private Unity.Collections.NativeList <GridNodeData> AstarSearch(ref int statVisited, GridGraph graph, GridNode startNode, GridNode endNode, Constraint constraint, int threadIndex)
{
var graphSize = graph.size;
var graphCenter = graph.graphCenter;
var burstConstraint = constraint.GetBurstConstraint();
var resultPath = new Unity.Collections.NativeList <GridNodeData>(10, Unity.Collections.Allocator.Persistent);
var arr = new Unity.Collections.NativeArray <GridNodeData>(graph.nodesData, Unity.Collections.Allocator.TempJob);
var openList = new PriorityQueueNative <GridNodeData>(Unity.Collections.Allocator.TempJob, 500, true);
var results = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var endNodeIndex = endNode.index;
var startNodeIndex = startNode.index;
var job = new Job()
{
graphCenter = graphCenter,
graphSize = graphSize,
burstConstraint = burstConstraint,
resultPath = resultPath,
arr = arr,
openList = openList,
results = results,
endNodeIndex = endNodeIndex,
startNodeIndex = startNodeIndex,
};
job.Schedule().Complete();
statVisited = results[0];
results.Dispose();
openList.Dispose();
arr.Dispose();
return(resultPath);
}
public override void UpdateBehaviour()
{
// Re-assign the new texture to the minimap
minimap.image = miniMapRenderTexture;
// // ---- RESOURCES ---- \\
// EntityQuery entityQuery = entityManager.CreateEntityQuery(ComponentType.ReadWrite<Resources>());
// Resources resources = entityQuery.GetSingleton<Resources>();
// // entityQuery.SetSingleton<Resources>(res);
// // Resource Text
// resource1Text.text = resources.buildingMaterial.ToString();
// resource2Text.text = resources.food.ToString();
// resource3Text.text = resources.rareResource.ToString();
// ---- SELECTED PLAYERS ---- \\
if (selectionSystem.redrawSelectedUnits)
{
selectionSystem.redrawSelectedUnits = false;
entities = selectedQuery.ToEntityArray(Unity.Collections.Allocator.Persistent);
if (entities.Length > 0)
{
AddSelectedUnits(entities.Length);
}
entities.Dispose();
}
}
public void CompareBurstWithManagedAccess()
{
var arr = new Unity.Collections.NativeArray <TestData>(100, Unity.Collections.Allocator.Persistent);
var managedArr = new TestData[100];
{
var sw = System.Diagnostics.Stopwatch.StartNew();
managedArr[50] = new TestData();
UnityEngine.Debug.Log("Managed ticks: " + sw.ElapsedTicks);
sw.Restart();
}
{
var sw = System.Diagnostics.Stopwatch.StartNew();
new BurstAccess()
{
arr = arr, index = 50
}.Schedule().Complete();
UnityEngine.Debug.Log("Burst job ticks: " + sw.ElapsedTicks);
sw.Restart();
}
{
var sw = System.Diagnostics.Stopwatch.StartNew();
BurstMethod(ref arr, 50);
UnityEngine.Debug.Log("Burst ticks: " + sw.ElapsedTicks);
sw.Restart();
}
arr.Dispose();
}
public void Execute()
{
this.pathResults[0] = default;
this.pathResults[1] = default;
//UnityEngine.Debug.Log("Exec1");
var from = this.query.MapLocation(this.fromPoint, new Vector3(100f, 100f, 100f), this.agentTypeId, this.areas);
if (from.polygon.IsNull() == true)
{
return;
}
//UnityEngine.Debug.Log("Exec2");
var to = this.query.MapLocation(this.toPoint, new Vector3(100f, 100f, 100f), this.agentTypeId, this.areas);
if (to.polygon.IsNull() == true)
{
return;
}
//UnityEngine.Debug.Log("Exec3");
this.query.BeginFindPath(from, to, this.areas);
this.query.UpdateFindPath(PathfindingNavMeshProcessor.MAX_ITERATIONS, out var performed);
//statVisited = performed;
var result = this.query.EndFindPath(out var pathSize);
if ((result & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
var pathInternal = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.PolygonId>(pathSize, Unity.Collections.Allocator.Temp);
var straightPathFlags = new Unity.Collections.NativeArray <StraightPathFlags>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Temp);
var vertexSide = new Unity.Collections.NativeArray <float>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Temp);
//UnityEngine.Debug.Log("Exec4");
this.query.GetPathResult(pathInternal);
var job = new FindStraightPathJob()
{
query = this.query,
from = from,
to = to,
pathInternal = pathInternal,
pathSize = pathSize,
results = this.results,
straightPathFlags = straightPathFlags,
vertexSide = vertexSide,
resultStatus = this.pathResults,
};
job.Execute();
if ((result & UnityEngine.Experimental.AI.PathQueryStatus.PartialResult) != 0)
{
this.pathResults[0] |= (int)UnityEngine.Experimental.AI.PathQueryStatus.PartialResult;
}
vertexSide.Dispose();
straightPathFlags.Dispose();
pathInternal.Dispose();
}
}
public static void RecycleWithIndex <T, TCopy>(ref Unity.Collections.NativeArray <T> item, TCopy copy) where TCopy : IArrayElementCopyWithIndex <T> where T : struct
{
for (int i = 0; i < item.Length; ++i)
{
copy.Recycle(i, ref item.GetRef(i));
}
item.Dispose();
}
private static void FixSeams(Mesh source, Mesh output, List <List <int> > submeshes, List <Ring> rings, List <Insertion> insertions, P3dCoord coord)
{
output.bindposes = source.bindposes;
output.bounds = source.bounds;
output.subMeshCount = source.subMeshCount;
output.indexFormat = source.indexFormat;
if (source.vertexCount + insertions.Count >= 65535)
{
output.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
}
var weights = new List <BoneWeight>(); source.GetBoneWeights(weights);
var colors = new List <Color32>(); source.GetColors(colors);
var normals = new List <Vector3>(); source.GetNormals(normals);
var tangents = new List <Vector4>(); source.GetTangents(tangents);
var coords0 = new List <Vector4>(); source.GetUVs(0, coords0);
var coords1 = new List <Vector4>(); source.GetUVs(1, coords1);
var coords2 = new List <Vector4>(); source.GetUVs(2, coords2);
var coords3 = new List <Vector4>(); source.GetUVs(3, coords3);
var positions = new List <Vector3>(); source.GetVertices(positions);
#if UNITY_2019_1_OR_NEWER
var boneVertices = new List <byte>(source.GetBonesPerVertex());
var boneWeights = new List <BoneWeight1>(source.GetAllBoneWeights());
var boneIndices = new List <int>();
if (boneVertices.Count > 0)
{
var total = 0;
foreach (var count in boneVertices)
{
boneIndices.Add(total);
total += count;
}
weights.Clear();
}
#endif
foreach (var insertion in insertions)
{
#if UNITY_2019_1_OR_NEWER
if (boneVertices.Count > 0)
{
var index = boneIndices[insertion.Index];
var count = boneVertices[insertion.Index];
boneVertices.Add(count);
for (var i = 0; i < count; i++)
{
boneWeights.Add(boneWeights[index + i]);
}
}
#endif
if (weights.Count > 0)
{
weights.Add(weights[insertion.Index]);
}
if (colors.Count > 0)
{
colors.Add(colors[insertion.Index]);
}
if (normals.Count > 0)
{
normals.Add(normals[insertion.Index]);
}
if (tangents.Count > 0)
{
tangents.Add(tangents[insertion.Index]);
}
if (coords0.Count > 0)
{
AddCoord(coords0, insertion, coord == P3dCoord.First);
}
if (coords1.Count > 0)
{
AddCoord(coords1, insertion, coord == P3dCoord.Second);
}
if (coords2.Count > 0)
{
AddCoord(coords2, insertion, coord == P3dCoord.Third);
}
if (coords3.Count > 0)
{
AddCoord(coords3, insertion, coord == P3dCoord.Fourth);
}
positions.Add(positions[insertion.Index]);
}
output.SetVertices(positions);
if (weights.Count > 0)
{
output.boneWeights = weights.ToArray();
}
#if UNITY_2019_1_OR_NEWER
if (boneVertices.Count > 0)
{
var na1 = new Unity.Collections.NativeArray <byte>(boneVertices.ToArray(), Unity.Collections.Allocator.Temp);
var na2 = new Unity.Collections.NativeArray <BoneWeight1>(boneWeights.ToArray(), Unity.Collections.Allocator.Temp);
output.SetBoneWeights(na1, na2);
na2.Dispose();
na1.Dispose();
}
#endif
output.SetColors(colors);
output.SetNormals(normals);
output.SetTangents(tangents);
output.SetUVs(0, coords0);
output.SetUVs(1, coords1);
output.SetUVs(2, coords2);
output.SetUVs(3, coords3);
var deltaVertices = new List <Vector3>();
var deltaNormals = new List <Vector3>();
var deltaTangents = new List <Vector3>();
if (source.blendShapeCount > 0)
{
var tempDeltaVertices = new Vector3[source.vertexCount];
var tempDeltaNormals = new Vector3[source.vertexCount];
var tempDeltaTangents = new Vector3[source.vertexCount];
for (var i = 0; i < source.blendShapeCount; i++)
{
var shapeName = source.GetBlendShapeName(i);
var frameCount = source.GetBlendShapeFrameCount(i);
for (var j = 0; j < frameCount; j++)
{
source.GetBlendShapeFrameVertices(i, j, tempDeltaVertices, tempDeltaNormals, tempDeltaTangents);
deltaVertices.Clear();
deltaNormals.Clear();
deltaTangents.Clear();
deltaVertices.AddRange(tempDeltaVertices);
deltaNormals.AddRange(tempDeltaNormals);
deltaTangents.AddRange(tempDeltaTangents);
foreach (var insertion in insertions)
{
deltaVertices.Add(deltaVertices[insertion.Index]);
deltaNormals.Add(deltaNormals[insertion.Index]);
deltaTangents.Add(deltaTangents[insertion.Index]);
}
output.AddBlendShapeFrame(shapeName, source.GetBlendShapeFrameWeight(i, j), deltaVertices.ToArray(), deltaNormals.ToArray(), deltaTangents.ToArray());
}
}
}
for (var i = 0; i < submeshes.Count; i++)
{
output.SetTriangles(submeshes[i], i);
}
}
public void Execute()
{
var temp = new Unity.Collections.NativeArray <TempNodeData>(this.arr.Length, Unity.Collections.Allocator.Temp);
var tmp = temp[this.startNodeIndex];
tmp.startToCurNodeLen = 0f;
tmp.isOpened = true;
temp[this.startNodeIndex] = tmp;
this.openList.Enqueue(0, this.arr[this.startNodeIndex]);
var maxIter = 10000;
while (this.openList.Count > 0)
{
if (--maxIter <= 0)
{
UnityEngine.Debug.LogError("Break");
break;
}
var node = this.openList.Dequeue();
var nodeTemp = temp[node.index];
nodeTemp.isClosed = true;
temp[node.index] = nodeTemp;
if (node.index == this.endNodeIndex)
{
maxIter = 10000;
this.resultPath.Add(this.arr[this.endNodeIndex]);
while (temp[this.endNodeIndex].parent != 0)
{
if (--maxIter <= 0)
{
UnityEngine.Debug.LogError("Break");
break;
}
var n = this.endNodeIndex;
this.endNodeIndex = temp[this.endNodeIndex].parent - 1;
this.resultPath.Add(this.arr[n]);
}
for (int i = 0; i < this.resultPath.Length / 2; ++i)
{
var ePtr = this.resultPath[this.resultPath.Length - 1 - i];
this.resultPath[this.resultPath.Length - 1 - i] = this.resultPath[i];
this.resultPath[i] = ePtr;
}
break;
}
var neighbors = node.connections;
var currentNodeCost = nodeTemp.startToCurNodeLen;
for (int i = 0; i < neighbors.Length; ++i)
{
var conn = neighbors.Get(i);
if (conn.index < 0)
{
continue;
}
if (this.Jump(out var neighbor, in temp, in node, this.arr[conn.index]) == false)
{
continue;
}
var neighborTemp = temp[neighbor.index];
if (neighborTemp.isClosed == true)
{
continue;
}
if (neighbor.IsSuitable(this.burstConstraint, this.arr, this.graphSize, this.graphCenter) == false)
{
continue;
}
var cost = currentNodeCost + conn.cost;
if (neighborTemp.isOpened == false || cost < neighborTemp.startToCurNodeLen)
{
neighborTemp.startToCurNodeLen = cost;
neighborTemp.parent = node.index + 1;
if (neighborTemp.isOpened == false)
{
Gizmos.DrawCube(neighbor.worldPosition, Vector3.one);
this.openList.Enqueue(cost, neighbor);
++this.results[0];
neighborTemp.isOpened = true;
}
}
temp[neighbor.index] = neighborTemp;
}
}
temp.Dispose();
}
public Path Run <TMod>(LogLevel pathfindingLogLevel, Vector3 fromPoint, Vector3 toPoint, Constraint constraint, Graph graph, TMod pathModifier, int threadIndex = 0,
bool burstEnabled = true, bool cacheEnabled = false) where TMod : struct, IPathModifier
{
var path = new Path();
var pathResult = new PathInternal();
var navMeshGraph = (NavMeshGraph)graph;
var areas = -1;
if (constraint.checkArea == true)
{
areas = (int)constraint.areaMask;
}
System.Diagnostics.Stopwatch swPath = null;
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
swPath = System.Diagnostics.Stopwatch.StartNew();
}
var statLength = 0;
var statVisited = 0;
var query = new UnityEngine.Experimental.AI.NavMeshQuery(UnityEngine.Experimental.AI.NavMeshWorld.GetDefaultWorld(), Unity.Collections.Allocator.TempJob, PathfindingNavMeshProcessor.POOL_SIZE);
if (burstEnabled == true)
{
var results = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.NavMeshLocation>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.TempJob);
var pathResults = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var job = new BuildPathJob()
{
query = query,
fromPoint = fromPoint,
toPoint = toPoint,
agentTypeId = navMeshGraph.agentTypeId,
areas = areas,
pathResults = pathResults,
results = results,
};
job.Schedule().Complete();
var pathStatus = (UnityEngine.Experimental.AI.PathQueryStatus)pathResults[0];
var cornerCount = pathResults[1];
pathResults.Dispose();
if ((pathStatus & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
if (cornerCount >= 2)
{
path.navMeshPoints = PoolListCopyable <Vector3> .Spawn(cornerCount);
for (var i = 0; i < cornerCount; ++i)
{
path.navMeshPoints.Add(results[i].position);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
var hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.x * 1000000f);
}
UnityEngine.Debug.Log("Path hash X: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.y * 1000000f);
}
UnityEngine.Debug.Log("Path hash Y: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.z * 1000000f);
}
UnityEngine.Debug.Log("Path hash Z: " + hash);
}
if ((pathStatus & UnityEngine.Experimental.AI.PathQueryStatus.PartialResult) != 0)
{
path.result = PathCompleteState.CompletePartial;
}
else
{
path.result = PathCompleteState.Complete;
}
}
else
{
path.result = PathCompleteState.NotExist;
}
}
results.Dispose();
query.Dispose();
return(path);
}
UnityEngine.AI.NavMesh.SamplePosition(fromPoint, out var hitFrom, 1000f, new UnityEngine.AI.NavMeshQueryFilter()
{
agentTypeID = navMeshGraph.agentTypeId,
areaMask = areas,
});
fromPoint = hitFrom.position;
var from = query.MapLocation(fromPoint, Vector3.one * 10f, navMeshGraph.agentTypeId, areas);
if (from.polygon.IsNull() == true)
{
return(path);
}
UnityEngine.AI.NavMesh.SamplePosition(toPoint, out var hitTo, 1000f, new UnityEngine.AI.NavMeshQueryFilter()
{
agentTypeID = navMeshGraph.agentTypeId,
areaMask = areas,
});
toPoint = hitTo.position;
var to = query.MapLocation(toPoint, Vector3.one * 10f, navMeshGraph.agentTypeId, areas);
if (to.polygon.IsNull() == true)
{
return(path);
}
var marker = new Unity.Profiling.ProfilerMarker("PathfindingNavMeshProcessor::Query::BuildPath");
marker.Begin();
query.BeginFindPath(from, to, areas);
query.UpdateFindPath(PathfindingNavMeshProcessor.MAX_ITERATIONS, out var performed);
marker.End();
statVisited = performed;
var result = query.EndFindPath(out var pathSize);
if ((result & UnityEngine.Experimental.AI.PathQueryStatus.Success) != 0)
{
var pathInternal = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.PolygonId>(pathSize, Unity.Collections.Allocator.Persistent);
query.GetPathResult(pathInternal);
var markerFindStraight = new Unity.Profiling.ProfilerMarker("PathfindingNavMeshProcessor::Query::FindStraightPath");
markerFindStraight.Begin();
var straightPathFlags = new Unity.Collections.NativeArray <StraightPathFlags>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var vertexSide = new Unity.Collections.NativeArray <float>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var results = new Unity.Collections.NativeArray <UnityEngine.Experimental.AI.NavMeshLocation>(PathfindingNavMeshProcessor.MAX_PATH_SIZE, Unity.Collections.Allocator.Persistent);
var resultStatus = new Unity.Collections.NativeArray <int>(2, Unity.Collections.Allocator.TempJob);
var job = new FindStraightPathJob()
{
query = query,
from = from,
to = to,
pathInternal = pathInternal,
pathSize = pathSize,
results = results,
straightPathFlags = straightPathFlags,
vertexSide = vertexSide,
resultStatus = resultStatus,
};
job.Schedule().Complete();
var pathStatus = (UnityEngine.Experimental.AI.PathQueryStatus)job.resultStatus[0];
var cornerCount = job.resultStatus[1];
resultStatus.Dispose();
statLength = cornerCount;
markerFindStraight.End();
if (pathStatus == UnityEngine.Experimental.AI.PathQueryStatus.Success)
{
/*for (int i = 1; i < cornerCount; ++i) {
*
* Gizmos.color = Color.green;
* Gizmos.DrawLine(results[i].position, results[i - 1].position);
*
* }*/
pathResult.pathStatus = pathStatus;
pathResult.results = results;
pathResult.corners = cornerCount;
if (cornerCount >= 2)
{
path.navMeshPoints = PoolListCopyable <Vector3> .Spawn(cornerCount);
for (var i = 0; i < cornerCount; ++i)
{
path.navMeshPoints.Add(results[i].position);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
var hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.x * 1000000f);
}
UnityEngine.Debug.Log("Path hash X: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.y * 1000000f);
}
UnityEngine.Debug.Log("Path hash Y: " + hash);
hash = 0;
for (var i = 0; i < cornerCount; ++i)
{
hash ^= (int)(results[i].position.z * 1000000f);
}
UnityEngine.Debug.Log("Path hash Z: " + hash);
}
path.result = PathCompleteState.Complete;
}
else
{
path.result = PathCompleteState.NotExist;
}
pathResult.Dispose();
}
else
{
path.result = PathCompleteState.NotExist;
results.Dispose();
}
vertexSide.Dispose();
straightPathFlags.Dispose();
pathInternal.Dispose();
}
else
{
path.result = PathCompleteState.NotExist;
//Debug.LogWarning("Path result: " + result + ", performed: " + performed);
}
System.Diagnostics.Stopwatch swModifier = null;
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
swModifier = System.Diagnostics.Stopwatch.StartNew();
}
if ((path.result & PathCompleteState.Complete) != 0)
{
path = pathModifier.Run(path, constraint);
}
if ((pathfindingLogLevel & LogLevel.Path) != 0)
{
Logger.Log(
$"Path result {path.result}, built in {(swPath.ElapsedTicks / (double)System.TimeSpan.TicksPerMillisecond).ToString("0.##")}ms. Path length: {statLength} (Visited: {statVisited})\nThread Index: {threadIndex}");
}
if ((pathfindingLogLevel & LogLevel.PathMods) != 0)
{
Logger.Log($"Path Mods: {swModifier.ElapsedMilliseconds}ms");
}
query.Dispose();
return(path);
}
void Cleanup()
{
blockData.Dispose();
}