private void ForeachAround(EntitiesHashMap.MyData me, ref float3 correction, ref CollisionParameters collision)
{
var position = me.position;
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 1));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 1));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, -1));
Foreach(key, me, ref correction, ref collision);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, -1));
Foreach(key, me, ref correction, ref collision);
}
private void ForeachAround2(CollisionParameters collision, Translation translation, ref float3 correction)
{
var position = translation.Value;
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 1));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 1));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, -1));
Foreach(key, collision, translation, ref correction);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, -1));
Foreach(key, collision, translation, ref correction);
}
private void Add(float3 position, float3 prev, float maxdistance)
{
var keyDistance = QuadrantVariables.IndexFromPosition(position, prev, max);
if (keyDistance.key < 0)
{
return;
}
quadrantHashMap[keyDistance.key] += math.max(0f, (maxdistance - keyDistance.distance) / maxdistance);
}
private void ForeachAround(float3 position, Fighter me, ref Condition condition)
{
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, position, me, ref condition);
QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, position, me, ref condition);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, position, me, ref condition);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, position, me, ref condition);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, position, me, ref condition);
}
private void ForeachAround(float3 position, Condition condition, float3 direction, FoodHierarchie hierarchie, ref FoodHierarchieHashMap.MyData foundFood, ref bool found)
{
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, position, condition, direction, hierarchie, ref foundFood, ref found);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, position, condition, direction, hierarchie, ref foundFood, ref found);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, position, condition, direction, hierarchie, ref foundFood, ref found);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, position, condition, direction, hierarchie, ref foundFood, ref found);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, position, condition, direction, hierarchie, ref foundFood, ref found);
}
public void Execute([ReadOnly] ref PathFindingData data, [ReadOnly] ref CollisionParameters collision,
ref Walker walker, [ReadOnly] ref Translation translation)
{
if (!(data.avoidMethod == CollisionAvoidanceMethod.DensityGrid))
{
return;
}
var distance = data.decidedGoal - translation.Value;
if (math.length(distance) < data.radius)
{
data.decidedForce *= 0.5f;
}
var group = oneLayer * walker.broId;
var force = float3.zero;
for (int i = 0; i < Angels; i++)
{
var vector = GetDirection(walker.direction, i * math.PI * 2f / Angels) * collision.innerRadius;
var index = QuadrantVariables.BilinearInterpolation(translation.Value + vector, max);
var density0 = densityMap[group + index.Index0] * index.percent0;
var density1 = densityMap[group + index.Index1] * index.percent1;
var density2 = densityMap[group + index.Index2] * index.percent2;
var density3 = densityMap[group + index.Index3] * index.percent3;
var density = density0 + density1 + density2 + density3;
density0 = densityMap[index.Index0] * index.percent0;
density1 = densityMap[index.Index1] * index.percent1;
density2 = densityMap[index.Index2] * index.percent2;
density3 = densityMap[index.Index3] * index.percent3;
var densityOwn = density0 + density1 + density2 + density3;
if (density > 0)
{
var direction = -vector / collision.outerRadius;
force += (math.normalizesafe(direction) - direction) * (density);
}
if (densityOwn > 3)
{
var direction = -vector / collision.outerRadius;
force += (math.normalizesafe(direction) - direction) * (densityOwn - 3f);
}
}
walker.force = force + data.decidedForce;
}
private void ForeachAround(Circle me, ref float2 avoidanceForce, ref float minTime)
{
var position = me.Position;
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, me, ref avoidanceForce, ref minTime);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, me, ref avoidanceForce, ref minTime);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, me, ref avoidanceForce, ref minTime);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, me, ref avoidanceForce, ref minTime);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, me, ref avoidanceForce, ref minTime);
}
private void ForeachAround(QuadrantData me, ref float3 avoidanceForce, float radius)
{
var position = me.position;
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, me, ref avoidanceForce, radius);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, me, ref avoidanceForce, radius);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, me, ref avoidanceForce, radius);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, me, ref avoidanceForce, radius);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, me, ref avoidanceForce, radius);
}
private void ForeachAround(ref Infection infection, ref Translation translation)
{
var position = translation.Value;
var key = QuadrantVariables.GetPositionHashMapKey(position);
Foreach(key, ref infection, ref translation);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
Foreach(key, ref infection, ref translation);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
Foreach(key, ref infection, ref translation);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
Foreach(key, ref infection, ref translation);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
Foreach(key, ref infection, ref translation);
}
private bool ForeachAround(float3 position, ref FightersHashMap.MyData output, Fighter myBroId)
{
var found = false;
var key = QuadrantVariables.GetPositionHashMapKey(position);
found = found || Foreach(key, position, ref output, found, myBroId);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(1, 0, 0));
found = found || Foreach(key, position, ref output, found, myBroId);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(-1, 0, 0));
found = found || Foreach(key, position, ref output, found, myBroId);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, 1));
found = found || Foreach(key, position, ref output, found, myBroId);
key = QuadrantVariables.GetPositionHashMapKey(position, new float3(0, 0, -1));
found = found || Foreach(key, position, ref output, found, myBroId);
return(found);
}
private void Add(float3 position, float3 prev, float maxdistance, int gid)
{
var keyDistance = QuadrantVariables.IndexFromPosition(position, prev, max);
if (keyDistance.key < 0)
{
return;
}
for (int group = 0; group < maxGroup; group++)
{
if (group != gid)
{
quadrantHashMap[oneLayer * group + keyDistance.key] += math.max(0f, (maxdistance - keyDistance.distance) / maxdistance);
}
}
}
public void Execute(ref PhysicsCollider collider, ref LocalToWorld localToWorld)
{
var aabb = collider.Value.Value.CalculateAabb();
for (int group = 0; group < maxGroup; group++)
{
for (int j = 0; j < heightPoints - 1; j++)
{
for (int i = 0; i < widthPoints - 1; i++)
{
var point = QuadrantVariables.ConvertToWorld(new float3(i, 0, j), max);
var localPos = point - localToWorld.Position;
localPos = math.mul(math.inverse(localToWorld.Rotation), localPos);
if (aabb.Min.x - distance > localPos.x)
{
continue;
}
if (aabb.Min.z - distance > localPos.z)
{
continue;
}
if (aabb.Max.x + distance < localPos.x)
{
continue;
}
if (aabb.Max.z + distance < localPos.z)
{
continue;
}
if (collider.Value.Value.CalculateDistance(new PointDistanceInput()
{
Position = localPos,
MaxDistance = float.MaxValue,
Filter = CollisionFilter.Default
}, out DistanceHit hit))
{
if (distance - hit.Distance > 0f)
{
densityMatrix[group * oneLayer + QuadrantVariables.Index(i, j, max)] += math.max(0f, distance - hit.Distance);
}
}
}
}
}
}
