//public System.Object lockObject;
public void AddSpan (uint bottom, uint top, int area, int voxelWalkableClimb) {
VoxelSpan span = new VoxelSpan (bottom,top,area);
if (firstSpan == null) {
firstSpan = span;
return;
}
VoxelSpan prev = null;
VoxelSpan cSpan = firstSpan;
while (cSpan != null) {
if (cSpan.bottom > span.top) {
break;
} else if (cSpan.top < span.bottom) {
prev = cSpan;
cSpan = cSpan.next;
} else {
if (cSpan.bottom < bottom) {
span.bottom = cSpan.bottom;
}
if (cSpan.top > top) {
span.top = cSpan.top;
}
//1 is flagMergeDistance, when a walkable flag is favored before an unwalkable one
if (AstarMath.Abs ((int)span.top - (int)cSpan.top) <= voxelWalkableClimb) {
span.area = AstarMath.Max (span.area,cSpan.area);
}
VoxelSpan next = cSpan.next;
if (prev != null) {
prev.next = next;
} else {
firstSpan = next;
}
cSpan = next;
}
}
if (prev != null) {
span.next = prev.next;
prev.next = span;
} else {
span.next = firstSpan;
firstSpan = span;
}
}
public void BuildCompactField()
{
AstarProfiler.StartProfile("Build Compact Voxel Field");
//Build compact representation
int spanCount = voxelArea.GetSpanCount();
voxelArea.compactSpanCount = spanCount;
if (voxelArea.compactSpans == null || voxelArea.compactSpans.Length < spanCount)
{
voxelArea.compactSpans = new CompactVoxelSpan[spanCount];
voxelArea.areaTypes = new int[spanCount];
}
uint idx = 0;
int w = voxelArea.width;
int d = voxelArea.depth;
int wd = w * d;
if (this.voxelWalkableHeight >= 0xFFFF)
{
Debug.LogWarning("Too high walkable height to guarantee correctness. Increase voxel height or lower walkable height.");
}
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
LinkedVoxelSpan[] spans = voxelArea.linkedSpans;
#endif
//Parallel.For (0, voxelArea.depth, delegate (int pz) {
for (int z = 0, pz = 0; z < wd; z += w, pz++)
{
for (int x = 0; x < w; x++)
{
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
int spanIndex = x + z;
if (spans[spanIndex].bottom == VoxelArea.InvalidSpanValue)
{
voxelArea.compactCells[x + z] = new CompactVoxelCell(0, 0);
continue;
}
uint index = idx;
uint count = 0;
//Vector3 p = new Vector3(x,0,pz)*cellSize+voxelOffset;
while (spanIndex != -1)
{
if (spans[spanIndex].area != UnwalkableArea)
{
int bottom = (int)spans[spanIndex].top;
int next = spans[spanIndex].next;
int top = next != -1 ? (int)spans[next].bottom : VoxelArea.MaxHeightInt;
voxelArea.compactSpans[idx] = new CompactVoxelSpan((ushort)(bottom > 0xFFFF ? 0xFFFF : bottom), (uint)(top - bottom > 0xFFFF ? 0xFFFF : top - bottom));
voxelArea.areaTypes[idx] = spans[spanIndex].area;
idx++;
count++;
}
spanIndex = spans[spanIndex].next;
}
voxelArea.compactCells[x + z] = new CompactVoxelCell(index, count);
#else
VoxelSpan s = voxelArea.cells[x + z].firstSpan;
if (s == null)
{
voxelArea.compactCells[x + z] = new CompactVoxelCell(0, 0);
continue;
}
uint index = idx;
uint count = 0;
//Vector3 p = new Vector3(x,0,pz)*cellSize+voxelOffset;
while (s != null)
{
if (s.area != UnwalkableArea)
{
int bottom = (int)s.top;
int top = s.next != null ? (int)s.next.bottom : VoxelArea.MaxHeightInt;
voxelArea.compactSpans[idx] = new CompactVoxelSpan((ushort)Mathf.Clamp(bottom, 0, 0xffff), (uint)Mathf.Clamp(top - bottom, 0, 0xffff));
voxelArea.areaTypes[idx] = s.area;
idx++;
count++;
}
s = s.next;
}
voxelArea.compactCells[x + z] = new CompactVoxelCell(index, count);
#endif
}
}
AstarProfiler.EndProfile("Build Compact Voxel Field");
}