protected override void OnUpdated(SceneData newNodes)
{
IsUpdatingNodes = true;
var sw = Stopwatch.StartNew();
var nodeCount = 0;
var gridName = GetType().Name;
foreach (var scene in newNodes.Scenes)
{
var nodes = scene.ExplorationNodes.SelectMany(n => n.Nodes, (p, c) => new AvoidanceNode(c)).ToList();
Core.Logger.Verbose($"[{gridName}] Updating grid for scene '{scene.SceneHash}' with {scene.ExplorationNodes.Count} new nodes");
UpdateInnerGrid(nodes);
foreach (var node in nodes)
{
nodeCount++;
if (GetNeighbors(node).Any(n => (n.NodeFlags & NodeFlags.AllowWalk) == 0))
{
node.NodeFlags |= NodeFlags.NearWall;
}
}
}
IsUpdatingNodes = false;
IsPopulated = true;
sw.Stop();
Core.Logger.Verbose($"Avoidance Grid updated NewNodes={nodeCount} NearestNodeFound={NearestNode != null} Time={sw.Elapsed.TotalMilliseconds}ms");
}
protected override void OnUpdated(SceneData newNodes)
{
using (var t = new PerformanceLogger(nameof(OnUpdated)))
{
IsUpdatingNodes = true;
var sw = Stopwatch.StartNew();
var nodeCount = 0;
foreach (var scene in newNodes.Scenes)
{
var nodes = scene.ExplorationNodes.SelectMany(n => n.Nodes, (p, c) => new AvoidanceNode(c))
.ToList();
s_logger.Debug(
$"[{nameof(OnUpdated)}] Updating grid for scene '{scene.SceneHash}' with {scene.ExplorationNodes.Count} new nodes");
UpdateInnerGrid(nodes);
foreach (var node in nodes)
{
nodeCount++;
if (GetNeighbors(node).Any(n => (n.NodeFlags & NodeFlags.AllowWalk) == 0))
{
node.NodeFlags |= NodeFlags.NearWall;
}
}
}
IsUpdatingNodes = false;
IsPopulated = true;
sw.Stop();
s_logger.Debug($"[{nameof(OnUpdated)}] Avoidance Grid updated NewNodes={nodeCount} NearestNodeFound={NearestNode != null} Time={t.Elapsed}");
}
}
protected virtual void OnUpdated(SceneData newNodes)
{
}