internal void Destroy() { if (nodes.Length > 0) { // Get this tile's index from the first node var tileIndex = NavmeshBase.GetTileIndex(nodes[0].GetVertexIndex(0)); var graphIndex = nodes[0].GraphIndex; // Destroy the nodes // To avoid removing connections one by one, which is very inefficient // we set all connections to other nodes in the same tile to null since // we already know that their connections will be destroyed as well. // This reduces the time it takes to destroy the nodes by approximately 50% for (int i = 0; i < nodes.Length; i++) { var node = nodes[i]; if (node.connections != null) { for (int j = 0; j < node.connections.Length; j++) { var otherMesh = node.connections[j].node as TriangleMeshNode; // Check if the nodes are in the same graph and the same tile if (otherMesh != null && otherMesh.GraphIndex == graphIndex && NavmeshBase.GetTileIndex(otherMesh.GetVertexIndex(0)) == tileIndex) { node.connections[j].node = null; } } } } // This will also remove old connections for (int i = 0; i < nodes.Length; i++) { nodes[i].Destroy(); } } nodes = null; graph = null; ObjectPool <BBTree> .Release(ref bbTree); }
/** Use this for initialization. * * \param s Optionally provide in order to take tag penalties into account. May be null if you do not use a Seeker\ * \param p Path to follow * \param mergePartEndpoints If true, then adjacent parts that the path is split up in will * try to use the same start/end points. For example when using a link on a navmesh graph * Instead of first following the path to the center of the node where the link is and then * follow the link, the path will be adjusted to go to the exact point where the link starts * which usually makes more sense. * \param simplificationMode The path can optionally be simplified. This can be a bit expensive for long paths. */ public void Initialize(Seeker s, Path p, bool mergePartEndpoints, RichFunnel.FunnelSimplification simplificationMode) { if (p.error) { throw new System.ArgumentException("Path has an error"); } List <GraphNode> nodes = p.path; if (nodes.Count == 0) { throw new System.ArgumentException("Path traverses no nodes"); } seeker = s; // Release objects back to object pool // Yeah, I know, it's casting... but this won't be called much for (int i = 0; i < parts.Count; i++) { if (parts[i] is RichFunnel) { ObjectPool <RichFunnel> .Release(parts[i] as RichFunnel); } else if (parts[i] is RichSpecial) { ObjectPool <RichSpecial> .Release(parts[i] as RichSpecial); } } parts.Clear(); currentPart = 0; // Initialize new //Break path into parts for (int i = 0; i < nodes.Count; i++) { if (nodes[i] is TriangleMeshNode) { var graph = AstarData.GetGraph(nodes[i]); RichFunnel f = ObjectPool <RichFunnel> .Claim().Initialize(this, graph); f.funnelSimplificationMode = simplificationMode; int sIndex = i; uint currentGraphIndex = nodes[sIndex].GraphIndex; for (; i < nodes.Count; i++) { if (nodes[i].GraphIndex != currentGraphIndex && !(nodes[i] is NodeLink3Node)) { break; } } i--; if (sIndex == 0) { f.exactStart = p.vectorPath[0]; } else { f.exactStart = (Vector3)nodes[mergePartEndpoints ? sIndex - 1 : sIndex].position; } if (i == nodes.Count - 1) { f.exactEnd = p.vectorPath[p.vectorPath.Count - 1]; } else { f.exactEnd = (Vector3)nodes[mergePartEndpoints ? i + 1 : i].position; } f.BuildFunnelCorridor(nodes, sIndex, i); parts.Add(f); } else if (NodeLink2.GetNodeLink(nodes[i]) != null) { NodeLink2 nl = NodeLink2.GetNodeLink(nodes[i]); int sIndex = i; uint currentGraphIndex = nodes[sIndex].GraphIndex; for (i++; i < nodes.Count; i++) { if (nodes[i].GraphIndex != currentGraphIndex) { break; } } i--; if (i - sIndex > 1) { throw new System.Exception("NodeLink2 path length greater than two (2) nodes. " + (i - sIndex)); } else if (i - sIndex == 0) { //Just continue, it might be the case that a NodeLink was the closest node continue; } RichSpecial rps = ObjectPool <RichSpecial> .Claim().Initialize(nl, nodes[sIndex]); parts.Add(rps); } } }
// Token: 0x06002140 RID: 8512 RVA: 0x001890A0 File Offset: 0x001872A0 public void Initialize(Seeker seeker, Path path, bool mergePartEndpoints, bool simplificationMode) { if (path.error) { throw new ArgumentException("Path has an error"); } List <GraphNode> path2 = path.path; if (path2.Count == 0) { throw new ArgumentException("Path traverses no nodes"); } this.seeker = seeker; for (int i = 0; i < this.parts.Count; i++) { RichFunnel richFunnel = this.parts[i] as RichFunnel; RichSpecial richSpecial = this.parts[i] as RichSpecial; if (richFunnel != null) { ObjectPool <RichFunnel> .Release(ref richFunnel); } else if (richSpecial != null) { ObjectPool <RichSpecial> .Release(ref richSpecial); } } this.Clear(); this.Endpoint = path.vectorPath[path.vectorPath.Count - 1]; for (int j = 0; j < path2.Count; j++) { if (path2[j] is TriangleMeshNode) { NavmeshBase navmeshBase = AstarData.GetGraph(path2[j]) as NavmeshBase; if (navmeshBase == null) { throw new Exception("Found a TriangleMeshNode that was not in a NavmeshBase graph"); } RichFunnel richFunnel2 = ObjectPool <RichFunnel> .Claim().Initialize(this, navmeshBase); richFunnel2.funnelSimplification = simplificationMode; int num = j; uint graphIndex = path2[num].GraphIndex; while (j < path2.Count && (path2[j].GraphIndex == graphIndex || path2[j] is NodeLink3Node)) { j++; } j--; if (num == 0) { richFunnel2.exactStart = path.vectorPath[0]; } else { richFunnel2.exactStart = (Vector3)path2[mergePartEndpoints ? (num - 1) : num].position; } if (j == path2.Count - 1) { richFunnel2.exactEnd = path.vectorPath[path.vectorPath.Count - 1]; } else { richFunnel2.exactEnd = (Vector3)path2[mergePartEndpoints ? (j + 1) : j].position; } richFunnel2.BuildFunnelCorridor(path2, num, j); this.parts.Add(richFunnel2); } else if (NodeLink2.GetNodeLink(path2[j]) != null) { NodeLink2 nodeLink = NodeLink2.GetNodeLink(path2[j]); int num2 = j; uint graphIndex2 = path2[num2].GraphIndex; j++; while (j < path2.Count && path2[j].GraphIndex == graphIndex2) { j++; } j--; if (j - num2 > 1) { throw new Exception("NodeLink2 path length greater than two (2) nodes. " + (j - num2)); } if (j - num2 != 0) { RichSpecial item = ObjectPool <RichSpecial> .Claim().Initialize(nodeLink, path2[num2]); this.parts.Add(item); } } } }
// Token: 0x06000033 RID: 51 RVA: 0x0000417C File Offset: 0x0000257C public void Initialize(Seeker s, Path p, bool mergePartEndpoints, RichFunnel.FunnelSimplification simplificationMode) { if (p.error) { throw new ArgumentException("Path has an error"); } List <GraphNode> path = p.path; if (path.Count == 0) { throw new ArgumentException("Path traverses no nodes"); } this.seeker = s; for (int i = 0; i < this.parts.Count; i++) { if (this.parts[i] is RichFunnel) { ObjectPool <RichFunnel> .Release(this.parts[i] as RichFunnel); } else if (this.parts[i] is RichSpecial) { ObjectPool <RichSpecial> .Release(this.parts[i] as RichSpecial); } } this.parts.Clear(); this.currentPart = 0; for (int j = 0; j < path.Count; j++) { if (path[j] is TriangleMeshNode) { IFunnelGraph graph = AstarData.GetGraph(path[j]) as IFunnelGraph; RichFunnel richFunnel = ObjectPool <RichFunnel> .Claim().Initialize(this, graph); richFunnel.funnelSimplificationMode = simplificationMode; int num = j; uint graphIndex = path[num].GraphIndex; while (j < path.Count) { if (path[j].GraphIndex != graphIndex && !(path[j] is NodeLink3Node)) { break; } j++; } j--; if (num == 0) { richFunnel.exactStart = p.vectorPath[0]; } else if (mergePartEndpoints) { richFunnel.exactStart = (Vector3)path[num - 1].position; } else { richFunnel.exactStart = (Vector3)path[num].position; } if (j == path.Count - 1) { richFunnel.exactEnd = p.vectorPath[p.vectorPath.Count - 1]; } else if (mergePartEndpoints) { richFunnel.exactEnd = (Vector3)path[j + 1].position; } else { richFunnel.exactEnd = (Vector3)path[j].position; } richFunnel.BuildFunnelCorridor(path, num, j); this.parts.Add(richFunnel); } else if (path[j] != null && NodeLink2.GetNodeLink(path[j]) != null) { NodeLink2 nodeLink = NodeLink2.GetNodeLink(path[j]); int num2 = j; uint graphIndex2 = path[num2].GraphIndex; for (j++; j < path.Count; j++) { if (path[j].GraphIndex != graphIndex2) { break; } } j--; if (j - num2 > 1) { throw new Exception("NodeLink2 path length greater than two (2) nodes. " + (j - num2)); } if (j - num2 != 0) { RichSpecial item = ObjectPool <RichSpecial> .Claim().Initialize(nodeLink, path[num2]); this.parts.Add(item); } } } }
/// <summary>Async method for moving the graph</summary> IEnumerator UpdateGraphCoroutine() { // Find the direction that we want to move the graph in. // Calcuculate this in graph space (where a distance of one is the size of one node) Vector3 dir = PointToGraphSpace(target.position) - PointToGraphSpace(graph.center); // Snap to a whole number of nodes dir.x = Mathf.Round(dir.x); dir.z = Mathf.Round(dir.z); dir.y = 0; // Nothing do to if (dir == Vector3.zero) { yield break; } // Number of nodes to offset in each direction Int2 offset = new Int2(-Mathf.RoundToInt(dir.x), -Mathf.RoundToInt(dir.z)); // Move the center (this is in world units, so we need to convert it back from graph space) graph.center += graph.transform.TransformVector(dir); graph.UpdateTransform(); // Cache some variables for easier access int width = graph.width; int depth = graph.depth; GridNodeBase[] nodes = graph.nodes; // Layers are required when handling LayeredGridGraphs int layers = graph.LayerCount; // Create a temporary buffer required for the calculations Memory.Realloc(ref buffer, width * depth); // Check if we have moved less than a whole graph width all directions // If we have moved more than this we can just as well recalculate the whole graph if (Mathf.Abs(offset.x) <= width && Mathf.Abs(offset.y) <= depth) { // Note: the upper limits are treated as exclusive limits (xmax, ymax) IntRect recalculateRect = new IntRect(0, 0, offset.x, offset.y); // If offset.x < 0, adjust the rect if (recalculateRect.xmin > recalculateRect.xmax) { int tmp2 = recalculateRect.xmax; recalculateRect.xmax = width + recalculateRect.xmin; recalculateRect.xmin = width + tmp2; } // If offset.y < 0, adjust the rect if (recalculateRect.ymin > recalculateRect.ymax) { int tmp2 = recalculateRect.ymax; recalculateRect.ymax = depth + recalculateRect.ymin; recalculateRect.ymin = depth + tmp2; } // Offset each node by the #offset variable // nodes which would end up outside the graph // will wrap around to the other side of it for (int l = 0; l < layers; l++) { int layerOffset = l * width * depth; for (int z = 0; z < depth; z++) { int pz = z * width; int tz = ((z + offset.y + depth) % depth) * width; for (int x = 0; x < width; x++) { buffer[tz + ((x + offset.x + width) % width)] = nodes[layerOffset + pz + x]; } } yield return(null); // Copy the nodes back to the graph // and set the correct indices for (int z = 0; z < depth; z++) { int pz = z * width; for (int x = 0; x < width; x++) { int newIndex = pz + x; var node = buffer[newIndex]; if (node != null) { node.NodeInGridIndex = newIndex; } nodes[layerOffset + newIndex] = node; } // Calculate the limits for the region that has been wrapped // to the other side of the graph. // This part is made up of a couple of rows and a couple of columns // So depending on the row we are in (z) we should either iterate over the whole row // or only the relevant columns. int xmin, xmax; if (z >= recalculateRect.ymin && z < recalculateRect.ymax) { xmin = 0; xmax = width; } else { xmin = recalculateRect.xmin; xmax = recalculateRect.xmax; } for (int x = xmin; x < xmax; x++) { var node = buffer[pz + x]; if (node != null) { // Clear connections on all nodes that are wrapped and placed on the other side of the graph. // This is both to clear any custom connections (which do not really make sense after moving the node) // and to prevent possible exceptions when the node will later (possibly) be destroyed because it was // not needed anymore (only for layered grid graphs). node.ClearConnections(false); } } } yield return(null); } // Recalculate the nodes // Take a look at the image in the docs for the UpdateGraph method // to see which nodes are being recalculated. var dependencyTracker = ObjectPool <Jobs.JobDependencyTracker> .Claim(); var updateNodesJob1 = graph.UpdateRegion(new IntRect(0, recalculateRect.ymin, width, recalculateRect.ymax), dependencyTracker, Unity.Collections.Allocator.Persistent); // Note: It is important the the main thread work is completed before the second update begins. // Otherwise if we give updateNodesJob1 as a dependency the code might call .Complete on a the handle and block indefinitely // since it requires work to complete in the main thread. foreach (var _ in updateNodesJob1.CompleteTimeSliced(MaxMillisPerFrame)) { yield return(null); } IntRect job2rect; if (recalculateRect.ymin == 0) { job2rect = new IntRect(recalculateRect.xmin, recalculateRect.ymax, recalculateRect.xmax, depth); } else if (recalculateRect.ymax == depth) { job2rect = new IntRect(recalculateRect.xmin, 0, recalculateRect.xmax, recalculateRect.ymin - 1); } else { throw new System.Exception("Should not happen"); } var updateNodesJob2 = graph.UpdateRegion(job2rect, dependencyTracker, Unity.Collections.Allocator.Persistent); foreach (var _ in updateNodesJob2.CompleteTimeSliced(MaxMillisPerFrame)) { yield return(null); } ObjectPool <Jobs.JobDependencyTracker> .Release(ref dependencyTracker); // Calculate all connections for the nodes along the boundary // of the graph, these always need to be updated /// <summary>TODO: Optimize to not traverse all nodes in the graph, only those at the edges</summary> for (int z = 0; z < depth; z++) { for (int x = 0; x < width; x++) { if (x == 0 || z == 0 || x == width - 1 || z == depth - 1) { graph.CalculateConnections(x, z); } } } yield return(null); } else { var dependencyTracker = ObjectPool <Jobs.JobDependencyTracker> .Claim(); var updateNodesJob = graph.UpdateRegion(new IntRect(0, 0, width, depth), dependencyTracker, Unity.Collections.Allocator.Persistent); foreach (var _ in updateNodesJob.CompleteTimeSliced(MaxMillisPerFrame)) { yield return(null); } ObjectPool <Jobs.JobDependencyTracker> .Release(ref dependencyTracker); } }
/// <summary>Use this for initialization.</summary> /// <param name="seeker">Optionally provide in order to take tag penalties into account. May be null if you do not use a Seeker\</param> /// <param name="path">Path to follow</param> /// <param name="mergePartEndpoints">If true, then adjacent parts that the path is split up in will /// try to use the same start/end points. For example when using a link on a navmesh graph /// Instead of first following the path to the center of the node where the link is and then /// follow the link, the path will be adjusted to go to the exact point where the link starts /// which usually makes more sense.</param> /// <param name="simplificationMode">The path can optionally be simplified. This can be a bit expensive for long paths.</param> public void Initialize(Seeker seeker, Path path, bool mergePartEndpoints, bool simplificationMode) { if (path.error) { throw new System.ArgumentException("Path has an error"); } List <GraphNode> nodes = path.path; if (nodes.Count == 0) { throw new System.ArgumentException("Path traverses no nodes"); } this.seeker = seeker; // Release objects back to object pool // Yeah, I know, it's casting... but this won't be called much for (int i = 0; i < parts.Count; i++) { var funnelPart = parts[i] as RichFunnel; var specialPart = parts[i] as RichSpecial; if (funnelPart != null) { ObjectPool <RichFunnel> .Release(ref funnelPart); } else if (specialPart != null) { ObjectPool <RichSpecial> .Release(ref specialPart); } } Clear(); // Initialize new Endpoint = path.vectorPath[path.vectorPath.Count - 1]; //Break path into parts for (int i = 0; i < nodes.Count; i++) { if (nodes[i] is TriangleMeshNode) { var graph = AstarData.GetGraph(nodes[i]) as NavmeshBase; if (graph == null) { throw new System.Exception("Found a TriangleMeshNode that was not in a NavmeshBase graph"); } RichFunnel f = ObjectPool <RichFunnel> .Claim().Initialize(this, graph); f.funnelSimplification = simplificationMode; int sIndex = i; uint currentGraphIndex = nodes[sIndex].GraphIndex; for (; i < nodes.Count; i++) { if (nodes[i].GraphIndex != currentGraphIndex && !(nodes[i] is NodeLink3Node)) { break; } } i--; if (sIndex == 0) { f.exactStart = path.vectorPath[0]; } else { f.exactStart = (Vector3)nodes[mergePartEndpoints ? sIndex - 1 : sIndex].position; } if (i == nodes.Count - 1) { f.exactEnd = path.vectorPath[path.vectorPath.Count - 1]; } else { f.exactEnd = (Vector3)nodes[mergePartEndpoints ? i + 1 : i].position; } f.BuildFunnelCorridor(nodes, sIndex, i); parts.Add(f); } else if (NodeLink2.GetNodeLink(nodes[i]) != null) { NodeLink2 nl = NodeLink2.GetNodeLink(nodes[i]); int sIndex = i; uint currentGraphIndex = nodes[sIndex].GraphIndex; for (i++; i < nodes.Count; i++) { if (nodes[i].GraphIndex != currentGraphIndex) { break; } } i--; if (i - sIndex > 1) { throw new System.Exception("NodeLink2 path length greater than two (2) nodes. " + (i - sIndex)); } else if (i - sIndex == 0) { //Just continue, it might be the case that a NodeLink was the closest node continue; } RichSpecial rps = ObjectPool <RichSpecial> .Claim().Initialize(nl, nodes[sIndex]); parts.Add(rps); } else if (!(nodes[i] is PointNode)) { // Some other graph type which we do not have support for throw new System.InvalidOperationException("The RichAI movment script can only be used on recast/navmesh graphs. A node of type " + nodes[i].GetType().Name + " was in the path."); } } }