/** Internal function to update an area of the graph. */ public void UpdateArea (GraphUpdateObject o) { if (nodes == null || nodes.Length != width*depth) { Debug.LogWarning ("The Grid Graph is not scanned, cannot update area "); //Not scanned return; } //Copy the bounds Bounds b = o.bounds; Vector3 min, max; GetBoundsMinMax (b,inverseMatrix,out min, out max); int minX = Mathf.RoundToInt (min.x-0.5F); int maxX = Mathf.RoundToInt (max.x-0.5F); int minZ = Mathf.RoundToInt (min.z-0.5F); int maxZ = Mathf.RoundToInt (max.z-0.5F); //We now have coordinates in local space (i.e 1 unit = 1 node) IntRect originalRect = new IntRect(minX,minZ,maxX,maxZ); IntRect affectRect = originalRect; IntRect gridRect = new IntRect(0,0,width-1,depth-1); IntRect physicsRect = originalRect; int erosion = o.updateErosion ? erodeIterations : 0; #if ASTARDEBUG Matrix4x4 debugMatrix = matrix; debugMatrix *= Matrix4x4.TRS (new Vector3(0.5f,0,0.5f),Quaternion.identity,Vector3.one); originalRect.DebugDraw (debugMatrix,Color.red); #endif bool willChangeWalkability = o.updatePhysics || o.modifyWalkability; //Calculate the largest bounding box which might be affected if (o.updatePhysics && !o.modifyWalkability) { //Add the collision.diameter margin for physics calls if (collision.collisionCheck) { Vector3 margin = new Vector3 (collision.diameter,0,collision.diameter)*0.5F; min -= margin*1.02F;//0.02 safety margin, physics is rarely very accurate max += margin*1.02F; physicsRect = new IntRect( Mathf.RoundToInt (min.x-0.5F), Mathf.RoundToInt (min.z-0.5F), Mathf.RoundToInt (max.x-0.5F), Mathf.RoundToInt (max.z-0.5F) ); affectRect = IntRect.Union (physicsRect, affectRect); } } if (willChangeWalkability || erosion > 0) { //Add affect radius for erosion. +1 for updating connectivity info at the border affectRect = affectRect.Expand (erosion + 1); } IntRect clampedRect = IntRect.Intersection (affectRect,gridRect); //Mark nodes that might be changed for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { o.WillUpdateNode (nodes[z*width+x]); } } //Update Physics if (o.updatePhysics && !o.modifyWalkability) { collision.Initialize (matrix,nodeSize); clampedRect = IntRect.Intersection (physicsRect,gridRect); for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { int index = z*width+x; GridNode node = nodes[index]; UpdateNodePositionCollision (node,x,z, o.resetPenaltyOnPhysics); } } } //Apply GUO clampedRect = IntRect.Intersection (originalRect, gridRect); for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { int index = z*width+x; GridNode node = nodes[index]; if (willChangeWalkability) { node.Walkable = node.WalkableErosion; if (o.bounds.Contains ((Vector3)node.position)) o.Apply (node); node.WalkableErosion = node.Walkable; } else { if (o.bounds.Contains ((Vector3)node.position)) o.Apply (node); } } } #if ASTARDEBUG physicsRect.DebugDraw (debugMatrix,Color.blue); affectRect.DebugDraw (debugMatrix,Color.black); #endif //Recalculate connections if (willChangeWalkability && erosion == 0) { clampedRect = IntRect.Intersection (affectRect, gridRect); for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { int index = z*width+x; GridNode node = nodes[index]; CalculateConnections (nodes,x,z,node); } } } else if (willChangeWalkability && erosion > 0) { clampedRect = IntRect.Union (originalRect, physicsRect); IntRect erosionRect1 = clampedRect.Expand (erosion); IntRect erosionRect2 = erosionRect1.Expand (erosion); erosionRect1 = IntRect.Intersection (erosionRect1,gridRect); erosionRect2 = IntRect.Intersection (erosionRect2,gridRect); #if ASTARDEBUG erosionRect1.DebugDraw (debugMatrix,Color.magenta); erosionRect2.DebugDraw (debugMatrix,Color.cyan); #endif /* all nodes inside clampedRect might have had their walkability changed all nodes inside erosionRect1 might get affected by erosion from clampedRect and erosionRect2 all nodes inside erosionRect2 (but outside erosionRect1) will be reset to previous walkability after calculation since their erosion might not be correctly calculated (nodes outside erosionRect2 would maybe have effect) */ for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { int index = z*width+x; GridNode node = nodes[index]; bool tmp = node.Walkable; node.Walkable = node.WalkableErosion; if (!erosionRect1.Contains (x,z)) { //Save the border's walkabilty data (will be reset later) node.TmpWalkable = tmp; } } } for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { int index = z*width+x; GridNode node = nodes[index]; #if ASTARDEBUG if (!node.Walkable) Debug.DrawRay ((Vector3)node.position, Vector3.up*2,Color.red); #endif CalculateConnections (nodes,x,z,node); } } //Erode the walkable area ErodeWalkableArea (erosionRect2.xmin,erosionRect2.ymin,erosionRect2.xmax+1,erosionRect2.ymax+1); for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { if (erosionRect1.Contains (x,z)) continue; int index = z*width+x; GridNode node = nodes[index]; //Restore temporarily stored data node.Walkable = node.TmpWalkable; } } //Recalculate connections of all affected nodes for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { int index = z*width+x; GridNode node = nodes[index]; CalculateConnections (nodes,x,z,node); } } } }
public new void UpdateArea(GraphUpdateObject o) { if (nodes == null || nodes.Length != width*depth*layerCount) { Debug.LogWarning ("The Grid Graph is not scanned, cannot update area "); //Not scanned return; } //Copy the bounds Bounds b = o.bounds; //Matrix inverse //node.position = matrix.MultiplyPoint3x4 (new Vector3 (x+0.5F,0,z+0.5F)); Vector3 min, max; GetBoundsMinMax (b,inverseMatrix,out min, out max); int minX = Mathf.RoundToInt (min.x-0.5F); int maxX = Mathf.RoundToInt (max.x-0.5F); int minZ = Mathf.RoundToInt (min.z-0.5F); int maxZ = Mathf.RoundToInt (max.z-0.5F); //We now have coordinates in local space (i.e 1 unit = 1 node) IntRect originalRect = new IntRect(minX,minZ,maxX,maxZ); IntRect affectRect = originalRect; IntRect gridRect = new IntRect(0,0,width-1,depth-1); IntRect physicsRect = originalRect; Matrix4x4 debugMatrix = matrix; debugMatrix *= Matrix4x4.TRS (new Vector3(0.5f,0,0.5f),Quaternion.identity,Vector3.one); #if ASTARDEBUG originalRect.DebugDraw (debugMatrix,Color.red); #endif bool willChangeWalkability = o.updatePhysics || o.modifyWalkability; bool willChangeNodeInstances = (o is LayerGridGraphUpdate ? ((LayerGridGraphUpdate)o).recalculateNodes : false); bool preserveExistingNodes = (o is LayerGridGraphUpdate ? ((LayerGridGraphUpdate)o).preserveExistingNodes : true); if (o.trackChangedNodes && willChangeNodeInstances) { Debug.LogError ("Cannot track changed nodes when creating or deleting nodes.\nWill not update LayerGridGraph"); return; } //Calculate the largest bounding box which might be affected if (o.updatePhysics && !o.modifyWalkability) { //Add the collision.diameter margin for physics calls if (collision.collisionCheck) { Vector3 margin = new Vector3 (collision.diameter,0,collision.diameter)*0.5F; min -= margin*1.02F;//0.02 safety margin, physics is rarely very accurate max += margin*1.02F; physicsRect = new IntRect( Mathf.RoundToInt (min.x-0.5F), Mathf.RoundToInt (min.z-0.5F), Mathf.RoundToInt (max.x-0.5F), Mathf.RoundToInt (max.z-0.5F) ); affectRect = IntRect.Union (physicsRect, affectRect); } } if (willChangeWalkability && erodeIterations > 0) { //Add affect radius for erosion. +1 for updating connectivity info at the border affectRect = affectRect.Expand (erodeIterations+1); } IntRect clampedRect = IntRect.Intersection (affectRect,gridRect); //Mark nodes that might be changed if (!willChangeNodeInstances) { for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { for (int y=0;y<layerCount;y++) { o.WillUpdateNode (nodes[y*width*depth + z*width+x]); } } } } //Update Physics if (o.updatePhysics && !o.modifyWalkability) { collision.Initialize (matrix,nodeSize); clampedRect = IntRect.Intersection (physicsRect,gridRect); bool addedNodes = false; for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { /** \todo FIX */ addedNodes |= RecalculateCell (x,z,preserveExistingNodes); } } for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; CalculateConnections (nodes,node,x,z,y); } } } if (addedNodes) { AstarPath.active.DataUpdate(); } } //Apply GUO clampedRect = IntRect.Intersection (originalRect, gridRect); for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; if (willChangeWalkability) { node.walkable = node.Bit15; o.Apply (node); node.Bit15 = node.walkable; } else { o.Apply (node); } } } } #if ASTARDEBUG physicsRect.DebugDraw (debugMatrix,Color.blue); affectRect.DebugDraw (debugMatrix,Color.black); #endif //Recalculate connections if (willChangeWalkability && erodeIterations == 0) { clampedRect = IntRect.Intersection (affectRect, gridRect); for (int x = clampedRect.xmin; x <= clampedRect.xmax;x++) { for (int z = clampedRect.ymin;z <= clampedRect.ymax;z++) { for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; CalculateConnections (nodes,node,x,z,y); } } } } else if (willChangeWalkability && erodeIterations > 0) { clampedRect = IntRect.Union (originalRect, physicsRect); IntRect erosionRect1 = clampedRect.Expand (erodeIterations); IntRect erosionRect2 = erosionRect1.Expand (erodeIterations); erosionRect1 = IntRect.Intersection (erosionRect1,gridRect); erosionRect2 = IntRect.Intersection (erosionRect2,gridRect); #if ASTARDEBUG erosionRect1.DebugDraw (debugMatrix,Color.magenta); erosionRect2.DebugDraw (debugMatrix,Color.cyan); #endif /* all nodes inside clampedRect might have had their walkability changed all nodes inside erosionRect1 might get affected by erosion from clampedRect and erosionRect2 all nodes inside erosionRect2 (but outside erosionRect1) will be reset to previous walkability after calculation since their erosion might not be correctly calculated (nodes outside erosionRect2 would maybe have effect) */ for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; bool tmp = node.walkable; node.walkable = node.Bit15; if (!erosionRect1.Contains (x,z)) { //Save the border's walkabilty data in bit 16 (will be reset later) node.Bit16 = tmp; } } } } for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; #if ASTARDEBUG if (!node.walkable) Debug.DrawRay ((Vector3)node.position, Vector3.up*2,Color.red); #endif CalculateConnections (nodes,node,x,z,y); } } } //Erode the walkable area ErodeWalkableArea (erosionRect2.xmin,erosionRect2.ymin,erosionRect2.xmax+1,erosionRect2.ymax+1); for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { if (erosionRect1.Contains (x,z)) continue; for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; //Restore temporarily stored data node.walkable = node.Bit16; } } } //Recalculate connections of all affected nodes for (int x = erosionRect2.xmin; x <= erosionRect2.xmax;x++) { for (int z = erosionRect2.ymin;z <= erosionRect2.ymax;z++) { for (int y=0;y<layerCount;y++) { int index = y*width*depth + z*width+x; LevelGridNode node = nodes[index] as LevelGridNode; if (node == null) continue; CalculateConnections (nodes,node,x,z,y); } } } } //Debug.LogError ("No support for Graph Updates to Layered Grid Graphs"); }