public MyPathfinding()
{
NextTimestampFunction = GenerateNextTimestamp;
m_navmeshCoordinator = new MyNavmeshCoordinator();
m_gridPathfinding = new MyGridPathfinding(m_navmeshCoordinator);
m_voxelPathfinding = new MyVoxelPathfinding(m_navmeshCoordinator);
}
public void UnloadData()
{
m_gridPathfinding.UnloadData();
m_voxelPathfinding.UnloadData();
m_gridPathfinding = null;
m_voxelPathfinding = null;
m_navmeshCoordinator = null;
}
public MyPathfinding() : base(0x80, null)
{
this.NextTimestampFunction = new Func <long>(this.GenerateNextTimestamp);
this.m_obstacles = new MyDynamicObstacles();
this.m_navmeshCoordinator = new MyNavmeshCoordinator(this.m_obstacles);
this.m_gridPathfinding = new MyGridPathfinding(this.m_navmeshCoordinator);
this.m_voxelPathfinding = new MyVoxelPathfinding(this.m_navmeshCoordinator);
MyEntities.OnEntityAdd += new Action <MyEntity>(this.MyEntities_OnEntityAdd);
}
public void UnloadData()
{
MyEntities.OnEntityAdd -= new Action <MyEntity>(this.MyEntities_OnEntityAdd);
this.m_voxelPathfinding.UnloadData();
this.m_gridPathfinding = null;
this.m_voxelPathfinding = null;
this.m_navmeshCoordinator = null;
this.m_obstacles.Clear();
this.m_obstacles = null;
}
public MyPathfinding()
{
NextTimestampFunction = GenerateNextTimestamp;
m_obstacles = new MyDynamicObstacles();
m_navmeshCoordinator = new MyNavmeshCoordinator(m_obstacles);
m_gridPathfinding = new MyGridPathfinding(m_navmeshCoordinator);
m_voxelPathfinding = new MyVoxelPathfinding(m_navmeshCoordinator);
MyEntities.OnEntityAdd += MyEntities_OnEntityAdd;
}
public void UnloadData()
{
MyEntities.OnEntityAdd -= MyEntities_OnEntityAdd;
m_voxelPathfinding.UnloadData();
m_gridPathfinding = null;
m_voxelPathfinding = null;
m_navmeshCoordinator = null;
m_obstacles.Clear();
m_obstacles = null;
}
public void UpdateVoxelNavmeshCellHighLevelLinks(MyVoxelPathfinding.CellId cellId)
{
// Make sure links are where they should be
List<MyNavigationPrimitive> linkedTriangles = null;
if (m_voxelLinkDictionary.TryGetValue(cellId, out linkedTriangles))
{
MyNavigationPrimitive hlPrimitive1 = null;
MyNavigationPrimitive hlPrimitive2 = null;
foreach (var primitive in linkedTriangles)
{
hlPrimitive1 = primitive.GetHighLevelPrimitive();
List<MyNavigationPrimitive> otherLinkedPrimitives = null;
otherLinkedPrimitives = m_links.GetLinks(primitive);
if (otherLinkedPrimitives != null)
{
foreach (var otherPrimitive in otherLinkedPrimitives)
{
hlPrimitive2 = otherPrimitive.GetHighLevelPrimitive();
m_highLevelLinks.AddLink(hlPrimitive1, hlPrimitive2, onlyIfNotPresent: true);
}
}
}
}
// CH: TODO: Make sure that links are not where they should not be
}
public void SetVoxelPathfinding(MyVoxelPathfinding myVoxelPathfinding)
{
m_voxelPathfinding = myVoxelPathfinding;
}
private void RemoveVoxelLinkFromDictionary(MyVoxelPathfinding.CellId cellId, MyNavigationPrimitive linkedPrimitive)
{
List<MyNavigationPrimitive> list = null;
if (!m_voxelLinkDictionary.TryGetValue(cellId, out list))
{
Debug.Assert(false, "Could not find a removed voxel link in the dictionary!");
return;
}
else
{
bool retval = list.Remove(linkedPrimitive);
Debug.Assert(retval == true, "Couldn't remove a linked triangle from the dictionary!");
if (list.Count == 0)
{
m_voxelLinkDictionary.Remove(cellId);
}
}
}
private void SaveVoxelLinkToDictionary(MyVoxelPathfinding.CellId cellId, MyNavigationPrimitive linkedPrimitive)
{
List<MyNavigationPrimitive> list = null;
if (!m_voxelLinkDictionary.TryGetValue(cellId, out list))
{
// CH:TODO: take these from pre-allocated pools
list = new List<MyNavigationPrimitive>();
}
else if (list.Contains(linkedPrimitive))
{
// Avoid duplicates
return;
}
list.Add(linkedPrimitive);
m_voxelLinkDictionary[cellId] = list;
}
public void RemoveVoxelNavmeshLinks(MyVoxelPathfinding.CellId cellId)
{
List<MyNavigationPrimitive> list = null;
if (!m_voxelLinkDictionary.TryGetValue(cellId, out list))
{
return;
}
foreach (var primitive in list)
{
m_links.RemoveAllLinks(primitive);
}
m_voxelLinkDictionary.Remove(cellId);
}
public void TryAddVoxelNavmeshLinks2(MyVoxelPathfinding.CellId cellId, Dictionary<MyGridPathfinding.CubeId, List<MyNavigationPrimitive>> linkCandidates)
{
ProfilerShort.Begin("TryAddVoxelNavmeshLinks");
foreach (var entry in linkCandidates)
{
double closestDistSq = double.MaxValue;
MyNavigationTriangle closestGridTri = null;
MyNavigationPrimitive closestLinkedPrim = null;
m_tmpNavTris.Clear();
m_gridPathfinding.GetCubeTriangles(entry.Key, m_tmpNavTris);
foreach (var tri in m_tmpNavTris)
{
Vector3 a, b, c;
tri.GetVertices(out a, out b, out c);
a = tri.Parent.LocalToGlobal(a);
b = tri.Parent.LocalToGlobal(b);
c = tri.Parent.LocalToGlobal(c);
Vector3D normal = (c - a).Cross(b - a);
Vector3D center = (a + b + c) / 3.0f;
double lowerY = Math.Min(a.Y, Math.Min(b.Y, c.Y));
double upperY = Math.Max(a.Y, Math.Max(b.Y, c.Y));
lowerY -= 0.25f;
upperY += 0.25f;
foreach (var primitive in entry.Value)
{
Vector3D primPos = primitive.WorldPosition;
Vector3D offset = primPos - center;
double offsetLen = offset.Length();
offset = offset / offsetLen;
double dot; Vector3D.Dot(ref offset, ref normal, out dot);
if (dot > -0.2f && primPos.Y < upperY && primPos.Y > lowerY)
{
double dist = offsetLen / (dot + 0.3f);
if (dist < closestDistSq)
{
closestDistSq = dist;
closestGridTri = tri;
closestLinkedPrim = primitive;
}
}
}
}
m_tmpNavTris.Clear();
if (closestGridTri != null)
{
Debug.Assert(closestLinkedPrim.GetHighLevelPrimitive() != null);
Debug.Assert(closestGridTri.GetHighLevelPrimitive() != null);
m_links.AddLink(closestLinkedPrim, closestGridTri);
SaveVoxelLinkToDictionary(cellId, closestLinkedPrim);
IncreaseGridLinkCounter(entry.Key);
}
}
ProfilerShort.End();
}
// This is an old version of the function
public void TryAddVoxelNavmeshLinks(MyNavigationTriangle addedPrimitive, MyVoxelPathfinding.CellId cellId, List<MyGridPathfinding.CubeId> linkCandidates)
{
ProfilerShort.Begin("TryAddVoxelNavmeshLinks");
m_tmpNavTris.Clear();
foreach (var candidate in linkCandidates)
{
// First, find closest navigation triangle from the given candidate cube
ProfilerShort.Begin("Find closest grid nav tri");
m_gridPathfinding.GetCubeTriangles(candidate, m_tmpNavTris);
double closestDistSq = double.MaxValue;
MyNavigationTriangle closestGridTri = null;
foreach (var tri in m_tmpNavTris)
{
Vector3D posDiff = addedPrimitive.WorldPosition - tri.WorldPosition;
if (MyPerGameSettings.NavmeshPresumesDownwardGravity)
{
if (Math.Abs(posDiff.Y) < 0.3)
{
if (posDiff.LengthSquared() < closestDistSq)
{
closestDistSq = posDiff.LengthSquared();
closestGridTri = tri;
}
}
}
}
ProfilerShort.End();
if (closestGridTri != null)
{
bool createLink = true;
var existingLinks = m_links.GetLinks(closestGridTri);
List<MyNavigationPrimitive> existingCellLinks = null;
m_voxelLinkDictionary.TryGetValue(cellId, out existingCellLinks);
if (existingLinks != null)
{
m_tmpNavPrims.Clear();
CollectClosePrimitives(addedPrimitive, m_tmpNavPrims, 2);
for (int i = 0; i < m_tmpNavPrims.Count; ++i)
{
if (existingLinks.Contains(m_tmpNavPrims[i]) && existingCellLinks != null && existingCellLinks.Contains(m_tmpNavPrims[i]))
{
double existingDistSq = (m_tmpNavPrims[i].WorldPosition - closestGridTri.WorldPosition).LengthSquared();
if (existingDistSq < closestDistSq)
{
createLink = false;
break;
}
else
{
m_links.RemoveLink(closestGridTri, m_tmpNavPrims[i]);
if (m_links.GetLinkCount(m_tmpNavPrims[i]) == 0)
{
RemoveVoxelLinkFromDictionary(cellId, m_tmpNavPrims[i]);
}
DecreaseGridLinkCounter(candidate);
continue;
}
}
}
m_tmpNavPrims.Clear();
}
if (createLink)
{
m_links.AddLink(addedPrimitive, closestGridTri);
SaveVoxelLinkToDictionary(cellId, addedPrimitive);
IncreaseGridLinkCounter(candidate);
}
}
m_tmpNavTris.Clear();
}
ProfilerShort.End();
}
public void SetVoxelPathfinding(MyVoxelPathfinding myVoxelPathfinding)
{
this.m_voxelPathfinding = myVoxelPathfinding;
}
