/** Returns if \a node is connected to it's neighbour in the specified direction */
public static bool CheckConnection (LevelGridNode node, int dir) {
return node.GetConnection (dir);
}
/** Updates penalty for the node.
* This function sets penalty to zero (0) and then adjusts it if #penaltyPosition is set to true.
*/
public virtual void UpdatePenalty (LevelGridNode node) {
node.Penalty = 0;//Mathf.RoundToInt (Random.value*100);
node.Penalty = initialPenalty;
if (penaltyPosition) {
node.Penalty += (uint)Mathf.RoundToInt ((node.position.y-penaltyPositionOffset)*penaltyPositionFactor);
}
}
public override void ScanInternal (OnScanStatus statusCallback) {
if (nodeSize <= 0) {
return;
}
GenerateMatrix ();
if (width > 1024 || depth > 1024) {
Debug.LogError ("One of the grid's sides is longer than 1024 nodes");
return;
}
lastScannedWidth = width;
lastScannedDepth = depth;
SetUpOffsetsAndCosts ();
LevelGridNode.SetGridGraph (active.astarData.GetGraphIndex(this), this);
maxClimb = Mathf.Clamp (maxClimb,0,characterHeight);
var linkedCells = new LinkedLevelCell[width*depth];
collision = 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];
Vector3 pos = matrix.MultiplyPoint3x4 (new Vector3 (x+0.5F,0,z+0.5F));
RaycastHit[] hits = collision.CheckHeightAll (pos);
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) {
LinkedLevelNode lln = null;
for (int i=0;i<hits.Length;i++) {
var tmp = new LinkedLevelNode ();
tmp.position = hits[i].point;
if (lln != null) {
/** \todo Use hit.distance instead */
if (tmp.position.y - lln.position.y <= mergeSpanRange) {
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 {
var lln = new LinkedLevelNode ();
lln.position = pos;
lln.height = float.PositiveInfinity;
lln.walkable = !collision.unwalkableWhenNoGround;
llc.first = lln;
}
}
}
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 = new LevelGridNode[width*depth*layerCount];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new LevelGridNode (active);
nodes[i].Penalty = initialPenalty;
}
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 {
var node = nodes[z*width+x + width*depth*layerIndex];
#if ASTAR_SET_LEVELGRIDNODE_HEIGHT
node.height = lln.height;
#endif
node.SetPosition ((Int3)lln.position);
node.Walkable = lln.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);
// Enqueue 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.NodeInGridIndex = z*width+x;
if (lln.height < characterHeight) {
node.Walkable = false;
}
node.WalkableErosion = node.Walkable;
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++) {
for (int i=0;i<layerCount;i++) {
GraphNode node = nodes[z*width+x + width*depth*i];
CalculateConnections (nodes,node,x,z,i);
}
}
}
uint graphIndex = (uint)active.astarData.GetGraphIndex(this);
for (int i=0;i<nodes.Length;i++) {
var lgn = nodes[i];
if (lgn == null) continue;
UpdatePenalty (lgn);
lgn.GraphIndex = graphIndex;
// Set the node to be unwalkable if it hasn't got any connections
if (!lgn.HasAnyGridConnections ()) {
lgn.Walkable = false;
lgn.WalkableErosion = lgn.Walkable;
}
}
ErodeWalkableArea ();
}
/** Recalculates single cell.
*
* \param x X coordinate of the cell
* \param z Z coordinate of the cell
* \param preserveExistingNodes If true, nodes will be reused, this can be used to preserve e.g penalty when recalculating
*
* \returns If new layers or nodes were added. If so, you need to call
* AstarPath.active.DataUpdate() after this function to make sure pathfinding works correctly for them
* (when doing a scan, that function does not need to be called however).
*
* \note Connections are not recalculated for the nodes.
*/
public bool RecalculateCell (int x, int z, bool preserveExistingNodes) {
var llc = new LinkedLevelCell ();
Vector3 pos = matrix.MultiplyPoint3x4 (new Vector3 (x+0.5F,0,z+0.5F));
RaycastHit[] hits = collision.CheckHeightAll (pos);
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;
}
bool addedNodes = false;
if (hits.Length > 0) {
LinkedLevelNode lln = null;
for (int i=0;i<hits.Length;i++) {
var tmp = new LinkedLevelNode ();
tmp.position = hits[i].point;
if (lln != null) {
/** \todo Use hit.distance instead */
if (tmp.position.y - lln.position.y <= mergeSpanRange) {
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 {
var lln = new LinkedLevelNode ();
lln.position = pos;
lln.height = float.PositiveInfinity;
lln.walkable = !collision.unwalkableWhenNoGround;
llc.first = lln;
}
//=========
uint graphIndex = (uint)active.astarData.GetGraphIndex(this);
{
//llc
LinkedLevelNode lln = llc.first;
int count = 0;
int layerIndex = 0;
do {
if (layerIndex >= layerCount) {
if (layerIndex+1 > LevelGridNode.MaxLayerCount) {
Debug.LogError ("Too many layers, a maximum of LevelGridNode.MaxLayerCount are allowed (required "+(layerIndex+1)+")");
return addedNodes;
}
AddLayers (1);
addedNodes = true;
}
var node = nodes[z*width+x + width*depth*layerIndex];
if (node == null || !preserveExistingNodes) {
//Create a new node
nodes[z*width+x + width*depth*layerIndex] = new LevelGridNode(active);
node = nodes[z*width+x + width*depth*layerIndex];
node.Penalty = initialPenalty;
node.GraphIndex = graphIndex;
addedNodes = true;
}
//node.connections = null;
#if ASTAR_SET_LEVELGRIDNODE_HEIGHT
node.height = lln.height;
#endif
node.SetPosition ((Int3)lln.position);
node.Walkable = lln.walkable;
node.WalkableErosion = node.Walkable;
//Adjust penalty based on the surface slope
if (lln.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 (lln.hit.normal.normalized,collision.up);
//Enqueue penalty based on normal
if (penaltyAngle) {
node.Penalty += (uint)Mathf.RoundToInt ((1F-angle)*penaltyAngleFactor);
}
//Max slope in cosinus
float cosAngle = Mathf.Cos (maxSlope*Mathf.Deg2Rad);
//Check if the slope is flat enough to stand on
if (angle < cosAngle) {
node.Walkable = false;
}
}
node.NodeInGridIndex = z*width+x;
if (lln.height < characterHeight) {
node.Walkable = false;
}
count++;
lln = lln.next;
layerIndex++;
} while (lln != null);
for (;layerIndex<layerCount;layerIndex++) {
nodes[z*width+x + width*depth*layerIndex] = null;
}
llc.count = count;
}
return addedNodes;
}
public override void DeserializeExtraInfo (GraphSerializationContext ctx)
{
int count = ctx.reader.ReadInt32();
if (count == -1) {
nodes = null;
return;
}
nodes = new LevelGridNode[count];
for (int i=0;i<nodes.Length;i++) {
if (ctx.reader.ReadInt32() != -1 ){
nodes[i] = new LevelGridNode (active);
nodes[i].DeserializeNode(ctx);
} else {
nodes[i] = null;
}
}
}
