround);
GUI.enabled = preEnabledRoot;
//GUILayout.Space (2);
//EditorGUILayout.EndVertical ();
//GUILayout.Space (5);
}
public override void ScanInternal (OnScanStatus statusCallback) {
AstarPath.OnPostScan += new OnScanDelegate(OnPostScan);
if (nodeSize <= 0) {
return;
}
// Make sure the matrix is up to date
GenerateMatrix();
if (width > 1024 || depth > 1024) {
Debug.LogError("One of the grid's sides is longer than 1024 nodes");
return;
}
SetUpOffsetsAndCosts();
// Get the graph index of this graph
int graphIndex = AstarPath.active.astarData.GetGraphIndex(this);
// Set a global reference to this graph so that nodes can find it
GridNode.SetGridGraph(graphIndex, this);
// Create all nodes
nodes = new GridNode[width*depth];
for (int i = 0; i < nodes.Length; i++) {
nodes[i] = new GridNode(active);
nodes[i].GraphIndex = (uint)graphIndex;
}
// Create and initialize the collision class
if (collision == null) {
collision = new GraphCollision();
}
collision.Initialize(matrix, nodeSize);
for (int z = 0; z < depth; z++) {
for (int x = 0; x < width; x++) {
var node = nodes[z*width+x];
node.NodeInGridIndex = z*width+x;
// Updates the position of the node
// and a bunch of other things
UpdateNodePositionCollision(node, x, z);
}
}
for (int z = 0; z < depth; z++) {
for (int x = 0; x < width; x++) {
var node = nodes[z*width + x];
// Recalculate connections to other nodes
CalculateConnections(x, z, node);
}
}
// Apply erosion
ErodeWalkableArea();
}
protected virtual void DrawUse2DPhysics (GraphCollision collision) {
collision.use2D = EditorGUILayout.Toggle (new GUIContent ("Use 2D Physics", "Use the Physics2D API for collision checking"), collision.use2D );
}
/** Draws the inspector for a \link Pathfinding.GraphCollision GraphCollision class \endlink */
protected virtual void DrawCollisionEditor (GraphCollision collision) {
collision = collision ?? new GraphCollision ();
DrawUse2DPhysics (collision);
collision.collisionCheck = ToggleGroup ("Collision testing",collision.collisionCheck);
EditorGUI.BeginDisabledGroup(!collision.collisionCheck);
collision.type = (ColliderType)EditorGUILayout.EnumPopup("Collider type",collision.type);
EditorGUI.BeginDisabledGroup(collision.type != ColliderType.Capsule && collision.type != ColliderType.Sphere);
collision.diameter = EditorGUILayout.FloatField (new GUIContent ("Diameter","Diameter of the capsule or sphere. 1 equals one node width"),collision.diameter);
EditorGUI.EndDisabledGroup();
EditorGUI.BeginDisabledGroup(collision.type != ColliderType.Capsule && collision.type != ColliderType.Ray);
collision.height = EditorGUILayout.FloatField (new GUIContent ("Height/Length","Height of cylinder or length of ray in world units"),collision.height);
EditorGUI.EndDisabledGroup();
collision.collisionOffset = EditorGUILayout.FloatField (new GUIContent("Offset","Offset upwards from the node. Can be used so that obstacles can be used as ground and at the same time as obstacles for lower positioned nodes"),collision.collisionOffset);
collision.mask = EditorGUILayoutx.LayerMaskField ("Mask",collision.mask);
EditorGUI.EndDisabledGroup();
GUILayout.Space (2);
EditorGUI.BeginDisabledGroup(collision.use2D);
collision.heightCheck = ToggleGroup ("Height testing",collision.heightCheck);
EditorGUI.BeginDisabledGroup(!collision.heightCheck);
collision.fromHeight = EditorGUILayout.FloatField (new GUIContent ("Ray length","The height from which to check for ground"),collision.fromHeight);
collision.heightMask = EditorGUILayoutx.LayerMaskField ("Mask",collision.heightMask);
collision.thickRaycast = EditorGUILayout.Toggle (new GUIContent ("Thick Raycast", "Use a thick line instead of a thin line"),collision.thickRaycast);
if (collision.thickRaycast) {
EditorGUI.indentLevel++;
collision.thickRaycastDiameter = EditorGUILayout.FloatField (new GUIContent ("Diameter","Diameter of the thick raycast"),collision.thickRaycastDiameter);
EditorGUI.indentLevel--;
}
collision.unwalkableWhenNoGround = EditorGUILayout.Toggle (new GUIContent ("Unwalkable when no ground","Make nodes unwalkable when no ground was found with the height raycast. If height raycast is turned off, this doesn't affect anything"), collision.unwalkableWhenNoGround);
EditorGUI.EndDisabledGroup();
EditorGUI.EndDisabledGroup();
}
protected virtual void DrawUse2DPhysics(GraphCollision collision)
{
collision.use2D = EditorGUILayout.Toggle(new GUIContent("Use 2D Physics", "Use the Physics2D API for collision checking"), collision.use2D);
}
public override IEnumerable<Progress> ScanInternal () {
AstarPath.OnPostScan += new OnScanDelegate (OnPostScan);
if (nodeSize <= 0) {
yield break;
}
// Make sure the matrix is up to date
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
yield break;
}
SetUpOffsetsAndCosts ();
// Get the graph index of this graph
int graphIndex = AstarPath.active.astarData.GetGraphIndex(this);
// Set a global reference to this graph so that nodes can find it
GridNode.SetGridGraph (graphIndex,this);
yield return new Progress(0.05f, "Creating nodes");
// Create all nodes
nodes = new GridNode[width*depth];
for (int i = 0; i < nodes.Length; i++) {
nodes[i] = new GridNode(active);
nodes[i].GraphIndex = (uint)graphIndex;
}
// Create and initialize the collision class
if (collision == null) {
collision = new GraphCollision ();
}
collision.Initialize (matrix,nodeSize);
int progressCounter = 0;
const int YieldEveryNNodes = 1000;
for (int z = 0; z < depth; z ++) {
// Yield with a progress value at most every N nodes
if (progressCounter >= YieldEveryNNodes) {
progressCounter = 0;
yield return new Progress(Mathf.Lerp(0.1f,0.7f,z/(float)depth), "Calculating positions");
}
progressCounter += width;
for (int x = 0; x < width; x++) {
var node = nodes[z*width+x];
node.NodeInGridIndex = z*width+x;
// Updates the position of the node
// and a bunch of other things
UpdateNodePositionCollision (node,x,z);
}
}
for (int z = 0; z < depth; z++) {
// Yield with a progress value at most every N nodes
if (progressCounter >= YieldEveryNNodes) {
progressCounter = 0;
yield return new Progress(Mathf.Lerp(0.1f,0.7f,z/(float)depth), "Calculating connections");
}
for (int x = 0; x < width; x++) {
var node = nodes[z*width + x];
// Recalculate connections to other nodes
CalculateConnections(x, z, node);
}
}
yield return new Progress(0.95f, "Calculating erosion");
// Apply erosion
ErodeWalkableArea ();
}
protected override void DrawUse2DPhysics (GraphCollision collision) {
// 2D physics does not make sense for a layered grid graph
collision.use2D = false;
}
public override void Scan()
{
AstarPath.OnPostScan += new OnScanDelegate (OnPostScan);
scanns++;
if (nodeSize <= 0) {
return;
}
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
return;
}
//GenerateBounds ();
/*neighbourOffsets = new int[8] {
-width-1,-width,-width+1,
-1,1,
width-1,width,width+1
}*/
SetUpOffsetsAndCosts ();
//GridNode.RemoveGridGraph (this);
int gridIndex = GridNode.SetGridGraph (this);
//graphNodes = new GridNode[width*depth];
nodes = CreateNodes (width*depth);
graphNodes = nodes as GridNode[];
if (collision == null) {
collision = new GraphCollision ();
}
collision.Initialize (matrix,nodeSize);
//Max slope in cosinus
//float cosAngle = Mathf.Cos (maxSlope*Mathf.Deg2Rad);
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = graphNodes[z*width+x];//new GridNode ();
node.SetIndex (z*width+x);
UpdateNodePositionCollision (node,x,z);
/*node.position = matrix.MultiplyPoint3x4 (new Vector3 (x+0.5F,0,z+0.5F));
RaycastHit hit;
bool walkable = true;
node.position = collision.CheckHeight (node.position, out hit, out walkable);
node.penalty = 0;//Mathf.RoundToInt (Random.value*100);
//Check if the node is on a slope steeper than permitted
if (walkable && useRaycastNormal && collision.heightCheck) {
if (hit.normal != Vector3.zero) {
//Take the dot product to find out the cosinus of the angle it has (faster than Vector3.Angle)
float angle = Vector3.Dot (hit.normal.normalized,Vector3.up);
if (angle < cosAngle) {
walkable = false;
}
}
}
//If the walkable flag has already been set to false, there is no point in checking for it again
if (walkable) {
node.walkable = collision.Check (node.position);
} else {
node.walkable = walkable;
}*/
node.SetGridIndex (gridIndex);
}
}
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = graphNodes[z*width+x];
CalculateConnections (graphNodes,x,z,node);
}
}
ErodeWalkableArea ();
//Assign the nodes to the main storage
//startIndex = AstarPath.active.AssignNodes (graphNodes);
//endIndex = startIndex+graphNodes.Length;
}
public override void ScanInternal (OnScanStatus statusCallback) {
AstarPath.OnPostScan += new OnScanDelegate (OnPostScan);
scans++;
if (nodeSize <= 0) {
return;
}
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
return;
}
#if !ASTAR_JPS
if (this.useJumpPointSearch) {
Debug.LogError ("Trying to use Jump Point Search, but support for it is not enabled. Please enable it in the inspector (Grid Graph settings).");
}
#endif
SetUpOffsetsAndCosts ();
int graphIndex = AstarPath.active.astarData.GetGraphIndex(this);
GridNode.SetGridGraph (graphIndex,this);
nodes = new GridNode[width*depth];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new GridNode(active);
nodes[i].GraphIndex = (uint)graphIndex;
}
if (collision == null) {
collision = new GraphCollision ();
}
collision.Initialize (matrix,nodeSize);
textureData.Initialize ();
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = nodes[z*width+x];
node.NodeInGridIndex = z*width+x;
UpdateNodePositionCollision (node,x,z);
textureData.Apply (node,x,z);
}
}
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = nodes[z*width+x];
CalculateConnections (nodes,x,z,node);
#if ASTARDEBUG
if (z == 5 && x == 5) {
int index = z*width+x;
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.red);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.green);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.blue);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.yellow);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.cyan);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.magenta);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.black);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.white);
}
#endif
}
}
ErodeWalkableArea ();
}
// sets up pathfinding
// To get walking/flying working with dynamic room generation, some complexity was required
public void AddGraph()
{
AstarData data = AstarPath.active.astarData;
// This creates a Grid Graph
GridGraph gg = data.AddGraph(typeof(GridGraph)) as GridGraph;
// Setup a grid graph with some values
gg.width = 50;
gg.depth = 40;
gg.center = transform.position + new Vector3(0, -5, 0);
// Updates internal size from the above values
gg.UpdateSizeFromWidthDepth();
GraphCollision gc = new GraphCollision();
gc.collisionCheck = true;
gc.heightCheck = true;
gc.diameter = 2F;
gc.heightMask = LayerMask.GetMask(new string[] {"Rock","Room","Floor"});
gc.mask = LayerMask.GetMask(new string[] {"Rock","Room"});
gg.maxClimb = 8F;
gg.collision = gc;
}
/// <summary>Draws the inspector for a \link Pathfinding.GraphCollision GraphCollision class \endlink</summary>
protected virtual void DrawCollisionEditor(GraphCollision collision)
{
collision = collision ?? new GraphCollision();
DrawUse2DPhysics(collision);
collision.collisionCheck = ToggleGroup("Collision testing", collision.collisionCheck);
if (collision.collisionCheck)
{
string[] colliderOptions = collision.use2D ? new [] { "Circle", "Point" } : new [] { "Sphere", "Capsule", "Ray" };
int[] colliderValues = collision.use2D ? new [] { 0, 2 } : new [] { 0, 1, 2 };
// In 2D the Circle (Sphere) mode will replace both the Sphere and the Capsule modes
// However make sure that the original value is still stored in the grid graph in case the user changes back to the 3D mode in the inspector.
var tp = collision.type;
if (tp == ColliderType.Capsule && collision.use2D)
{
tp = ColliderType.Sphere;
}
EditorGUI.BeginChangeCheck();
tp = (ColliderType)EditorGUILayout.IntPopup("Collider type", (int)tp, colliderOptions, colliderValues);
if (EditorGUI.EndChangeCheck())
{
collision.type = tp;
}
// Only spheres and capsules have a diameter
if (collision.type == ColliderType.Capsule || collision.type == ColliderType.Sphere)
{
collision.diameter = EditorGUILayout.FloatField(new GUIContent("Diameter", "Diameter of the capsule or sphere. 1 equals one node width"), collision.diameter);
}
if (!collision.use2D)
{
if (collision.type == ColliderType.Capsule || collision.type == ColliderType.Ray)
{
collision.height = EditorGUILayout.FloatField(new GUIContent("Height/Length", "Height of cylinder or length of ray in world units"), collision.height);
}
collision.collisionOffset = EditorGUILayout.FloatField(new GUIContent("Offset", "Offset upwards from the node. Can be used so that obstacles can be used as ground and at the same time as obstacles for lower positioned nodes"), collision.collisionOffset);
}
collision.mask = EditorGUILayoutx.LayerMaskField("Obstacle Layer Mask", collision.mask);
DrawCollisionPreview(collision);
}
GUILayout.Space(2);
if (collision.use2D)
{
EditorGUI.BeginDisabledGroup(collision.use2D);
ToggleGroup("Height testing", false);
EditorGUI.EndDisabledGroup();
}
else
{
collision.heightCheck = ToggleGroup("Height testing", collision.heightCheck);
if (collision.heightCheck)
{
collision.fromHeight = EditorGUILayout.FloatField(new GUIContent("Ray length", "The height from which to check for ground"), collision.fromHeight);
collision.heightMask = EditorGUILayoutx.LayerMaskField("Mask", collision.heightMask);
collision.thickRaycast = EditorGUILayout.Toggle(new GUIContent("Thick Raycast", "Use a thick line instead of a thin line"), collision.thickRaycast);
if (collision.thickRaycast)
{
EditorGUI.indentLevel++;
collision.thickRaycastDiameter = EditorGUILayout.FloatField(new GUIContent("Diameter", "Diameter of the thick raycast"), collision.thickRaycastDiameter);
EditorGUI.indentLevel--;
}
collision.unwalkableWhenNoGround = EditorGUILayout.Toggle(new GUIContent("Unwalkable when no ground", "Make nodes unwalkable when no ground was found with the height raycast. If height raycast is turned off, this doesn't affect anything"), collision.unwalkableWhenNoGround);
}
}
}
public GridGraph () {
unclampedSize = new Vector2 (10,10);
nodeSize = 1F;
collision = new GraphCollision ();
}
public override void ScanInternal (OnScanStatus statusCallback) {
AstarPath.OnPostScan += new OnScanDelegate (OnPostScan);
scans++;
if (nodeSize <= 0) {
return;
}
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
return;
}
SetUpOffsetsAndCosts ();
int graphIndex = AstarPath.active.astarData.GetGraphIndex(this);
GridNode.SetGridGraph (graphIndex,this);
nodes = new GridNode[width*depth];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new GridNode(active);
nodes[i].GraphIndex = (uint)graphIndex;
}
if (collision == null) {
collision = new GraphCollision ();
}
collision.Initialize (matrix,nodeSize);
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = nodes[z*width+x];
node.NodeInGridIndex = z*width+x;
UpdateNodePositionCollision (node,x,z);
}
}
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = nodes[z*width+x];
CalculateConnections (nodes,x,z,node);
}
}
ErodeWalkableArea ();
}
public override void ScanInternal (OnScanStatus statusCallback) {
AstarPath.OnPostScan += new OnScanDelegate (OnPostScan);
scans++;
if (nodeSize <= 0) {
return;
}
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
return;
}
//GenerateBounds ();
/*neighbourOffsets = new int[8] {
-width-1,-width,-width+1,
-1,1,
width-1,width,width+1
}*/
SetUpOffsetsAndCosts ();
//GridNode.RemoveGridGraph (this);
int graphIndex = AstarPath.active.astarData.GetGraphIndex(this);
GridNode.SetGridGraph (graphIndex,this);
//graphNodes = new GridNode[width*depth];
//nodes = CreateNodes (width*depth);
nodes = new GridNode[width*depth];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new GridNode(active);
nodes[i].GraphIndex = (uint)graphIndex;
}
if (collision == null) {
collision = new GraphCollision ();
}
collision.Initialize (matrix,nodeSize);
textureData.Initialize ();
//Max slope in cosinus
//float cosAngle = Mathf.Cos (maxSlope*Mathf.Deg2Rad);
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = nodes[z*width+x];//new GridNode ();
node.NodeInGridIndex = z*width+x;
UpdateNodePositionCollision (node,x,z);
textureData.Apply (node,x,z);
/*node.position = matrix.MultiplyPoint3x4 (new Vector3 (x+0.5F,0,z+0.5F));
RaycastHit hit;
bool walkable = true;
node.position = collision.CheckHeight (node.position, out hit, out walkable);
node.penalty = 0;//Mathf.RoundToInt (Random.value*100);
//Check if the node is on a slope steeper than permitted
if (walkable && useRaycastNormal && collision.heightCheck) {
if (hit.normal != Vector3.zero) {
//Take the dot product to find out the cosinus of the angle it has (faster than Vector3.Angle)
float angle = Vector3.Dot (hit.normal.normalized,Vector3.up);
if (angle < cosAngle) {
walkable = false;
}
}
}
//If the walkable flag has already been set to false, there is no point in checking for it again
if (walkable) {
node.walkable = collision.Check (node.position);
} else {
node.walkable = walkable;
}*/
}
}
for (int z = 0; z < depth; z ++) {
for (int x = 0; x < width; x++) {
GridNode node = nodes[z*width+x];
CalculateConnections (nodes,x,z,node);
#if ASTARDEBUG
if (z == 5 && x == 5) {
int index = z*width+x;
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.red);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.green);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.blue);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.yellow);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.cyan);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.magenta);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.black);
Debug.DrawRay ((Vector3)node.position,(Vector3)(nodes[index+neighbourOffsets[0]].position-node.position)*0.5F,Color.white);
}
#endif
}
}
ErodeWalkableArea ();
//Assign the nodes to the main storage
//startIndex = AstarPath.active.AssignNodes (graphNodes);
//endIndex = startIndex+graphNodes.Length;
}
protected override void DrawUse2DPhysics(GraphCollision collision)
{
// 2D physics does not make sense for a layered grid graph
collision.use2D = false;
}
