/// <summary>
/// Schedules background jobs to move all agents using the given delta time
/// </summary>
public JobHandle MoveAgents(float dt, JobHandle dependsOn = default)
{
m_spatialMap.Clear();
AgentWorld agentWorld = new AgentWorld();
agentWorld.offset = world.transform.position;
agentWorld.rotation = world.transform.rotation;
agentWorld.center = world.data.center;
agentWorld.scale = world.scale;
agentWorld.size = new int3(
world.size.x,
world.size.y,
world.size.z
);
if (!movingAllAgents.IsCompleted)
{
movingAllAgents.Complete();
}
// update the spatial map with all agent positions
JobHandle spatialMaps = UpdateSpatialMap(agentWorld, dependsOn);
// update each agents position by archetype
for (int i = 0; i < archetypes.Count; i++)
{
m_movingByArchetype[i] = MoveByArchetype(i, agentWorld, dt, spatialMaps);
}
movingAllAgents = JobHandle.CombineDependencies(m_movingByArchetype);
return(movingAllAgents);
}
public void AgentsRiseWhenBuried()
{
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(1, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
velocity = new float3(0, 0, 0)
};
NativeArray <float3> steering = new NativeArray <float3>(1, Allocator.Persistent);
steering[0] = new float3(0, 0, 0);
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(1, Allocator.Persistent);
active[0] = AgentBehaviors.Active;
NativeArray <VRoxel.Navigation.Block> blocks = new NativeArray <VRoxel.Navigation.Block>(1, Allocator.Persistent);
VRoxel.Navigation.Block solidBlock = new VRoxel.Navigation.Block();
solidBlock.solid = true; solidBlock.cost = 1; blocks[0] = solidBlock;
NativeArray <byte> voxels = new NativeArray <byte>(1, Allocator.Persistent);
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
GravityBehavior job = new GravityBehavior()
{
gravity = new float3(0, -4f, 0),
world = world,
steering = steering,
behaviors = active,
agents = agents,
blocks = blocks,
voxels = voxels,
};
job.Schedule(1, 1).Complete();
Assert.AreEqual(new float3(0, 2, 0), steering[0]);
agents.Dispose();
active.Dispose();
blocks.Dispose();
voxels.Dispose();
steering.Dispose();
}
// Use this for initialization
void Start()
{
spawner = FindObjectOfType <AgentSpawner>();
world = FindObjectOfType <AgentWorld>();
leaderBoardText = FindObjectOfType <LeaderBoardText>();
playerNameToId = new Dictionary <string, int>();
playerIdToName = new string[leaderBoardSize];
playerScores = new int[leaderBoardSize];
File.WriteAllText(logPath, string.Empty);
FileStream fileStream = new FileStream(logPath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
streamReader = new StreamReader(fileStream);
}
/// <summary>
/// Schedules background jobs to update the spatial map for all agents
/// </summary>
protected JobHandle UpdateSpatialMap(AgentWorld agentWorld, JobHandle dependsOn = default)
{
JobHandle handle = dependsOn;
for (int i = 0; i < archetypes.Count; i++)
{
BuildSpatialMapJob job = new BuildSpatialMapJob();
job.movementConfigs = m_movementTypes;
job.movement = m_agentMovementTypes[i];
job.collision = archetypes[i].collision;
job.spatialMap = m_spatialMapWriter;
job.behaviors = m_agentBehaviors[i];
job.agents = m_agentKinematics[i];
job.size = spatialBucketSize;
job.world = agentWorld;
handle = job.Schedule(
m_transformAccess[i],
handle
);
}
return(handle);
}
// Use this for initialization
void Start()
{
world = FindObjectOfType <AgentWorld>();
textMesh = GetComponent <TextMesh>();
}
public void AddBrakeForceWhenAgentsCollide()
{
float3 position1 = float3.zero;
float3 position2 = new float3(0f, 1f, 0f);
NativeMultiHashMap <int3, SpatialMapData> spatialMap = new NativeMultiHashMap <int3, SpatialMapData>(1, Allocator.Persistent);
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position1
});
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position2
});
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(2, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
position = position1, velocity = new float3(0, 0, 0)
};
agents[1] = new AgentKinematics()
{
position = position2, velocity = new float3(0, 1, 0)
};
NativeArray <float3> steering = new NativeArray <float3>(2, Allocator.Persistent);
steering[0] = new float3(0, 1, 0);
steering[1] = new float3(1, 0, 1);
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(2, Allocator.Persistent);
for (int i = 0; i < 2; i++)
{
active[i] = AgentBehaviors.Queueing;
}
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
QueueBehavior job = new QueueBehavior()
{
maxBrakeForce = 0.8f,
maxQueueAhead = 1f,
maxQueueRadius = 1f,
maxDepth = 100,
world = world,
size = new int3(1, 1, 1),
spatialMap = spatialMap,
steering = steering,
behaviors = active,
agents = agents
};
job.Schedule(2, 1).Complete();
// first agent should be braking
float3 expected = new float3(0, 0.2f, 0);
Assert.AreEqual(true, Mathf.Approximately(expected.x, steering[0].x));
Assert.AreEqual(true, Mathf.Approximately(expected.y, steering[0].y));
Assert.AreEqual(true, Mathf.Approximately(expected.z, steering[0].z));
// second agent should not be braking
expected = new float3(1, 0, 1);
Assert.AreEqual(true, Mathf.Approximately(expected.x, steering[1].x));
Assert.AreEqual(true, Mathf.Approximately(expected.y, steering[1].y));
Assert.AreEqual(true, Mathf.Approximately(expected.z, steering[1].z));
spatialMap.Dispose();
steering.Dispose();
agents.Dispose();
active.Dispose();
}
// Use this for initialization
void Start()
{
agentManager = FindObjectOfType <AgentWorld>();
phosphorManager = FindObjectOfType <PhosphorManager>();
}
// Use this for initialization
void Start()
{
cloudMaterial = new Material(cloudShader);
world = FindObjectOfType <AgentWorld>();
cloudMaterial.SetFloat("timeOffset", Random.value);
}
public void UpdatesDirections()
{
NativeArray <float3> directions = new NativeArray <float3>(1, Allocator.Persistent);
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(1, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
position = Vector3.up
};
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(1, Allocator.Persistent);
active[0] = AgentBehaviors.Seeking;
NativeArray <byte> flowField = new NativeArray <byte>(1, Allocator.Persistent);
NativeArray <int3> flowDirections = new NativeArray <int3>(27, Allocator.Persistent);
for (int i = 0; i < 1; i++)
{
flowField[i] = (byte)Direction3Int.Name.Up;
}
for (int i = 0; i < 27; i++)
{
Vector3Int dir = Direction3Int.Directions[i];
flowDirections[i] = new int3(dir.x, dir.y, dir.z);
}
NativeArray <int> agentMovementTypes = new NativeArray <int>(1, Allocator.Persistent);
NativeArray <AgentMovement> movementTypes = new NativeArray <AgentMovement>(1, Allocator.Persistent);
movementTypes[0] = new AgentMovement()
{
mass = 1f, topSpeed = 1f, turnSpeed = 1f
};
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
FlowFieldSeekJob job = new FlowFieldSeekJob()
{
movementTypes = movementTypes,
agentMovement = agentMovementTypes,
world = world,
flowField = flowField,
flowDirections = flowDirections,
flowFieldSize = new int3(1, 1, 1),
agents = agents,
steering = directions,
behaviors = active,
};
JobHandle handle = job.Schedule(1, 1);
handle.Complete();
Assert.AreEqual(new float3(0, 1, 0), directions[0]);
flowDirections.Dispose();
flowField.Dispose();
directions.Dispose();
agents.Dispose();
active.Dispose();
movementTypes.Dispose();
agentMovementTypes.Dispose();
}
public void AvoidsNearbyAgents()
{
float3 position1 = float3.zero;
float3 position2 = new float3(0f, 1f, 0f);
float3 max = new float3(float.MaxValue, float.MaxValue, float.MaxValue);
NativeMultiHashMap <int3, SpatialMapData> spatialMap = new NativeMultiHashMap <int3, SpatialMapData>(1, Allocator.Persistent);
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position1
});
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position2
});
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(2, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
position = position1, velocity = new float3(0, 0, 0)
};
agents[1] = new AgentKinematics()
{
position = position2, velocity = new float3(0, 1, 0)
};
NativeArray <float3> steering = new NativeArray <float3>(2, Allocator.Persistent);
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(2, Allocator.Persistent);
AgentBehaviors flags = AgentBehaviors.Avoiding;
for (int i = 0; i < 2; i++)
{
active[i] = flags;
}
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
AvoidCollisionBehavior job = new AvoidCollisionBehavior()
{
avoidDistance = 1f,
avoidRadius = 1f,
avoidForce = 1f,
maxDepth = 100,
world = world,
size = new int3(1, 1, 1),
spatialMap = spatialMap,
steering = steering,
behaviors = active,
agents = agents,
};
job.Schedule(2, 1).Complete();
Assert.AreEqual(new float3(0, -1, 0), steering[0]);
Assert.AreEqual(new float3(0, 0, 0), steering[1]);
spatialMap.Dispose();
steering.Dispose();
agents.Dispose();
active.Dispose();
}
public void UpdatesPositionAndRotation()
{
Transform[] transforms = new Transform[2];
transforms[0] = GameObject.CreatePrimitive(PrimitiveType.Cube).transform;
transforms[1] = GameObject.CreatePrimitive(PrimitiveType.Cube).transform;
TransformAccessArray asyncTransforms = new TransformAccessArray(transforms);
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(2, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
maxSpeed = 1f
};
agents[1] = new AgentKinematics()
{
maxSpeed = 1f
};
NativeArray <float3> directions = new NativeArray <float3>(2, Allocator.Persistent);
directions[0] = Vector3.right;
directions[1] = Vector3.left;
NativeArray <byte> flowField = new NativeArray <byte>(1, Allocator.Persistent);
for (int i = 0; i < 1; i++)
{
flowField[i] = 1;
}
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(2, Allocator.Persistent);
for (int i = 0; i < 2; i++)
{
active[i] = AgentBehaviors.Active;
}
NativeArray <int> agentMovementTypes = new NativeArray <int>(2, Allocator.Persistent);
NativeArray <AgentMovement> movementTypes = new NativeArray <AgentMovement>(1, Allocator.Persistent);
movementTypes[0] = new AgentMovement()
{
mass = 1f, topSpeed = 1f, turnSpeed = 1f
};
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
MoveAgentJob job = new MoveAgentJob()
{
maxForce = 1f,
movementTypes = movementTypes,
agentMovement = agentMovementTypes,
agents = agents,
behaviors = active,
steering = directions,
deltaTime = Time.deltaTime,
world = world,
flowField = flowField,
flowFieldSize = new int3(1, 1, 1)
};
Vector3 position_0 = transforms[0].position;
Vector3 position_1 = transforms[1].position;
Quaternion rotation_0 = transforms[0].rotation;
Quaternion rotation_1 = transforms[1].rotation;
JobHandle handle = job.Schedule(asyncTransforms);
handle.Complete();
Assert.AreNotEqual(position_0, transforms[0].position);
Assert.AreNotEqual(position_1, transforms[1].position);
Assert.AreNotEqual(rotation_0, transforms[0].rotation);
Assert.AreNotEqual(rotation_1, transforms[1].rotation);
agents.Dispose();
active.Dispose();
flowField.Dispose();
directions.Dispose();
asyncTransforms.Dispose();
agentMovementTypes.Dispose();
movementTypes.Dispose();
foreach (var t in transforms)
{
GameObject.DestroyImmediate(t.gameObject);
}
}
/// <summary>
/// Schedules background jobs to move each agent in the scene by the given delta time
/// </summary>
protected JobHandle MoveByArchetype(int index, AgentWorld agentWorld, float dt, JobHandle dependsOn = default)
{
FlowFieldSeekJob seekJob = new FlowFieldSeekJob()
{
world = agentWorld,
movementTypes = m_movementTypes,
agentMovement = m_agentMovementTypes[index],
flowField = m_flowFields[index],
flowDirections = m_directions,
flowFieldSize = agentWorld.size,
behaviors = m_agentBehaviors[index],
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
};
JobHandle seekHandle = seekJob.Schedule(m_totalAgents[index], 1, dependsOn);
AvoidCollisionBehavior avoidJob = new AvoidCollisionBehavior()
{
avoidForce = avoidForce,
avoidRadius = avoidRadius,
avoidDistance = avoidDistance,
maxDepth = maxAvoidDepth,
world = agentWorld,
behaviors = m_agentBehaviors[index],
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
spatialMap = m_spatialMap,
size = spatialBucketSize
};
JobHandle avoidHandle = avoidJob.Schedule(m_totalAgents[index], 1, seekHandle);
QueueBehavior queueJob = new QueueBehavior()
{
maxDepth = maxQueueDepth,
maxBrakeForce = brakeForce,
maxQueueRadius = queueRadius,
maxQueueAhead = queueDistance,
world = agentWorld,
behaviors = m_agentBehaviors[index],
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
size = spatialBucketSize,
spatialMap = m_spatialMap
};
JobHandle queueHandle = queueJob.Schedule(m_totalAgents[index], 1, avoidHandle);
StoppingBehavior stopJob = new StoppingBehavior()
{
maxBrakeForce = brakeForce,
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
behaviors = m_agentBehaviors[index]
};
JobHandle stopHandle = stopJob.Schedule(m_totalAgents[index], 1, queueHandle);
CollisionBehavior collisionJob = new CollisionBehavior()
{
movementConfigs = m_movementTypes,
movement = m_agentMovementTypes[index],
collision = archetypes[index].collision,
minDistance = minCollisionDistance,
minForce = minCollisionForce,
maxDepth = maxCollisionDepth,
world = agentWorld,
behaviors = m_agentBehaviors[index],
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
spatialMap = m_spatialMap,
size = spatialBucketSize
};
JobHandle collisionHandle = collisionJob.Schedule(m_totalAgents[index], 1, stopHandle);
GravityBehavior gravityJob = new GravityBehavior()
{
world = agentWorld,
behaviors = m_agentBehaviors[index],
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
blocks = m_blockTypes[index],
voxels = world.data.voxels,
gravity = new float3(
gravity.x,
gravity.y,
gravity.z
),
};
JobHandle gravityHandle = gravityJob.Schedule(m_totalAgents[index], 1, collisionHandle);
MoveAgentJob moveJob = new MoveAgentJob()
{
maxForce = maxForce,
movementTypes = m_movementTypes,
agentMovement = m_agentMovementTypes[index],
world = agentWorld,
behaviors = m_agentBehaviors[index],
agents = m_agentKinematics[index],
steering = m_agentSteering[index],
deltaTime = dt,
flowField = m_flowFields[index],
flowFieldSize = agentWorld.size,
};
return(moveJob.Schedule(m_transformAccess[index], gravityHandle));
}
