public static ListCopyable <Vector3> Bezier(ListCopyable <Vector3> points, int subdivisions = 2, float tangentLength = 0.5f)
{
subdivisions = Mathf.Max(subdivisions, 0);
var segmentsCount = 1 << subdivisions;
var outputPoints = PoolListCopyable <Vector3> .Spawn(points.Count *segmentsCount + 1);
for (int i = 0; i < points.Count - 1; i++)
{
var t1 = (points[i + 1] - points[i == 0 ? i : i - 1]) * tangentLength;
var t2 = (points[i] - points[i == points.Count - 2 ? i + 1 : i + 2]) * tangentLength;
var p0 = points[i];
var p1 = p0 + t1;
var p2 = points[i + 1];
var p3 = p2 + t2;
for (int j = 0; j < segmentsCount; j++)
{
outputPoints.Add(CubicBezier(p0, p1, p3, p2, (float)j / segmentsCount));
}
}
outputPoints.Add(points[points.Count - 1]);
return(outputPoints);
}
public void Recycle(ref ListCopyable <T> value)
{
if (value != null)
{
PoolListCopyable <T> .Recycle(ref value);
}
}
public void Recycle()
{
this.result = PathCompleteState.NotCalculated;
this.graph = null;
this.cacheEnabled = default;
if (this.nodes != null)
{
PoolListCopyable <Node> .Recycle(ref this.nodes);
}
if (this.nodesModified != null)
{
PoolListCopyable <Node> .Recycle(ref this.nodesModified);
}
if (this.cacheEnabled == false && this.flowField.arr != null)
{
PoolArray <byte> .Recycle(ref this.flowField);
}
if (this.navMeshPoints != null)
{
PoolListCopyable <Vector3> .Recycle(ref this.navMeshPoints);
}
}
/// <summary>
/// Returns all events by tick range [from..to] (including from and to)
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <returns></returns>
HistoryStorage IStatesHistoryModuleBase.GetHistoryStorage(Tick from, Tick to)
{
var list = PoolListCopyable <HistoryEvent> .Spawn(100);
foreach (var data in this.events)
{
var tick = data.Key;
if ((from != Tick.Invalid && tick < from) ||
(to != Tick.Invalid && tick > to))
{
continue;
}
var values = data.Value.Values;
for (int i = 0, cnt = values.Count; i < cnt; ++i)
{
var evt = values[i];
if (evt.storeInHistory == true)
{
list.Add(evt);
}
}
}
var storage = new HistoryStorage();
storage.events = list.ToArray();
PoolListCopyable <HistoryEvent> .Recycle(ref list);
return(storage);
}
public override void ApplyBeforeConnections(Graph graph)
{
var layer = this.gameObject.layer;
var bounds = this.bounds;
bounds.center += this.transform.position;
var nodes = PoolListCopyable <Node> .Spawn(10);
graph.GetNodesInBounds(nodes, bounds);
foreach (var node in nodes)
{
var ray = new Ray(node.worldPosition + Vector3.up * 10f, Vector3.down);
if (Physics.Raycast(ray, out var hit, 1000f, this.layerMask) == true)
{
if (hit.collider.gameObject.layer == layer)
{
var dt = this.penaltyDelta;
if (dt < 0)
{
node.penalty -= (uint)(-this.penaltyDelta);
}
else
{
node.penalty += (uint)this.penaltyDelta;
}
node.tag = this.tag;
}
}
}
PoolListCopyable <Node> .Recycle(ref nodes);
}
public void Recycle()
{
if (this.nodes != null)
{
PoolListCopyable <Node> .Recycle(ref this.nodes);
}
if (this.nodesModified != null)
{
PoolListCopyable <Node> .Recycle(ref this.nodesModified);
}
}
private ListCopyable <Node> RetracePath(int threadIndex, Node endNode)
{
var path = PoolListCopyable <Node> .Spawn(10);
path.Add(endNode);
while (endNode.parent[threadIndex] != null)
{
endNode = endNode.parent[threadIndex];
path.Add(endNode);
}
path.Reverse();
return(path);
}
public override void OnDeconstruct()
{
this.pool.Clear();
this.pool = null;
if (this.currentTransformArray.isCreated == true)
{
this.currentTransformArray.Dispose();
}
//if (this.resultTransforms != null) PoolList<UnityEngine.Transform>.Recycle(ref this.resultTransforms);
if (this.tempList != null)
{
PoolListCopyable <MonoBehaviourView> .Recycle(ref this.tempList);
}
}
public override void ApplyAfterConnections(Graph graph)
{
var nodes = PoolListCopyable <Node> .Spawn(10);
var bounds = this.bounds;
bounds.center += this.transform.position;
graph.GetNodesInBounds(nodes, this.bounds);
foreach (var node in nodes)
{
if (this.modifyWalkability == true)
{
node.walkable = this.walkable;
}
}
}
public void Recycle()
{
if (this.nodes != null)
{
PoolListCopyable <Node> .Recycle(ref this.nodes);
}
if (this.nodesModified != null)
{
PoolListCopyable <Node> .Recycle(ref this.nodesModified);
}
if (this.cacheEnabled == false && this.flowField.arr != null)
{
PoolArray <byte> .Recycle(ref this.flowField);
}
}
public override void ApplyAfterConnections(Graph graph)
{
var halfOffset = new Vector3(this.tilemap.cellSize.x, 0f, this.tilemap.cellSize.z) * 0.5f;
var visited = PoolHashSet <Node> .Spawn();
foreach (var pos in this.bounds.allPositionsWithin)
{
var worldPos = pos + halfOffset;
var cellPos = this.tilemap.layoutGrid.WorldToCell(worldPos);
var tile = this.tilemap.GetTile(cellPos);
for (int i = 0; i < this.items.Length; ++i)
{
var item = this.items[i];
if (item.modifyWalkability == false)
{
continue;
}
if (item.requiredTile == null || item.requiredTile == tile)
{
if (item.checkSprite == true)
{
var idx = System.Array.IndexOf(item.spriteOneOf, this.tilemap.GetSprite(cellPos));
if (idx < 0)
{
continue;
}
}
var result = PoolListCopyable <Node> .Spawn(1);
graph.GetNodesInBounds(result, new Bounds(worldPos, this.tilemap.cellSize * 0.5f));
foreach (var node in result)
{
if (visited.Contains(node) == false)
{
visited.Add(node);
node.walkable = item.walkable;
}
}
PoolListCopyable <Node> .Recycle(ref result);
}
}
}
PoolHashSet <Node> .Recycle(ref visited);
}
public override void ApplyAfterConnections(Graph graph)
{
var visited = PoolHashSet <Node> .Spawn();
{
var gridGraph = (GridGraph)graph;
var result = PoolListCopyable <Node> .Spawn(1);
graph.GetNodesInBounds(result, new Bounds(graph.graphCenter, (Vector3)gridGraph.size * gridGraph.nodeSize), Constraint.Empty);
{
foreach (var node in result)
{
var worldPos = node.worldPosition;
var cellPos = this.tilemap.layoutGrid.WorldToCell(worldPos);
var tile = this.tilemap.GetTile(cellPos);
for (int i = 0; i < this.items.Length; ++i)
{
var item = this.items[i];
if (item.modifyWalkability == false)
{
continue;
}
if (item.requiredTile == null || item.requiredTile == tile)
{
if (item.checkSprite == true)
{
var idx = System.Array.IndexOf(item.spriteOneOf, this.tilemap.GetSprite(cellPos));
if (idx < 0)
{
continue;
}
}
if (visited.Contains(node) == false)
{
visited.Add(node);
node.walkable = item.walkable;
}
}
}
}
}
PoolListCopyable <Node> .Recycle(ref result);
}
PoolHashSet <Node> .Recycle(ref visited);
}
public virtual bool IsSuitable(Constraint constraint)
{
if (constraint.checkWalkability == true && this.walkable != constraint.walkable)
{
return(false);
}
if (constraint.checkArea == true && (constraint.areaMask & (1 << this.area)) == 0)
{
return(false);
}
if (constraint.checkTags == true && (constraint.tagsMask & (1 << this.tag)) == 0)
{
return(false);
}
if (constraint.graphMask >= 0 && (constraint.graphMask & (1 << this.graph.index)) == 0)
{
return(false);
}
if (constraint.tagsMask > 0L &&
(constraint.agentSize.x > 0f ||
constraint.agentSize.y > 0f ||
constraint.agentSize.z > 0f))
{
var result = PoolListCopyable <Node> .Spawn(10);
this.graph.GetNodesInBounds(result, new Bounds(this.worldPosition, constraint.agentSize));
for (int e = 0, cnt = result.Count; e < cnt; ++e)
{
var node = result[e];
var constraintErosion = constraint;
constraintErosion.agentSize = Vector3.zero;
if (node.IsSuitable(constraintErosion) == false)
{
return(false);
}
}
PoolListCopyable <Node> .Recycle(ref result);
}
return(true);
}
public override void ApplyAfterConnections(Graph graph)
{
var nodes = PoolListCopyable <Node> .Spawn(10);
var bounds = this.bounds;
bounds.center += this.transform.position;
graph.GetNodesInBounds(nodes, this.bounds, Constraint.Empty);
foreach (var node in nodes)
{
if (this.modifyWalkability == true)
{
var ray = new Ray(node.worldPosition + Vector3.up * 10f, Vector3.down);
if (Physics.Raycast(ray, out var hit, 1000f, this.layerMask) == true)
{
node.walkable = this.walkable;
}
}
}
}
public virtual void UpdateGraph(GraphUpdateObject graphUpdateObject)
{
var bounds = graphUpdateObject.GetBounds();
var nodes = PoolListCopyable <Node> .Spawn(10);
this.GetNodesInBounds(nodes, bounds, Constraint.Empty);
for (int i = 0, cnt = nodes.Count; i < cnt; ++i)
{
var node = nodes[i];
if (graphUpdateObject.checkRadius == true)
{
if ((node.worldPosition - graphUpdateObject.center).sqrMagnitude > graphUpdateObject.radius * graphUpdateObject.radius)
{
continue;
}
}
graphUpdateObject.Apply(node);
}
PoolListCopyable <Node> .Recycle(ref nodes);
}
public void ApplyForced(bool disabled = false)
{
if (this.pathfinding == null)
{
return;
}
var prevBounds = this.prevBounds;
prevBounds.center += this.prevPosition;
var prevNodes = PoolListCopyable <Node> .Spawn(10);
this.pathfinding.GetNodesInBounds(prevNodes, prevBounds);
foreach (var node in prevNodes)
{
if (this.prevModifyWalkability == true)
{
node.walkable = true;
this.pathfinding.BuildNodePhysics(node);
}
}
if (disabled == false)
{
var bounds = this.bounds;
bounds.center += this.transform.position;
var nodes = PoolListCopyable <Node> .Spawn(10);
this.pathfinding.GetNodesInBounds(nodes, bounds);
foreach (var node in nodes)
{
if (this.modifyWalkability == true)
{
node.walkable = this.walkable;
this.pathfinding.BuildNodePhysics(node);
}
}
}
}
partial void EndRestoreEntitiesPlugin5()
{
if (this.debugSettings.createGameObjectsRepresentation == true)
{
var unused = PoolListCopyable <Entity> .Spawn(100);
foreach (var entKv in this.debugEntities)
{
if (this.used.Contains(entKv.Key) == false)
{
unused.Add(entKv.Key);
}
}
for (int i = 0; i < unused.Count; ++i)
{
this.DestroyEntityPlugin5(unused[i]);
}
PoolListCopyable <Entity> .Recycle(ref unused);
PoolHashSet <Entity> .Recycle(ref this.used);
}
}
public Path Run <TMod>(LogLevel pathfindingLogLevel, Vector3 from, Vector3 to, Constraint constraint, Graph graph, TMod pathModifier, int threadIndex = 0, bool burstEnabled = true, bool cacheEnabled = false) where TMod : struct, IPathModifier
{
if (threadIndex < 0)
{
threadIndex = 0;
}
threadIndex = threadIndex % Pathfinding.THREADS_COUNT;
var constraintStart = constraint;
constraintStart.checkWalkability = true;
constraintStart.walkable = true;
var startNode = graph.GetNearest(from, constraintStart);
if (startNode == null)
{
return(new Path());
}
var constraintEnd = constraintStart;
constraintEnd.checkArea = true;
constraintEnd.areaMask = (1 << startNode.area);
var endNode = graph.GetNearest(to, constraintEnd);
if (endNode == null)
{
return(new Path());
}
System.Diagnostics.Stopwatch swPath = null;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
swPath = System.Diagnostics.Stopwatch.StartNew();
}
//UnityEngine.Debug.Log(endNode.worldPosition + " :: " + ((GridNode)endNode).erosion);
//UnityEngine.Debug.DrawLine(endNode.worldPosition, endNode.worldPosition + Vector3.up * 10f, Color.red, 3f);
var key = MathUtils.GetKey(constraint.GetKey(), endNode.index);
//UnityEngine.Debug.Log("Build path cache: " + cacheEnabled + ", burst: " + burstEnabled);
if (cacheEnabled == true)
{
if (PathfindingFlowFieldProcessor.pathCache.TryGetValue(key, out var buffer) == true)
{
var pathCache = new Path()
{
graph = graph,
result = PathCompleteState.Complete,
flowField = buffer,
cacheEnabled = cacheEnabled,
};
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(string.Format("Path result {0}, cache in {1}ms. \nThread Index: {2}", pathCache.result, swPath.ElapsedMilliseconds, threadIndex));
}
return(pathCache);
}
}
var flowField = PoolArray <byte> .Spawn(graph.nodes.Count);
int statVisited = 0;
if (burstEnabled == true) // burst
{
this.FlowFieldBurst(ref statVisited, (GridGraph)graph, ref flowField, (GridNode)endNode, constraint, pathModifier);
if (cacheEnabled == true)
{
if (PathfindingFlowFieldProcessor.pathCache.Count > PathfindingFlowFieldProcessor.CACHE_SIZE)
{
const int size = PathfindingFlowFieldProcessor.CACHE_SIZE / 10;
for (int i = 0; i < size; ++i)
{
var idx = PathfindingFlowFieldProcessor.pathCacheQueue.Dequeue();
PathfindingFlowFieldProcessor.pathCache.Remove(idx);
}
PathfindingFlowFieldProcessor.pathCacheQueue.Clear();
}
PathfindingFlowFieldProcessor.pathCache.Add(key, flowField);
PathfindingFlowFieldProcessor.pathCacheQueue.Enqueue(key);
}
}
else // no burst
{
var visited = PoolListCopyable <Node> .Spawn(10);
for (int i = 0; i < graph.nodes.Count; ++i)
{
graph.nodes[i].Reset(threadIndex);
}
this.CreateIntegrationField(graph, visited, endNode, constraint, threadIndex);
this.CreateFlowField(graph, ref flowField, endNode, constraint, threadIndex);
statVisited = visited.Count;
for (int i = 0; i < visited.Count; ++i)
{
visited[i].Reset(threadIndex);
}
PoolListCopyable <Node> .Recycle(ref visited);
}
var path = new Path();
path.graph = graph;
path.result = PathCompleteState.Complete;
path.flowField = flowField;
path.cacheEnabled = cacheEnabled;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(string.Format("Path result {0}, built in {1}ms. Path length: (visited: {2})\nThread Index: {3}", path.result, (swPath.ElapsedTicks / (double)System.TimeSpan.TicksPerMillisecond).ToString("0.##"), statVisited, threadIndex));
}
return(path);
}
public Path Run <TMod>(LogLevel pathfindingLogLevel, Vector3 fromPoint, Vector3 toPoint, Constraint constraint, Graph graph, TMod pathModifier, int threadIndex = 0,
bool burstEnabled = true, bool cacheEnabled = false) where TMod : struct, IPathModifier
{
var path = new Path();
var pathResult = new PathInternal();
var navMeshGraph = (NavMeshGraph)graph;
var areas = -1;
if (constraint.checkArea == true)
{
areas = (int)constraint.areaMask;
}
System.Diagnostics.Stopwatch swPath = null;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
swPath = System.Diagnostics.Stopwatch.StartNew();
}
var statLength = 0;
var statVisited = 0;
var query = new UnityEngine.Experimental.AI.NavMeshQuery(UnityEngine.Experimental.AI.NavMeshWorld.GetDefaultWorld(), Unity.Collections.Allocator.TempJob, PathfindingNavMeshProcessor.POOL_SIZE);
if (burstEnabled == true)
{
var results = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.NavMeshLocation>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.TempJob);
var pathResults = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var job = new BuildPathJob()
{
query = query,
fromPoint = fromPoint,
toPoint = toPoint,
agentTypeId = navMeshGraph.agentTypeId,
areas = areas,
pathResults = pathResults,
results = results,
};
job.Schedule().Complete();
var pathStatus = (UnityEngine.Experimental.AI.PathQueryStatus)pathResults[0];
var cornerCount = pathResults[1];
pathResults.Dispose();
if ((pathStatus & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
if (cornerCount >= 2)
{
path.navMeshPoints = PoolListCopyable <Vector3> .Spawn(cornerCount);
for (var i = 0; i < cornerCount; ++i)
{
path.navMeshPoints.Add(results[i].position);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
var hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.x * 1000000f);
}
UnityEngine.Debug.Log("Path hash X: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.y * 1000000f);
}
UnityEngine.Debug.Log("Path hash Y: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.z * 1000000f);
}
UnityEngine.Debug.Log("Path hash Z: " + hash);
}
if ((pathStatus & UnityEngine.Experimental.AI.PathQueryStatus.PartialResult) != 0)
{
path.result = PathCompleteState.CompletePartial;
}
else
{
path.result = PathCompleteState.Complete;
}
}
else
{
path.result = PathCompleteState.NotExist;
}
}
results.Dispose();
query.Dispose();
return(path);
}
UnityEngine.AI.NavMesh.SamplePosition(fromPoint, out var hitFrom, 1000f, new UnityEngine.AI.NavMeshQueryFilter()
{
agentTypeID = navMeshGraph.agentTypeId,
areaMask = areas,
});
fromPoint = hitFrom.position;
var from = query.MapLocation(fromPoint, Vector3.one * 10f, navMeshGraph.agentTypeId, areas);
if (from.polygon.IsNull() == true)
{
return(path);
}
UnityEngine.AI.NavMesh.SamplePosition(toPoint, out var hitTo, 1000f, new UnityEngine.AI.NavMeshQueryFilter()
{
agentTypeID = navMeshGraph.agentTypeId,
areaMask = areas,
});
toPoint = hitTo.position;
var to = query.MapLocation(toPoint, Vector3.one * 10f, navMeshGraph.agentTypeId, areas);
if (to.polygon.IsNull() == true)
{
return(path);
}
var marker = new Unity.Profiling.ProfilerMarker("PathfindingNavMeshProcessor::Query::BuildPath");
marker.Begin();
query.BeginFindPath(from, to, areas);
query.UpdateFindPath(PathfindingNavMeshProcessor.MAX_ITERATIONS, out var performed);
marker.End();
statVisited = performed;
var result = query.EndFindPath(out var pathSize);
if ((result & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
var pathInternal = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.PolygonId>(pathSize, Unity.Collections.Allocator.Persistent);
query.GetPathResult(pathInternal);
var markerFindStraight = new Unity.Profiling.ProfilerMarker("PathfindingNavMeshProcessor::Query::FindStraightPath");
markerFindStraight.Begin();
var straightPathFlags = new Unity.Collections.NativeArray <StraightPathFlags>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var vertexSide = new Unity.Collections.NativeArray <float>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var results = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.NavMeshLocation>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var resultStatus = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var job = new FindStraightPathJob()
{
query = query,
from = from,
to = to,
pathInternal = pathInternal,
pathSize = pathSize,
results = results,
straightPathFlags = straightPathFlags,
vertexSide = vertexSide,
resultStatus = resultStatus,
};
job.Schedule().Complete();
var pathStatus = (UnityEngine.Experimental.AI.PathQueryStatus)job.resultStatus[0];
var cornerCount = job.resultStatus[1];
resultStatus.Dispose();
statLength = cornerCount;
markerFindStraight.End();
if (pathStatus == UnityEngine.Experimental.AI.PathQueryStatus.Success)
{
/*for (int i = 1; i < cornerCount; ++i) {
*
* Gizmos.color = Color.green;
* Gizmos.DrawLine(results[i].position, results[i - 1].position);
*
* }*/
pathResult.pathStatus = pathStatus;
pathResult.results = results;
pathResult.corners = cornerCount;
if (cornerCount >= 2)
{
path.navMeshPoints = PoolListCopyable <Vector3> .Spawn(cornerCount);
for (var i = 0; i < cornerCount; ++i)
{
path.navMeshPoints.Add(results[i].position);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
var hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.x * 1000000f);
}
UnityEngine.Debug.Log("Path hash X: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.y * 1000000f);
}
UnityEngine.Debug.Log("Path hash Y: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.z * 1000000f);
}
UnityEngine.Debug.Log("Path hash Z: " + hash);
}
path.result = PathCompleteState.Complete;
}
else
{
path.result = PathCompleteState.NotExist;
}
pathResult.Dispose();
}
else
{
path.result = PathCompleteState.NotExist;
results.Dispose();
}
vertexSide.Dispose();
straightPathFlags.Dispose();
pathInternal.Dispose();
}
else
{
path.result = PathCompleteState.NotExist;
//Debug.LogWarning("Path result: " + result + ", performed: " + performed);
}
System.Diagnostics.Stopwatch swModifier = null;
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
swModifier = System.Diagnostics.Stopwatch.StartNew();
}
if ((path.result & PathCompleteState.Complete) != 0)
{
path = pathModifier.Run(path, constraint);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(
$"Path result {path.result}, built in {(swPath.ElapsedTicks / (double)System.TimeSpan.TicksPerMillisecond).ToString("0.##")}ms. Path length: {statLength} (Visited: {statVisited})\nThread Index: {threadIndex}");
}
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
Logger.Log($"Path Mods: {swModifier.ElapsedMilliseconds}ms");
}
query.Dispose();
return(path);
}
public Path Run <TMod>(LogLevel pathfindingLogLevel, Vector3 from, Vector3 to, Constraint constraint, Graph graph, TMod pathModifier, int threadIndex = 0, bool burstEnabled = true, bool cacheEnabled = false) where TMod : struct, IPathModifier
{
if (threadIndex < 0)
{
threadIndex = 0;
}
threadIndex = threadIndex % Pathfinding.THREADS_COUNT;
var constraintStart = constraint;
constraintStart.checkWalkability = true;
constraintStart.walkable = true;
var startNode = graph.GetNearest(from, constraintStart);
if (startNode.node == null)
{
return(new Path());
}
var constraintEnd = constraintStart;
constraintEnd.checkArea = true;
constraintEnd.areaMask = (1 << startNode.node.area);
var endNode = graph.GetNearest(to, constraintEnd);
if (endNode.node == null)
{
return(new Path());
}
System.Diagnostics.Stopwatch swPath = null;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
swPath = System.Diagnostics.Stopwatch.StartNew();
}
var statVisited = 0;
var nodesPath = this.AstarSearch(ref statVisited, graph as GridGraph, startNode.node, endNode.node, constraint, threadIndex);
var statLength = 0;
var path = new Path();
path.graph = graph;
path.result = PathCompleteState.NotCalculated;
if (nodesPath.Length == 0)
{
path.result = PathCompleteState.NotExist;
}
else
{
statLength = nodesPath.Length;
path.result = PathCompleteState.Complete;
var list = PoolListCopyable <Node> .Spawn(nodesPath.Length);
for (int i = 0; i < nodesPath.Length; ++i)
{
list.Add(graph.nodes[nodesPath[i].index]);
}
path.nodes = list;
}
nodesPath.Dispose();
System.Diagnostics.Stopwatch swModifier = null;
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
swModifier = System.Diagnostics.Stopwatch.StartNew();
}
if (path.result == PathCompleteState.Complete)
{
path = pathModifier.Run(path, constraint);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(string.Format("Path result {0}, built in {1}ms. Path length: {2} (visited: {3})\nThread Index: {4}", path.result, (swPath.ElapsedTicks / (double)System.TimeSpan.TicksPerMillisecond).ToString("0.##"), statLength, statVisited, threadIndex));
}
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
Logger.Log(string.Format("Path Mods: {0}ms", swModifier.ElapsedMilliseconds));
}
return(path);
}
public Path Run <TMod>(LogLevel pathfindingLogLevel, Vector3 from, Vector3 to, Constraint constraint, Graph graph, TMod pathModifier, int threadIndex = 0) where TMod : IPathModifier
{
if (threadIndex < 0)
{
threadIndex = 0;
}
threadIndex = threadIndex % Pathfinding.THREADS_COUNT;
var constraintStart = constraint;
constraintStart.checkWalkability = true;
constraintStart.walkable = true;
var startNode = graph.GetNearest(from, constraintStart);
if (startNode == null)
{
return(new Path());
}
var constraintEnd = constraintStart;
constraintEnd.checkArea = true;
constraintEnd.areaMask = (1 << startNode.area);
var endNode = graph.GetNearest(to, constraintEnd);
if (endNode == null)
{
return(new Path());
}
var visited = PoolListCopyable <Node> .Spawn(10);
System.Diagnostics.Stopwatch swPath = null;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
swPath = System.Diagnostics.Stopwatch.StartNew();
}
var nodesPath = this.AstarSearch(graph, visited, startNode, endNode, constraint, threadIndex);
var statVisited = visited.Count;
var statLength = 0;
var path = new Path();
path.graph = graph;
path.result = PathCompleteState.NotCalculated;
if (nodesPath == null)
{
path.result = PathCompleteState.NotExist;
}
else
{
statLength = nodesPath.Count;
path.result = PathCompleteState.Complete;
path.nodes = nodesPath;
}
for (int i = 0; i < visited.Count; ++i)
{
visited[i].Reset(threadIndex);
}
PoolListCopyable <Node> .Recycle(ref visited);
System.Diagnostics.Stopwatch swModifier = null;
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
swModifier = System.Diagnostics.Stopwatch.StartNew();
}
if (path.result == PathCompleteState.Complete)
{
path = pathModifier.Run(path, constraint);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(string.Format("Path result {0}, built in {1}ms. Path length: {2} (visited: {3})\nThread Index: {4}", path.result, swPath.ElapsedMilliseconds, statLength, statVisited, threadIndex));
}
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
Logger.Log(string.Format("Path Mods: {0}ms", swModifier.ElapsedMilliseconds));
}
return(path);
}
public DataList(int capacity)
{
this.dataObject = new DataObject <ListCopyable <T>, DataListProvider <T> >(PoolListCopyable <T> .Spawn(capacity));
}
public void OnRecycle()
{
PoolListCopyable <int> .Recycle(ref this.data);
}
public void Clone(ListCopyable <T> from, ref ListCopyable <T> to)
{
to = PoolListCopyable <T> .Spawn(from.Capacity);
to.CopyFrom(from);
}
public override void Update(BufferArray <Views> list, float deltaTime, bool hasChanged)
{
if (this.world.settings.useJobsForViews == false || this.world.settings.viewsSettings.unityGameObjectProviderDisableJobs == true)
{
return;
}
if (list.isCreated == true)
{
if (hasChanged == true)
{
if (this.tempList == null)
{
this.tempList = PoolListCopyable <MonoBehaviourView> .Spawn(list.Length);
}
var changed = false; //ArrayUtils.Resize(list.Length - 1, ref this.currentTransforms);
var k = 0;
for (int i = 0, length = list.Length; i < length; ++i)
{
var item = list.arr[i];
if (item.isNotEmpty == false)
{
continue;
}
for (int j = 0, count = item.Length; j < count; ++j)
{
var view = item[j] as MonoBehaviourView;
if (view == null)
{
continue;
}
if (view.applyStateJob == true && view.entity.IsAlive() == true)
{
changed |= ArrayUtils.Resize(k, ref this.currentTransforms);
var isNew = false;
if (k >= this.tempList.Count)
{
this.tempList.Add(view);
this.currentTransforms.arr[k] = view.transform;
isNew = true;
}
var tempItem = this.tempList[k];
if (isNew == true ||
tempItem.prefabSourceId != view.prefabSourceId ||
tempItem.creationTick != view.creationTick ||
tempItem.entity != view.entity)
{
this.tempList[k] = view;
this.currentTransforms.arr[k] = view.transform;
changed = true;
}
++k;
}
}
}
if (this.currentTransformArray.isCreated == false)
{
this.currentTransformArray = new TransformAccessArray(k);
}
if (changed == true)
{
this.currentTransformArray.SetTransforms(this.currentTransforms.arr);
//if (UnityGameObjectProvider.resultList != null) PoolList<MonoBehaviourView>.Recycle(ref UnityGameObjectProvider.resultList);
//var result = PoolList<MonoBehaviourView>.Spawn(this.tempList.Count);
//result.AddRange(this.tempList);
UnityGameObjectProvider.resultList = this.tempList;
UnityGameObjectProvider.resultCount = k;
}
}
if (UnityGameObjectProvider.resultCount > 0 && this.currentTransformArray.isCreated == true)
{
var job = new Job()
{
deltaTime = deltaTime,
length = UnityGameObjectProvider.resultCount
};
var handle = job.Schedule(this.currentTransformArray);
handle.Complete();
}
}
}
