74 lines
2.7 KiB
C#
74 lines
2.7 KiB
C#
using UnityEngine;
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using Unity.Burst;
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using Unity.Collections;
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using Unity.Jobs;
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using Unity.Mathematics;
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namespace Pathfinding.Graphs.Grid.Jobs {
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/// <summary>Calculates for each grid node if it should be walkable or not</summary>
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[BurstCompile(FloatMode = FloatMode.Fast)]
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public struct JobNodeWalkability : IJob {
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/// <summary>
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/// If true, use the normal of the raycast hit to check if the ground is flat enough to stand on.
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///
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/// Any nodes with a steeper slope than <see cref="maxSlope"/> will be made unwalkable.
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/// </summary>
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public bool useRaycastNormal;
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/// <summary>Max slope in degrees</summary>
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public float maxSlope;
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/// <summary>Normalized up direction of the graph</summary>
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public Vector3 up;
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/// <summary>If true, nodes will be made unwalkable if no ground was found under them</summary>
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public bool unwalkableWhenNoGround;
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/// <summary>For layered grid graphs, if there's a node above another node closer than this distance, the lower node will be made unwalkable</summary>
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public float characterHeight;
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/// <summary>Number of nodes in each layer</summary>
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public int layerStride;
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[ReadOnly]
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public NativeArray<float3> nodePositions;
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public NativeArray<float4> nodeNormals;
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[WriteOnly]
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public NativeArray<bool> nodeWalkable;
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public void Execute () {
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// Cosinus of the max slope
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float cosMaxSlopeAngle = math.cos(math.radians(maxSlope));
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float4 upNative = new float4(up.x, up.y, up.z, 0);
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float3 upNative3 = upNative.xyz;
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for (int i = 0; i < nodeNormals.Length; i++) {
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// walkable will be set to false if no ground was found (unless that setting has been disabled)
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// The normal will only be non-zero if something was hit.
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bool didHit = math.any(nodeNormals[i]);
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var walkable = didHit;
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if (!didHit && !unwalkableWhenNoGround && i < layerStride) {
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walkable = true;
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// If there was no hit, but we still want to make the node walkable, then we set the normal to the up direction
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nodeNormals[i] = upNative;
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}
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// Check if the node is on a slope steeper than permitted
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if (walkable && useRaycastNormal && didHit) {
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// Take the dot product to find out the cosine of the angle it has (faster than Vector3.Angle)
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float angle = math.dot(nodeNormals[i], upNative);
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// Check if the ground is flat enough to stand on
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if (angle < cosMaxSlopeAngle) {
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walkable = false;
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}
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}
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// Check if there is a node above this one (layered grid graph only)
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if (walkable && i + layerStride < nodeNormals.Length && math.any(nodeNormals[i + layerStride])) {
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walkable = math.dot(upNative3, nodePositions[i + layerStride] - nodePositions[i]) >= characterHeight;
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}
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nodeWalkable[i] = walkable;
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}
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}
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}
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}
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