/// <summary>
/// Creates the grid of nodes.
/// </summary>
public void CreateGrid()
{
DestroyGrid();
// TODO: Perhaps we might want to snap the extents value when editing the bounding box
// in the editor?
Bounds scanBounds = scanCollider.bounds;
ScanAreaSettings scanSettings = new ScanAreaSettings((float3)scanBounds.center, (float3)scanBounds.extents, walkableMask);
int expectedGridDimension = scanSettings.gridDimension;
// TODO: Could I use nodesTypes invalid to avoid any kind of computation from them?
nodesTransforms = new NativeArray <NodeTransform>(expectedGridDimension, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
nodesTypes = new NativeArray <NodeType>(expectedGridDimension, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
nodesNeighbors = new NativeArray <NodeNeighbor>(expectedGridDimension * NodeNumNeighbors, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
// calculate the initial raycast commands
NativeArray <RaycastCommand> mainCommands = new NativeArray <RaycastCommand>(expectedGridDimension, Allocator.TempJob);
JobHandle createNodesHandle = new CalculateRaycastCommandsJob
{
commands = mainCommands,
scanSettings = scanSettings,
}
.ScheduleParallel(expectedGridDimension, 64, default(JobHandle));
// schedule the commands to retrieve the initial hits
NativeArray <RaycastHit> nodeHits = new NativeArray <RaycastHit>(expectedGridDimension, Allocator.TempJob);
createNodesHandle = RaycastCommand.ScheduleBatch(mainCommands, nodeHits, 32, createNodesHandle);
JobHandle.ScheduleBatchedJobs();
// build the nodes using the received hits and the main raycast commands
createNodesHandle = new CreateNodesJob
{
nodesTransforms = nodesTransforms,
nodesTypes = nodesTypes,
hits = nodeHits,
commands = mainCommands,
}
.ScheduleParallel(expectedGridDimension, 32, createNodesHandle);
// calculate the boxcasts to bake obstacles
NativeArray <BoxcastCommand> boxcastCommands = new NativeArray <BoxcastCommand>(expectedGridDimension, Allocator.TempJob);
JobHandle bakeObstaclesHandle = new CalculateBoxcastCommandsJob
{
commands = boxcastCommands,
nodesTransforms = nodesTransforms,
mask = obstacleMask,
boxNodePercentage = boxToNodeObstaclePercentage,
maxCharacterHeight = maxCharacterHeight,
}
.ScheduleParallel(expectedGridDimension, 64, createNodesHandle);
// schedule the boxcasts to find possible obstacles
NativeArray <RaycastHit> obstacleHits = new NativeArray <RaycastHit>(expectedGridDimension, Allocator.TempJob);
bakeObstaclesHandle = BoxcastCommand.ScheduleBatch(boxcastCommands, obstacleHits, 32, bakeObstaclesHandle);
// prepare the bake obstacles job
bakeObstaclesHandle = new BakeObstaclesJob
{
nodesTypes = nodesTypes,
boxcastHits = obstacleHits,
}
.ScheduleParallel(expectedGridDimension, 128, bakeObstaclesHandle);
// now calculate the neighbors
JobHandle calculateNeighborsHandle = new CalculateNeighborsJob
{
neighbors = nodesNeighbors,
nodesTransforms = nodesTransforms,
scanSettings = scanSettings,
maxWalkableHeightWithStep = maxWalkableHeightWithStep,
}
.ScheduleParallel(expectedGridDimension, 32, createNodesHandle);
JobHandle finalHandle = JobHandle.CombineDependencies(calculateNeighborsHandle, bakeObstaclesHandle);
JobHandle disposeHandle = JobHandle.CombineDependencies(mainCommands.Dispose(finalHandle), nodeHits.Dispose(finalHandle));
disposeHandle = JobHandle.CombineDependencies(disposeHandle, boxcastCommands.Dispose(finalHandle), obstacleHits.Dispose(finalHandle));
// wait to complete all the scheduled stuff
finalHandle.Complete();
gridWidth = scanSettings.gridWidth;
gridDepth = scanSettings.gridDepth;
isGridCreated = true;
OnGridCreation?.Invoke();
Logger.LogFormat("Grid was created with dimension {0}. Width: {1}. Height: {2}.", expectedGridDimension, gridWidth, gridDepth);
disposeHandle.Complete();
}
/// <summary>
/// Creates the grid of nodes.
/// </summary>
public void CreateGrid()
{
DestroyGrid();
// Note: perhaps we might want to snap the extents value when editing the bounding box
// in the editor?
Bounds scanBounds = scanCollider.bounds;
ScanAreaSettings scanSettings = new ScanAreaSettings(scanBounds.center, scanBounds.extents, walkableMask);
int gridDimension = scanSettings.dimension;
nodesTransforms = new NativeArray <NodeTransform>(gridDimension, Allocator.Persistent);
nodesTypes = new NativeArray <NodeType>(gridDimension, Allocator.Persistent);
nodesNeighbors = new NativeArray <NodeNeighbor>(gridDimension * NodeNeighbors, Allocator.Persistent);
// calculate the raycast commands
CalculateRaycastCommandsJob calculateCommandsJob = new CalculateRaycastCommandsJob(scanSettings);
JobHandle calculateCommandsHandle = calculateCommandsJob.Schedule(gridDimension, 32);
// schedule the raycast commands to retrieve the hits
NativeArray <RaycastHit> nodeHits = new NativeArray <RaycastHit>(gridDimension, Allocator.TempJob);
JobHandle raycastCommandHandle = RaycastCommand.ScheduleBatch(calculateCommandsJob.commands, nodeHits, 1, calculateCommandsHandle);
// build the nodes using the received hits
CreateNodesJob createNodesJob = new CreateNodesJob(nodesTransforms, nodesTypes, nodeHits, calculateCommandsJob.commands);
JobHandle createNodesHandle = createNodesJob.Schedule(gridDimension, 32, raycastCommandHandle);
// calculate the boxcast commands to bake obstacles
BakeObstaclesSettings bakeObstaclesSettings = new BakeObstaclesSettings(maxCharacterHeight, boxToNodeObstaclePercentage, obstacleMask);
CalculateBoxcastCommandsJob calculateBoxcastCommandsJob = new CalculateBoxcastCommandsJob(bakeObstaclesSettings, nodesTransforms);
JobHandle calculateBoxcastHandle = calculateBoxcastCommandsJob.Schedule(gridDimension, 32, createNodesHandle);
// schedule the boxcast commands to retrieve the hits
NativeArray <RaycastHit> obstacleHits = new NativeArray <RaycastHit>(gridDimension, Allocator.TempJob);
JobHandle boxcastCommandHandle = BoxcastCommand.ScheduleBatch(calculateBoxcastCommandsJob.commands, obstacleHits, 1, calculateBoxcastHandle);
// prepare the bake obstacles job
BakeObstaclesJob bakeObstaclesJob = new BakeObstaclesJob(nodesTypes, obstacleHits);
JobHandle bakeObstaclesHandle = bakeObstaclesJob.Schedule(gridDimension, 32, boxcastCommandHandle);
// now calculate the neighbors
CalculateNeighborsJob calculateNeighborsJob = new CalculateNeighborsJob(nodesNeighbors, nodesTransforms, scanSettings, maxWalkableStep);
JobHandle calculateNeighborsHandle = calculateNeighborsJob.Schedule(gridDimension, 32, bakeObstaclesHandle);
// schedule disposing the stuff
JobHandle disposeHandle = calculateCommandsJob.commands.Dispose(createNodesHandle);
disposeHandle = JobHandle.CombineDependencies(disposeHandle, nodeHits.Dispose(createNodesHandle));
disposeHandle = JobHandle.CombineDependencies(disposeHandle, calculateBoxcastCommandsJob.commands.Dispose(boxcastCommandHandle));
disposeHandle = JobHandle.CombineDependencies(disposeHandle, obstacleHits.Dispose(bakeObstaclesHandle));
// wait to complete all the scheduled stuff
calculateNeighborsHandle.Complete();
gridWidth = scanSettings.gridWidth;
gridDepth = scanSettings.gridDepth;
isGridCreated = true;
#if DEBUG_RENDER
RecalculateDebug();
#endif
}
