public void Execute(int index)
{
if (!m_recompute)
{
return;
}
//Compute whether a vertex is convex or concave
//as well as its direction
ObstacleVertexData v = m_inputObstacles[index];
float2 pos = v.pos,
nextPos = m_inputObstacles[v.next].pos,
prevPos = m_inputObstacles[v.prev].pos;
ObstacleInfos infos = m_inputObstacleInfos[v.infos];
if (infos.length == 2)//infos.edge ||
{
v.convex = true;
}
else
{
v.convex = LeftOf(prevPos, pos, nextPos) >= 0.0f;
}
v.dir = normalize(nextPos - pos);
m_referenceObstacles[index] = v;
}
protected override void Prepare(ref Unemployed job, float delta)
{
int obsCount = m_obstacles == null ? 0 : m_obstacles.Count,
refCount = m_referenceObstacles.Length, vCount = 0;
if (m_outputObstacleInfos.Length != obsCount)
{
m_outputObstacleInfos.Dispose();
m_outputObstacleInfos = new NativeArray <ObstacleInfos>(obsCount, Allocator.Persistent);
m_recompute = true;
}
Obstacle o;
ObstacleInfos infos;
for (int i = 0; i < obsCount; i++)
{
o = m_obstacles[i];
//Keep collision infos & ORCALayer up-to-date
//there is no need to recompute anything else.
infos = o.infos;
infos.index = i;
infos.start = vCount;
m_outputObstacleInfos[i] = infos;
vCount += infos.length;
}
if (!m_recompute)
{
if (refCount != vCount)
{
m_recompute = true;
}
else
{
return;
}
}
if (refCount != vCount)
{
m_referenceObstacles.Dispose();
m_referenceObstacles = new NativeArray <ObstacleVertexData>(vCount, Allocator.Persistent);
m_outputObstacles.Dispose();
m_outputObstacles = new NativeArray <ObstacleVertexData>(vCount, Allocator.Persistent);
}
ObstacleVertexData oData;
int gIndex = 0, index = 0, vCountMinusOne, firstIndex, lastIndex;
if (plane == AxisPair.XY)
{
for (int i = 0; i < obsCount; i++)
{
o = m_obstacles[i];
vCount = o.Count;
vCountMinusOne = vCount - 1;
firstIndex = gIndex;
lastIndex = gIndex + vCountMinusOne;
if (!o.edge)
{
//Obstacle is a closed polygon
for (int v = 0; v < vCount; v++)
{
oData = new ObstacleVertexData()
{
infos = i,
index = index,
pos = o[v].XY,
prev = v == 0 ? lastIndex : index - 1,
next = v == vCountMinusOne ? firstIndex : index + 1
};
m_referenceObstacles[index++] = oData;
}
}
else
{
//Obstacle is an open path
for (int v = 0; v < vCount; v++)
{
oData = new ObstacleVertexData()
{
infos = i,
index = index,
pos = o[v].XY,
prev = v == 0 ? index : index - 1,
next = v == vCountMinusOne ? index : index + 1
};
m_referenceObstacles[index++] = oData;
}
}
gIndex += vCount;
}
}
else
{
for (int i = 0; i < obsCount; i++)
{
o = m_obstacles[i];
vCount = o.Count;
vCountMinusOne = vCount - 1;
firstIndex = gIndex;
lastIndex = gIndex + vCountMinusOne;
if (!o.edge)
{
//Obstacle is a closed polygon
for (int v = 0; v < vCount; v++)
{
oData = new ObstacleVertexData()
{
infos = i,
index = index,
pos = o[v].XZ,
prev = v == 0 ? lastIndex : index - 1,
next = v == vCountMinusOne ? firstIndex : index + 1
};
m_referenceObstacles[index++] = oData;
}
}
else
{
//Obstacle is an open path
for (int v = 0; v < vCount; v++)
{
oData = new ObstacleVertexData()
{
infos = i,
index = index,
pos = o[v].XZ,
prev = v == 0 ? index : index - 1,
next = v == vCountMinusOne ? index : index + 1
};
m_referenceObstacles[index++] = oData;
}
}
gIndex += vCount;
}
}
m_referenceObstacles.CopyTo(m_outputObstacles);
}
/// <summary>
/// Recursive method for building an agent k-D tree.
/// </summary>
/// <param name="begin">The beginning agent k-D tree node node index.</param>
/// <param name="end">The ending agent k-D tree node index.</param>
/// <param name="node">The current agent k-D tree node index.</param>
private void BuildAgentTreeRecursive(int begin, int end, int node)
{
ObstacleTreeNode treeNode = m_outputTree[node];
ObstacleVertexData obstacle = m_inputObstacles[begin];
float2 pos;
float minX, minY, maxX, maxY;
treeNode.begin = begin;
treeNode.end = end;
minX = maxX = obstacle.pos.x;
minY = maxY = obstacle.pos.y;
for (int i = begin + 1; i < end; ++i)
{
pos = m_inputObstacles[i].pos;
maxX = max(maxX, pos.x);
minX = min(minX, pos.x);
maxY = max(maxY, pos.y);
minY = min(minY, pos.y);
}
treeNode.minX = minX;
treeNode.maxX = maxX;
treeNode.minY = minY;
treeNode.maxY = maxY;
m_outputTree[node] = treeNode;
if (end - begin > ObstacleTreeNode.MAX_LEAF_SIZE)
{
// No leaf node.
bool isVertical = treeNode.maxX - treeNode.minX > treeNode.maxY - treeNode.minY;
float splitValue = 0.5f * (isVertical ? treeNode.maxX + treeNode.minX : treeNode.maxY + treeNode.minY);
int left = begin;
int right = end;
while (left < right)
{
while (left < right && (isVertical ? m_inputObstacles[left].pos.x : m_inputObstacles[left].pos.y) < splitValue)
{
++left;
}
while (right > left && (isVertical ? m_inputObstacles[right - 1].pos.x : m_inputObstacles[right - 1].pos.y) >= splitValue)
{
--right;
}
if (left < right)
{
ObstacleVertexData tempAgent = m_inputObstacles[left];
m_inputObstacles[left] = m_inputObstacles[right - 1];
m_inputObstacles[right - 1] = tempAgent;
++left;
--right;
}
}
int leftSize = left - begin;
if (leftSize == 0)
{
++leftSize;
++left;
++right;
}
treeNode.left = node + 1;
treeNode.right = node + 2 * leftSize;
m_outputTree[node] = treeNode;
BuildAgentTreeRecursive(begin, left, treeNode.left);
BuildAgentTreeRecursive(left, end, treeNode.right);
}
}
public void Execute(int index)
{
RaycastData raycast = m_inputRaycasts[index];
RaycastResult result = new RaycastResult()
{
hitAgent = -1,
hitObstacle = -1,
dynamicObstacle = false
};
RaycastFilter filter = raycast.filter;
if (filter == 0)
{
m_results[index] = result;
return;
}
float2
r_position = raycast.position,
r_dir = raycast.direction,
hitLocation;
float
a_bottom = raycast.baseline,
a_top = a_bottom,
a_sqRange = lengthsq(raycast.distance);
Segment2D raySegment = new Segment2D(raycast.position, raycast.position + raycast.direction * raycast.distance),
segment;
UIntPair pair = new UIntPair(0, 0);
ObstacleVertexData otherVertex;
bool
twoSidedCast = raycast.twoSided,
alreadyCovered = false,
hit;
#region static obstacles
if ((filter & RaycastFilter.OBSTACLE_STATIC) != 0)
{
NativeList <int> staticObstacleNeighbors = new NativeList <int>(10, Allocator.Temp);
if (m_staticObstacleTree.Length > 0)
{
QueryObstacleTreeRecursive(ref raycast, ref a_sqRange, 0, ref staticObstacleNeighbors,
ref m_staticObstacles, ref m_staticRefObstacles, ref m_staticObstacleInfos, ref m_staticObstacleTree);
}
NativeHashMap <UIntPair, bool> coveredStaticEdges = new NativeHashMap <UIntPair, bool>(m_staticObstacleTree.Length * 2, Allocator.Temp);
for (int i = 0; i < staticObstacleNeighbors.Length; ++i)
{
ObstacleVertexData vertex = m_staticObstacles[staticObstacleNeighbors[i]];
ObstacleInfos infos = m_staticObstacleInfos[vertex.infos];
pair = new UIntPair(vertex.index, vertex.next);
alreadyCovered = coveredStaticEdges.TryGetValue(pair, out hit);
if (!alreadyCovered)
{
otherVertex = m_staticRefObstacles[vertex.next];
segment = new Segment2D(vertex.pos, otherVertex.pos);
alreadyCovered = (!twoSidedCast && dot(r_dir, segment.normal) < 0f);
if (!alreadyCovered)
{
if (raySegment.IsIntersecting(segment, out hitLocation))
{
//Rays intersecting !
if (result.hitObstacle == -1 ||
distancesq(r_position, hitLocation) < distancesq(r_position, result.hitObstacleLocation2D))
{
result.hitObstacleLocation2D = hitLocation;
result.hitObstacle = infos.index;
}
}
}
coveredStaticEdges.TryAdd(pair, true);
}
pair = new UIntPair(vertex.index, vertex.prev);
alreadyCovered = coveredStaticEdges.ContainsKey(pair);
if (!alreadyCovered)
{
otherVertex = m_staticRefObstacles[vertex.prev];
segment = new Segment2D(vertex.pos, otherVertex.pos);
alreadyCovered = (!twoSidedCast && dot(r_dir, segment.normal) < 0f);
if (!alreadyCovered)
{
if (raySegment.IsIntersecting(segment, out hitLocation))
{
//Rays intersecting !
if (result.hitObstacle == -1 ||
distancesq(r_position, hitLocation) < distancesq(r_position, result.hitObstacleLocation2D))
{
result.hitObstacleLocation2D = hitLocation;
result.hitObstacle = infos.index;
}
}
}
coveredStaticEdges.TryAdd(pair, true);
}
}
staticObstacleNeighbors.Dispose();
coveredStaticEdges.Dispose();
}
#endregion
#region dynamic obstacles
if ((filter & RaycastFilter.OBSTACLE_DYNAMIC) != 0)
{
NativeList <int> dynObstacleNeighbors = new NativeList <int>(10, Allocator.Temp);
if (m_dynObstacleTree.Length > 0)
{
QueryObstacleTreeRecursive(ref raycast, ref a_sqRange, 0, ref dynObstacleNeighbors,
ref m_dynObstacles, ref m_dynRefObstacles, ref m_dynObstacleInfos, ref m_dynObstacleTree);
}
NativeHashMap <UIntPair, bool> coveredDynEdges = new NativeHashMap <UIntPair, bool>(m_dynObstacleTree.Length * 2, Allocator.Temp);
for (int i = 0; i < dynObstacleNeighbors.Length; ++i)
{
ObstacleVertexData vertex = m_dynObstacles[dynObstacleNeighbors[i]];
ObstacleInfos infos = m_dynObstacleInfos[vertex.infos];
pair = new UIntPair(vertex.index, vertex.next);
alreadyCovered = coveredDynEdges.TryGetValue(pair, out hit);
if (!alreadyCovered)
{
otherVertex = m_dynRefObstacles[vertex.next];
segment = new Segment2D(vertex.pos, otherVertex.pos);
alreadyCovered = (!twoSidedCast && dot(r_dir, segment.normal) < 0f);
if (!alreadyCovered)
{
if (raySegment.IsIntersecting(segment, out hitLocation))
{
//Rays intersecting !
if (result.hitObstacle == -1 ||
distancesq(r_position, hitLocation) < distancesq(r_position, result.hitObstacleLocation2D))
{
result.hitObstacleLocation2D = hitLocation;
result.hitObstacle = infos.index;
result.dynamicObstacle = true;
}
}
}
coveredDynEdges.TryAdd(pair, true);
}
pair = new UIntPair(vertex.index, vertex.prev);
alreadyCovered = coveredDynEdges.ContainsKey(pair);
if (!alreadyCovered)
{
otherVertex = m_dynRefObstacles[vertex.prev];
segment = new Segment2D(vertex.pos, otherVertex.pos);
alreadyCovered = (!twoSidedCast && dot(r_dir, segment.normal) < 0f);
if (!alreadyCovered)
{
if (raySegment.IsIntersecting(segment, out hitLocation))
{
//Rays intersecting !
if (result.hitObstacle == -1 ||
distancesq(r_position, hitLocation) < distancesq(r_position, result.hitObstacleLocation2D))
{
result.hitObstacleLocation2D = hitLocation;
result.hitObstacle = infos.index;
result.dynamicObstacle = true;
}
}
}
coveredDynEdges.TryAdd(pair, true);
}
}
dynObstacleNeighbors.Dispose();
coveredDynEdges.Dispose();
}
#endregion
#region Agents
if ((filter & RaycastFilter.AGENTS) != 0)
{
NativeList <int> agentNeighbors = new NativeList <int>(10, Allocator.Temp);
float radSq = a_sqRange + lengthsq(m_maxAgentRadius);
if (m_inputAgents.Length > 0)
{
QueryAgentTreeRecursive(ref raycast, ref radSq, 0, ref agentNeighbors);
}
AgentData agent;
int iResult, agentIndex;
float2 center, i1, i2, rayEnd = r_position + normalize(r_dir) * raycast.distance;
float
a_radius, a_sqRadius, cx, cy,
Ax = r_position.x,
Ay = r_position.y,
Bx = rayEnd.x,
By = rayEnd.y,
dx = Bx - Ax,
dy = By - Ay,
magA = dx * dx + dy * dy,
distSq;
int TryGetIntersection(out float2 intersection1, out float2 intersection2)
{
float
magB = 2f * (dx * (Ax - cx) + dy * (Ay - cy)),
magC = (Ax - cx) * (Ax - cx) + (Ay - cy) * (Ay - cy) - a_sqRadius,
det = magB * magB - 4f * magA * magC,
sqDet, t;
if ((magA <= float.Epsilon) || (det < 0f))
{
// No real solutions.
intersection1 = float2(float.NaN, float.NaN);
intersection2 = float2(float.NaN, float.NaN);
return(0);
}
if (det == 0)
{
// One solution.
t = -magB / (2f * magA);
intersection1 = float2(Ax + t * dx, Ay + t * dy);
intersection2 = float2(float.NaN, float.NaN);
return(1);
}
else
{
// Two solutions.
sqDet = sqrt(det);
t = ((-magB + sqDet) / (2f * magA));
intersection1 = float2(Ax + t * dx, Ay + t * dy);
t = ((-magB - sqDet) / (2f * magA));
intersection2 = float2(Ax + t * dx, Ay + t * dy);
return(2);
}
}
for (int i = 0; i < agentNeighbors.Length; ++i)
{
agentIndex = agentNeighbors[i];
agent = m_inputAgents[agentIndex];
center = agent.position;
cx = center.x;
cy = center.y;
a_radius = agent.radius;
a_sqRadius = a_radius * a_radius;
if (dot(center - r_position, r_dir) < 0f)
{
continue;
}
iResult = TryGetIntersection(out i1, out i2);
if (iResult == 0)
{
continue;
}
distSq = distancesq(r_position, i1);
if (distSq < a_sqRange &&
(result.hitAgent == -1 || distSq < distancesq(r_position, result.hitAgentLocation2D)) &&
IsBetween(r_position, center, i1))
{
result.hitAgentLocation2D = i1;
result.hitAgent = agentIndex;
}
if (iResult == 2)
{
distSq = distancesq(r_position, i2);
if (distSq < a_sqRange &&
(result.hitAgent == -1 || distSq < distancesq(r_position, result.hitAgentLocation2D)) &&
IsBetween(r_position, center, i2))
{
result.hitAgentLocation2D = i2;
result.hitAgent = agentIndex;
}
}
}
agentNeighbors.Dispose();
}
#endregion
if (m_plane == AxisPair.XY)
{
float baseline = raycast.worldPosition.z;
if (result.hitAgent != -1)
{
result.hitAgentLocation = float3(result.hitAgentLocation2D, baseline);
}
if (result.hitObstacle != -1)
{
result.hitObstacleLocation = float3(result.hitObstacleLocation2D, baseline);
}
}
else
{
float baseline = raycast.worldPosition.y;
if (result.hitAgent != -1)
{
result.hitAgentLocation = float3(result.hitAgentLocation2D.x, baseline, result.hitAgentLocation2D.y);
}
if (result.hitObstacle != -1)
{
result.hitObstacleLocation = float3(result.hitObstacleLocation2D.x, baseline, result.hitObstacleLocation2D.y);
}
}
m_results[index] = result;
}
