//-----------------------------------------------------------------------------
public void Execute()
{
BurstQueue queue = new BurstQueue(FloodQueue);
for (int index = 0; index < NumGoals; ++index)
{
var tileIndex = GridUtilties.Grid2Index(Settings, Goals[index]);
if (DistanceMap[tileIndex] < TileSystem.k_ObstacleFloat)
{
DistanceMap[tileIndex] = 0;
queue.Enqueue(tileIndex);
}
}
// Search!
while (queue.Length > 0)
{
var index = queue.Dequeue();
var newDistance = DistanceMap[index] + 1;
var grid = GridUtilties.Index2Grid(Settings, index);
for (GridUtilties.Direction dir = GridUtilties.Direction.N; dir <= GridUtilties.Direction.W; ++dir)
{
var neighborGrid = grid + Offsets[(int)dir];
var neighborIndex = GridUtilties.Grid2Index(Settings, neighborGrid);
if (neighborIndex != -1 && DistanceMap[neighborIndex] < TileSystem.k_ObstacleFloat && newDistance < DistanceMap[neighborIndex])
{
DistanceMap[neighborIndex] = newDistance;
queue.Enqueue(neighborIndex);
}
}
}
}
//-----------------------------------------------------------------------------
public void Execute()
{
BurstQueue queue = new BurstQueue(FloodQueue);
int gridLength = heatmap.Length;
for (int index = 0; index < gridLength; index++)
{
heatmap[index] = double.PositiveInfinity;
}
for (int index = 0; index < numGoals; ++index)
{
var tileIndex = GridUtilties.Grid2Index(Settings, Goals[index]);
heatmap[tileIndex] = 0;
StateMap[tileIndex] = States.Frozen;
int numNeighbours = GridUtilties.GetCardinalNeighborIndices(Settings.cellCount.x, tileIndex, ref Neighbours);
for (int neighbourIndex = 0; neighbourIndex < numNeighbours; ++neighbourIndex)
{
if (StateMap[neighbourIndex] != States.Narrow && Costs[neighbourIndex] < TileSystem.k_Obstacle)
{
StateMap[neighbourIndex] = States.Narrow;
queue.Enqueue(Neighbours[neighbourIndex]);
}
}
}
while (queue.Length > 0)
{
var index = queue.Dequeue();
if (Costs[index] == TileSystem.k_Obstacle)
{
continue;
}
var arrivalTime = heatmap[index];
var improvedArrivalTime = SolveEikonal(index);
if (double.IsInfinity(improvedArrivalTime))
{
continue;
}
heatmap[index] = improvedArrivalTime;
if (improvedArrivalTime - arrivalTime < k_MinimumChange)
{
int numNeighbours = GridUtilties.GetCardinalNeighborIndices(Settings.cellCount.x, index, ref Neighbours);
for (int neighbourIndex = 0; neighbourIndex < numNeighbours; ++neighbourIndex)
{
var neighbour = Neighbours[neighbourIndex];
if (Costs[neighbour] >= TileSystem.k_Obstacle)
{
continue;
}
if (StateMap[neighbour] == States.Narrow)
{
continue;
}
arrivalTime = heatmap[neighbour];
improvedArrivalTime = SolveEikonal(neighbour);
if (TimeBetterThan(improvedArrivalTime, arrivalTime))
{
StateMap[neighbour] = States.Narrow;
heatmap[neighbour] = improvedArrivalTime;
queue.Enqueue(neighbour);
}
}
StateMap[index] = States.Frozen;
}
else
{
queue.Enqueue(index);
}
}
}
