public static HashSet <CellsPatch> GenerateCellsPatches(IEnumerable <Cell> cells, MovementFlag movement_flags, bool skip_disabled = false)
{
var patches = new HashSet <CellsPatch>();
//create cells patch for each interconnected group of cells
var cells_copy = new HashSet <Cell>(cells.Where(x => x.HasFlags(movement_flags) && (!skip_disabled || !x.Disabled)));
while (cells_copy.Count > 0)
{
var start_cell = cells_copy.FirstOrDefault();
if (start_cell == null)
{
break;
}
PatchVisitor patchVisitor = new PatchVisitor();
HashSet <Cell> visited = new HashSet <Cell>();
Algorihms.Visit(start_cell, ref visited, movement_flags, !skip_disabled, visitor: patchVisitor);
patches.Add(new CellsPatch(patchVisitor.cells, patchVisitor.cellsGrid, movement_flags));
cells_copy.ExceptWith(visited);
}
return(patches);
}
protected HashSet <ExploreCell> GetUnexploredCells(ExploreCell origin_cell)
{
using (new ReadLock(DataLock))
{
UnexploredSelector selector = new UnexploredSelector();
Algorihms.Visit <ExploreCell>(origin_cell, MovementFlag.None, -1, null, selector);
m_CellsToExploreCount = selector.all_cells_count;
m_ExploredCellsCount = m_CellsToExploreCount - selector.unexplored_cells.Count;
// first try all big cells unvisited by anyone (undelayed)
HashSet <ExploreCell> unexplored_cells_subset = new HashSet <ExploreCell>(selector.unexplored_cells.Where(x => !x.Small && !x.Delayed));
if (unexplored_cells_subset.Count > 0)
{
return(unexplored_cells_subset);
}
// try all big cells unvisited by me
unexplored_cells_subset = new HashSet <ExploreCell>(selector.unexplored_cells.Where(x => !x.Small));
if (unexplored_cells_subset.Count > 0)
{
return(unexplored_cells_subset);
}
// try all remaining cells
return(selector.unexplored_cells);
}
}
protected HashSet <ExploreCell> GetUnexploredCells(ExploreCell origin_cell)
{
using (new ReadLock(DataLock))
{
var agent_pos = m_Navigator.CurrentPos;
// unexplored selector is collecting ALL unexplored cells matching constraints and filter criteria
UnexploredSelector selector = new UnexploredSelector(ExploreConstraints, ExploreFilter, IgnoreSmall, agent_pos, m_Navmesh);
Algorihms.Visit <ExploreCell>(origin_cell, MovementFlag.None, -1, null, selector);
m_CellsToExploreCount = selector.all_cells_count;
m_ExploredCellsCount = m_CellsToExploreCount - selector.unexplored_cells.Count;
// first try all big cells unvisited by anyone (undelayed)
HashSet <ExploreCell> unexplored_cells_subset = new HashSet <ExploreCell>(selector.unexplored_cells.Where(x => !x.Small && !x.Delayed));
if (unexplored_cells_subset.Count > 0)
{
return(unexplored_cells_subset);
}
// try all big cells unvisited by me
unexplored_cells_subset = new HashSet <ExploreCell>(selector.unexplored_cells.Where(x => !x.Small));
if (unexplored_cells_subset.Count > 0)
{
return(unexplored_cells_subset);
}
// try all remaining cells
return(selector.unexplored_cells);
}
}
public static List <CellsPatch> GenerateCellsPatches(List <Cell> cells, MovementFlag movement_flags)
{
List <CellsPatch> patches = new List <CellsPatch>();
//create cells patch for each interconnected group of cells
HashSet <Cell> cells_copy = new HashSet <Cell>(cells);
while (cells_copy.Count > 0)
{
HashSet <Cell> visited = new HashSet <Cell>();
Algorihms.Visit(cells_copy.First(), ref visited, movement_flags, true, 1, -1, cells_copy);
patches.Add(new CellsPatch(visited, movement_flags));
cells_copy.RemoveWhere(x => visited.Contains(x));
}
return(patches);
}
// assume Navmesh data lock is aquired
private int GenerateExploreCells(AABB cell_aabb)
{
// should not happen
//if (m_ExploreCells.Exists(x => x.AABB.Equals(cell_aabb)))
// return;
MovementFlag movement_flags = m_Navigator.MovementFlags;
//using (new Profiler("[Nav] Nav data generated [%t]"))
//using (m_Navmesh.AquireReadDataLock())
{
List <Cell> cells = new List <Cell>();
// i'm interested in unique list
HashSet <int> tmp_overlapping_grid_cells = new HashSet <int>();
// find all cells inside cell_aabb
using (m_Navmesh.AcquireReadDataLock())
{
foreach (GridCell grid_cell in m_Navmesh.m_GridCells.Where(x => x.AABB.Overlaps2D(cell_aabb)))
{
tmp_overlapping_grid_cells.Add(grid_cell.Id);
cells.AddRange(grid_cell.GetCells(x => x.HasFlags(movement_flags) && cell_aabb.Overlaps2D(x.AABB), false));
}
}
// for traversing purposes list will be faster
List <int> overlapping_grid_cells = tmp_overlapping_grid_cells.ToList();
//create ExploreCell for each interconnected group of cells
HashSet <Cell> cells_copy = new HashSet <Cell>(cells);
int last_explore_cells_count = m_ExploreCells.Count;
while (cells_copy.Count > 0)
{
HashSet <Cell> visited = new HashSet <Cell>();
using (m_Navmesh.AcquireReadDataLock())
Algorihms.Visit(cells_copy.First(), ref visited, movement_flags, true, 1, -1, cells_copy);
List <AABB> intersections = new List <AABB>();
AABB intersections_aabb = new AABB();
AABB intersection = default(AABB);
foreach (Cell c in visited)
{
if (cell_aabb.Intersect(c.AABB, ref intersection))
{
intersections.Add(intersection);
intersections_aabb = intersections_aabb.Extend(intersection);
}
}
ExploreCell ex_cell = new ExploreCell(cell_aabb, visited.ToList(), overlapping_grid_cells, m_LastExploreCellId++);
Add(ex_cell);
ex_cell.Small = (ex_cell.CellsArea < MaxAreaToMarkAsSmall) || (ex_cell.CellsAABB.Dimensions.Max() < MaxDimensionToMarkAsSmall);
cells_copy.RemoveWhere(x => visited.Contains(x));
}
return(m_ExploreCells.Count - last_explore_cells_count);
}
}
private int GenerateExploreCells(AABB cell_aabb)
{
// should not happen
//if (m_ExploreCells.Exists(x => x.AABB.Equals(cell_aabb)))
// return;
MovementFlag movement_flags = Navmesh.Navigator.MovementFlags;
//using (new Profiler("[Nav] Nav data generated [{t}]"))
using (Navmesh.AquireReadDataLock())
{
List <Cell> cells = new List <Cell>();
// find all cells inside cell_aabb
foreach (GridCell grid_cell in Navmesh.m_GridCells)
{
if (!cell_aabb.Overlaps2D(grid_cell.AABB))
{
continue;
}
cells.AddRange(grid_cell.Cells.FindAll(x => !x.Replacement && x.HasFlags(movement_flags) && cell_aabb.Overlaps2D(x.AABB)));
}
// add all replaced cells overlapped by explore cell
//cells.AddRange(Navmesh.GetReplacedCells().FindAll(x => x.HasFlags(movement_flags) && cell_aabb.Overlaps2D(x.AABB)));
//create ExploreCell for each interconnected group of cells
List <Cell> cells_copy = new List <Cell>(cells);
int last_explore_cells_count = m_ExploreCells.Count;
while (cells_copy.Count > 0)
{
List <Cell> visited = new List <Cell>();
Algorihms.Visit(cells_copy[0], ref visited, movement_flags, true, 1, -1, cells_copy);
List <AABB> intersections = new List <AABB>();
AABB intersections_aabb = new AABB();
foreach (Cell c in visited)
{
AABB intersection = cell_aabb.Intersect(c.AABB);
intersections.Add(intersection);
intersections_aabb.Extend(intersection);
}
Vec3 nearest_intersection_center = Vec3.Empty;
float nearest_intersection_dist = float.MaxValue;
foreach (AABB inter_aabb in intersections)
{
float dist = inter_aabb.Center.Distance2D(intersections_aabb.Center);
if (dist < nearest_intersection_dist)
{
nearest_intersection_center = inter_aabb.Center;
nearest_intersection_dist = dist;
}
}
ExploreCell ex_cell = new ExploreCell(cell_aabb, visited, nearest_intersection_center, m_LastExploreCellId++);
Add(ex_cell);
ex_cell.Small = (ex_cell.CellsArea() < MAX_AREA_TO_MARK_AS_SMALL);
cells_copy.RemoveAll(x => visited.Contains(x));
}
return(m_ExploreCells.Count - last_explore_cells_count);
}
}
