+ astar project

1 files changed, 387 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/GraphCollision.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/GraphCollision.cs
new file mode 100644
index 0000000..a21f179
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/GraphCollision.cs
@@ -0,0 +1,387 @@
+using UnityEngine;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Pathfinding.Graphs.Grid {
+	using Pathfinding.Util;
+	using Pathfinding.Graphs.Grid.Jobs;
+	using Pathfinding.Jobs;
+
+	/// <summary>
+	/// Handles collision checking for graphs.
+	/// Mostly used by grid based graphs
+	/// </summary>
+	[System.Serializable]
+	public class GraphCollision {
+		/// <summary>
+		/// Collision shape to use.
+		/// See: <see cref="ColliderType"/>
+		/// </summary>
+		public ColliderType type = ColliderType.Capsule;
+
+		/// <summary>
+		/// Diameter of capsule or sphere when checking for collision.
+		/// When checking for collisions the system will check if any colliders
+		/// overlap a specific shape at the node's position. The shape is determined
+		/// by the <see cref="type"/> field.
+		///
+		/// A diameter of 1 means that the shape has a diameter equal to the node's width,
+		/// or in other words it is equal to <see cref="Pathfinding.GridGraph.nodeSize"/>.
+		///
+		/// If <see cref="type"/> is set to Ray, this does not affect anything.
+		///
+		/// [Open online documentation to see images]
+		/// </summary>
+		public float diameter = 1F;
+
+		/// <summary>
+		/// Height of capsule or length of ray when checking for collision.
+		/// If <see cref="type"/> is set to Sphere, this does not affect anything.
+		///
+		/// [Open online documentation to see images]
+		///
+		/// Warning: In contrast to Unity's capsule collider and character controller this height does not include the end spheres of the capsule, but only the cylinder part.
+		/// This is mostly for historical reasons.
+		/// </summary>
+		public float height = 2F;
+
+		/// <summary>
+		/// Height above the ground that collision checks should be done.
+		/// For example, if the ground was found at y=0, collisionOffset = 2
+		/// type = Capsule and height = 3 then the physics system
+		/// will be queried to see if there are any colliders in a capsule
+		/// for which the bottom sphere that is made up of is centered at y=2
+		/// and the top sphere has its center at y=2+3=5.
+		///
+		/// If type = Sphere then the sphere's center would be at y=2 in this case.
+		/// </summary>
+		public float collisionOffset;
+
+		/// <summary>
+		/// Direction of the ray when checking for collision.
+		/// If <see cref="type"/> is not Ray, this does not affect anything
+		///
+		/// Deprecated: Only the Both mode is supported now.
+		/// </summary>
+		[System.Obsolete("Only the Both mode is supported now")]
+		public RayDirection rayDirection = RayDirection.Both;
+
+		/// <summary>Layers to be treated as obstacles.</summary>
+		public LayerMask mask;
+
+		/// <summary>Layers to be included in the height check.</summary>
+		public LayerMask heightMask = -1;
+
+		/// <summary>
+		/// The height to check from when checking height ('ray length' in the inspector).
+		///
+		/// As the image below visualizes, different ray lengths can make the ray hit different things.
+		/// The distance is measured up from the graph plane.
+		///
+		/// [Open online documentation to see images]
+		/// </summary>
+		public float fromHeight = 100;
+
+		/// <summary>
+		/// Toggles thick raycast.
+		/// See: https://docs.unity3d.com/ScriptReference/Physics.SphereCast.html
+		/// </summary>
+		public bool thickRaycast;
+
+		/// <summary>
+		/// Diameter of the thick raycast in nodes.
+		/// 1 equals <see cref="Pathfinding.GridGraph.nodeSize"/>
+		/// </summary>
+		public float thickRaycastDiameter = 1;
+
+		/// <summary>Make nodes unwalkable when no ground was found with the height raycast. If height raycast is turned off, this doesn't affect anything.</summary>
+		public bool unwalkableWhenNoGround = true;
+
+		/// <summary>
+		/// Use Unity 2D Physics API.
+		///
+		/// If enabled, the 2D Physics API will be used, and if disabled, the 3D Physics API will be used.
+		///
+		/// This changes the collider types (see <see cref="type)"/> from 3D versions to their corresponding 2D versions. For example the sphere shape becomes a circle.
+		///
+		/// The <see cref="heightCheck"/> setting will be ignored when 2D physics is used.
+		///
+		/// See: http://docs.unity3d.com/ScriptReference/Physics2D.html
+		/// </summary>
+		public bool use2D;
+
+		/// <summary>Toggle collision check</summary>
+		public bool collisionCheck = true;
+
+		/// <summary>
+		/// Toggle height check. If false, the grid will be flat.
+		///
+		/// This setting will be ignored when 2D physics is used.
+		/// </summary>
+		public bool heightCheck = true;
+
+		/// <summary>
+		/// Direction to use as UP.
+		/// See: Initialize
+		/// </summary>
+		public Vector3 up;
+
+		/// <summary>
+		/// <see cref="up"/> * <see cref="height"/>.
+		/// See: Initialize
+		/// </summary>
+		private Vector3 upheight;
+
+		/// <summary>Used for 2D collision queries</summary>
+		private ContactFilter2D contactFilter;
+
+		/// <summary>
+		/// Just so that the Physics2D.OverlapPoint method has some buffer to store things in.
+		/// We never actually read from this array, so we don't even care if this is thread safe.
+		/// </summary>
+		private static Collider2D[] dummyArray = new Collider2D[1];
+
+		/// <summary>
+		/// <see cref="diameter"/> * scale * 0.5.
+		/// Where scale usually is <see cref="Pathfinding.GridGraph.nodeSize"/>
+		/// See: Initialize
+		/// </summary>
+		private float finalRadius;
+
+		/// <summary>
+		/// <see cref="thickRaycastDiameter"/> * scale * 0.5.
+		/// Where scale usually is <see cref="Pathfinding.GridGraph.nodeSize"/> See: Initialize
+		/// </summary>
+		private float finalRaycastRadius;
+
+		/// <summary>Offset to apply after each raycast to make sure we don't hit the same point again in CheckHeightAll</summary>
+		public const float RaycastErrorMargin = 0.005F;
+
+		/// <summary>
+		/// Sets up several variables using the specified matrix and scale.
+		/// See: GraphCollision.up
+		/// See: GraphCollision.upheight
+		/// See: GraphCollision.finalRadius
+		/// See: GraphCollision.finalRaycastRadius
+		/// </summary>
+		public void Initialize (GraphTransform transform, float scale) {
+			up = (transform.Transform(Vector3.up) - transform.Transform(Vector3.zero)).normalized;
+			upheight = up*height;
+			finalRadius = diameter*scale*0.5F;
+			finalRaycastRadius = thickRaycastDiameter*scale*0.5F;
+			contactFilter = new ContactFilter2D { layerMask = mask, useDepth = false, useLayerMask = true, useNormalAngle = false, useTriggers = false };
+		}
+
+		/// <summary>
+		/// Returns true if the position is not obstructed.
+		/// If <see cref="collisionCheck"/> is false, this will always return true.
+		/// </summary>
+		public bool Check (Vector3 position) {
+			if (!collisionCheck) {
+				return true;
+			}
+
+			if (use2D) {
+				switch (type) {
+				case ColliderType.Capsule:
+				case ColliderType.Sphere:
+					return Physics2D.OverlapCircle(position, finalRadius, contactFilter, dummyArray) == 0;
+				default:
+					return Physics2D.OverlapPoint(position, contactFilter, dummyArray) == 0;
+				}
+			}
+
+			position += up*collisionOffset;
+			switch (type) {
+			case ColliderType.Capsule:
+				return !Physics.CheckCapsule(position, position+upheight, finalRadius, mask, QueryTriggerInteraction.Ignore);
+			case ColliderType.Sphere:
+				return !Physics.CheckSphere(position, finalRadius, mask, QueryTriggerInteraction.Ignore);
+			default:
+				return !Physics.Raycast(position, up, height, mask, QueryTriggerInteraction.Ignore) && !Physics.Raycast(position+upheight, -up, height, mask, QueryTriggerInteraction.Ignore);
+			}
+		}
+
+		/// <summary>
+		/// Returns the position with the correct height.
+		/// If <see cref="heightCheck"/> is false, this will return position.
+		/// </summary>
+		public Vector3 CheckHeight (Vector3 position) {
+			RaycastHit hit;
+			bool walkable;
+
+			return CheckHeight(position, out hit, out walkable);
+		}
+
+		/// <summary>
+		/// Returns the position with the correct height.
+		/// If <see cref="heightCheck"/> is false, this will return position.
+		/// walkable will be set to false if nothing was hit.
+		/// The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid
+		/// </summary>
+		public Vector3 CheckHeight (Vector3 position, out RaycastHit hit, out bool walkable) {
+			walkable = true;
+
+			if (!heightCheck || use2D) {
+				hit = new RaycastHit();
+				return position;
+			}
+
+			if (thickRaycast) {
+				var ray = new Ray(position+up*fromHeight, -up);
+				if (Physics.SphereCast(ray, finalRaycastRadius, out hit, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore)) {
+					return VectorMath.ClosestPointOnLine(ray.origin, ray.origin+ray.direction, hit.point);
+				}
+
+				walkable &= !unwalkableWhenNoGround;
+			} else {
+				// Cast a ray from above downwards to try to find the ground
+				if (Physics.Raycast(position+up*fromHeight, -up, out hit, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore)) {
+					return hit.point;
+				}
+
+				walkable &= !unwalkableWhenNoGround;
+			}
+			return position;
+		}
+
+		/// <summary>Internal buffer used by <see cref="CheckHeightAll"/></summary>
+		RaycastHit[] hitBuffer = new RaycastHit[8];
+
+		/// <summary>
+		/// Returns all hits when checking height for position.
+		/// Warning: Does not work well with thick raycast, will only return an object a single time
+		///
+		/// Warning: The returned array is ephermal. It will be invalidated when this method is called again.
+		/// If you need persistent results you should copy it.
+		///
+		/// The returned array may be larger than the actual number of hits, the numHits out parameter indicates how many hits there actually were.
+		/// </summary>
+		public RaycastHit[] CheckHeightAll (Vector3 position, out int numHits) {
+			if (!heightCheck || use2D) {
+				hitBuffer[0] = new RaycastHit {
+					point = position,
+					distance = 0,
+				};
+				numHits = 1;
+				return hitBuffer;
+			}
+
+			// Cast a ray from above downwards to try to find the ground
+#if UNITY_2017_1_OR_NEWER
+			numHits = Physics.RaycastNonAlloc(position+up*fromHeight, -up, hitBuffer, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore);
+			if (numHits == hitBuffer.Length) {
+				// Try again with a larger buffer
+				hitBuffer = new RaycastHit[hitBuffer.Length*2];
+				return CheckHeightAll(position, out numHits);
+			}
+			return hitBuffer;
+#else
+			var result = Physics.RaycastAll(position+up*fromHeight, -up, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore);
+			numHits = result.Length;
+			return result;
+#endif
+		}
+
+		/// <summary>
+		/// Returns if the position is obstructed for all nodes using the Ray collision checking method.
+		/// collisionCheckResult[i] = true if there were no obstructions, false otherwise
+		/// </summary>
+		public void JobCollisionRay (NativeArray<Vector3> nodePositions, NativeArray<bool> collisionCheckResult, Vector3 up, Allocator allocationMethod, JobDependencyTracker dependencyTracker) {
+			var collisionRaycastCommands1 = dependencyTracker.NewNativeArray<RaycastCommand>(nodePositions.Length, allocationMethod);
+			var collisionRaycastCommands2 = dependencyTracker.NewNativeArray<RaycastCommand>(nodePositions.Length, allocationMethod);
+			var collisionHits1 = dependencyTracker.NewNativeArray<RaycastHit>(nodePositions.Length, allocationMethod);
+			var collisionHits2 = dependencyTracker.NewNativeArray<RaycastHit>(nodePositions.Length, allocationMethod);
+
+			// Fire rays from above down to the nodes' positions
+			new JobPrepareRaycasts {
+				origins = nodePositions,
+				originOffset = up * (height + collisionOffset),
+				direction = -up,
+				distance = height,
+				mask = mask,
+				physicsScene = Physics.defaultPhysicsScene,
+				raycastCommands = collisionRaycastCommands1,
+			}.Schedule(dependencyTracker);
+
+			// Fire rays from the node up towards the sky
+			new JobPrepareRaycasts {
+				origins = nodePositions,
+				originOffset = up * collisionOffset,
+				direction = up,
+				distance = height,
+				mask = mask,
+				physicsScene = Physics.defaultPhysicsScene,
+				raycastCommands = collisionRaycastCommands2,
+			}.Schedule(dependencyTracker);
+
+			dependencyTracker.ScheduleBatch(collisionRaycastCommands1, collisionHits1, 2048);
+			dependencyTracker.ScheduleBatch(collisionRaycastCommands2, collisionHits2, 2048);
+
+			new JobMergeRaycastCollisionHits {
+				hit1 = collisionHits1,
+				hit2 = collisionHits2,
+				result = collisionCheckResult,
+			}.Schedule(dependencyTracker);
+		}
+
+#if UNITY_2022_2_OR_NEWER
+		public void JobCollisionCapsule (NativeArray<Vector3> nodePositions, NativeArray<bool> collisionCheckResult, Vector3 up, Allocator allocationMethod, JobDependencyTracker dependencyTracker) {
+			var commands = dependencyTracker.NewNativeArray<OverlapCapsuleCommand>(nodePositions.Length, allocationMethod);
+			var collisionHits = dependencyTracker.NewNativeArray<ColliderHit>(nodePositions.Length, allocationMethod);
+			new JobPrepareCapsuleCommands {
+				origins = nodePositions,
+				originOffset = up * collisionOffset,
+				direction = up * height,
+				radius = finalRadius,
+				mask = mask,
+				commands = commands,
+				physicsScene = Physics.defaultPhysicsScene,
+			}.Schedule(dependencyTracker);
+			dependencyTracker.ScheduleBatch(commands, collisionHits, 2048);
+			new JobColliderHitsToBooleans {
+				hits = collisionHits,
+				result = collisionCheckResult,
+			}.Schedule(dependencyTracker);
+		}
+
+		public void JobCollisionSphere (NativeArray<Vector3> nodePositions, NativeArray<bool> collisionCheckResult, Vector3 up, Allocator allocationMethod, JobDependencyTracker dependencyTracker) {
+			var commands = dependencyTracker.NewNativeArray<OverlapSphereCommand>(nodePositions.Length, allocationMethod);
+			var collisionHits = dependencyTracker.NewNativeArray<ColliderHit>(nodePositions.Length, allocationMethod);
+			new JobPrepareSphereCommands {
+				origins = nodePositions,
+				originOffset = up * collisionOffset,
+				radius = finalRadius,
+				mask = mask,
+				commands = commands,
+				physicsScene = Physics.defaultPhysicsScene,
+			}.Schedule(dependencyTracker);
+			dependencyTracker.ScheduleBatch(commands, collisionHits, 2048);
+			new JobColliderHitsToBooleans {
+				hits = collisionHits,
+				result = collisionCheckResult,
+			}.Schedule(dependencyTracker);
+		}
+#endif
+	}
+
+	/// <summary>
+	/// Determines collision check shape.
+	/// See: <see cref="GraphCollision"/>
+	/// </summary>
+	public enum ColliderType {
+		/// <summary>Uses a Sphere, Physics.CheckSphere. In 2D this is a circle instead.</summary>
+		Sphere,
+		/// <summary>Uses a Capsule, Physics.CheckCapsule. This will behave identically to the Sphere mode in 2D.</summary>
+		Capsule,
+		/// <summary>Uses a Ray, Physics.Linecast. In 2D this is a single point instead.</summary>
+		Ray
+	}
+
+	/// <summary>Determines collision check ray direction</summary>
+	public enum RayDirection {
+		Up,     /// <summary>< Casts the ray from the bottom upwards</summary>
+		Down,   /// <summary>< Casts the ray from the top downwards</summary>
+		Both    /// <summary>< Casts two rays in both directions</summary>
+	}
+}