public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem)
{
UnityEngine.MeshRenderer meshRenderer = this.Map.GetComponent <UnityEngine.MeshRenderer>();
dstManager.AddComponentData(entity, new PhysicsCollider
{
Value = BoxCollider.Create
(
CollisionGeomeotrySingleton.Instance.CreateOrGetBoxGeometry(meshRenderer.bounds.size),
CollisionFilterSingleton.Instance.BelongsToNonTraversableFilter
)
});
Entity worldBoundsEntity = dstManager.CreateEntity(dstManager.CreateWorldBoundsArchetype());
WorldBounds worldBounds = WorldBoundsStaticAccessor.WorldBounds;
dstManager.SetComponentData(worldBoundsEntity, worldBounds);
using (NativeArray <Entity> pathNodes = dstManager.CreateEntity(dstManager.CreatePathnodeArchetype(), worldBounds.XZGridSize.x * worldBounds.XZGridSize.y, Allocator.Temp))
{
for (int x = 0; x < worldBounds.XZGridSize.x; ++x)
{
for (int y = 0; y < worldBounds.XZGridSize.y; ++y)
{
int index = AStarUtility.CalculateIndex(x, y, worldBounds.XZGridSize.x);
dstManager.SetComponentData(pathNodes[index], new PathNode
{
X = x,
Y = y,
Index = index,
GCost = int.MaxValue,
HCost = int.MaxValue,
IsTraversable = true, //Phyisics check in MonsterPathfindingGridSystem.cs but not in FindPath Method of AStar.cs saves performance!
PreviousNodeIndex = -1
});
}
}
}
}
public static IEnumerator Run
(
Node start,
Func <Node, float> heuristic,
Func <Node, bool> satisfies,
Func <Node, IEnumerable <NodeCost> > expand,
Action <IEnumerable <Node> > callback
)
{
var initialState = new AStarState <Node>();
initialState.open.Add(start);
initialState.gs[start] = 0;
initialState.fs[start] = heuristic(start);
initialState.previous[start] = null;
initialState.current = start;
var state = initialState;
while (state.open.Count > 0 && !state.finished)
{
state = state.Clone();
var candidate = state.open.OrderBy(x => state.fs[x]).First();
state.current = candidate;
if (satisfies(candidate))
{
state.finished = true;
}
else
{
state.open.Remove(candidate);
state.closed.Add(candidate);
var neighbours = expand(candidate);
if (neighbours == null || !neighbours.Any())
{
continue;
}
var gCandidate = state.gs[candidate];
foreach (var neighbour in neighbours)
{
if (neighbour.endpoint.In(state.closed))
{
continue;
}
var gNeighbour = gCandidate + neighbour.cost;
state.open.Add(neighbour.endpoint);
if (gNeighbour > state.gs.DefaultGet(neighbour.endpoint, () => gNeighbour))
{
continue;
}
state.previous[neighbour.endpoint] = candidate;
state.gs[neighbour.endpoint] = gNeighbour;
state.fs[neighbour.endpoint] = gNeighbour + heuristic(neighbour.endpoint);
}
}
yield return(null);
}
if (!state.finished)
{
callback(null);
}
else
{
var seq =
AStarUtility.Generate(state.current, n => state.previous[n])
.TakeWhile(n => n != null)
.Reverse();
callback(seq);
}
}