363 lines
11 KiB
C#
363 lines
11 KiB
C#
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using UnityEngine;
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using Pathfinding.Serialization;
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namespace Pathfinding {
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/// <summary>Base class for GridNode and LevelGridNode</summary>
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public abstract class GridNodeBase : GraphNode {
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protected GridNodeBase (AstarPath astar) : base(astar) {
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}
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const int GridFlagsWalkableErosionOffset = 8;
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const int GridFlagsWalkableErosionMask = 1 << GridFlagsWalkableErosionOffset;
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const int GridFlagsWalkableTmpOffset = 9;
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const int GridFlagsWalkableTmpMask = 1 << GridFlagsWalkableTmpOffset;
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protected const int NodeInGridIndexLayerOffset = 24;
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protected const int NodeInGridIndexMask = 0xFFFFFF;
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/// <summary>
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/// Bitfield containing the x and z coordinates of the node as well as the layer (for layered grid graphs).
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/// See: NodeInGridIndex
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/// </summary>
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protected int nodeInGridIndex;
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protected ushort gridFlags;
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#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
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/// <summary>
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/// Custon non-grid connections from this node.
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/// See: <see cref="AddConnection"/>
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/// See: <see cref="RemoveConnection"/>
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///
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/// This field is removed if the ASTAR_GRID_NO_CUSTOM_CONNECTIONS compiler directive is used.
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/// Removing it can save a tiny bit of memory. You can enable the define in the Optimizations tab in the A* inspector.
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/// See: compiler-directives (view in online documentation for working links)
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///
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/// Note: If you modify this array or the contents of it you must call <see cref="SetConnectivityDirty"/>.
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/// </summary>
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public Connection[] connections;
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#endif
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/// <summary>
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/// The index of the node in the grid.
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/// This is x + z*graph.width
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/// So you can get the X and Z indices using
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/// <code>
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/// int index = node.NodeInGridIndex;
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/// int x = index % graph.width;
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/// int z = index / graph.width;
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/// // where graph is GridNode.GetGridGraph (node.graphIndex), i.e the graph the nodes are contained in.
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/// </code>
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/// </summary>
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public int NodeInGridIndex { get { return nodeInGridIndex & NodeInGridIndexMask; } set { nodeInGridIndex = (nodeInGridIndex & ~NodeInGridIndexMask) | value; } }
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/// <summary>
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/// X coordinate of the node in the grid.
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/// The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite
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/// corner has (x,z) = (width-1, depth-1)
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/// See: ZCoordInGrid
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/// See: NodeInGridIndex
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/// </summary>
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public int XCoordinateInGrid {
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get {
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return NodeInGridIndex % GridNode.GetGridGraph(GraphIndex).width;
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}
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}
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/// <summary>
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/// Z coordinate of the node in the grid.
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/// The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite
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/// corner has (x,z) = (width-1, depth-1)
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/// See: XCoordInGrid
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/// See: NodeInGridIndex
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/// </summary>
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public int ZCoordinateInGrid {
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get {
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return NodeInGridIndex / GridNode.GetGridGraph(GraphIndex).width;
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}
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}
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/// <summary>
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/// Stores walkability before erosion is applied.
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/// Used internally when updating the graph.
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/// </summary>
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public bool WalkableErosion {
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get {
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return (gridFlags & GridFlagsWalkableErosionMask) != 0;
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}
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set {
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unchecked { gridFlags = (ushort)(gridFlags & ~GridFlagsWalkableErosionMask | (value ? (ushort)GridFlagsWalkableErosionMask : (ushort)0)); }
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}
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}
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/// <summary>Temporary variable used internally when updating the graph.</summary>
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public bool TmpWalkable {
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get {
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return (gridFlags & GridFlagsWalkableTmpMask) != 0;
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}
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set {
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unchecked { gridFlags = (ushort)(gridFlags & ~GridFlagsWalkableTmpMask | (value ? (ushort)GridFlagsWalkableTmpMask : (ushort)0)); }
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}
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}
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/// <summary>
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/// True if the node has grid connections to all its 8 neighbours.
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/// Note: This will always return false if GridGraph.neighbours is set to anything other than Eight.
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/// See: GetNeighbourAlongDirection
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/// </summary>
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public abstract bool HasConnectionsToAllEightNeighbours { get; }
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public override float SurfaceArea () {
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GridGraph gg = GridNode.GetGridGraph(GraphIndex);
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return gg.nodeSize*gg.nodeSize;
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}
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public override Vector3 RandomPointOnSurface () {
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GridGraph gg = GridNode.GetGridGraph(GraphIndex);
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var graphSpacePosition = gg.transform.InverseTransform((Vector3)position);
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return gg.transform.Transform(graphSpacePosition + new Vector3(Random.value - 0.5f, 0, Random.value - 0.5f));
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}
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public override int GetGizmoHashCode () {
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var hash = base.GetGizmoHashCode();
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#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
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if (connections != null) {
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for (int i = 0; i < connections.Length; i++) {
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hash ^= 17 * connections[i].GetHashCode();
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}
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}
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#endif
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hash ^= 109 * gridFlags;
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return hash;
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}
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/// <summary>
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/// Adjacent grid node in the specified direction.
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/// This will return null if the node does not have a connection to a node
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/// in that direction.
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///
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/// The dir parameter corresponds to directions in the grid as:
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/// <code>
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/// Z
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/// |
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/// |
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///
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/// 6 2 5
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/// \ | /
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/// -- 3 - X - 1 ----- X
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/// / | \
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/// 7 0 4
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///
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/// |
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/// |
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/// </code>
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///
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/// See: GetConnections
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/// </summary>
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public abstract GridNodeBase GetNeighbourAlongDirection(int direction);
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public override bool ContainsConnection (GraphNode node) {
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#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
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if (connections != null) {
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for (int i = 0; i < connections.Length; i++) {
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if (connections[i].node == node) {
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return true;
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}
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}
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}
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#endif
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for (int i = 0; i < 8; i++) {
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if (node == GetNeighbourAlongDirection(i)) {
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return true;
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}
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}
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return false;
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}
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#if ASTAR_GRID_NO_CUSTOM_CONNECTIONS
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public override void AddConnection (GraphNode node, uint cost) {
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throw new System.NotImplementedException("GridNodes do not have support for adding manual connections with your current settings."+
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"\nPlease disable ASTAR_GRID_NO_CUSTOM_CONNECTIONS in the Optimizations tab in the A* Inspector");
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}
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public override void RemoveConnection (GraphNode node) {
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throw new System.NotImplementedException("GridNodes do not have support for adding manual connections with your current settings."+
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"\nPlease disable ASTAR_GRID_NO_CUSTOM_CONNECTIONS in the Optimizations tab in the A* Inspector");
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}
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public void ClearCustomConnections (bool alsoReverse) {
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}
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#else
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/// <summary>Same as <see cref="ClearConnections"/>, but does not clear grid connections, only custom ones (e.g added by <see cref="AddConnection"/> or a NodeLink component)</summary>
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public void ClearCustomConnections (bool alsoReverse) {
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if (connections != null) for (int i = 0; i < connections.Length; i++) connections[i].node.RemoveConnection(this);
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connections = null;
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AstarPath.active.hierarchicalGraph.AddDirtyNode(this);
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}
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public override void ClearConnections (bool alsoReverse) {
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ClearCustomConnections(alsoReverse);
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}
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public override void GetConnections (System.Action<GraphNode> action) {
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if (connections != null) for (int i = 0; i < connections.Length; i++) action(connections[i].node);
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}
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public override void UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler) {
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ushort pid = handler.PathID;
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if (connections != null) for (int i = 0; i < connections.Length; i++) {
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GraphNode other = connections[i].node;
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PathNode otherPN = handler.GetPathNode(other);
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if (otherPN.parent == pathNode && otherPN.pathID == pid) other.UpdateRecursiveG(path, otherPN, handler);
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}
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}
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public override void Open (Path path, PathNode pathNode, PathHandler handler) {
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ushort pid = handler.PathID;
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if (connections != null) for (int i = 0; i < connections.Length; i++) {
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GraphNode other = connections[i].node;
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if (!path.CanTraverse(other)) continue;
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PathNode otherPN = handler.GetPathNode(other);
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uint tmpCost = connections[i].cost;
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if (otherPN.pathID != pid) {
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otherPN.parent = pathNode;
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otherPN.pathID = pid;
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otherPN.cost = tmpCost;
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otherPN.H = path.CalculateHScore(other);
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otherPN.UpdateG(path);
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//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
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handler.heap.Add(otherPN);
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//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
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} else {
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// Sorry for the huge number of #ifs
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//If not we can test if the path from the current node to this one is a better one then the one already used
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#if ASTAR_NO_TRAVERSAL_COST
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if (pathNode.G+tmpCost < otherPN.G)
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#else
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if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
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#endif
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{
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//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
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otherPN.cost = tmpCost;
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otherPN.parent = pathNode;
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other.UpdateRecursiveG(path, otherPN, handler);
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}
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}
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}
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}
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/// <summary>
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/// Add a connection from this node to the specified node.
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/// If the connection already exists, the cost will simply be updated and
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/// no extra connection added.
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///
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/// Note: Only adds a one-way connection. Consider calling the same function on the other node
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/// to get a two-way connection.
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/// </summary>
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public override void AddConnection (GraphNode node, uint cost) {
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if (node == null) throw new System.ArgumentNullException();
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if (connections != null) {
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for (int i = 0; i < connections.Length; i++) {
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if (connections[i].node == node) {
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connections[i].cost = cost;
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return;
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}
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}
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}
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int connLength = connections != null ? connections.Length : 0;
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var newconns = new Connection[connLength+1];
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for (int i = 0; i < connLength; i++) {
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newconns[i] = connections[i];
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}
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newconns[connLength] = new Connection(node, cost);
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connections = newconns;
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AstarPath.active.hierarchicalGraph.AddDirtyNode(this);
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}
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/// <summary>
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/// Removes any connection from this node to the specified node.
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/// If no such connection exists, nothing will be done.
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///
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/// Note: This only removes the connection from this node to the other node.
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/// You may want to call the same function on the other node to remove its eventual connection
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/// to this node.
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/// </summary>
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public override void RemoveConnection (GraphNode node) {
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if (connections == null) return;
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for (int i = 0; i < connections.Length; i++) {
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if (connections[i].node == node) {
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int connLength = connections.Length;
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var newconns = new Connection[connLength-1];
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for (int j = 0; j < i; j++) {
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newconns[j] = connections[j];
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}
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for (int j = i+1; j < connLength; j++) {
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newconns[j-1] = connections[j];
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}
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connections = newconns;
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AstarPath.active.hierarchicalGraph.AddDirtyNode(this);
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return;
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}
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}
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}
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public override void SerializeReferences (GraphSerializationContext ctx) {
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// TODO: Deduplicate code
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if (connections == null) {
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ctx.writer.Write(-1);
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} else {
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ctx.writer.Write(connections.Length);
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for (int i = 0; i < connections.Length; i++) {
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ctx.SerializeNodeReference(connections[i].node);
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ctx.writer.Write(connections[i].cost);
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}
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}
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}
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public override void DeserializeReferences (GraphSerializationContext ctx) {
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// Grid nodes didn't serialize references before 3.8.3
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if (ctx.meta.version < AstarSerializer.V3_8_3)
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return;
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int count = ctx.reader.ReadInt32();
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if (count == -1) {
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connections = null;
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} else {
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connections = new Connection[count];
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for (int i = 0; i < count; i++) {
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connections[i] = new Connection(ctx.DeserializeNodeReference(), ctx.reader.ReadUInt32());
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}
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}
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}
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#endif
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}
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}
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