Minor update

Nebukam · Dec 10, 2021 · 3764234 · 3764234
1 parent 6af20a8
commit 3764234
Show file tree

Hide file tree

Showing 11 changed files with 62 additions and 125 deletions.
diff --git a/Runtime/Jobs/AgentKDTree.cs b/Runtime/Jobs/AgentKDTree.cs
@@ -34,7 +34,7 @@ public class AgentKDTree : Processor<AgentKDTreeJob>, IAgentKDTreeProvider
     {
 
 
-        protected NativeArray<AgentTreeNode> m_outputTree = new NativeArray<AgentTreeNode>(0, Allocator.Persistent);
+        protected NativeArray<AgentTreeNode> m_outputTree = default;
         public NativeArray<AgentTreeNode> outputTree { get { return m_outputTree; } }
 
         #region Inputs

diff --git a/Runtime/Jobs/AgentProvider.cs b/Runtime/Jobs/AgentProvider.cs
@@ -51,7 +51,7 @@ public IAgentGroup<IAgent> agents
         internal List<Agent> m_lockedAgents = new List<Agent>();
         public List<Agent> lockedAgents { get { return m_lockedAgents; } }
 
-        protected NativeArray<AgentData> m_outputAgents = new NativeArray<AgentData>(0, Allocator.Persistent);
+        protected NativeArray<AgentData> m_outputAgents = default;
         public NativeArray<AgentData> outputAgents { get { return m_outputAgents; } }
 
         protected float m_maxRadius = 0f;

diff --git a/Runtime/Jobs/ORCA.cs b/Runtime/Jobs/ORCA.cs
@@ -33,33 +33,68 @@ public class ORCA : ProcessorChain, IPlanar
         public AxisPair plane
         {
             get { return m_plane; }
-            set { m_plane = m_orcaPreparation.plane = m_orcaLines.plane = m_orcaApply.plane = m_raycasts.plane = value; }
+            set { 
+                m_plane =
+                m_staticObstacles.plane =
+                m_dynamicObstacles.plane =
+                m_agents.plane =
+                m_raycasts.plane =
+                m_orcaLines.plane = 
+                m_orcaApply.plane = 
+                m_raycasts.plane = value; 
+            }
         }
 
         #endregion
 
-        /// 
-        /// Fields
-        /// 
+        #region Preparation
+
+        // Preparation
+        protected ObstacleKDTreeBuilder<IDynObstacleProvider, DynObstacleProvider, DynObstacleKDTreeProcessor> m_dynamicObstacles;
+        protected ObstacleKDTreeBuilder<IStaticObstacleProvider, StaticObstacleProvider, StaticObstacleKDTreeProcessor> m_staticObstacles;
+        protected AgentKDTreeBuilder m_agents;
+        protected RaycastProvider m_raycastsProvider;
+
+        public IObstacleGroup staticObstacles
+        {
+            get { return m_staticObstacles.obstacles; }
+            set { m_staticObstacles.obstacles = value; }
+        }
+
+        public IObstacleGroup dynamicObstacles
+        {
+            get { return m_dynamicObstacles.obstacles; }
+            set { m_dynamicObstacles.obstacles = value; }
+        }
+
+        public IAgentGroup<IAgent> agents
+        {
+            get { return m_agents.agents; }
+            set { m_agents.agents = value; }
+        }
+
+        public IRaycastGroup raycasts
+        {
+            get { return m_raycastsProvider.raycasts; }
+            set { m_raycastsProvider.raycasts = value; }
+        }
+
+        #endregion
 
-        protected ORCAPreparation m_orcaPreparation;
         protected ORCALines m_orcaLines;
         protected ORCAApply m_orcaApply;
         protected RaycastsPass m_raycasts;
 
-        /// 
-        /// Properties
-        /// 
-
-        public IObstacleGroup staticObstacles { get { return m_orcaPreparation.staticObstacles; } set { m_orcaPreparation.staticObstacles = value; } }
-        public IObstacleGroup dynamicObstacles { get { return m_orcaPreparation.dynamicObstacles; } set { m_orcaPreparation.dynamicObstacles = value; } }
-        public IAgentGroup<IAgent> agents { get { return m_orcaPreparation.agents; } set { m_orcaPreparation.agents = value; } }
-        public IRaycastGroup raycasts { get { return m_orcaPreparation.raycasts; } set { m_orcaPreparation.raycasts = value; } }
-
         public ORCA()
         {
 
-            Add(ref m_orcaPreparation);
+            // Preparation
+            Add(ref m_dynamicObstacles);
+            Add(ref m_staticObstacles);
+            Add(ref m_agents);
+            Add(ref m_raycastsProvider);
+
+            // Execution
             Add(ref m_orcaLines);
             m_orcaLines.chunkSize = 5; //Linear programs are hefty >.<
 

diff --git a/Runtime/Jobs/ORCALines.cs b/Runtime/Jobs/ORCALines.cs
@@ -37,7 +37,7 @@ public class ORCALines : ParallelProcessor<ORCALinesJob>, IORCALinesProvider
 
         public AxisPair plane { get; set; } = AxisPair.XY;
 
-        protected NativeArray<AgentDataResult> m_results = new NativeArray<AgentDataResult>(0, Allocator.Persistent);
+        protected NativeArray<AgentDataResult> m_results = default;
         public NativeArray<AgentDataResult> results { get { return m_results; } }
 
 

diff --git a/Runtime/Jobs/ORCAPreparation.cs b/Runtime/Jobs/ORCAPreparation.cs
diff --git a/Runtime/Jobs/ORCAPreparation.cs.meta b/Runtime/Jobs/ORCAPreparation.cs.meta
diff --git a/Runtime/Jobs/ObstacleKDTree.cs b/Runtime/Jobs/ObstacleKDTree.cs
@@ -37,7 +37,7 @@ public class ObstacleKDTree<T> : Processor<ObstacleKDTreeJob>, IObstacleKDTreePr
         where T : class, IProcessor, IObstacleProvider
     {
 
-        protected NativeArray<ObstacleTreeNode> m_outputTree = new NativeArray<ObstacleTreeNode>(0, Allocator.Persistent);
+        protected NativeArray<ObstacleTreeNode> m_outputTree = default;
         public NativeArray<ObstacleTreeNode> outputTree { get { return m_outputTree; } }
 
         #region Inputs

diff --git a/Runtime/Jobs/ObstacleProvider.cs b/Runtime/Jobs/ObstacleProvider.cs
@@ -50,9 +50,9 @@ public class ObstacleProvider : Processor<Unemployed>, IObstacleProvider
 
         protected bool m_recompute = true;
         protected IObstacleGroup m_obstacles = null;
-        protected NativeArray<ObstacleInfos> m_outputObstacleInfos = new NativeArray<ObstacleInfos>(0, Allocator.Persistent);
-        protected NativeArray<ObstacleVertexData> m_referenceObstacles = new NativeArray<ObstacleVertexData>(0, Allocator.Persistent);
-        protected NativeArray<ObstacleVertexData> m_outputObstacles = new NativeArray<ObstacleVertexData>(0, Allocator.Persistent);
+        protected NativeArray<ObstacleInfos> m_outputObstacleInfos = default;
+        protected NativeArray<ObstacleVertexData> m_referenceObstacles = default;
+        protected NativeArray<ObstacleVertexData> m_outputObstacles = default;
 
 
         /// 

diff --git a/Runtime/Jobs/RaycastProvider.cs b/Runtime/Jobs/RaycastProvider.cs
@@ -46,7 +46,7 @@ public class RaycastProvider : Processor<Unemployed>, IRaycastProvider
 
         protected IRaycastGroup m_raycasts = null;
         protected List<Raycast> m_lockedRaycasts = new List<Raycast>();
-        protected NativeArray<RaycastData> m_outputRaycast = new NativeArray<RaycastData>(0, Allocator.Persistent);
+        protected NativeArray<RaycastData> m_outputRaycast = default;
 
         /// 
         /// Properties

diff --git a/Runtime/Jobs/RaycastsPass.cs b/Runtime/Jobs/RaycastsPass.cs
@@ -32,7 +32,7 @@ public class RaycastsPass : ParallelProcessor<RaycastsJob>
 
         public AxisPair plane { get; set; } = AxisPair.XY;
 
-        protected NativeArray<RaycastResult> m_results = new NativeArray<RaycastResult>(0, Allocator.Persistent);
+        protected NativeArray<RaycastResult> m_results = default;
         public NativeArray<RaycastResult> results { get { return m_results; } }
 
         #region Inputs

diff --git a/package.json b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "com.nebukam.orca",
-  "version": "1.1.0",
+  "version": "1.1.1",
   "displayName": "N:ORCA",
   "description": "Optimal Reciprocal Collision Avoidance",
   "unity": "2019.4",
@@ -27,8 +27,8 @@
     "com.unity.mathematics": "1.2.1"
   },
   "gitDependencies": {
-    "com.nebukam.common": "https://github.com/Nebukam/com.nebukam.common.git#0.1.0",
-    "com.nebukam.job-assist": "https://github.com/Nebukam/com.nebukam.job-assist.git#1.1.0"
+    "com.nebukam.common": "https://github.com/Nebukam/com.nebukam.common.git#0.1.1",
+    "com.nebukam.job-assist": "https://github.com/Nebukam/com.nebukam.job-assist.git#1.1.1"
   },
   "samples": [
     {