| | | 1 | | //======================================================================= |
| | | 2 | | // ScanCell.cs |
| | | 3 | | //======================================================================= |
| | | 4 | | // MIT License, Copyright (c) 2024–present David Oravsky (mrdav30) |
| | | 5 | | // See LICENSE file in the project root for full license information. |
| | | 6 | | //======================================================================= |
| | | 7 | | |
| | | 8 | | using FixedMathSharp; |
| | | 9 | | using GridForge.Spatial; |
| | | 10 | | using SwiftCollections; |
| | | 11 | | using SwiftCollections.Utility; |
| | | 12 | | using System; |
| | | 13 | | using System.Collections.Generic; |
| | | 14 | | |
| | | 15 | | namespace GridForge.Grids; |
| | | 16 | | |
| | | 17 | | /// <summary> |
| | | 18 | | /// Represents a spatial partition within a grid, managing occupants at a finer granularity than grid voxels. |
| | | 19 | | /// Handles efficient tracking, retrieval, and removal of occupants within a designated scan cell area. |
| | | 20 | | /// </summary> |
| | | 21 | | public class ScanCell |
| | | 22 | | { |
| | | 23 | | #region Properties |
| | | 24 | | |
| | | 25 | | /// <summary> |
| | | 26 | | /// The world-local index of the grid this scan cell belongs to. |
| | | 27 | | /// </summary> |
| | | 28 | | public ushort GridIndex { get; private set; } |
| | | 29 | | |
| | | 30 | | /// <summary> |
| | | 31 | | /// The world that owns this scan cell through its parent grid. |
| | | 32 | | /// </summary> |
| | | 33 | | public GridWorld? World { get; private set; } |
| | | 34 | | |
| | | 35 | | /// <summary> |
| | | 36 | | /// A unique identifier for this scan cell in the grid. |
| | | 37 | | /// </summary> |
| | | 38 | | public int CellKey { get; private set; } |
| | | 39 | | |
| | | 40 | | |
| | | 41 | | /// <summary> |
| | | 42 | | /// Unique token identifying this scan cell instance. |
| | | 43 | | /// </summary> |
| | | 44 | | public int SpawnToken { get; private set; } |
| | | 45 | | |
| | | 46 | | /// <summary> |
| | | 47 | | /// Maps a <see cref="Voxel.WorldIndex"/> to a bucket of associated <see cref="IVoxelOccupant"/> instances. |
| | | 48 | | /// </summary> |
| | | 49 | | private SwiftDictionary<WorldVoxelIndex, SwiftBucket<IVoxelOccupant>>? _voxelOccupants; |
| | | 50 | | |
| | | 51 | | /// <summary> |
| | | 52 | | /// The total number of occupants in this scan cell. |
| | | 53 | | /// </summary> |
| | | 54 | | public int CellOccupantCount { get; private set; } |
| | | 55 | | |
| | | 56 | | /// <summary> |
| | | 57 | | /// Indicates whether this scan cell is currently allocated in the grid. |
| | | 58 | | /// </summary> |
| | | 59 | | public bool IsAllocated { get; private set; } |
| | | 60 | | |
| | | 61 | | /// <summary> |
| | | 62 | | /// Determines whether this scan cell is occupied by any occupants. |
| | | 63 | | /// A scan cell is only considered occupied if it is allocated and contains at least one occupant. |
| | | 64 | | /// </summary> |
| | 2481 | 65 | | public bool IsOccupied => IsAllocated && CellOccupantCount > 0; |
| | | 66 | | |
| | | 67 | | #endregion |
| | | 68 | | |
| | | 69 | | #region Initialization & Reset |
| | | 70 | | |
| | | 71 | | /// <summary> |
| | | 72 | | /// Initializes the scan cell with the specified grid index and unique cell key. |
| | | 73 | | /// </summary> |
| | | 74 | | internal void Initialize(GridWorld world, ushort gridIndex, int cellKey) |
| | | 75 | | { |
| | 1837 | 76 | | World = world; |
| | 1837 | 77 | | GridIndex = gridIndex; |
| | 1837 | 78 | | CellKey = cellKey; |
| | 1837 | 79 | | SpawnToken = GetHashCode(); |
| | 1837 | 80 | | IsAllocated = true; |
| | 1837 | 81 | | } |
| | | 82 | | |
| | | 83 | | /// <summary> |
| | | 84 | | /// Resets the scan cell, clearing all occupants and returning memory to object pools. |
| | | 85 | | /// This effectively marks the scan cell as deallocated and removes all references. |
| | | 86 | | /// </summary> |
| | | 87 | | internal void Reset() |
| | | 88 | | { |
| | 1838 | 89 | | if (!IsAllocated) |
| | 1 | 90 | | return; |
| | | 91 | | |
| | 1837 | 92 | | if (_voxelOccupants != null) |
| | | 93 | | { |
| | 476 | 94 | | foreach (var kvp in _voxelOccupants) |
| | | 95 | | { |
| | 178 | 96 | | SwiftBucket<IVoxelOccupant> bucket = kvp.Value; |
| | 178 | 97 | | GridOccupantManager.ForgetTrackedOccupancies(World, bucket, kvp.Key); |
| | 178 | 98 | | Pools.VoxelOccupantBucketPool.Release(bucket); |
| | | 99 | | } |
| | | 100 | | |
| | 60 | 101 | | Pools.VoxelOccupantDictionaryPool.Release(_voxelOccupants); |
| | 60 | 102 | | _voxelOccupants = null; |
| | | 103 | | } |
| | | 104 | | |
| | 1837 | 105 | | CellOccupantCount = 0; |
| | | 106 | | |
| | 1837 | 107 | | World = null; |
| | 1837 | 108 | | GridIndex = ushort.MaxValue; |
| | 1837 | 109 | | CellKey = byte.MaxValue; |
| | | 110 | | |
| | 1837 | 111 | | IsAllocated = false; |
| | 1837 | 112 | | } |
| | | 113 | | |
| | | 114 | | #endregion |
| | | 115 | | |
| | | 116 | | #region Occupant Management |
| | | 117 | | |
| | | 118 | | /// <summary> |
| | | 119 | | /// Adds an occupant to this scan cell and tracks its presence. |
| | | 120 | | /// </summary> |
| | | 121 | | /// <param name="index">The global index of the voxel where the occupant resides.</param> |
| | | 122 | | /// <param name="occupant">The occupant instance to add.</param> |
| | | 123 | | /// <returns>An integer ticket representing the occupant's position in the data structure.</returns> |
| | | 124 | | internal int AddOccupant(WorldVoxelIndex index, IVoxelOccupant occupant) |
| | | 125 | | { |
| | 406 | 126 | | _voxelOccupants ??= Pools.VoxelOccupantDictionaryPool.Rent(); |
| | 406 | 127 | | if (!_voxelOccupants.TryGetValue(index, out SwiftBucket<IVoxelOccupant> bucket)) |
| | | 128 | | { |
| | 199 | 129 | | bucket = Pools.VoxelOccupantBucketPool.Rent(); |
| | 199 | 130 | | _voxelOccupants[index] = bucket; |
| | | 131 | | } |
| | | 132 | | |
| | 406 | 133 | | int ticket = bucket.Add(occupant); |
| | 406 | 134 | | CellOccupantCount++; |
| | 406 | 135 | | return ticket; |
| | | 136 | | } |
| | | 137 | | |
| | | 138 | | /// <summary> |
| | | 139 | | /// Removes an occupant from this scan cell. |
| | | 140 | | /// </summary> |
| | | 141 | | /// <param name="index">The global index of the voxel the occupant was assigned to.</param> |
| | | 142 | | /// <param name="ticket">The ticket assigned to the occupant instance from this scancell.</param> |
| | | 143 | | /// <returns>True if the occupant was successfully removed; otherwise, false.</returns> |
| | | 144 | | internal bool TryRemoveOccupant( |
| | | 145 | | WorldVoxelIndex index, |
| | | 146 | | int ticket) |
| | | 147 | | { |
| | 161 | 148 | | if (!IsOccupied) |
| | 1 | 149 | | return false; |
| | | 150 | | |
| | 160 | 151 | | if (!_voxelOccupants!.TryGetValue(index, out var bucket)) |
| | 1 | 152 | | return false; |
| | | 153 | | |
| | 159 | 154 | | if (!bucket.TryRemoveAt(ticket)) |
| | 2 | 155 | | return false; |
| | | 156 | | |
| | | 157 | | // If the occupant was the last in its bucket, remove the entire bucket |
| | 157 | 158 | | if (bucket.Count == 0) |
| | | 159 | | { |
| | 21 | 160 | | _voxelOccupants.Remove(index); |
| | 21 | 161 | | Pools.VoxelOccupantBucketPool.Release(bucket); |
| | | 162 | | } |
| | | 163 | | |
| | 157 | 164 | | CellOccupantCount--; |
| | | 165 | | |
| | 157 | 166 | | return true; |
| | | 167 | | } |
| | | 168 | | |
| | | 169 | | #endregion |
| | | 170 | | |
| | | 171 | | #region Occupant Retrieval |
| | | 172 | | |
| | | 173 | | /// <summary> |
| | | 174 | | /// Retrieves all occupants associated with this ScanCell. |
| | | 175 | | /// </summary> |
| | | 176 | | /// <returns>An enumerable of occupants within this scan cell.</returns> |
| | | 177 | | public IEnumerable<IVoxelOccupant> GetOccupants() |
| | | 178 | | { |
| | 9 | 179 | | if (_voxelOccupants == null) |
| | 1 | 180 | | yield break; |
| | | 181 | | |
| | 30 | 182 | | foreach (SwiftBucket<IVoxelOccupant> bucket in _voxelOccupants.Values) |
| | | 183 | | { |
| | 162 | 184 | | foreach (IVoxelOccupant voxelOccupant in bucket) |
| | 74 | 185 | | yield return voxelOccupant; |
| | | 186 | | } |
| | 6 | 187 | | } |
| | | 188 | | |
| | | 189 | | /// <summary> |
| | | 190 | | /// Retrieves occupants whose group Ids match a given condition. |
| | | 191 | | /// </summary> |
| | | 192 | | public IEnumerable<IVoxelOccupant> GetConditionalOccupants( |
| | | 193 | | Func<IVoxelOccupant, bool>? occupantCondition = null, |
| | | 194 | | Func<byte, bool>? groupConditional = null) |
| | | 195 | | { |
| | 9 | 196 | | if (_voxelOccupants == null) |
| | 1 | 197 | | yield break; |
| | | 198 | | |
| | | 199 | | // Loop through each voxel's bucket and filter by the cluster condition |
| | 31 | 200 | | foreach (var bucket in _voxelOccupants.Values) |
| | | 201 | | { |
| | 43 | 202 | | foreach (var occupant in bucket) |
| | | 203 | | { |
| | 14 | 204 | | if (occupantCondition != null && !occupantCondition(occupant)) |
| | | 205 | | continue; |
| | | 206 | | |
| | 11 | 207 | | if (groupConditional != null && !groupConditional(occupant.OccupantGroupId)) |
| | | 208 | | continue; |
| | | 209 | | |
| | 7 | 210 | | yield return occupant; |
| | | 211 | | } |
| | | 212 | | } |
| | 7 | 213 | | } |
| | | 214 | | |
| | | 215 | | /// <summary> |
| | | 216 | | /// Appends occupants within the squared radius to caller-owned storage without allocating an iterator. |
| | | 217 | | /// </summary> |
| | | 218 | | internal void AddOccupantsWithinRadiusTo( |
| | | 219 | | SwiftList<IVoxelOccupant> results, |
| | | 220 | | Vector3d position, |
| | | 221 | | Fixed64 squaredRadius, |
| | | 222 | | Func<IVoxelOccupant, bool>? occupantCondition = null, |
| | | 223 | | Func<byte, bool>? groupCondition = null) |
| | | 224 | | { |
| | 273 | 225 | | if (_voxelOccupants == null) |
| | 1 | 226 | | return; |
| | | 227 | | |
| | 33484 | 228 | | foreach (var kvp in _voxelOccupants) |
| | | 229 | | { |
| | 16470 | 230 | | SwiftBucket<IVoxelOccupant> bucket = kvp.Value; |
| | 65882 | 231 | | foreach (IVoxelOccupant occupant in bucket) |
| | | 232 | | { |
| | 16471 | 233 | | if (OccupantPassesFilters(occupant, occupantCondition, groupCondition) |
| | 16471 | 234 | | && IsWithinSquaredRadius(occupant, position, squaredRadius)) |
| | | 235 | | { |
| | 16461 | 236 | | results.Add(occupant); |
| | | 237 | | } |
| | | 238 | | } |
| | | 239 | | } |
| | 272 | 240 | | } |
| | | 241 | | |
| | | 242 | | /// <summary> |
| | | 243 | | /// Appends occupants within the XZ squared radius on the selected local Y voxel layer. |
| | | 244 | | /// </summary> |
| | | 245 | | internal void AddOccupantsWithinRadius2dTo( |
| | | 246 | | SwiftList<IVoxelOccupant> results, |
| | | 247 | | Vector3d position, |
| | | 248 | | int localLayerY, |
| | | 249 | | Fixed64 squaredRadius, |
| | | 250 | | Func<IVoxelOccupant, bool>? occupantCondition = null, |
| | | 251 | | Func<byte, bool>? groupCondition = null) |
| | | 252 | | { |
| | 264 | 253 | | if (_voxelOccupants == null) |
| | 1 | 254 | | return; |
| | | 255 | | |
| | 33440 | 256 | | foreach (var kvp in _voxelOccupants) |
| | | 257 | | { |
| | 16457 | 258 | | if (kvp.Key.VoxelIndex.y != localLayerY) |
| | | 259 | | continue; |
| | | 260 | | |
| | 16453 | 261 | | SwiftBucket<IVoxelOccupant> bucket = kvp.Value; |
| | 65816 | 262 | | foreach (IVoxelOccupant occupant in bucket) |
| | | 263 | | { |
| | 16455 | 264 | | if (OccupantPassesFilters(occupant, occupantCondition, groupCondition) |
| | 16455 | 265 | | && GridPlane2d.DistanceSquaredXZ(occupant.Position, position) <= squaredRadius) |
| | | 266 | | { |
| | 16452 | 267 | | results.Add(occupant); |
| | | 268 | | } |
| | | 269 | | } |
| | | 270 | | } |
| | 263 | 271 | | } |
| | | 272 | | |
| | | 273 | | /// <summary> |
| | | 274 | | /// Appends typed occupants within the squared radius to caller-owned storage without LINQ. |
| | | 275 | | /// </summary> |
| | | 276 | | internal void AddOccupantsWithinRadiusTo<T>( |
| | | 277 | | SwiftList<T> results, |
| | | 278 | | Vector3d position, |
| | | 279 | | Fixed64 squaredRadius, |
| | | 280 | | Func<IVoxelOccupant, bool>? occupantCondition = null, |
| | | 281 | | Func<byte, bool>? groupCondition = null) where T : IVoxelOccupant |
| | | 282 | | { |
| | 4 | 283 | | if (_voxelOccupants == null) |
| | 1 | 284 | | return; |
| | | 285 | | |
| | 12 | 286 | | foreach (var kvp in _voxelOccupants) |
| | | 287 | | { |
| | 3 | 288 | | SwiftBucket<IVoxelOccupant> bucket = kvp.Value; |
| | 14 | 289 | | foreach (IVoxelOccupant occupant in bucket) |
| | | 290 | | { |
| | 4 | 291 | | if (!OccupantPassesFilters(occupant, occupantCondition, groupCondition)) |
| | | 292 | | continue; |
| | | 293 | | |
| | 3 | 294 | | if (TryGetTypedOccupantWithinRadius(occupant, position, squaredRadius, out T typedOccupant)) |
| | 2 | 295 | | results.Add(typedOccupant); |
| | | 296 | | } |
| | | 297 | | } |
| | 3 | 298 | | } |
| | | 299 | | |
| | | 300 | | /// <summary> |
| | | 301 | | /// Appends typed occupants within the XZ squared radius on the selected local Y voxel layer. |
| | | 302 | | /// </summary> |
| | | 303 | | internal void AddOccupantsWithinRadius2dTo<T>( |
| | | 304 | | SwiftList<T> results, |
| | | 305 | | Vector3d position, |
| | | 306 | | int localLayerY, |
| | | 307 | | Fixed64 squaredRadius, |
| | | 308 | | Func<IVoxelOccupant, bool>? occupantCondition = null, |
| | | 309 | | Func<byte, bool>? groupCondition = null) where T : IVoxelOccupant |
| | | 310 | | { |
| | 5 | 311 | | if (_voxelOccupants == null) |
| | 1 | 312 | | return; |
| | | 313 | | |
| | 20 | 314 | | foreach (var kvp in _voxelOccupants) |
| | | 315 | | { |
| | 6 | 316 | | if (kvp.Key.VoxelIndex.y != localLayerY) |
| | | 317 | | continue; |
| | | 318 | | |
| | 4 | 319 | | SwiftBucket<IVoxelOccupant> bucket = kvp.Value; |
| | 20 | 320 | | foreach (IVoxelOccupant occupant in bucket) |
| | | 321 | | { |
| | 6 | 322 | | if (!OccupantPassesFilters(occupant, occupantCondition, groupCondition)) |
| | | 323 | | continue; |
| | | 324 | | |
| | 4 | 325 | | if (occupant is T typedOccupant |
| | 4 | 326 | | && GridPlane2d.DistanceSquaredXZ(occupant.Position, position) <= squaredRadius) |
| | | 327 | | { |
| | 2 | 328 | | results.Add(typedOccupant); |
| | | 329 | | } |
| | | 330 | | } |
| | | 331 | | } |
| | 4 | 332 | | } |
| | | 333 | | |
| | | 334 | | private static bool OccupantPassesFilters( |
| | | 335 | | IVoxelOccupant occupant, |
| | | 336 | | Func<IVoxelOccupant, bool>? occupantCondition, |
| | | 337 | | Func<byte, bool>? groupCondition) |
| | | 338 | | { |
| | 32936 | 339 | | return (occupantCondition == null || occupantCondition(occupant)) |
| | 32936 | 340 | | && (groupCondition == null || groupCondition(occupant.OccupantGroupId)); |
| | | 341 | | } |
| | | 342 | | |
| | | 343 | | private static bool IsWithinSquaredRadius( |
| | | 344 | | IVoxelOccupant occupant, |
| | | 345 | | Vector3d position, |
| | | 346 | | Fixed64 squaredRadius) |
| | | 347 | | { |
| | 16468 | 348 | | return (occupant.Position - position).MagnitudeSquared <= squaredRadius; |
| | | 349 | | } |
| | | 350 | | |
| | | 351 | | private static bool TryGetTypedOccupantWithinRadius<T>( |
| | | 352 | | IVoxelOccupant occupant, |
| | | 353 | | Vector3d position, |
| | | 354 | | Fixed64 squaredRadius, |
| | | 355 | | out T typedOccupant) where T : IVoxelOccupant |
| | | 356 | | { |
| | 3 | 357 | | typedOccupant = default!; |
| | 3 | 358 | | if (occupant is not T candidate || !IsWithinSquaredRadius(occupant, position, squaredRadius)) |
| | 1 | 359 | | return false; |
| | | 360 | | |
| | 2 | 361 | | typedOccupant = candidate; |
| | 2 | 362 | | return true; |
| | | 363 | | } |
| | | 364 | | |
| | | 365 | | /// <summary> |
| | | 366 | | /// Retrieves all occupants associated with a specific voxel spawn token within this scan cell. |
| | | 367 | | /// </summary> |
| | | 368 | | /// <param name="index">The global index of the voxel.</param> |
| | | 369 | | /// <returns>An enumerable collection of occupants assigned to the voxel.</returns> |
| | | 370 | | public IEnumerable<IVoxelOccupant> GetOccupantsFor(WorldVoxelIndex index) |
| | | 371 | | { |
| | 5 | 372 | | if (_voxelOccupants == null || !_voxelOccupants.TryGetValue(index, out SwiftBucket<IVoxelOccupant> voxelOccupant |
| | 2 | 373 | | yield break; |
| | | 374 | | |
| | 14 | 375 | | foreach (IVoxelOccupant voxelOccupant in voxelOccupants) |
| | 4 | 376 | | yield return voxelOccupant; |
| | 3 | 377 | | } |
| | | 378 | | |
| | | 379 | | /// <summary> |
| | | 380 | | /// Attempts to retrieve a specific occupant in this scan cell using a voxel's spawn key and occupant ticket. |
| | | 381 | | /// </summary> |
| | | 382 | | /// <param name="index">The global index of the voxel the occupant belongs to.</param> |
| | | 383 | | /// <param name="occupantTicket">The unique ticket identifying the occupant.</param> |
| | | 384 | | /// <param name="voxelOccupant">The retrieved occupant if found.</param> |
| | | 385 | | /// <returns>True if the occupant was found, otherwise false.</returns> |
| | | 386 | | public bool TryGetOccupantAt( |
| | | 387 | | WorldVoxelIndex index, |
| | | 388 | | int occupantTicket, |
| | | 389 | | out IVoxelOccupant? voxelOccupant) |
| | | 390 | | { |
| | 14 | 391 | | voxelOccupant = null; |
| | 14 | 392 | | if (_voxelOccupants == null |
| | 14 | 393 | | || !_voxelOccupants.TryGetValue(index, out SwiftBucket<IVoxelOccupant> voxelOccupants) |
| | 14 | 394 | | || !voxelOccupants.IsAllocated(occupantTicket)) |
| | | 395 | | { |
| | 4 | 396 | | return false; |
| | | 397 | | } |
| | | 398 | | |
| | 10 | 399 | | voxelOccupant = voxelOccupants[occupantTicket]; |
| | 10 | 400 | | return true; |
| | | 401 | | } |
| | | 402 | | |
| | | 403 | | #endregion |
| | | 404 | | |
| | | 405 | | /// <inheritdoc/> |
| | 4040 | 406 | | public override int GetHashCode() => SwiftHashTools.CombineHashCodes(GridIndex, CellKey); |
| | | 407 | | } |