protected override IEnumerable <Progress> ScanInternal()
{
TriangleMeshNode.SetNavmeshHolder(AstarPath.active.data.GetGraphIndex(this), this);
if (!Application.isPlaying)
{
RelevantGraphSurface.FindAllGraphSurfaces();
}
RelevantGraphSurface.UpdateAllPositions();
foreach (var progress in ScanAllTiles())
{
yield return(progress);
}
#if DEBUG_REPLAY
DebugReplay.WriteToFile();
#endif
}
public void BuildRegions()
{
AstarProfiler.StartProfile("Build Regions");
int w = voxelArea.width;
int d = voxelArea.depth;
int wd = w * d;
int expandIterations = 8;
int spanCount = voxelArea.compactSpanCount;
//new List<int>(1024);
//List<int> visited = new List<int>(1024);
#if ASTAR_RECAST_BFS
ushort[] srcReg = voxelArea.tmpUShortArr;
if (srcReg.Length < spanCount)
{
srcReg = voxelArea.tmpUShortArr = new ushort[spanCount];
}
Pathfinding.Util.Memory.MemSet <ushort> (srcReg, 0, sizeof(ushort));
#else
List <int> stack = Pathfinding.Util.ListPool <int> .Claim(1024);
ushort[] srcReg = new ushort[spanCount];
ushort[] srcDist = new ushort[spanCount];
ushort[] dstReg = new ushort[spanCount];
ushort[] dstDist = new ushort[spanCount];
#endif
ushort regionId = 2;
MarkRectWithRegion(0, borderSize, 0, d, (ushort)(regionId | BorderReg), srcReg); regionId++;
MarkRectWithRegion(w - borderSize, w, 0, d, (ushort)(regionId | BorderReg), srcReg); regionId++;
MarkRectWithRegion(0, w, 0, borderSize, (ushort)(regionId | BorderReg), srcReg); regionId++;
MarkRectWithRegion(0, w, d - borderSize, d, (ushort)(regionId | BorderReg), srcReg); regionId++;
#if ASTAR_RECAST_BFS
uint level = 0;
List <Int3> basins = Pathfinding.Util.ListPool <Int3> .Claim(100); //new List<Int3>();
// Find "basins"
DebugReplay.BeginGroup("Basins");
for (int z = 0, pz = 0; z < wd; z += w, pz++)
{
for (int x = 0; x < voxelArea.width; x++)
{
CompactVoxelCell c = voxelArea.compactCells[z + x];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; i++)
{
CompactVoxelSpan s = voxelArea.compactSpans[i];
bool anyBelow = false;
if (voxelArea.areaTypes[i] == UnwalkableArea || srcReg[i] != 0)
{
continue;
}
for (int dir = 0; dir < 4; dir++)
{
if (s.GetConnection(dir) != NotConnected)
{
int nx = x + voxelArea.DirectionX[dir];
int nz = z + voxelArea.DirectionZ[dir];
int ni2 = (int)(voxelArea.compactCells[nx + nz].index + s.GetConnection(dir));
if (voxelArea.dist[i] < voxelArea.dist[ni2])
{
anyBelow = true;
break;
}
//CompactVoxelSpan ns = voxelArea.compactSpans[ni];
}
}
if (!anyBelow)
{
//Debug.DrawRay (this.ConvertPosition(x,z,i),Vector3.down,Color.red);
DebugReplay.DrawCube(this.ConvertPosition(x, z, i), cellScale, Color.red);
basins.Add(new Int3(x, i, z));
//System.Console.WriteLine ("Basin at " + voxelArea.dist[i]);
level = System.Math.Max(level, voxelArea.dist[i]);
}
}
}
}
//Start at maximum possible distance. & ~1 is rounding down to an even value
level = (uint)((level + 1) & ~1);
DebugReplay.EndGroup();
DebugReplay.BeginGroup("BFS");
List <Int3> st1 = Pathfinding.Util.ListPool <Int3> .Claim(300);
List <Int3> st2 = Pathfinding.Util.ListPool <Int3> .Claim(300);
//bool visited = new bool[voxelArea.compactSpanCount];
for (;; level -= 2)
{
DebugReplay.BeginGroup("BFS " + level);
//System.Console.WriteLine ("Starting level " + level + " with st1.Count = " + st1.Count);
int ocount = st1.Count;
int expandCount = 0;
if (ocount == 0)
{
//int c = 0;
for (int q = 0; q < basins.Count; q++)
{
if (voxelArea.dist[basins[q].y] >= level)
{
DebugReplay.DrawCube(this.ConvertPosition(basins[q].x, basins[q].z, basins[q].y) + Vector3.up, cellScale, new Color(0, 1, 0, 0.5f));
}
if (srcReg[basins[q].y] == 0 && voxelArea.dist[basins[q].y] >= level)
{
srcReg[basins[q].y] = 1;
st1.Add(basins[q]);
//c++;
//visited[basins[i].y] = true;
}
}
}
for (int j = 0; j < st1.Count; j++)
{
int x = st1[j].x;
int i = st1[j].y;
int z = st1[j].z;
ushort r = srcReg[i];
CompactVoxelSpan s = voxelArea.compactSpans[i];
int area = voxelArea.areaTypes[i];
DebugReplay.DrawCube(this.ConvertPosition(x, z, i), cellScale, Mathfx.IntToColor(srcReg[i], 0.7f));
bool anyAbove = false;
for (int dir = 0; dir < 4; dir++)
{
if (s.GetConnection(dir) == NotConnected)
{
continue;
}
int nx = x + voxelArea.DirectionX[dir];
int nz = z + voxelArea.DirectionZ[dir];
int ni = (int)voxelArea.compactCells[nx + nz].index + s.GetConnection(dir);
if (area != voxelArea.areaTypes[ni])
{
continue;
}
if (voxelArea.dist[ni] < level)
{
anyAbove = true;
continue;
}
if (srcReg[ni] == 0)
{
bool same = false;
for (int v = (int)voxelArea.compactCells[nx + nz].index, vt = (int)voxelArea.compactCells[nx + nz].index + (int)voxelArea.compactCells[nx + nz].count; v < vt; v++)
{
if (srcReg[v] == srcReg[i])
{
same = true;
break;
}
}
if (!same)
{
//if ((int)srcDist[ni]+2 < (int)d2)
//{
//visited[i] = true;
srcReg[ni] = r;
//Debug.DrawRay (ConvertPosition(x,z,i),Vector3.up,Mathfx.IntToColor((int)level,0.6f));
//if (dstReg[ni] == 0)
st1.Add(new Int3(nx, ni, nz));
//d2 = (ushort)(srcDist[ni]+2);
//}
}
}
}
//Still on the edge
if (anyAbove)
{
st2.Add(st1[j]);
}
if (j == ocount - 1)
{
expandCount++;
ocount = st1.Count;
if (expandCount == 8 || j == st1.Count - 1)
{
//int c = 0;
for (int q = 0; q < basins.Count; q++)
{
if (voxelArea.dist[basins[q].y] >= level)
{
DebugReplay.DrawCube(this.ConvertPosition(basins[q].x, basins[q].z, basins[q].y) + Vector3.up, cellScale, new Color(0, 1, 0, 0.5f));
}
if (srcReg[basins[q].y] == 0 && voxelArea.dist[basins[q].y] >= level)
{
srcReg[basins[q].y] = 1;
st1.Add(basins[q]);
//c++;
//visited[basins[i].y] = true;
}
}
}
}
}
List <Int3> tmpList = st1;
st1 = st2;
st2 = tmpList;
st2.Clear();
//System.Console.WriteLine ("Flooding basins");
for (int i = 0; i < basins.Count; i++)
{
if (srcReg[basins[i].y] == 1)
{
st2.Add(basins[i]);
FloodOnes(st2, srcReg, level, regionId); regionId++;
st2.Clear();
}
}
//System.Console.WriteLine ("Added " + c + " basins");
DebugReplay.EndGroup();
if (level == 0)
{
break;
}
}
DebugReplay.EndGroup();
Pathfinding.Util.ListPool <Int3> .Release(st1);
Pathfinding.Util.ListPool <Int3> .Release(st2);
Pathfinding.Util.ListPool <Int3> .Release(basins);
// Filter out small regions.
voxelArea.maxRegions = regionId;
FilterSmallRegions(srcReg, minRegionSize, voxelArea.maxRegions);
// Write the result out.
for (int i = 0; i < voxelArea.compactSpanCount; i++)
{
voxelArea.compactSpans[i].reg = srcReg[i];
}
#else /// ====== Use original recast code ====== //
//Start at maximum possible distance. & ~1 is rounding down to an even value
uint level = (uint)((voxelArea.maxDistance + 1) & ~1);
int count = 0;
while (level > 0)
{
level = level >= 2 ? level - 2 : 0;
AstarProfiler.StartProfile("--Expand Regions");
if (ExpandRegions(expandIterations, level, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
ushort[] tmp = srcReg;
srcReg = dstReg;
dstReg = tmp;
tmp = srcDist;
srcDist = dstDist;
dstDist = tmp;
}
AstarProfiler.EndProfile("--Expand Regions");
AstarProfiler.StartProfile("--Mark Regions");
// Mark new regions with IDs.
// Find "basins"
for (int z = 0, pz = 0; z < wd; z += w, pz++)
{
for (int x = 0; x < voxelArea.width; x++)
{
CompactVoxelCell c = voxelArea.compactCells[z + x];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; i++)
{
if (voxelArea.dist[i] < level || srcReg[i] != 0 || voxelArea.areaTypes[i] == UnwalkableArea)
{
continue;
}
if (FloodRegion(x, z, i, level, regionId, srcReg, srcDist, stack))
{
regionId++;
}
}
}
}
AstarProfiler.EndProfile("--Mark Regions");
count++;
//if (count == 10) {
// return;
//}
}
if (ExpandRegions(expandIterations * 8, 0, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
ushort[] tmp = srcReg;
srcReg = dstReg;
dstReg = tmp;
tmp = srcDist;
srcDist = dstDist;
dstDist = tmp;
}
// Filter out small regions.
voxelArea.maxRegions = regionId;
FilterSmallRegions(srcReg, minRegionSize, voxelArea.maxRegions);
// Write the result out.
for (int i = 0; i < voxelArea.compactSpanCount; i++)
{
voxelArea.compactSpans[i].reg = srcReg[i];
}
Pathfinding.Util.ListPool <int> .Release(stack);
/*
* int sCount = voxelArea.GetSpanCount ();
* Vector3[] debugPointsTop = new Vector3[sCount];
* Vector3[] debugPointsBottom = new Vector3[sCount];
* Color[] debugColors = new Color[sCount];
*
* int debugPointsCount = 0;
* //int wd = voxelArea.width*voxelArea.depth;
*
* for (int z=0, pz = 0;z < wd;z += voxelArea.width, pz++) {
* for (int x=0;x < voxelArea.width;x++) {
*
* Vector3 p = new Vector3(x,0,pz)*cellSize+forcedBounds.min;
*
* //CompactVoxelCell c = voxelArea.compactCells[x+z];
* CompactVoxelCell c = voxelArea.compactCells[x+z];
* //if (c.count == 0) {
* // Debug.DrawRay (p,Vector3.up,Color.red);
* //}
*
* //for (int i=(int)c.index, ni = (int)(c.index+c.count);i<ni;i++)
*
* for (int i = (int)c.index; i < c.index+c.count; i++) {
* CompactVoxelSpan s = voxelArea.compactSpans[i];
* //CompactVoxelSpan s = voxelArea.compactSpans[i];
*
* p.y = ((float)(s.y+0.1F))*cellHeight+forcedBounds.min.y;
*
* debugPointsTop[debugPointsCount] = p;
*
* p.y = ((float)s.y)*cellHeight+forcedBounds.min.y;
* debugPointsBottom[debugPointsCount] = p;
*
* debugColors[debugPointsCount] = Pathfinding.Mathfx.IntToColor(s.reg,0.7f);//s.reg == 1 ? Color.green : (s.reg == 2 ? Color.yellow : Color.red);
* debugPointsCount++;
*
* //Debug.DrawRay (p,Vector3.up*0.5F,Color.green);
* }
* }
* }
*
* DebugUtility.DrawCubes (debugPointsTop,debugPointsBottom,debugColors, cellSize);*/
#endif
AstarProfiler.EndProfile("Build Regions");
}
public ushort CalculateDistanceField(ushort[] src)
{
int wd = voxelArea.width * voxelArea.depth;
//Mark boundary cells
for (int z = 0; z < wd; z += voxelArea.width)
{
for (int x = 0; x < voxelArea.width; x++)
{
CompactVoxelCell c = voxelArea.compactCells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = voxelArea.compactSpans[i];
int nc = 0;
for (int d = 0; d < 4; d++)
{
if (s.GetConnection(d) != NotConnected)
{
//This function (CalculateDistanceField) is used for both ErodeWalkableArea and by itself.
//The C++ recast source uses different code for those two cases, but I have found it works with one function
//the voxelArea.areaTypes[ni] will actually only be one of two cases when used from ErodeWalkableArea
//so it will have the same effect as
// if (area != UnwalkableArea) {
//This line is the one where the differ most
nc++;
#if FALSE
if (area == voxelArea.areaTypes[ni])
{
nc++;
}
else
{
//No way we can reach 4
break;
}
#endif
}
else
{
break;
}
}
if (nc != 4)
{
src[i] = 0;
}
}
}
}
//Pass 1
for (int z = 0; z < wd; z += voxelArea.width)
{
for (int x = 0; x < voxelArea.width; x++)
{
CompactVoxelCell c = voxelArea.compactCells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = voxelArea.compactSpans[i];
if (s.GetConnection(0) != NotConnected)
{
// (-1,0)
int nx = x + voxelArea.DirectionX[0];
int nz = z + voxelArea.DirectionZ[0];
int ni = (int)(voxelArea.compactCells[nx + nz].index + s.GetConnection(0));
if (src[ni] + 2 < src[i])
{
src[i] = (ushort)(src[ni] + 2);
}
CompactVoxelSpan ns = voxelArea.compactSpans[ni];
if (ns.GetConnection(3) != NotConnected)
{
// (-1,0) + (0,-1) = (-1,-1)
int nnx = nx + voxelArea.DirectionX[3];
int nnz = nz + voxelArea.DirectionZ[3];
int nni = (int)(voxelArea.compactCells[nnx + nnz].index + ns.GetConnection(3));
if (src[nni] + 3 < src[i])
{
src[i] = (ushort)(src[nni] + 3);
}
}
}
if (s.GetConnection(3) != NotConnected)
{
// (0,-1)
int nx = x + voxelArea.DirectionX[3];
int nz = z + voxelArea.DirectionZ[3];
int ni = (int)(voxelArea.compactCells[nx + nz].index + s.GetConnection(3));
if (src[ni] + 2 < src[i])
{
src[i] = (ushort)(src[ni] + 2);
}
CompactVoxelSpan ns = voxelArea.compactSpans[ni];
if (ns.GetConnection(2) != NotConnected)
{
// (0,-1) + (1,0) = (1,-1)
int nnx = nx + voxelArea.DirectionX[2];
int nnz = nz + voxelArea.DirectionZ[2];
int nni = (int)(voxelArea.compactCells[nnx + nnz].index + ns.GetConnection(2));
if (src[nni] + 3 < src[i])
{
src[i] = (ushort)(src[nni] + 3);
}
}
}
}
}
}
//Pass 2
for (int z = wd - voxelArea.width; z >= 0; z -= voxelArea.width)
{
for (int x = voxelArea.width - 1; x >= 0; x--)
{
CompactVoxelCell c = voxelArea.compactCells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = voxelArea.compactSpans[i];
if (s.GetConnection(2) != NotConnected)
{
// (-1,0)
int nx = x + voxelArea.DirectionX[2];
int nz = z + voxelArea.DirectionZ[2];
int ni = (int)(voxelArea.compactCells[nx + nz].index + s.GetConnection(2));
if (src[ni] + 2 < src[i])
{
src[i] = (ushort)(src[ni] + 2);
}
CompactVoxelSpan ns = voxelArea.compactSpans[ni];
if (ns.GetConnection(1) != NotConnected)
{
// (-1,0) + (0,-1) = (-1,-1)
int nnx = nx + voxelArea.DirectionX[1];
int nnz = nz + voxelArea.DirectionZ[1];
int nni = (int)(voxelArea.compactCells[nnx + nnz].index + ns.GetConnection(1));
if (src[nni] + 3 < src[i])
{
src[i] = (ushort)(src[nni] + 3);
}
}
}
if (s.GetConnection(1) != NotConnected)
{
// (0,-1)
int nx = x + voxelArea.DirectionX[1];
int nz = z + voxelArea.DirectionZ[1];
int ni = (int)(voxelArea.compactCells[nx + nz].index + s.GetConnection(1));
if (src[ni] + 2 < src[i])
{
src[i] = (ushort)(src[ni] + 2);
}
CompactVoxelSpan ns = voxelArea.compactSpans[ni];
if (ns.GetConnection(0) != NotConnected)
{
// (0,-1) + (1,0) = (1,-1)
int nnx = nx + voxelArea.DirectionX[0];
int nnz = nz + voxelArea.DirectionZ[0];
int nni = (int)(voxelArea.compactCells[nnx + nnz].index + ns.GetConnection(0));
if (src[nni] + 3 < src[i])
{
src[i] = (ushort)(src[nni] + 3);
}
}
}
}
}
}
ushort maxDist = 0;
for (int i = 0; i < voxelArea.compactSpanCount; i++)
{
maxDist = System.Math.Max(src[i], maxDist);
}
#if ASTAR_DEBUGREPLAY && FALSE
DebugReplay.BeginGroup("Distance Field");
for (int z = wd - voxelArea.width; z >= 0; z -= voxelArea.width)
{
for (int x = voxelArea.width - 1; x >= 0; x--)
{
CompactVoxelCell c = voxelArea.compactCells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
DebugReplay.DrawCube(CompactSpanToVector(x, z / voxelArea.width, i), Vector3.one * cellSize, new Color((float)src[i] / maxDist, (float)src[i] / maxDist, (float)src[i] / maxDist));
}
}
}
DebugReplay.EndGroup();
#endif
return(maxDist);
}
