//Internal & accessory methods
static List <Vector3> InternalPathOptimization(List <Vector3> path, int level)
{
if (OnLineOfSight(SpaceGraph.GetCellIndexFromCoordOnLevel(path[0], level), SpaceGraph.GetCellIndexFromCoordOnLevel(path[path.Count - 1], level), level))
{
return new List <Vector3> {
path[0], path[path.Count - 1]
}
}
;
for (int j = 2; j <= path.Count - 3; j++)
{
for (int i = 2; i < path.Count; i += 2)
{
if (i >= path.Count)
{
return(path);
}
if (OnLineOfSight(SpaceGraph.GetCellIndexFromCoordOnLevel(path[i - 2], level), SpaceGraph.GetCellIndexFromCoordOnLevel(path[i], level), level))
{
path.RemoveAt(i - 1);
return(InternalPathOptimization(path, level));
}
}
}
return(path);
}
public void TestInitialize()
{
testGraph = new SpaceGraph();
for (int i = 0; i < 5; i++)
{
testGraph.CreateNode(i);
int cpd = (i < 3) ? 0 : i;
int depth = (i == 0) ? 0 : i;
int maxN = (i == 0 || i == 4) ? 1 : 2;
testGraph.Node(i).CPDistance = cpd;
testGraph.Node(i).Depth = depth;
testGraph.Node(i).MaxNeighbours = maxN;
}
//node: neighbours
// 1 : 1
// 2 : 2
// 3 : 2
// 4 : 1
testGraph.Connect(0, 1);
testGraph.Connect(1, 2);
testGraph.Connect(2, 3);
testGraph.Connect(3, 4);
}
List <Vector3> BuildSpline(List <Vector3> way)
{
//accessory extreme points adding
way.Insert(0, way[0] + (way[0] - way[1]).normalized);
way.Insert(way.Count, way[way.Count - 1] + (way[way.Count - 1] - way[way.Count - 2]).normalized);
List <Vector3> splinePoints = new List <Vector3>((way.Count - 3) * segmentsCount);
float step = 1f / (float)segmentsCount;
Vector3 nextPoint;
//spline points obtaining
for (int i = 1; i <= way.Count - 3; i++)
{
for (float t = 0; t <= 1; t += step)
{
nextPoint = CatmullRomEq(way[i - 1], way[i], way[i + 1], way[i + 2], t);
if (!SpaceGraph.IsCellOccAtCoordOnLevel(nextPoint, 0))
{
splinePoints.Add(nextPoint);
}
}
}
// if (way[way.Count - 1] != endPoint) way.Add(endPoint);
return(splinePoints);
}
public void BidirectionalDisconnectTest()
{
SpaceGraph basic = new SpaceGraph();
basic.CreateNode(0);
basic.CreateNode(1);
//0->1
basic.Connect(0, 1);
basic.Connect(1, 0);
Assert.IsTrue(basic.Node(0).IsConnected(basic.Node(1)));
Assert.IsTrue(basic.Node(1).IsConnected(basic.Node(0)));
basic.Disconnect(0, 1);
Assert.AreEqual(0, basic.Node(0).Edges.Count);
Assert.AreEqual(0, basic.Node(1).Edges.Count);
//1->0
basic.Connect(0, 1);
basic.Connect(1, 0);
Assert.IsTrue(basic.Node(0).IsConnected(basic.Node(1)));
Assert.IsTrue(basic.Node(1).IsConnected(basic.Node(0)));
basic.Disconnect(1, 0);
Assert.AreEqual(0, basic.Node(0).Edges.Count);
Assert.AreEqual(0, basic.Node(1).Edges.Count);
}
/// <summary>
/// Injects instanceID into the cells of the graph occupied by a triangle
/// consisting of points <paramref name="p0" />, <paramref name="p1" />, <paramref name="p2" />.
/// </summary>
/// <param name="p0">First triangle point.</param>
/// <param name="p1">Second triangle point.</param>
/// <param name="p2">Third triangle point.</param>
/// <param name="instanceID">Specific ID of the transform instance of the game object, whose triangle is handling.</param>
void OccupyCellsForATriangle(Vector3 p0, Vector3 p1, Vector3 p2, int instanceID)
{
if (!isPrimaryProcessingCompleted)
{
Interlocked.Increment(ref processedTrisCount);
}
float dist12 = Vector3.Distance(p2, p1);
float offs12 = 0;
float offs012;
Vector3 point12 = p1;
Vector3 point012;
while (offs12 < dist12)
{
point12 = p1 + ((p2 - p1).normalized) * offs12;
SpaceGraph.OccupyCellsInCoordAtAllLevels(point12, instanceID);
offs012 = 0;
while (offs012 * offs012 < Vector3.SqrMagnitude(p0 - point12))
{
point012 = p0 + ((point12 - p0).normalized) * offs012;
SpaceGraph.OccupyCellsInCoordAtAllLevels(point012, instanceID);
offs012 += shiftStep;
}
offs12 += shiftStep;
}
}
public bool RefinePath(Vector3 newPos)
{
ThrowUniversalEvent("EventPathRefiningRequested");
if (curCond == Movement)
{
if (isRefiningInProgress ||
!IsAtConstraintsArea(newPos) ||
!IsAtConstraintsArea(thisTransformInstance.position) ||
SpaceGraph.IsCellOccStaticOnLevel(thisTransformInstance.position, 0) ||
SpaceGraph.IsCellOccStaticOnLevel(newPos, 0))
{
return(false);
}
LeavePathfindingQueue();
isRefiningInProgress = true;
refinedTargetCoord = newPos;
Action failureAct = () =>
{
ThrowUniversalEvent("EventPathWasNotRefined");
isRefiningInProgress = false;
};
Action succesAct = () => { ThrowUniversalEvent("EventPathWasRefined"); };
ThrowUniversalEvent("EventPathRefiningStarted");
FindWay(thisTransformInstance.position, newPos, pathfindingLevel, refinedPath, selectedPFAlg, failureAct,
succesAct, trajectoryOptimization, trajectorySmoothing);
return(true);
}
return(false);
}
static void GenerateMap(SpaceGraph graph, int seed = 0)
{
var mapDescription = new MapDescription <int>();
//Add rooms
graph.AllNodes.ForEach(node => mapDescription.AddRoom(node.Id));
//Add connections
List <List <int> > connections = graph.ConvertToAdjList(false);
for (int node = 0; node < connections.Count; node++)
{
for (int link = 0; link < connections[node].Count; link++)
{
mapDescription.AddPassage(node, connections[node][link]);
}
}
//Add room descriptions
using (var reader = new StreamReader(@"Resources\Rooms\SMB.yml"))
{
var roomLoader = cfloader.LoadRoomDescriptionsSetModel(reader);
foreach (var roomDescription in roomLoader.RoomDescriptions)
{
GridPolygon shape = new GridPolygon(roomDescription.Value.Shape);
RoomDescription roomShape = new RoomDescription(shape, (roomDescription.Value.DoorMode == null) ? roomLoader.Default.DoorMode : roomDescription.Value.DoorMode);
mapDescription.AddRoomShapes(roomShape);
}
}
// Generate bitmap
SaveBitmap(mapDescription, seed);
}
void Awake()
{
//Core classes initiation (learn more about system calls in “Additional options” of “User’s guide.pdf” document
ClearResorces();
constraints = new SpaceConstraints(xMin, xMax, yMin, yMax, zMin, zMax);
spaceGraph = new SpaceGraph(constraints, spaceFragmentation, 0.7d, this);
}
public void ReducePotentialValuesTest()
{
SpaceGraph valueGraph = new SpaceGraph();
for (int i = 0; i < 6; i++)
{
valueGraph.CreateNode(i);
}
List <(int, int, int)> roomParams = new List <(int, int, int)>()
{
(0, 0, 1), (0, 1, 4), (2, 3, 1), (1, 2, 1), (1, 2, 1), (0, 2, 1)
};
valueGraph.AllNodes.ForEach(node =>
{
node.CPDistance = roomParams[node.Id].Item1;
node.Depth = roomParams[node.Id].Item2;
node.MaxNeighbours = roomParams[node.Id].Item3;
});
//map CP
valueGraph.Connect(0, 1);
valueGraph.Connect(1, 5);
valueGraph.ReducePotentialValues();
List <int> actual = valueGraph.AllNodes.SelectMany(x => x.Values.SelectMany(y => y.Select(z => z.Id))).ToList();
valueGraph.AllNodes.ForEach(node => Trace.WriteLine(node.PrintConnections()));
Trace.WriteLine(string.Join(", ", actual));
/////////////////////////////////// [0][ 1 ][ 2 ][ 3 ][ 4 ][5]
CollectionAssert.AreEqual(new int[] { 1, 0, 2, 3, 5, 0, 2, 4, 5, 0, 3, 4, 5, 0, 1, 3, 4, 5, 0, 1, 2, 4, 5, 0, 1, 2, 3, 5, 1 }.ToList(), actual);
}
public static List <Vector3> PathSmoothing(List <Vector3> path, int level)
{
//Interpolation with the Catmull-Rom spline
CatmullRom catmullRomInstance = new CatmullRom(path, SpaceGraph.GetLevelSideLength(level));
return(catmullRomInstance.GetSplineCall());
}
public WaveTrace(SpaceConstraints spaceConstraintsInp, object cTInstance, Vector3 start, Vector3 goal)
{
this.cTInstance = (CancellationToken)cTInstance;
spaceConstarintsInst = spaceConstraintsInp;
this.start = SpaceGraph.GetCellIndexFromCoordOnLevel(start, 0);
this.goal = SpaceGraph.GetCellIndexFromCoordOnLevel(goal, 0);
waves = new List <HashSet <Vector3> >();
}
/// <summary>
/// Builds the navigation graph for obstacle.
/// If updateObstc is set to true cond., firstly, remove occuranse of obstacle in the graph.
/// </summary>
/// <param name="obstacleGOToUpdate">GameObject-obstacle, for which you want to update the graph.</param>
/// <param name="cancToken">Cancellation token for controll to async handeling</param>
/// <param name="entitiesTasksToParallelize">List, you want to put handelling task in (if you want)</param>
/// <param name="updateObstc">Is obstc graph updating for, already was handeled once.</param>
public void UpdateGraphForObstacle(GameObject obstacleGOToUpdate, CancellationToken cancToken, bool updateObstc = false)
{
MeshCollider meshColliderInst = obstacleGOToUpdate.GetComponent <MeshCollider>();
MeshFilter meshFilterInst = obstacleGOToUpdate.GetComponent <MeshFilter>();
Terrain terrainInst = obstacleGOToUpdate.GetComponent <Terrain>();
if (updateObstc)
{
SpaceGraph.ReleaseCellsFromObstcID(obstacleGOToUpdate.transform.GetInstanceID());
}
MeshDataContainer mDCInst = new MeshDataContainer()
{
gameObjectName = obstacleGOToUpdate.name,
transformData = obstacleGOToUpdate.transform,
instanceID = obstacleGOToUpdate.transform.GetInstanceID(),
CTInstance = cancToken
};
if (meshColliderInst && meshColliderInst.sharedMesh)
{
mDCInst.triangles = meshColliderInst.sharedMesh.triangles;
mDCInst.vertices = meshColliderInst.sharedMesh.vertices;
HandleEntity(mDCInst, EntityType.Mesh);
}
if (meshFilterInst && meshFilterInst.sharedMesh)
{
mDCInst.triangles = meshFilterInst.sharedMesh.triangles;
mDCInst.vertices = meshFilterInst.sharedMesh.vertices;
HandleEntity(mDCInst, EntityType.Mesh);
}
if (terrainInst)
{
float[,] hmArr = terrainInst.terrainData.GetHeights(0, 0, terrainInst.terrainData.heightmapResolution,
terrainInst.terrainData.heightmapResolution);
TerrainDataContainer tDCInst = new TerrainDataContainer()
{
gameObjectName = obstacleGOToUpdate.name,
maxH = terrainInst.terrainData.size.y,
hMArray = hmArr,
hMWidth = terrainInst.terrainData.heightmapResolution,
xStart = 1,
xEnd = terrainInst.terrainData.heightmapResolution,
zStart = 1,
zEnd = terrainInst.terrainData.heightmapResolution,
hX = terrainInst.terrainData.size.x,
hZ = terrainInst.terrainData.size.z,
terrainPos = terrainInst.GetPosition(),
hMapScaleX = terrainInst.terrainData.heightmapScale.x,
hMapScaleZ = terrainInst.terrainData.heightmapScale.z,
instanceID = terrainInst.transform.GetInstanceID(),
CTInstance = cancToken
};
HandleEntity(tDCInst, EntityType.Terrain);
}
}
public void TestInitialize()
{
testGraph = new SpaceGraph();
for (int i = 0; i < rooms; i++)
{
testGraph.CreateNode(i);
}
generator = new BayesianSpaceGenerator();
testGraph = generator.CriticalPathMapper(testGraph, cpl);
}
static List <Vector3> ChooseFreeAdjacents(List <Vector3> path, int level)
{
List <Vector3> newPath = new List <Vector3>();
newPath.Add(path[0]);
for (int i = 1; i < path.Count - 1; i++)
{
newPath.Add(GetFreeAdjacentCellCoord(SpaceGraph.GetCellIndexFromCoordOnLevel(path[i], level), level));
}
newPath.Distinct();
newPath.Add(path[path.Count - 1]);
return(newPath);
}
public bool RedefineConstraints(float XMin, float XMax, float YMin, float YMax, float ZMin, float ZMax, float SideLength, double heur_fact)
{
if (XMin < XMax && YMin < YMax && ZMin < ZMax && SideLength > 0 && heur_fact >= 0.5f && heur_fact <= 1)
{
constraints = new SpaceConstraints(XMin, XMax, YMin, YMax, ZMin, ZMax);
spaceGraph = new SpaceGraph(constraints, SideLength, heur_fact, this);
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// Highlights all occupied cells, if appropriate toggle is active at inspector.
/// </summary>
public void OnDrawGizmos()
{
if (traceCellsInEditor && spaceHandlerInstance != null)
{
Gizmos.color = new Color(1, .46f, .46f, 1);
float cellSize = SpaceGraph.GetLevelSideLength(levelToTrace);
foreach (Vector3 index in SpaceGraph.occCellsLevels[levelToTrace].Keys)
{
Gizmos.DrawWireCube(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, levelToTrace),
new Vector3(cellSize * .99f, cellSize * .99f, cellSize * .99f));
}
}
}
public void DisconnectTest()
{
SpaceGraph basic = new SpaceGraph();
basic.CreateNode(0);
basic.CreateNode(1);
basic.Connect(0, 1);
Assert.IsTrue(basic.Node(0).IsConnected(basic.Node(1)));
Assert.IsTrue(basic.Node(1).IsConnected(basic.Node(0)));
basic.Disconnect(0, 1);
Assert.IsFalse(basic.Node(0).IsConnected(basic.Node(1)));
Assert.IsFalse(basic.Node(1).IsConnected(basic.Node(0)));
}
public Graph(SpaceManager spaceManagerInstance, object cTInstance, Vector3 start, Vector3 goal, int pathfindingLevel, SpaceConstraints constraints, double omega, bool diags = false)
{
if (!constraints.Check(start) || !constraints.Check(goal))
{
throw new ArgumentOutOfRangeException();
}
this.goal = new Cube(SpaceGraph.GetCellIndexFromCoordOnLevel(goal, pathfindingLevel));
this.start = new Cube(SpaceGraph.GetCellIndexFromCoordOnLevel(start, pathfindingLevel), this.goal);
this.constraints = constraints;
this.omega = omega;
this.diags = diags;
this.cTInstance = cTInstance;
this.spaceManagerInstance = spaceManagerInstance;
this.pathfindingLevel = pathfindingLevel;
}
public void ConnectTest()
{
SpaceGraph basic = new SpaceGraph();
basic.CreateNode(0);
basic.CreateNode(1);
basic.CreateNode(2);
basic.Connect(0, 1);
Assert.IsTrue(basic.Node(0).IsConnected(basic.Node(1)));
Assert.IsTrue(basic.Node(1).IsConnected(basic.Node(0)));
Assert.IsFalse(basic.Node(0).IsConnected(basic.Node(2)));
Assert.AreEqual(basic.Node(0).Edges.Count, 1);
Assert.AreEqual(basic.Node(1).Edges.Count, 1);
}
//Is thre is no any adjacents occupied cells
static bool IsAdjacentsFree(Vector3 index, int level)
{
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
for (int z = -1; z <= 1; z++)
{
if (SpaceGraph.IsCellOccAtIndexOnLevel(new Vector3(index.x + x, index.y + y, index.z + z), level))
{
return(false);
}
}
}
}
return(true);
}
public SpaceHandler(SpaceManager spaceManagerInstance, float minSideLength, int gridLevelsCount,
List <string> staticObstacleTags, object cancellationTokenInstance, int maxAliveThreadsCount, bool agressiveUseOfMultithreading)
{
processedTrisCount = 0;
SpaceGraph.SetFields(minSideLength, gridLevelsCount, maxAliveThreadsCount);
tmCallback = StartAsyncTasks;
internalTimer = new Timer(tmCallback, null, 0, 4);
inUpdateInvocationsQueue = new Queue <Action>();
asyncTasksQueue = new ConcurrentQueue <object[]>();
aliveTasksDict = new ConcurrentDictionary <int, AsyncTaskDataContainer>();
this.staticObstacleTags = staticObstacleTags;
this.spaceManagerInstance = spaceManagerInstance;
this.maxAliveAsyncTasksCount = maxAliveThreadsCount;
broadcastCancToken = (CancellationToken)cancellationTokenInstance;
shiftStep = Mathf.Min(minSideLength * minSideLength, minSideLength * .5f);
agressiveUseMultithreading = agressiveUseOfMultithreading;
}
public static void Main()
{
Debug.WriteLine("Starting Bayesian Space Generator...");
if (enableUserInput)
{
BayesianSpaceGenerator spaceGen = new BayesianSpaceGenerator();
string value = "10";
if (Dialog.InputBox("Bayesian PDG", "Enter a Dungeon size between 2-27:", ref value) == DialogResult.OK)
{
SpaceGraph graph = spaceGen.RunInference(Int32.Parse(value), defaultNetPath);
if (graph != null)
{
GenerateMap(graph);
}
else
{
MessageBox.Show("Constraints imposed by the sample could not be satisfied. Try again.", "Error: Bad Sample", 0);
}
}
}
else
{
for (int i = 2; i < 27; i++)
{
Stopwatch netWatch = new Stopwatch();
BayesianSpaceGenerator spaceGen = new BayesianSpaceGenerator();
netWatch.Start();
SpaceGraph experimentGraph = spaceGen.RunInference(i, defaultNetPath);
netWatch.Stop();
if (experimentGraph != null)
{
netGenerationTime = netWatch.Elapsed.TotalSeconds;
GenerateMap(experimentGraph);
}
}
}
//FileInfo[] files = new DirectoryInfo("Resources\\Maps").GetFiles("*.yaml");
//foreach (var map in files)
//{
// GenerateStaticMap(map.Name);
//}
}
// Pathfinding
public List <Vector3> GetWay()
{
Open = new PriorityQueue();
Close = new List <IVertex>();
var s = new List <IVertex>();
s.Add(start);
Open.Add(FFunction(s), s);
while (Open.Count != 0)
{
if (CheckForCancellationRequested())
{
return(null);
}
var p = Open.First();
Open.RemoveFirst();
var x = p.Last();
if (Close.Contains(x))
{
continue;
}
if (x.Equals(goal))
{
spaceManagerInstance.pathfindingThreadsCurCount--;
return(p.Select(el => SpaceGraph.GetCellCenterCoordFromIndexOnLevel(((Cube)el).index, pathfindingLevel)).ToList()); //converting List<IVertex> to Lis<Vector3>
}
Close.Add(x);
foreach (var y in graph.Adjacent(x))
{
if (CheckForCancellationRequested())
{
return(null);
}
if (!Close.Contains(y))
{
var newPath = new List <IVertex>(p);
newPath.Add(y);
Open.Add(FFunction(newPath), newPath);
}
}
}
spaceManagerInstance.pathfindingThreadsCurCount--;
return(null);
}
List <Vector3> BackwardDescent()
{
List <Vector3> way = new List <Vector3>(waves.Count + 1);
way.Add(goal);
for (int waveI = waves.Count - 1; waveI >= 0; waveI--)
{
if (cTInstance.IsCancellationRequested)
{
return(null);
}
for (int i = -1; i <= 1; i += 2)
{
Vector3 cell = new Vector3(way[way.Count - 1].x + i, way[way.Count - 1].y, way[way.Count - 1].z);
if (waves[waveI].Contains(cell))
{
way.Add(cell); goto exitLabel;
}
}
for (int j = -1; j <= 1; j += 2)
{
Vector3 cell = new Vector3(way[way.Count - 1].x, way[way.Count - 1].y + j, way[way.Count - 1].z);
if (waves[waveI].Contains(cell))
{
way.Add(cell); goto exitLabel;
}
}
for (int k = -1; k <= 1; k += 2)
{
Vector3 cell = new Vector3(way[way.Count - 1].x, way[way.Count - 1].y, way[way.Count - 1].z + k);
if (waves[waveI].Contains(cell))
{
way.Add(cell); goto exitLabel;
}
}
exitLabel :;
}
way = way.Select(index => SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, 0)).ToList();
way.Reverse();
return(way);
}
public void IsCompletedTest()
{
SpaceGraph incomplete = new SpaceGraph();
Trace.WriteLine(testGraph.ToString());
Assert.IsTrue(testGraph.isComplete);
incomplete.CreateNode(0);
incomplete.CreateNode(1);
incomplete.CreateNode(2);
incomplete.CreateNode(3);
incomplete.Connect(0, 3);
incomplete.Connect(1, 2);
Trace.WriteLine(incomplete.ToString());
Assert.IsFalse(incomplete.isComplete);
}
public static List <Vector3> PathFancification(List <Vector3> path, int level)
{
path = ChooseFreeAdjacents(path, level);
if (SpaceGraph.amountOfSpatialGraphLevels == 1)
{
return(path);
}
List <Vector3> newPath = new List <Vector3>();
newPath.Add(path[0]);
for (int i = 1; i < path.Count - 1; i++)
{
newPath.Add(SpaceGraph.FindCoordMaxCellCenter(path[i], level));
}
newPath.Distinct();
newPath.Add(path[path.Count - 1]);
return(newPath);
}
public void PathToTest()
{
SpaceGraph validGraph = new SpaceGraph();
for (int i = 0; i < 6; i++)
{
validGraph.CreateNode(i);
}
validGraph.Connect(0, 2);
validGraph.Connect(0, 5);
validGraph.Connect(1, 4);
validGraph.Connect(3, 5);
validGraph.Connect(4, 5);
Trace.WriteLine(validGraph.ToString());
Assert.AreEqual(4, validGraph.PathTo(0, 1).Count);
CollectionAssert.AreEqual(new int[] { 0, 5, 4, 1 }.ToList(), validGraph.PathTo(0, 1));
}
//Is line from i cell to j cell free?
static bool OnLineOfSight(Vector3 i, Vector3 j, int level)
{
var n = (int)Vector3.Distance(i, j) / Math.Min(1f, deltaDistCheck);
var tempVector = new Vector3();
var direction = (j - i).normalized;
for (var k = 0; k < n; k++)
{
i += direction * Math.Min(1f, deltaDistCheck);
tempVector.Set((int)(i.x), (int)(i.y), (int)(i.z));
// lock (spaceGraphInstance.occCells)
if (SpaceGraph.IsCellOccAtIndexOnLevel(tempVector, level))
{
return(false);
}
}
return(true);
}
static Vector3 GetFreeAdjacentCellCoord(Vector3 index, int level)
{
if (IsAdjacentsFree(index, level))
{
return(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, level));
}
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
for (int z = -1; z <= 1; z++)
{
Vector3 tmpIndex = new Vector3(index.x + x, index.y + y, index.z + z);
if (IsAdjacentsFree(tmpIndex, level))
{
return(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(tmpIndex, level));
}
}
}
}
return(SpaceGraph.GetCellCenterCoordFromIndexOnLevel(index, level));
}
/// <summary>
/// In-editor highlighting of the wave-trace algorithm executing.
/// </summary>
#region Pathfinding trace
#if UNITY_EDITOR
private void OnDrawGizmos()
{
if (showPathfindingZone)
{
Gizmos.color = Color.green;
Vector3 zoneCenter = new Vector3(xMin + .5f * (xMax - xMin), yMin + .5f * (yMax - yMin),
zMin + .5f * (zMax - zMin));
Gizmos.DrawWireCube(zoneCenter, new Vector3((xMax - xMin), (yMax - yMin), (zMax - zMin)));
}
if (!inEditorPathfindingTraverce)
{
return;
}
Gizmos.color = Color.cyan;
if (waves == null)
{
return;
}
lock (waves)
{
if (waves.Count <= 0)
{
return;
}
foreach (Vector3 cell in waves[waves.Count - 1])
{
Vector3 coord = SpaceGraph.GetCellCenterCoordFromIndexOnLevel(cell, 0);
Gizmos.DrawWireCube(coord,
new Vector3(spaceManagerInstance.cellMinSize, spaceManagerInstance.cellMinSize,
spaceManagerInstance.cellMinSize));
}
}
}