/// <summary>
/// Creates a grid configuration based on the property values of this instance.
/// </summary>
/// <returns>The grid configuration</returns>
public IGrid Create()
{
var cellMatrix = CellMatrix.Create(this);
var subSections = CreateSubSections(cellMatrix.start);
return(Grid.Create(cellMatrix, subSections));
}
internal IGrid CreateForEditor(CellMatrixData data)
{
var cellMatrix = CellMatrix.CreateForEditor(this, data);
var subSections = CreateSubSections(cellMatrix.start);
return(Grid.Create(cellMatrix, subSections));
}
public MatrixBounds Prepare(CellMatrix matrix, bool block)
{
MatrixBounds combinedCoverage;
//The bounds used last check
_oldBounds.Mirror(_actualBounds);
if (!block)
{
//Only unblock is required, so the affected area is the most recent coverage
combinedCoverage = _cellCoverage;
_actualBounds.Reset();
_cellCoverage = MatrixBounds.nullBounds;
return(combinedCoverage);
}
var velocity = _parent.GetVelocity();
var obstacleSensitivityRange = _parent.useGridObstacleSensitivity ? matrix.obstacleSensitivityRange : _parent.customSensitivity;
PrepareHull(velocity, obstacleSensitivityRange);
//Get the axis-aligned bounding box
var bounds = _actualBounds.CalculateBounds();
//Get the new coverage, combine it with the old for coverage of both those to unblock and block
var newCoverage = matrix.GetMatrixBounds(bounds, matrix.cellSize / 2f, true);
combinedCoverage = MatrixBounds.Combine(_cellCoverage, newCoverage);
_cellCoverage = newCoverage;
return(combinedCoverage);
}
/// <summary>
/// Creates a grid.
/// </summary>
/// <param name="matrix">The cell matrix.</param>
/// <param name="gridSections">The grid sections array</param>
/// <returns>The grid</returns>
public static Grid Create(CellMatrix matrix, GridSection[] gridSections)
{
var g = new Grid();
g.Initialize(matrix, gridSections);
return(g);
}
/// <summary>
/// Creates a grid configuration based on the prebaked data
/// </summary>
/// <param name="data">The data.</param>
/// <returns>The grid.</returns>
public IGrid Create(CellMatrixData data)
{
Ensure.ArgumentNotNull(data, "data");
var cellMatrix = CellMatrix.Create(this, data);
var subSections = CreateSubSections(cellMatrix.start);
return(Grid.Create(cellMatrix, subSections));
}
/// <summary>
/// Initializes a new instance of the <see cref="StandardCellHeightSettingsProvider"/> class.
/// </summary>
/// <param name="matrix">The matrix.</param>
public StandardCellHeightSettingsProvider(CellMatrix matrix)
: base(matrix)
{
var settings = GameServices.heightStrategy.unitsHeightNavigationCapability;
_maxWalkableSlopeAngle = settings.maxSlopeAngle;
_maxClimbHeight = settings.maxClimbHeight;
_maxDropHeight = settings.maxDropHeight;
_granularity = GameServices.heightStrategy.sampleGranularity;
}
public InnerProvider(CellMatrix matrix, StandardCellHeightSettingsProvider parent)
{
_matrix = matrix;
_maxWalkableSlopeAngle = parent._maxWalkableSlopeAngle;
_maxClimbHeight = parent._maxClimbHeight;
_maxDropHeight = parent._maxDropHeight;
_granularity = parent._granularity;
_offsets = new Vector3[3];
_heightSampler = (GameServices.heightStrategy.heightMode == HeightSamplingMode.HeightMap) ? (ISampleHeightsSimple)matrix : GameServices.heightStrategy.heightSampler;
}
/// <summary>
/// Creates a cell matrix based on the given configuration and stored data.
/// </summary>
/// <param name="cfg">The configuration.</param>
/// <param name="data">The data.</param>
/// <returns>The matrix</returns>
public static CellMatrix Create(ICellMatrixConfiguration cfg, CellMatrixData data)
{
var matrix = new CellMatrix(cfg);
var iter = matrix.Populate(data);
while (iter.MoveNext())
{
/* NOOP, we just iterate over all */
}
return(matrix);
}
/// <summary>
/// Initializes a new instance of the <see cref="RichCell"/> class.
/// </summary>
/// <param name="parent">The cell matrix that owns this cell.</param>
/// <param name="position">The position.</param>
/// <param name="matrixPosX">The matrix position x.</param>
/// <param name="matrixPosZ">The matrix position z.</param>
/// <param name="blocked">if set to <c>true</c> the cell will appear permanently blocked.</param>
public RichCell(CellMatrix parent, Vector3 position, int matrixPosX, int matrixPosZ, bool blocked)
: base(parent, position, matrixPosX, matrixPosZ, blocked)
{
//While a bit redundant (e.g. index 4 being self) it makes it faster to index
_heightData = new HeightData[9];
for (int i = 0; i < 9; i++)
{
//We use this to indicate an uninitialized state
_heightData[i].slope = 100f;
}
//Worst case scenario for checking all directions
_worstCase = new HeightData();
}
internal static CellMatrix CreateForEditor(ICellMatrixConfiguration cfg, CellMatrixData data)
{
var matrix = new CellMatrix(cfg);
if (data == null)
{
matrix._heightLookup = matrix.CreateHeightLookup(0);
}
else
{
matrix.InitHeightMapForEditor(data);
}
return(matrix);
}
float ISampleHeightsSimple.SampleHeight(Vector3 position, CellMatrix matrix)
{
var fx = (position.x - _start.x) / _granularity;
var fz = (position.z - _start.z) / _granularity;
var x = Mathf.RoundToInt(fx);
var z = Mathf.RoundToInt(fz);
float height;
if (_heightLookup.TryGetHeight(x, z, out height))
{
return(height);
}
return(this.origin.y);
}
/// <summary>
/// Resets the clearance in the matrix.
/// </summary>
/// <param name="matrix">The matrix.</param>
/// <returns></returns>
public IEnumerator Reset(CellMatrix matrix)
{
var rows = matrix.rows;
var columns = matrix.columns;
var rawMatrix = matrix.rawMatrix;
for (int x = 1; x < columns - 1; x++)
{
for (int z = 1; z < rows - 1; z++)
{
var cc = rawMatrix[x, z] as IHaveClearance;
cc.clearance = float.MaxValue;
}
yield return(null);
}
}
private IEnumerator CreateIncrementally(Action <IGrid> callback)
{
var cellMatrixInitializer = CellMatrix.CreateIncrementally(this);
while (cellMatrixInitializer.isInitializing)
{
yield return(null);
}
var cellMatrix = cellMatrixInitializer.matrix;
var subSections = CreateSubSections(cellMatrix.start);
yield return(null);
var grid = Grid.Create(cellMatrix, subSections);
callback(grid);
}
/// <summary>
/// Initializes a new instance of the <see cref="Cell"/> class.
/// </summary>
/// <param name="parent">The cell matrix that owns this cell.</param>
/// <param name="position">The position.</param>
/// <param name="matrixPosX">The matrix position x.</param>
/// <param name="matrixPosZ">The matrix position z.</param>
/// <param name="blocked">if set to <c>true</c> the cell will appear permanently blocked.</param>
public Cell(CellMatrix parent, Vector3 position, int matrixPosX, int matrixPosZ, bool blocked)
{
Ensure.ArgumentNotNull(parent, "parent");
this.position = position;
this.matrixPosX = matrixPosX;
this.matrixPosZ = matrixPosZ;
_parent = parent;
_permanentlyBlocked = blocked;
_neighbours = NeighbourPosition.None;
if (matrixPosX < (parent.columns - 1))
{
_neighbours |= NeighbourPosition.Right;
if (matrixPosZ < (parent.rows - 1))
{
_neighbours |= (NeighbourPosition.Top | NeighbourPosition.TopRight);
}
if (matrixPosZ > 0)
{
_neighbours |= (NeighbourPosition.Bottom | NeighbourPosition.BottomRight);
}
}
if (matrixPosX > 0)
{
_neighbours |= NeighbourPosition.Left;
if (matrixPosZ < (parent.rows - 1))
{
_neighbours |= (NeighbourPosition.Top | NeighbourPosition.TopLeft);
}
if (matrixPosZ > 0)
{
_neighbours |= (NeighbourPosition.Bottom | NeighbourPosition.BottomLeft);
}
}
}
public MatrixBounds Prepare(CellMatrix matrix, bool block)
{
_lastCoverage = _newCoverage;
if (!block)
{
_newCoverage = MatrixBounds.nullBounds;
return(_lastCoverage);
}
var velocity = _parent.GetVelocity();
var sensitivity = (matrix.cellSize / 2f) - (_parent.useGridObstacleSensitivity ? matrix.obstacleSensitivityRange : _parent.customSensitivity);
var bounds = GrowBoundsByVelocity(_collider.bounds, velocity);
_newCoverage = matrix.GetMatrixBounds(bounds, sensitivity, true);
return(MatrixBounds.Combine(_lastCoverage, _newCoverage));
}
private void Initialize(CellMatrix matrix, GridSection[] gridSections)
{
//Setup the basic state
_cellMatrix = matrix;
_gridSections = gridSections;
_origin = _cellMatrix.origin;
_cellSize = _cellMatrix.cellSize;
_sizeX = _cellMatrix.columns;
_sizeZ = _cellMatrix.rows;
//Perimeters
_left = new Perimeter(Vector3.left, GetPerimeterEdge(Vector3.left, false), GetPerimeterEdge(Vector3.left, true));
_right = new Perimeter(Vector3.right, GetPerimeterEdge(Vector3.right, false), GetPerimeterEdge(Vector3.right, true));
_top = new Perimeter(Vector3.forward, GetPerimeterEdge(Vector3.forward, false), GetPerimeterEdge(Vector3.forward, true));
_bottom = new Perimeter(Vector3.back, GetPerimeterEdge(Vector3.back, false), GetPerimeterEdge(Vector3.back, true));
_left.SetPerpendiculars(_top, _bottom, _cellSize);
_right.SetPerpendiculars(_bottom, _top, _cellSize);
_top.SetPerpendiculars(_right, _left, _cellSize);
_bottom.SetPerpendiculars(_left, _right, _cellSize);
}
/// <summary>
/// Gets the perpendicular offsets.
/// </summary>
/// <param name="matrix">The matrix to update.</param>
/// <param name="dx">The x delta.</param>
/// <param name="dz">The z delta.</param>
/// <returns>An array with 3 entries, representing left side offset, no offset and right side offset.</returns>
protected Vector3[] GetPerpendicularOffsets(CellMatrix matrix, int dx, int dz)
{
Vector3 ppd;
var obstacleSensitivityRange = Mathf.Min(matrix.cellSize / 2f, matrix.obstacleSensitivityRange);
if (dx != 0 && dz != 0)
{
var offSet = obstacleSensitivityRange / Consts.SquareRootTwo;
ppd = new Vector3(offSet * -dx, 0.0f, offSet * dz);
}
else
{
ppd = new Vector3(obstacleSensitivityRange * dz, 0.0f, obstacleSensitivityRange * dx);
}
return(new Vector3[]
{
Vector3.zero,
ppd,
ppd * -1
});
}
/// <summary>
/// Creates a data instance from the specified configuration.
/// </summary>
/// <param name="matrix">The matrix to store.</param>
/// <returns>The data instance</returns>
public static CellMatrixData Create(CellMatrix matrix)
{
CellMatrixData data;
var c = matrix[0, 0];
if (c is RichCell)
{
data = ScriptableObject.CreateInstance <RichCellData>();
}
else if (c is FlatCell)
{
data = ScriptableObject.CreateInstance <FlatCellData>();
}
else
{
data = ScriptableObject.CreateInstance <StandardCellData>();
}
data.Initialize(matrix);
return(data);
}
public Cell Create(CellMatrix parent, Vector3 position, int matrixPosX, int matrixPosZ, bool blocked)
{
return(new FlatCell(parent, position, matrixPosX, matrixPosZ, blocked));
}
/// <summary>
/// Initializes a new instance of the <see cref="FlatCell"/> class.
/// </summary>
/// <param name="parent">The cell matrix that owns this cell.</param>
/// <param name="position">The position.</param>
/// <param name="matrixPosX">The matrix position x.</param>
/// <param name="matrixPosZ">The matrix position z.</param>
/// <param name="blocked">if set to <c>true</c> the cell will appear permanently blocked.</param>
public FlatCell(CellMatrix parent, Vector3 position, int matrixPosX, int matrixPosZ, bool blocked)
: base(parent, position, matrixPosX, matrixPosZ, blocked)
{
}
private void Initialize(CellMatrix cellMatrix)
{
var sizeX = cellMatrix.columns;
var sizeZ = cellMatrix.rows;
var matrix = cellMatrix.rawMatrix;
PrepareForInitialization(cellMatrix);
var blockedIndexsList = new List <int>();
for (int x = 0; x < sizeX; x++)
{
for (int z = 0; z < sizeZ; z++)
{
var arrIdx = (z * sizeX) + x;
var cell = matrix[x, z];
if (!cell.IsWalkableToAny())
{
blockedIndexsList.Add(arrIdx);
}
RecordCellData(cell, arrIdx);
}
}
FinalizeInitialization();
_blockedIndexes = blockedIndexsList.ToArray();
if (GameServices.heightStrategy.heightMode == HeightSamplingMode.HeightMap)
{
var heightSize = cellMatrix.heightMapSize;
var heightX = heightSize.x;
var heightZ = heightSize.z;
_heightEntries = cellMatrix.heightMapEntries;
_heights = new float[heightX * heightZ];
_heightIndices = new int[heightX * heightZ];
int indicesCount = 0;
float lastHeight = float.NegativeInfinity;
for (int x = 0; x < heightX; x++)
{
for (int z = 0; z < heightZ; z++)
{
var arrIdx = (x * heightZ) + z;
var curHeight = cellMatrix.SampleHeight(x, z);
if (curHeight != lastHeight)
{
lastHeight = curHeight;
_heights[indicesCount] = curHeight;
_heightIndices[indicesCount++] = arrIdx;
}
}
}
_heights[indicesCount] = 0f;
_heightIndices[indicesCount++] = (heightZ * heightX);
_heights = Shrink(_heights, indicesCount);
_heightIndices = Shrink(_heightIndices, indicesCount);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="HeightSettingsProviderBase"/> class.
/// </summary>
/// <param name="matrix">The matrix.</param>
protected HeightSettingsProviderBase(CellMatrix matrix)
{
_matrix = matrix;
}
internal MatrixIncrementalInitializer(ICellMatrixConfiguration cfg)
{
_matrix = new CellMatrix(cfg);
_iter = _matrix.Populate();
}
/// <summary>
/// Updates the data with the new state of the matrix.
/// </summary>
/// <param name="matrix">The matrix.</param>
public void Refresh(CellMatrix matrix)
{
Initialize(matrix);
}
public InnerProvider(CellMatrix matrix)
{
_matrix = matrix;
_offsets = new Vector3[3];
_heightSampler = (GameServices.heightStrategy.heightMode == HeightSamplingMode.HeightMap) ? (ISampleHeightsSimple)_matrix : GameServices.heightStrategy.heightSampler;
}
/// <summary>
/// Assigns height settings to a portion of the _matrix.
/// </summary>
/// <param name="matrix">The matrix to update.</param>
/// <param name="bounds">The portion of the matrix to update.</param>
/// <returns>
/// An enumerator which once enumerated will do the update.
/// </returns>
public override IEnumerator AssignHeightSettings(CellMatrix matrix, MatrixBounds bounds)
{
var inner = new InnerProvider(matrix);
return(inner.AssignHeightSettings(bounds));
}
/// <summary>
/// Sets the clearance values for all cells in the matrix.
/// </summary>
/// <param name="matrix">The matrix.</param>
/// <returns></returns>
public IEnumerator SetClearance(CellMatrix matrix)
{
var rows = matrix.rows;
var columns = matrix.columns;
var cellSize = matrix.cellSize;
var halfCell = cellSize * 0.5f;
var rawMatrix = matrix.rawMatrix;
//First set the perimeter which is always 0 or ½ cell size. This allows us to use the raw matrix for the rest, skipping index range checks.
for (int x = 0; x < columns; x++)
{
var c = rawMatrix[x, 0];
var cc = c as IHaveClearance;
cc.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
c = rawMatrix[x, rows - 1];
cc = c as IHaveClearance;
cc.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
}
yield return(null);
for (int z = 1; z < rows - 1; z++)
{
var c = rawMatrix[0, z];
var cc = c as IHaveClearance;
cc.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
c = rawMatrix[columns - 1, z];
cc = c as IHaveClearance;
cc.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
}
yield return(null);
//Do the rest. First from left to right and the reversed
for (int x = 1; x < columns - 1; x++)
{
for (int z = 1; z < rows - 1; z++)
{
var c = rawMatrix[x, z];
var cc = c as IHaveClearance;
if (c.isPermanentlyBlocked)
{
cc.clearance = 0f;
continue;
}
var cy = c.position.y;
var minClear = float.MaxValue;
for (int nx = -1; nx < 2; nx++)
{
for (int nz = -1; nz < 2; nz++)
{
var n = rawMatrix[x + nx, z + nz];
var nc = n as IHaveClearance;
//Height is only blocking if the neighbour is higher. Lower neighbours do not affect clearance, e..g the unit is allowed to hover partly in open air.
if (n.isPermanentlyBlocked || (n.position.y - cy) > _heightDiffThreshold)
{
minClear = -halfCell;
nz = nx = 2;
}
else if (nc.clearance < float.MaxValue)
{
minClear = Mathf.Min(minClear, nc.clearance);
}
}
}
cc.clearance = minClear + cellSize;
}
yield return(null);
}
for (int x = columns - 2; x >= 1; x--)
{
for (int z = 1; z < rows - 1; z++)
{
var c = rawMatrix[x, z];
var cc = c as IHaveClearance;
if (c.isPermanentlyBlocked)
{
cc.clearance = 0f;
continue;
}
var cy = c.position.y;
var minClear = float.MaxValue;
for (int nx = -1; nx < 2; nx++)
{
for (int nz = -1; nz < 2; nz++)
{
var n = rawMatrix[x + nx, z + nz];
var nc = n as IHaveClearance;
if (n.isPermanentlyBlocked || (n.position.y - cy) > _heightDiffThreshold)
{
minClear = -halfCell;
nz = nx = 2;
}
else if (nc.clearance < float.MaxValue)
{
minClear = Mathf.Min(minClear, nc.clearance);
}
}
}
cc.clearance = minClear + cellSize;
}
yield return(null);
}
}
/// <summary>
/// Sets the clearance values for all cells in the matrix.
/// </summary>
/// <param name="matrix">The matrix.</param>
/// <returns></returns>
public IEnumerator SetClearance(CellMatrix matrix)
{
var rows = matrix.rows;
var columns = matrix.columns;
var cellSize = matrix.cellSize;
var halfCell = cellSize * 0.5f;
var rawMatrix = matrix.rawMatrix;
//First set the perimeter which is always 0 or ½ cell size. This allows us to use the raw matrix for the rest, skipping index range checks.
for (int x = 0; x < columns; x++)
{
var c = rawMatrix[x, 0] as FlatClearanceCell;
c.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
c = rawMatrix[x, rows - 1] as FlatClearanceCell;
c.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
}
yield return(null);
for (int z = 1; z < rows - 1; z++)
{
var c = rawMatrix[0, z] as FlatClearanceCell;
c.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
c = rawMatrix[columns - 1, z] as FlatClearanceCell;
c.clearance = c.isPermanentlyBlocked ? 0f : halfCell;
}
yield return(null);
//Do the rest. First from left to right and the reversed
for (int x = 1; x < columns - 1; x++)
{
for (int z = 1; z < rows - 1; z++)
{
var c = rawMatrix[x, z] as FlatClearanceCell;
if (c.isPermanentlyBlocked)
{
c.clearance = 0f;
continue;
}
var minClear = float.MaxValue;
for (int nx = -1; nx < 2; nx++)
{
for (int nz = -1; nz < 2; nz++)
{
var n = rawMatrix[x + nx, z + nz] as FlatClearanceCell;
if (n.isPermanentlyBlocked)
{
minClear = -halfCell;
nz = nx = 2;
}
else if (n.clearance < float.MaxValue)
{
minClear = Mathf.Min(minClear, n.clearance);
}
}
}
c.clearance = minClear + cellSize;
}
yield return(null);
}
for (int x = columns - 2; x >= 1; x--)
{
for (int z = 1; z < rows - 1; z++)
{
var c = rawMatrix[x, z] as FlatClearanceCell;
if (c.isPermanentlyBlocked)
{
c.clearance = 0f;
continue;
}
var minClear = float.MaxValue;
for (int nx = -1; nx < 2; nx++)
{
for (int nz = -1; nz < 2; nz++)
{
var n = rawMatrix[x + nx, z + nz] as FlatClearanceCell;
if (n.isPermanentlyBlocked)
{
minClear = -halfCell;
nz = nx = 2;
}
else if (n.clearance < float.MaxValue)
{
minClear = Mathf.Min(minClear, n.clearance);
}
}
}
c.clearance = minClear + cellSize;
}
yield return(null);
}
}
protected override void PrepareForInitialization(CellMatrix matrix)
{
/* NOOP */
}
protected abstract void PrepareForInitialization(CellMatrix matrix);
