private static int DistanceToNode(AStarNode from, AStarNode to)
{
return(math.abs(to.XCoord - from.XCoord) + math.abs(to.YCoord - from.YCoord));
}
public void Execute(ArchetypeChunk chunk, int chunkIndex, int firstEntityIndex)
{
NativeArray <NavigationGridData> navigationGrids = chunk.GetNativeArray(this.navigationGridType);
BufferAccessor <AStarNodeElement> nodeBufferAccessor = chunk.GetBufferAccessor(this.nodeBufferType);
for (int ci = 0, cn = chunk.Count; ci < cn; ci++)
{
NavigationGridData navigationGrid = outNavigationGrid[0] = navigationGrids[ci];
DynamicBuffer <AStarNodeElement> nodeBuffer = nodeBufferAccessor[ci];
// Solve path if requested
if (navigationGrid.pathRequested)
{
// All nodes
NativeArray <AStarNode> nodes = nodeBuffer.Reinterpret <AStarNode>().ToNativeArray(Allocator.Temp);
// Create temp grid
AStarGrid aStarGrid = new AStarGrid(navigationGrid.lengthX, navigationGrid.lengthY, nodes);
// Start/end nodes
AStarNode start = navigationGrid.pathStart;
AStarNode end = navigationGrid.pathEnd;
// Solve path
NativeList <AStarNode> pathNodeList = new NativeList <AStarNode>(Allocator.Temp);
bool pathFound = AStarSolver.SolvePath(aStarGrid, start, end, ref pathNodeList);
int pathLength = pathNodeList.Length;
if (pathFound && navigationGrid.pathMustBeStraightLine)
{
// Check if path is straight line if specfied as a requirement
bool xDiverge = false;
bool yDiverge = false;
for (int i = 1, n = pathNodeList.Length; i < n; i++)
{
if (!xDiverge)
{
xDiverge = pathNodeList[i].XCoord != pathNodeList[i - 1].XCoord;
}
if (!yDiverge)
{
yDiverge = pathNodeList[i].YCoord != pathNodeList[i - 1].YCoord;
}
if (xDiverge && yDiverge)
{
pathFound = false;
break;
}
}
}
// Copy path node list to output array
NativeSlice <AStarNode> pathNodeListSlice = new NativeSlice <AStarNode>(pathNodeList.AsArray());
NativeSlice <AStarNode> pathNodeSlice = new NativeSlice <AStarNode>(this.outPathNodes, 0, pathLength);
pathNodeSlice.CopyFrom(pathNodeListSlice);
// Dispose native containers
pathNodeList.Dispose();
aStarGrid.Dispose();
nodes.Dispose();
this.outPathFound[0] = pathFound ? 1 : 0;
this.outPathFound[1] = pathLength;
navigationGrid.pathRequested = false;
navigationGrid.pathMustBeStraightLine = false;
// Apply changes
navigationGrids[ci] = navigationGrid;
}
}
}
public static bool SolvePath(AStarGrid grid, AStarNode start, AStarNode end, ref NativeList <AStarNode> pathNodes)
{
NativeList <AStarNode> openNodes = new NativeList <AStarNode>(Allocator.Temp);
NativeList <AStarNode> closedNodes = new NativeList <AStarNode>(Allocator.Temp);
AStarNode current = start;
openNodes.Add(start);
bool pathFound = false;
while (openNodes.Length > 0)
{
current = openNodes[0];
int minF = current.F;
for (int i = 1, n = openNodes.Length; i < n; i++)
{
if (minF > openNodes[i].F)
{
current = openNodes[i];
}
}
closedNodes.Add(current);
openNodes.RemoveAtSwapBack(openNodes.IndexOf(current));
if (current.Equals(end))
{
// Path to end found
pathFound = true;
break;
}
NativeArray <AStarNode> adjacentNodes = new NativeArray <AStarNode>(4, Allocator.Temp);
int length = 0;
GetAdjacentNodes(grid, current, ref adjacentNodes, out length);
for (int i = 0; i < length; i++)
{
AStarNode adjacent = adjacentNodes[i];
if (closedNodes.IndexOf(adjacent) < 0)
{
if (openNodes.IndexOf(adjacent) < 0)
{
adjacent.parentIndex = current.Index;
adjacent.G = DistanceToNode(adjacent, end);
adjacent.H = adjacent.TraversalCost + grid[adjacent.parentIndex].H;
openNodes.Add(adjacent);
grid[adjacent.XCoord, adjacent.YCoord] = adjacent;
}
}
}
adjacentNodes.Dispose();
}
if (pathFound)
{
while (current.parentIndex >= 0)
{
pathNodes.Add(current);
current = grid[current.parentIndex];
}
pathNodes.Add(start);
// Reverse
for (int i = 0, i2 = pathNodes.Length - 1; i < i2; i++, i2--)
{
AStarNode t = pathNodes[i];
pathNodes[i] = pathNodes[i2];
pathNodes[i2] = t;
}
}
openNodes.Dispose();
closedNodes.Dispose();
return(pathFound);
}
protected override void OnUpdate()
{
// TEMPORARY for testing
bool gatherBlocks = Input.GetKeyDown(KeyCode.F);
if (gatherBlocks)
{
NativeArray <Entity> currentBlocks = this.blocksQuery.ToEntityArray(Allocator.TempJob);
NativeArray <Translation> translations = new NativeArray <Translation>(currentBlocks.Length, Allocator.TempJob);
NativeArray <Rotation> rotations = new NativeArray <Rotation>(currentBlocks.Length, Allocator.TempJob);
NativeArray <BlockTraversalData> blockTraversals = new NativeArray <BlockTraversalData>(currentBlocks.Length, Allocator.TempJob);
NativeArray <BlockGridNodeData> blockGridNodes = new NativeArray <BlockGridNodeData>(currentBlocks.Length, Allocator.TempJob);
Translation playerStartTranslation = new Translation();
Rotation playerStartRotation = new Rotation();
PlayerNavigationNode playerStartNode = new PlayerNavigationNode();
for (int i = 0, n = currentBlocks.Length; i < n; i++)
{
translations[i] = this.EntityManager.GetComponentData <Translation>(currentBlocks[i]);
rotations[i] = this.EntityManager.GetComponentData <Rotation>(currentBlocks[i]);
blockTraversals[i] = this.EntityManager.GetComponentData <BlockTraversalData>(currentBlocks[i]);
blockGridNodes[i] = this.EntityManager.GetComponentData <BlockGridNodeData>(currentBlocks[i]);
}
Entities.WithAll <Tag_NavigationGrid>().WithoutBurst().ForEach(
(int entityInQueryIndex, DynamicBuffer <AStarNodeElement> nodeBuf, ref NavigationGridData navigationGrid) => {
nodeBuf.Clear();
float minX, maxX;
minX = maxX = translations[0].Value.x;
float minZ, maxZ;
minZ = maxZ = translations[0].Value.z;
for (int ti = 0, tn = translations.Length; ti < tn; ti++)
{
if (minX > translations[ti].Value.x)
{
minX = translations[ti].Value.x;
}
if (maxX < translations[ti].Value.x)
{
maxX = translations[ti].Value.x;
}
if (minZ > translations[ti].Value.z)
{
minZ = translations[ti].Value.z;
}
if (maxZ < translations[ti].Value.z)
{
maxZ = translations[ti].Value.z;
}
}
int lengthX = (int)(math.abs(maxX - minX) / GridConstants.BLOCK_SIZE) + 1;
int lengthY = (int)(math.abs(maxZ - minZ) / GridConstants.BLOCK_SIZE) + 1;
navigationGrid.worldBoundsMin = new float2(minX, minZ);
navigationGrid.worldBoundsMax = new float2(maxX, maxZ);
navigationGrid.lengthX = lengthX;
navigationGrid.lengthY = lengthY;
for (int ti = 0, tn = translations.Length; ti < tn; ti++)
{
int x, y;
navigationGrid.WorldToGridPosition(translations[ti].Value, out x, out y);
int i = (y * lengthX) + x;
AStarNode node = new AStarNode(x, y, i, true);
nodeBuf.Add(node);
BlockGridNodeData gridNode = new BlockGridNodeData()
{
XCoord = x,
YCoord = y,
Index = i,
};
this.EntityManager.SetComponentData <BlockGridNodeData>(currentBlocks[ti], gridNode);
if (blockTraversals[ti].blockType == BlockType.Start)
{
playerStartTranslation = translations[ti];
playerStartRotation = rotations[ti];
playerStartNode = new PlayerNavigationNode(x, y, i, translations[ti].Value);
}
}
;
})
.Run();
translations.Dispose();
rotations.Dispose();
blockTraversals.Dispose();
blockGridNodes.Dispose();
currentBlocks.Dispose();
EntityCommandBuffer.Concurrent ecb = this.endSimulationEntitySystem.CreateCommandBuffer().ToConcurrent();
BufferFromEntity <Child> childrenBuffer = GetBufferFromEntity <Child>(true);
//Entities.WithAll<Tag_Block>().ForEach(
// (int entityInQueryIndex, Entity entity) => {
// EntityUtils.EnableEntityHierarchy(ref ecb, entityInQueryIndex, entity, childrenBuffer);
// })
//.Schedule();
Entities.WithAll <Tag_BlockGroup>().ForEach(
(int entityInQueryIndex, ref DynamicBuffer <EntityElement> entityBuff) => {
for (int i = 0, n = entityBuff.Length; i < n; i++)
{
EntityUtils.DisableEntityHierarchy(ref ecb, entityInQueryIndex, entityBuff[i], childrenBuffer);
}
})
.Schedule();
this.endSimulationEntitySystem.AddJobHandleForProducer(this.Dependency);
//ecb = this.endSimulationEntitySystem.CreateCommandBuffer().ToConcurrent();
//Entities.WithAll<Tag_Block>().ForEach(
// (int entityInQueryIndex, ref BlockSwitchData blockSwitch) => {
// blockSwitch.Reset();
// blockSwitch.RefreshView(ref ecb, entityInQueryIndex);
// })
//.Schedule();
//this.endSimulationEntitySystem.AddJobHandleForProducer(this.Dependency);
Entities.WithAll <Tag_Player>().WithoutBurst().ForEach(
(ref PlayerMovementData playerMovement, ref Translation translation, ref Rotation rotation) => {
translation = playerStartTranslation;
rotation = playerStartRotation;
playerMovement.currentNode = playerStartNode;
})
.Run();
}
/*
* bool generateBlocks = Input.GetKeyDown(KeyCode.Space);
*
* if (!generateBlocks) {
* return;
* }
*
* EntityCommandBuffer.Concurrent ecb = this.endSimulationEntitySystem.CreateCommandBuffer().ToConcurrent();
*
* Entity prefab = BlockManager.Instance.BlockPrefabEntity;
*
* NativeArray<Entity> currentBlocks = this.blocksQuery.ToEntityArray(Allocator.TempJob);
*
* Entities.WithAll<Tag_NavigationGrid>().WithoutBurst().ForEach(
* (int entityInQueryIndex, DynamicBuffer<AStarNodeElement> nodeBuf, ref NavigationGridData navigationGrid) =>
* {
* for (int i = 0, n = currentBlocks.Length; i < n; i++) {
* ecb.DestroyEntity(entityInQueryIndex, currentBlocks[i]);
* }
*
* Unity.Mathematics.Random random = new Unity.Mathematics.Random((uint)System.DateTime.Now.Millisecond);
* int rand = 0;
*
* bool pathFound = false;
*
* NativeArray<AStarNode> nodes = new NativeArray<AStarNode>(navigationGrid.LinearLength, Allocator.Temp);
*
* while (!pathFound) {
*
* for (int y = 0; y < navigationGrid.lengthY; y++) {
* for (int x = 0; x < navigationGrid.lengthX; x++) {
* int i = (y * navigationGrid.lengthX) + x;
* AStarNode node;
* bool forceWalkable = (x == 0 && y == 0) || (x == navigationGrid.lengthX - 1 && y == navigationGrid.lengthY - 1);
* if (!forceWalkable && random.NextInt(0, navigationGrid.emptyRandFactor) < ++rand) {
* rand = 0;
* node = new AStarNode(x, y, i, false);
*
* } else {
* node = new AStarNode(x, y, i, true);
* }
*
* nodes[i] = node;
* }
* }
*
* // Create temp grid
* AStarGrid aStarGrid = new AStarGrid(navigationGrid.lengthX, navigationGrid.lengthY, nodes);
*
* // Start/end nodes
* AStarNode start = nodes[0];
* AStarNode end = nodes[nodes.Length - 1];
*
* // Solve path
* NativeList<AStarNode> pathNodeList = new NativeList<AStarNode>(Allocator.Temp);
* pathFound = AStarSolver.SolvePath(aStarGrid, start, end, ref pathNodeList);
*
* pathNodeList.Dispose();
* aStarGrid.Dispose();
* }
*
* nodeBuf.Clear();
*
* for (int i = 0, n = nodes.Length; i < n; i++) {
* if (nodes[i].IsTraverseable) {
* float3 position = new float3(nodes[i].XCoord * GridConstants.BLOCK_SIZE, 0, nodes[i].YCoord * GridConstants.BLOCK_SIZE);
*
* Entity block = ecb.Instantiate(entityInQueryIndex, prefab);
*
* Translation translation = new Translation();
* translation.Value = position;
* ecb.SetComponent<Translation>(entityInQueryIndex, block, translation);
* }
*
* nodeBuf.Add(nodes[i]);
* }
*
* navigationGrid.pathRequested = true;
* navigationGrid.pathStart = nodeBuf[0];
* navigationGrid.pathEnd = nodeBuf[nodeBuf.Length - 1];
*
* }).WithDeallocateOnJobCompletion(currentBlocks).ScheduleParallel();
*
* this.endSimulationEntitySystem.AddJobHandleForProducer(this.Dependency);
*/
}
