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using UnityEngine;
namespace Pathfinding.Util {
using Pathfinding.Drawing;
/// <summary>Combines hashes into a single hash value</summary>
public struct NodeHasher {
readonly bool includePathSearchInfo;
readonly bool includeAreaInfo;
readonly bool includeHierarchicalNodeInfo;
readonly PathHandler debugData;
public DrawingData.Hasher hasher;
public NodeHasher(AstarPath active) {
hasher = default;
this.debugData = active.debugPathData;
includePathSearchInfo = debugData != null && (active.debugMode == GraphDebugMode.F || active.debugMode == GraphDebugMode.G || active.debugMode == GraphDebugMode.H || active.showSearchTree);
includeAreaInfo = active.debugMode == GraphDebugMode.Areas;
includeHierarchicalNodeInfo = active.debugMode == GraphDebugMode.HierarchicalNode;
hasher.Add(active.debugMode);
hasher.Add(active.debugFloor);
hasher.Add(active.debugRoof);
hasher.Add(AstarColor.ColorHash());
}
public void HashNode (GraphNode node) {
hasher.Add(node.GetGizmoHashCode());
if (includeAreaInfo) hasher.Add((int)node.Area);
if (includeHierarchicalNodeInfo) hasher.Add(node.HierarchicalNodeIndex);
if (includePathSearchInfo) {
var pathNode = debugData.pathNodes[node.NodeIndex];
hasher.Add(pathNode.pathID);
hasher.Add(pathNode.pathID == debugData.PathID);
// hasher.Add(pathNode.F);
}
}
public void Add<T>(T v) {
hasher.Add(v);
}
public static implicit operator DrawingData.Hasher(NodeHasher hasher) {
return hasher.hasher;
}
}
public class GraphGizmoHelper : IAstarPooledObject, System.IDisposable {
public DrawingData.Hasher hasher { get; private set; }
PathHandler debugData;
ushort debugPathID;
GraphDebugMode debugMode;
bool showSearchTree;
float debugFloor;
float debugRoof;
public CommandBuilder builder;
Vector3 drawConnectionStart;
Color drawConnectionColor;
readonly System.Action<GraphNode> drawConnection;
#if UNITY_EDITOR
UnsafeSpan<GlobalNodeStorage.DebugPathNode> debugPathNodes;
#endif
GlobalNodeStorage nodeStorage;
public GraphGizmoHelper () {
// Cache a delegate to avoid allocating memory for it every time
drawConnection = DrawConnection;
}
public static GraphGizmoHelper GetSingleFrameGizmoHelper (DrawingData gizmos, AstarPath active, RedrawScope redrawScope) {
return GetGizmoHelper(gizmos, active, DrawingData.Hasher.NotSupplied, redrawScope);
}
public static GraphGizmoHelper GetGizmoHelper (DrawingData gizmos, AstarPath active, DrawingData.Hasher hasher, RedrawScope redrawScope) {
var helper = ObjectPool<GraphGizmoHelper>.Claim();
helper.Init(active, hasher, gizmos, redrawScope);
return helper;
}
public void Init (AstarPath active, DrawingData.Hasher hasher, DrawingData gizmos, RedrawScope redrawScope) {
if (active != null) {
debugData = active.debugPathData;
debugPathID = active.debugPathID;
debugMode = active.debugMode;
debugFloor = active.debugFloor;
debugRoof = active.debugRoof;
nodeStorage = active.nodeStorage;
#if UNITY_EDITOR
if (debugData != null && debugData.threadID < active.nodeStorage.pathfindingThreadData.Length) debugPathNodes = active.nodeStorage.pathfindingThreadData[debugData.threadID].debugPathNodes;
else debugPathNodes = default;
showSearchTree = active.showSearchTree && debugPathNodes.Length > 0;
#else
showSearchTree = false;
#endif
}
this.hasher = hasher;
builder = gizmos.GetBuilder(hasher, redrawScope);
}
public void OnEnterPool () {
builder.Dispose();
debugData = null;
}
public void DrawConnections (GraphNode node) {
if (showSearchTree) {
#if UNITY_EDITOR
if (debugPathNodes.Length > 0) {
var nodeIndex = node.NodeIndex;
for (uint i = 0; i < (uint)node.PathNodeVariants; i++) {
var pnode = debugPathNodes[nodeIndex + i];
if (pnode.pathID == debugPathID) {
if (pnode.parentIndex != 0 && debugPathNodes[pnode.parentIndex].pathID == debugPathID) {
var parent = nodeStorage.GetNode(pnode.parentIndex);
if (parent != null) {
var nodePos = node.DecodeVariantPosition(nodeIndex + i, pnode.fractionAlongEdge);
var parentPos = parent.DecodeVariantPosition(pnode.parentIndex, debugPathNodes[pnode.parentIndex].fractionAlongEdge);
builder.Line((Vector3)parentPos, (Vector3)nodePos, NodeColor(node));
}
}
}
}
}
#endif
} else {
// Calculate which color to use for drawing the node
// based on the settings specified in the editor
drawConnectionColor = NodeColor(node);
// Get the node position
// Cast it here to avoid doing it for every neighbour
drawConnectionStart = (Vector3)node.position;
node.GetConnections(drawConnection);
}
}
void DrawConnection (GraphNode other) {
builder.Line(drawConnectionStart, ((Vector3)other.position + drawConnectionStart)*0.5f, drawConnectionColor);
}
/// <summary>
/// Color to use for gizmos.
/// Returns a color to be used for the specified node with the current debug settings (editor only).
///
/// Version: Since 3.6.1 this method will not handle null nodes
/// </summary>
public Color NodeColor (GraphNode node) {
#if UNITY_EDITOR
if (showSearchTree && !InSearchTree(node, debugPathNodes, debugPathID)) return Color.clear;
#endif
Color color;
if (node.Walkable) {
switch (debugMode) {
case GraphDebugMode.Areas:
color = AstarColor.GetAreaColor(node.Area);
break;
case GraphDebugMode.HierarchicalNode:
case GraphDebugMode.NavmeshBorderObstacles:
color = AstarColor.GetTagColor((uint)node.HierarchicalNodeIndex);
break;
case GraphDebugMode.Penalty:
color = Color.Lerp(AstarColor.ConnectionLowLerp, AstarColor.ConnectionHighLerp, ((float)node.Penalty-debugFloor) / (debugRoof-debugFloor));
break;
case GraphDebugMode.Tags:
color = AstarColor.GetTagColor(node.Tag);
break;
case GraphDebugMode.SolidColor:
color = AstarColor.SolidColor;
break;
default:
#if UNITY_EDITOR
if (debugPathNodes.Length == 0) {
color = AstarColor.SolidColor;
break;
}
var pathNode = debugPathNodes[node.NodeIndex];
float value;
if (debugMode == GraphDebugMode.G) {
value = pathNode.g;
} else if (debugMode == GraphDebugMode.H) {
value = pathNode.h;
} else {
// mode == F
value = pathNode.g + pathNode.h;
}
color = Color.Lerp(AstarColor.ConnectionLowLerp, AstarColor.ConnectionHighLerp, (value-debugFloor) / (debugRoof-debugFloor));
#else
color = AstarColor.SolidColor;
#endif
break;
}
} else {
color = AstarColor.UnwalkableNode;
}
return color;
}
#if UNITY_EDITOR
/// <summary>
/// Returns if the node is in the search tree of the path.
/// Only guaranteed to be correct if path is the latest path calculated.
/// Use for gizmo drawing only.
/// </summary>
internal static bool InSearchTree (GraphNode node, UnsafeSpan<GlobalNodeStorage.DebugPathNode> debugPathNodes, ushort pathID) {
if (debugPathNodes.Length > 0) {
for (uint i = 0; i < node.PathNodeVariants; i++) {
if (debugPathNodes[node.NodeIndex + i].pathID == pathID) {
return true;
}
}
}
return false;
}
#endif
public void DrawWireTriangle (Vector3 a, Vector3 b, Vector3 c, Color color) {
builder.Line(a, b, color);
builder.Line(b, c, color);
builder.Line(c, a, color);
}
public void DrawTriangles (Vector3[] vertices, Color[] colors, int numTriangles) {
var triangles = ArrayPool<int>.Claim(numTriangles*3);
for (int i = 0; i < numTriangles*3; i++) triangles[i] = i;
builder.SolidMesh(vertices, triangles, colors, numTriangles*3, numTriangles*3);
ArrayPool<int>.Release(ref triangles);
}
public void DrawWireTriangles (Vector3[] vertices, Color[] colors, int numTriangles) {
for (int i = 0; i < numTriangles; i++) {
DrawWireTriangle(vertices[i*3+0], vertices[i*3+1], vertices[i*3+2], colors[i*3+0]);
}
}
void System.IDisposable.Dispose () {
var tmp = this;
ObjectPool<GraphGizmoHelper>.Release(ref tmp);
}
}
}
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