1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
|
namespace Pathfinding.Graphs.Grid.Rules {
using Pathfinding.Jobs;
using Unity.Jobs;
using Unity.Collections;
using Unity.Burst;
using UnityEngine;
using Unity.Mathematics;
/// <summary>
/// Applies penalty based on the elevation of the node.
///
/// This is useful if you for example want to discourage agents from walking high up in mountain regions.
///
/// The penalty applied is equivalent to:
///
/// <code>
/// penalty = curve.evaluate(Mathf.Clamp01(Mathf.InverseLerp(lower elevation range, upper elevation range, elevation))) * penaltyScale
/// </code>
///
/// [Open online documentation to see images]
///
/// See: grid-rules (view in online documentation for working links)
/// </summary>
[Pathfinding.Util.Preserve]
public class RuleElevationPenalty : GridGraphRule {
public float penaltyScale = 10000;
public Vector2 elevationRange = new Vector2(0, 100);
public AnimationCurve curve = AnimationCurve.Linear(0, 0, 1, 1);
NativeArray<float> elevationToPenalty;
public override void Register (GridGraphRules rules) {
if (!elevationToPenalty.IsCreated) elevationToPenalty = new NativeArray<float>(64, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < elevationToPenalty.Length; i++) {
elevationToPenalty[i] = Mathf.Max(0, penaltyScale * curve.Evaluate(i * 1.0f / (elevationToPenalty.Length - 1)));
}
var clampedElevationRange = new Vector2(math.max(0, elevationRange.x), math.max(1, elevationRange.y));
rules.AddJobSystemPass(Pass.BeforeConnections, context => {
//var elevationRangeScale = Matrix4x4.TRS(new Vector3(0, -clampedElevationRange.x, 0), Quaternion.identity, new Vector3(1, 1/(clampedElevationRange.y - clampedElevationRange.x), 1));
var elevationRangeScale = Matrix4x4.Scale(new Vector3(1, 1/(clampedElevationRange.y - clampedElevationRange.x), 1)) * Matrix4x4.Translate(new Vector3(0, -clampedElevationRange.x, 0));
new JobElevationPenalty {
elevationToPenalty = elevationToPenalty,
nodePositions = context.data.nodes.positions,
worldToGraph = elevationRangeScale * context.data.transform.matrix.inverse,
penalty = context.data.nodes.penalties,
}.Schedule(context.tracker);
});
}
public override void DisposeUnmanagedData () {
if (elevationToPenalty.IsCreated) elevationToPenalty.Dispose();
}
[BurstCompile(FloatMode = FloatMode.Fast)]
public struct JobElevationPenalty : IJob {
[ReadOnly]
public NativeArray<float> elevationToPenalty;
[ReadOnly]
public NativeArray<Vector3> nodePositions;
public Matrix4x4 worldToGraph;
public NativeArray<uint> penalty;
public void Execute () {
for (int i = 0; i < penalty.Length; i++) {
float y = math.clamp(worldToGraph.MultiplyPoint3x4(nodePositions[i]).y, 0, 1) * (elevationToPenalty.Length - 1);
int iy = (int)y;
float p1 = elevationToPenalty[iy];
float p2 = elevationToPenalty[math.min(iy + 1, elevationToPenalty.Length - 1)];
penalty[i] += (uint)math.lerp(p1, p2, y - iy);
}
}
}
}
}
|
