public Path Run <TMod>(LogLevel pathfindingLogLevel, Vector3 fromPoint, Vector3 toPoint, Constraint constraint, Graph graph, TMod pathModifier, int threadIndex = 0,
bool burstEnabled = true, bool cacheEnabled = false) where TMod : struct, IPathModifier
{
var path = new Path();
var pathResult = new PathInternal();
var navMeshGraph = (NavMeshGraph)graph;
var areas = -1;
if (constraint.checkArea == true)
{
areas = (int)constraint.areaMask;
}
System.Diagnostics.Stopwatch swPath = null;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
swPath = System.Diagnostics.Stopwatch.StartNew();
}
var statLength = 0;
var statVisited = 0;
var query = new UnityEngine.Experimental.AI.NavMeshQuery(UnityEngine.Experimental.AI.NavMeshWorld.GetDefaultWorld(), Unity.Collections.Allocator.TempJob, PathfindingNavMeshProcessor.POOL_SIZE);
if (burstEnabled == true)
{
var results = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.NavMeshLocation>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.TempJob);
var pathResults = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var job = new BuildPathJob()
{
query = query,
fromPoint = fromPoint,
toPoint = toPoint,
agentTypeId = navMeshGraph.agentTypeId,
areas = areas,
pathResults = pathResults,
results = results,
};
job.Schedule().Complete();
var pathStatus = (UnityEngine.Experimental.AI.PathQueryStatus)pathResults[0];
var cornerCount = pathResults[1];
pathResults.Dispose();
if ((pathStatus & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
if (cornerCount >= 2)
{
path.navMeshPoints = PoolListCopyable <Vector3> .Spawn(cornerCount);
for (var i = 0; i < cornerCount; ++i)
{
path.navMeshPoints.Add(results[i].position);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
var hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.x * 1000000f);
}
UnityEngine.Debug.Log("Path hash X: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.y * 1000000f);
}
UnityEngine.Debug.Log("Path hash Y: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.z * 1000000f);
}
UnityEngine.Debug.Log("Path hash Z: " + hash);
}
if ((pathStatus & UnityEngine.Experimental.AI.PathQueryStatus.PartialResult) != 0)
{
path.result = PathCompleteState.CompletePartial;
}
else
{
path.result = PathCompleteState.Complete;
}
}
else
{
path.result = PathCompleteState.NotExist;
}
}
results.Dispose();
query.Dispose();
return(path);
}
UnityEngine.AI.NavMesh.SamplePosition(fromPoint, out var hitFrom, 1000f, new UnityEngine.AI.NavMeshQueryFilter()
{
agentTypeID = navMeshGraph.agentTypeId,
areaMask = areas,
});
fromPoint = hitFrom.position;
var from = query.MapLocation(fromPoint, Vector3.one * 10f, navMeshGraph.agentTypeId, areas);
if (from.polygon.IsNull() == true)
{
return(path);
}
UnityEngine.AI.NavMesh.SamplePosition(toPoint, out var hitTo, 1000f, new UnityEngine.AI.NavMeshQueryFilter()
{
agentTypeID = navMeshGraph.agentTypeId,
areaMask = areas,
});
toPoint = hitTo.position;
var to = query.MapLocation(toPoint, Vector3.one * 10f, navMeshGraph.agentTypeId, areas);
if (to.polygon.IsNull() == true)
{
return(path);
}
var marker = new Unity.Profiling.ProfilerMarker("PathfindingNavMeshProcessor::Query::BuildPath");
marker.Begin();
query.BeginFindPath(from, to, areas);
query.UpdateFindPath(PathfindingNavMeshProcessor.MAX_ITERATIONS, out var performed);
marker.End();
statVisited = performed;
var result = query.EndFindPath(out var pathSize);
if ((result & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
var pathInternal = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.PolygonId>(pathSize, Unity.Collections.Allocator.Persistent);
query.GetPathResult(pathInternal);
var markerFindStraight = new Unity.Profiling.ProfilerMarker("PathfindingNavMeshProcessor::Query::FindStraightPath");
markerFindStraight.Begin();
var straightPathFlags = new Unity.Collections.NativeArray <StraightPathFlags>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var vertexSide = new Unity.Collections.NativeArray <float>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var results = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.NavMeshLocation>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var resultStatus = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var job = new FindStraightPathJob()
{
query = query,
from = from,
to = to,
pathInternal = pathInternal,
pathSize = pathSize,
results = results,
straightPathFlags = straightPathFlags,
vertexSide = vertexSide,
resultStatus = resultStatus,
};
job.Schedule().Complete();
var pathStatus = (UnityEngine.Experimental.AI.PathQueryStatus)job.resultStatus[0];
var cornerCount = job.resultStatus[1];
resultStatus.Dispose();
statLength = cornerCount;
markerFindStraight.End();
if (pathStatus == UnityEngine.Experimental.AI.PathQueryStatus.Success)
{
/*for (int i = 1; i < cornerCount; ++i) {
*
* Gizmos.color = Color.green;
* Gizmos.DrawLine(results[i].position, results[i - 1].position);
*
* }*/
pathResult.pathStatus = pathStatus;
pathResult.results = results;
pathResult.corners = cornerCount;
if (cornerCount >= 2)
{
path.navMeshPoints = PoolListCopyable <Vector3> .Spawn(cornerCount);
for (var i = 0; i < cornerCount; ++i)
{
path.navMeshPoints.Add(results[i].position);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
var hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.x * 1000000f);
}
UnityEngine.Debug.Log("Path hash X: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.y * 1000000f);
}
UnityEngine.Debug.Log("Path hash Y: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.z * 1000000f);
}
UnityEngine.Debug.Log("Path hash Z: " + hash);
}
path.result = PathCompleteState.Complete;
}
else
{
path.result = PathCompleteState.NotExist;
}
pathResult.Dispose();
}
else
{
path.result = PathCompleteState.NotExist;
results.Dispose();
}
vertexSide.Dispose();
straightPathFlags.Dispose();
pathInternal.Dispose();
}
else
{
path.result = PathCompleteState.NotExist;
//Debug.LogWarning("Path result: " + result + ", performed: " + performed);
}
System.Diagnostics.Stopwatch swModifier = null;
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
swModifier = System.Diagnostics.Stopwatch.StartNew();
}
if ((path.result & PathCompleteState.Complete) != 0)
{
path = pathModifier.Run(path, constraint);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(
$"Path result {path.result}, built in {(swPath.ElapsedTicks / (double)System.TimeSpan.TicksPerMillisecond).ToString("0.##")}ms. Path length: {statLength} (Visited: {statVisited})\nThread Index: {threadIndex}");
}
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
Logger.Log($"Path Mods: {swModifier.ElapsedMilliseconds}ms");
}
query.Dispose();
return(path);
}