Struct VoxelGrid

A 3D voxel grid that's easily extendable with out of the box support for various movement types.

Implements

Namespace: AnyPath.Graphs.VoxelGrid

Assembly: AnyPath.dll

Syntax

public struct VoxelGrid : IGraph<VoxelGridCell>, IDisposable

Constructors

VoxelGrid(int3, int3, DirCost[], Allocator, float, int, int)

Constructs a new grid.

Declaration

public VoxelGrid(int3 min, int3 max, VoxelGrid.DirCost[] directionsAndCost, Allocator allocator, float defaultCost = 0, int defaultFlags = 0, int capacity = 0)

Parameters

Type	Name	Description
int3	min	Boundary min
int3	max	Boundary max
DirCost[]	directionsAndCost	Supported movement directions. Use any of the following: Foward_Right_Back_Left_Up_Down Foward_Right_Back_Left_Down_StairsUp Foward_Right_Back_Left_Down_StairsUp_StairsDown Eight_Up_Down All26
Allocator	allocator	Allocator to use
float	defaultCost	The default cost to use for cells that are not set with any value
int	defaultFlags	The default flags to use for cells that are not set with any value
int	capacity	Initial capacity of the internal hashmap. If you know how many cells you are going to add beforehand, set it to this value for faster creation.

VoxelGrid(int3, int3, Allocator, float, int, int)

Constructs a new grid that supports straight 6 directional movement.

Declaration

public VoxelGrid(int3 min, int3 max, Allocator allocator, float defaultCost = 0, int defaultFlags = 0, int capacity = 0)

Parameters

Type	Name	Description
int3	min	Boundary min
int3	max	Boundary max
Allocator	allocator	Allocator to use
float	defaultCost	The default cost to use for cells that are not set with any value
int	defaultFlags	The default flags to use for cells that are not set with any value
int	capacity	Initial capacity of the internal hashmap. If you know how many cells you are going to add beforehand, set it to this value for faster creation.

VoxelGrid(int3, int3, NativeArray<DirCost>, Allocator, float, int, int)

Constructs a new grid. Can be used inside of jobs.

Declaration

public VoxelGrid(int3 min, int3 max, NativeArray<VoxelGrid.DirCost> directionsAndCost, Allocator allocator, float defaultCost, int defaultFlags, int capacity)

Parameters

Type	Name	Description
int3	min	Boundary min
int3	max	Boundary max
NativeArray<VoxelGrid.DirCost>	directionsAndCost	Supported movement directions + associated costs. The supplied nativearray is copied.
Allocator	allocator	Allocator to use
float	defaultCost	The default cost to use for cells that are not set with any value
int	defaultFlags	The default flags to use for cells that are not set with any value
int	capacity	Initial capacity of the internal hashmap. If you know how many cells you are going to add beforehand, set it to this value for faster creation.

Fields

All26

All 26 directions are supported.

Declaration

public static readonly VoxelGrid.DirCost[] All26

Field Value

Type	Description
DirCost[]

Eight_Up_Down

Allowed to move diagonally only when not going up or down. Up and down movement is only supported straight.

Declaration

public static readonly VoxelGrid.DirCost[] Eight_Up_Down

Field Value

Type	Description
DirCost[]

Foward_Right_Back_Left_Down_StairsUp

Five straight directions: Forward, Right, Back, Left and Down Only allows upwards travel diagonally. Like walking "stairs".

Declaration

public static readonly VoxelGrid.DirCost[] Foward_Right_Back_Left_Down_StairsUp

Field Value

Type	Description
DirCost[]

Foward_Right_Back_Left_Down_StairsUp_StairsDown

Five straight directions: Forward, Right, Back, Left and Down Supports diagonal movement up and down.

Declaration

public static readonly VoxelGrid.DirCost[] Foward_Right_Back_Left_Down_StairsUp_StairsDown

Field Value

Type	Description
DirCost[]

Foward_Right_Back_Left_Up_Down

Default straight 6 directional movement.

Declaration

public static readonly VoxelGrid.DirCost[] Foward_Right_Back_Left_Up_Down

Field Value

Type	Description
DirCost[]

max

The boundary -max- position

Declaration

public readonly int3 max

Field Value

Type	Description
int3

min

The boundary -min- position

Declaration

public readonly int3 min

Field Value

Type	Description
int3

Properties

DefaultCost

What (enter) cost to use for cells that have not been explicity set. When this is zero, this means that all open cells are navigatable by default.

One use case here is to make this float.PositiveInfinity. Then by default, no cells are navigatable. Only cells that are explicity set (for example, with a cost of zero) would be navigatable. In essence creating a "cave".

Declaration

public float DefaultCost { get; }

Property Value

Type	Description
float

DefaultFlags

Flags to use for a cells that have not been explicity set.

Declaration

public int DefaultFlags { get; }

Property Value

Type	Description
int

Methods

ClearCell(int3)

Clear a cell at a given position.

Declaration

public void ClearCell(int3 position)

Parameters

Type	Name	Description
int3	position

Remarks

The cell will be considered as unset again and the default cost and flags will be used for this position.

Collect(VoxelGridCell, ref NativeList<Edge<VoxelGridCell>>)

Collects all neighbouring cells from a given location

Declaration

public void Collect(VoxelGridCell node, ref NativeList<Edge<VoxelGridCell>> edgeBuffer)

Parameters

Type	Name	Description
VoxelGridCell	node
NativeList<Edge<VoxelGridCell>>	edgeBuffer

GetCell(int3)

Returns the cell at a given position.

Declaration

public VoxelGridCell GetCell(int3 position)

Parameters

Type	Name	Description
int3	position

Returns

Type	Description
VoxelGridCell

GetCost(int3)

Returns the enter cost of a given position. Note that unset cells are considered open and have an entering cost of zero.

Declaration

public float GetCost(int3 position)

Parameters

Type	Name	Description
int3	position

Returns

Type	Description
float

GetEnumerator()

Enumerates all of the cells in the grid, including unset ones. This can be used for constructing ALT heuristics.

Declaration

public VoxelGrid.Enumerator GetEnumerator()

Returns

Type	Description
VoxelGrid.Enumerator

Remarks

Be cautious as a 3D grid contains a lot of positions. I don't advise to use ALT heuristics on large 3D grids.

GetSetCells(Allocator)

Allocates an array containing all of the cells that are explicity set on this grid.

Declaration

public NativeArray<VoxelGridCell> GetSetCells(Allocator allocator)

Parameters

Type	Name	Description
Allocator	allocator

Returns

Type	Description
NativeArray<VoxelGridCell>

InBounds(int3)

Returns wether a certain position is within the bounds of the grid

Declaration

public bool InBounds(int3 position)

Parameters

Type	Name	Description
int3	position

Returns

Type	Description
bool

SetCell(int3, float, int)

Sets the cost for a cell.

Declaration

public void SetCell(int3 position, float enterCost, int flags = 0)

Parameters

Type	Name	Description
int3	position	Position to set
float	enterCost	Additional cost for walking this cell. Use float.PositiveInfinity to make this cell unwalkable
int	flags	Flags for this cell, this can be used in conjunction with FlagBitmask<TNode> to exclude certain areas.