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using UnityEngine;
using Unity.Burst;
using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
namespace Pathfinding.Graphs.Grid.Rules {
using Pathfinding.Jobs;
/// <summary>
/// Modifies nodes based on the contents of a texture.
///
/// This can be used to "paint" penalties or walkability using an external program such as Photoshop.
///
/// [Open online documentation to see images]
///
/// See: grid-rules (view in online documentation for working links)
/// </summary>
[Pathfinding.Util.Preserve]
public class RuleTexture : GridGraphRule {
public Texture2D texture;
public ChannelUse[] channels = new ChannelUse[4];
public float[] channelScales = { 1000, 1000, 1000, 1000 };
public ScalingMode scalingMode = ScalingMode.StretchToFitGraph;
public float nodesPerPixel = 1;
NativeArray<int> colors;
public enum ScalingMode {
FixedScale,
StretchToFitGraph,
}
public override int Hash {
get {
var h = base.Hash ^ (texture != null ? (int)texture.updateCount : 0);
#if UNITY_EDITOR
if (texture != null) h ^= (int)texture.imageContentsHash.GetHashCode();
#endif
return h;
}
}
public enum ChannelUse {
None,
/// <summary>Penalty goes from 0 to channelScale depending on the channel value</summary>
Penalty,
/// <summary>Node Y coordinate goes from 0 to channelScale depending on the channel value</summary>
Position,
/// <summary>If channel value is zero the node is made unwalkable, penalty goes from 0 to channelScale depending on the channel value</summary>
WalkablePenalty,
/// <summary>If channel value is zero the node is made unwalkable</summary>
Walkable,
}
public override void Register (GridGraphRules rules) {
if (texture == null) return;
if (!texture.isReadable) {
Debug.LogError("Texture for the texture rule on a grid graph is not marked as readable.", texture);
return;
}
if (colors.IsCreated) colors.Dispose();
colors = new NativeArray<Color32>(texture.GetPixels32(), Allocator.Persistent).Reinterpret<int>();
// Make sure this is done outside the delegate, just in case the texture is later resized
var textureSize = new int2(texture.width, texture.height);
float4 channelPenaltiesCombined = float4.zero;
bool4 channelDeterminesWalkability = false;
float4 channelPositionScalesCombined = float4.zero;
for (int i = 0; i < 4; i++) {
channelPenaltiesCombined[i] = channels[i] == ChannelUse.Penalty || channels[i] == ChannelUse.WalkablePenalty ? channelScales[i] : 0;
channelDeterminesWalkability[i] = channels[i] == ChannelUse.Walkable || channels[i] == ChannelUse.WalkablePenalty;
channelPositionScalesCombined[i] = channels[i] == ChannelUse.Position ? channelScales[i] : 0;
}
channelPositionScalesCombined /= 255.0f;
channelPenaltiesCombined /= 255.0f;
if (math.any(channelPositionScalesCombined)) {
rules.AddJobSystemPass(Pass.BeforeCollision, context => {
new JobTexturePosition {
colorData = colors,
nodePositions = context.data.nodes.positions,
nodeNormals = context.data.nodes.normals,
bounds = context.data.nodes.bounds,
colorDataSize = textureSize,
scale = scalingMode == ScalingMode.FixedScale ? 1.0f/math.max(0.01f, nodesPerPixel) : textureSize / new float2(context.graph.width, context.graph.depth),
channelPositionScale = channelPositionScalesCombined,
graphToWorld = context.data.transform.matrix,
}.Schedule(context.tracker);
});
}
rules.AddJobSystemPass(Pass.BeforeConnections, context => {
new JobTexturePenalty {
colorData = colors,
penalty = context.data.nodes.penalties,
walkable = context.data.nodes.walkable,
nodeNormals = context.data.nodes.normals,
bounds = context.data.nodes.bounds,
colorDataSize = textureSize,
scale = scalingMode == ScalingMode.FixedScale ? 1.0f/math.max(0.01f, nodesPerPixel) : textureSize / new float2(context.graph.width, context.graph.depth),
channelPenalties = channelPenaltiesCombined,
channelDeterminesWalkability = channelDeterminesWalkability,
}.Schedule(context.tracker);
});
}
public override void DisposeUnmanagedData () {
if (colors.IsCreated) colors.Dispose();
}
[BurstCompile]
public struct JobTexturePosition : IJob, GridIterationUtilities.INodeModifier {
[ReadOnly]
public NativeArray<int> colorData;
[WriteOnly]
public NativeArray<Vector3> nodePositions;
[ReadOnly]
public NativeArray<float4> nodeNormals;
public Matrix4x4 graphToWorld;
public IntBounds bounds;
public int2 colorDataSize;
public float2 scale;
public float4 channelPositionScale;
public void ModifyNode (int dataIndex, int dataX, int dataLayer, int dataZ) {
var offset = bounds.min.xz;
int2 colorPos = math.clamp((int2)math.round((new float2(dataX, dataZ) + offset) * scale), int2.zero, colorDataSize - new int2(1, 1));
int colorIndex = colorPos.y*colorDataSize.x + colorPos.x;
int4 color = new int4((colorData[colorIndex] >> 0) & 0xFF, (colorData[colorIndex] >> 8) & 0xFF, (colorData[colorIndex] >> 16) & 0xFF, (colorData[colorIndex] >> 24) & 0xFF);
float y = math.dot(channelPositionScale, color);
nodePositions[dataIndex] = graphToWorld.MultiplyPoint3x4(new Vector3((bounds.min.x + dataX) + 0.5f, y, (bounds.min.z + dataZ) + 0.5f));
}
public void Execute () {
GridIterationUtilities.ForEachNode(bounds.size, nodeNormals, ref this);
}
}
[BurstCompile]
public struct JobTexturePenalty : IJob, GridIterationUtilities.INodeModifier {
[ReadOnly]
public NativeArray<int> colorData;
public NativeArray<uint> penalty;
public NativeArray<bool> walkable;
[ReadOnly]
public NativeArray<float4> nodeNormals;
public IntBounds bounds;
public int2 colorDataSize;
public float2 scale;
public float4 channelPenalties;
public bool4 channelDeterminesWalkability;
public void ModifyNode (int dataIndex, int dataX, int dataLayer, int dataZ) {
var offset = bounds.min.xz;
int2 colorPos = math.clamp((int2)math.round((new float2(dataX, dataZ) + offset) * scale), int2.zero, colorDataSize - new int2(1, 1));
int colorIndex = colorPos.y*colorDataSize.x + colorPos.x;
int4 color = new int4((colorData[colorIndex] >> 0) & 0xFF, (colorData[colorIndex] >> 8) & 0xFF, (colorData[colorIndex] >> 16) & 0xFF, (colorData[colorIndex] >> 24) & 0xFF);
penalty[dataIndex] += (uint)math.dot(channelPenalties, color);
walkable[dataIndex] = walkable[dataIndex] & !math.any(channelDeterminesWalkability & (color == 0));
}
public void Execute () {
GridIterationUtilities.ForEachNode(bounds.size, nodeNormals, ref this);
}
}
}
}
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