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DeskSpaceFinder.cs
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DeskSpaceFinder.cs
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// Copyright (c) Meta Platforms, Inc. and affiliates.
using System;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using CrypticCabinet.Utils;
using UnityEngine;
using static CrypticCabinet.Utils.MathsUtils;
using Random = UnityEngine.Random;
namespace CrypticCabinet.SceneManagement
{
/// <summary>
/// Generates a distance field on plane accounting for blocking objects.
/// Includes functionality to return a position on the plane for a given radius.
/// </summary>
public class DeskSpaceFinder : MonoBehaviour, ISpaceFinder
{
/// <summary>
/// The width and depth of the desk.
/// </summary>
public Vector2 DeskSize;
/// <summary>
/// Target size of the cells.
/// </summary>
[SerializeField] private float m_spacing = 0.05f;
/// <summary>
/// Two dimensional list of cells.
/// </summary>
private List<List<Cell>> m_cells = new();
/// <summary>
/// The farthest distance a cell is from an edge, this is used for visualization.
/// </summary>
private float m_maxDist;
private bool m_debugViewEnabled;
private bool m_isSetUp;
/// <summary>
/// The root transform that has all child cells game objects
/// </summary>
private Transform m_cellsRootTransform;
/// <summary>
/// Struct describing the cell of the distance field.
/// </summary>
private struct Cell
{
/// <summary>
/// Transform of the debug visualization cube
/// </summary>
public Transform CellDebugRoot;
public Renderer DebugRenderer;
/// <summary>
/// The distance to either a blocked cell or edge of the table
/// </summary>
public float DistToBlockedArea;
private float m_originalDistanceToBlockedArea;
/// <summary>
/// The position in desk space
/// </summary>
public Vector2 LocalPosition;
/// <summary>
/// Flag to indicate if the cell is blocked entirely.
/// </summary>
public bool Blocked;
private bool m_originallyBlocked;
public void Reset()
{
DistToBlockedArea = m_originalDistanceToBlockedArea;
Blocked = m_originallyBlocked;
}
public void RememberDistance()
{
m_originalDistanceToBlockedArea = DistToBlockedArea;
m_originallyBlocked = Blocked;
}
}
public bool HasSetUpCompleted() => m_isSetUp;
public void CleanUp()
{
foreach (var column in m_cells)
{
foreach (var cell in column)
{
Destroy(cell.CellDebugRoot.gameObject);
}
}
if (m_cellsRootTransform != null)
{
Destroy(m_cellsRootTransform.gameObject);
}
}
public void GetFinderTransform(out Matrix4x4 localToWorldMatrix) => localToWorldMatrix = transform.localToWorldMatrix;
public void GetFinderSize(out Vector3 worldSize) => worldSize = DeskSize;
public bool RequestRandomLocation(Vector3 locationToFace, float objectRadius, out Vector3 foundPosition, out Quaternion foundRotation, bool markAsBlocked = false, float edgeDistance = -1)
{
foundRotation = Quaternion.identity;
return RequestCenterLocation(objectRadius, out foundPosition, markAsBlocked);
}
public bool RequestRandomLocation(Vector3 locationToFace, Vector3 objectDimensions, out Vector3 foundPosition,
out Quaternion foundRotation, bool markAsBlocked = false)
{
Debug.LogWarning("DeskSpaceFinder does not implement this version of RequestRandomLocation.");
foundRotation = Quaternion.identity;
foundPosition = Vector3.zero;
return false;
}
/// <summary>
/// Returns a location on the desk for a given radius, if there's no location that
/// can safely place the object returns false.
/// </summary>
/// <param name="radius">Radius of the object to place.</param>
/// <param name="foundPosition">The found position in world space.</param>
/// <param name="markAsBlocked">Updates the distance field to be blocked once placed.</param>
/// <returns>True if the returns position is valid, false if not.</returns>
public bool RequestCenterLocation(float radius, out Vector3 foundPosition, bool markAsBlocked = false, float edgeDistance = -1)
{
var foundX = -1;
var foundY = -1;
var currentDistance = float.MinValue;
for (var x = 0; x < m_cells.Count; x++)
{
var column = m_cells[x];
for (var y = 0; y < column.Count; y++)
{
var cell = column[y];
if (cell.DistToBlockedArea >= radius && cell.DistToBlockedArea > currentDistance)
{
currentDistance = cell.DistToBlockedArea;
foundX = x;
foundY = y;
}
}
}
if (foundX >= 0 && foundY >= 0)
{
var cell = m_cells[foundX][foundY];
foundPosition = transform.localToWorldMatrix.MultiplyPoint(cell.LocalPosition);
if (markAsBlocked)
{
CalculateBlockedAreaFromRadius(cell.LocalPosition, radius);
}
return true;
}
foundPosition = Vector3.zero;
return false;
}
public void RememberDistanceField()
{
foreach (var column in m_cells)
{
for (var y = 0; y < column.Count; y++)
{
var cell = column[y];
cell.RememberDistance();
column[y] = cell;
}
}
}
public void ResetDistanceField()
{
foreach (var column in m_cells)
{
for (var y = 0; y < column.Count; y++)
{
var cell = column[y];
cell.Reset();
column[y] = cell;
}
}
UpdateCellVisualisations();
}
public void SetDebugViewEnabled(bool isVisible)
{
m_debugViewEnabled = isVisible;
UpdateDebugVisible();
}
public void ToggleDebugView()
{
m_debugViewEnabled = !m_debugViewEnabled;
UpdateDebugVisible();
}
public void SetSearchCollidersActive(bool collidersActive)
{
foreach (var cell in m_cells.SelectMany(column => column))
{
cell.CellDebugRoot.gameObject.SetActive(collidersActive);
}
}
private void UpdateDebugVisible()
{
foreach (var cell in from column in m_cells from cell in column where cell.DebugRenderer != null select cell)
{
cell.DebugRenderer.enabled = m_debugViewEnabled;
}
}
public void CalculateBlockedArea(Matrix4x4 objectTransform, Vector2 objectSize) => CalculateBlockedArea(objectTransform, new Vector3(objectSize.x, objectSize.y));
/// <summary>
/// Recalculates the distance field accounting for a new Scene object.
/// First checks if the new object blocks any cells then recalculates the cell distances.
/// </summary>
/// <param name="objectTransform">The transform matrix describing the location of the object.</param>
/// <param name="objectSize">The scale of the object.</param>
public void CalculateBlockedArea(Matrix4x4 objectTransform, Vector3 objectSize)
{
// Iterates over the cells in the grid checking if cell is inside the object.
// Flags the blocked cells then stores the indexes of covered cells indexes in hitPoints.
var hitPoints = new List<Tuple<int, int>>();
for (var x = 0; x < m_cells.Count; x++)
{
for (var y = 0; y < m_cells[x].Count; y++)
{
var cell = m_cells[x][y];
var isIn = IsPointWithinColumnSpace(objectTransform, objectSize, cell.CellDebugRoot.position);
if (!isIn)
{
continue;
}
cell.Blocked = true;
cell.DistToBlockedArea = 0;
hitPoints.Add(new Tuple<int, int>(x, y));
m_cells[x][y] = cell;
}
}
RememberDistanceField();
UpdateDistanceField(hitPoints, true);
}
private void CalculateBlockedAreaFromRadius(Vector2 localPosition, float localRadius)
{
var hitPoints = new List<Tuple<int, int>>();
for (var x = 0; x < m_cells.Count; x++)
{
for (var y = 0; y < m_cells[x].Count; y++)
{
var cell = m_cells[x][y];
var isIn = Vector2.Distance(localPosition, cell.LocalPosition) <= localRadius;
if (!isIn)
{
continue;
}
cell.Blocked = true;
cell.DistToBlockedArea = 0;
hitPoints.Add(new Tuple<int, int>(x, y));
m_cells[x][y] = cell;
}
}
UpdateDistanceField(hitPoints, false);
}
private void UpdateDistanceField(IReadOnlyList<Tuple<int, int>> hitPoints, bool rememberDistanceField)
{
// Iterates over the found covered and recalculates the distances to include the newly blocked cells.
for (var i = 0; i < hitPoints.Count; i++)
{
var (hitX, hitY) = hitPoints[i];
var hitCellPosition = m_cells[hitX][hitY].LocalPosition;
for (var x = 0; x < m_cells.Count; x++)
{
for (var y = 0; y < m_cells[x].Count; y++)
{
var cell = m_cells[x][y];
if (!cell.Blocked)
{
var hitDist = Vector2.Distance(cell.LocalPosition, hitCellPosition);
if (hitDist < cell.DistToBlockedArea)
{
cell.DistToBlockedArea = hitDist;
m_cells[x][y] = cell;
}
}
}
}
}
if (rememberDistanceField)
{
RememberDistanceField();
}
UpdateCellVisualisations();
}
/// <summary>
/// Generates the cells for the desk surface.
/// </summary>
/// <param name="debugMaterial"></param>
public void GenerateDeskCells(Material debugMaterial)
{
if (m_cellsRootTransform == null)
{
m_cellsRootTransform = new GameObject("DeskCells").transform;
m_cellsRootTransform.SetParent(transform, false);
}
// Calculate how many cells will make up the length of the desk by dividing the length by the the target
// cell size, then round down. Dividing the length by the cell count will ensure the cells will fit the desk perfectly.
// This method results in cells that are evenly over sized to fit the desk.
var xCellCount = Mathf.FloorToInt(DeskSize.x / m_spacing);
var xCellSize = DeskSize.x / xCellCount;
// Repeat fot the depth of the desk.
var yCellCount = Mathf.FloorToInt(DeskSize.y / m_spacing);
var yCellSize = DeskSize.y / yCellCount;
var startX = -(DeskSize.x / 2) + xCellSize / 2;
var startY = -(DeskSize.y / 2) + yCellSize / 2;
m_maxDist = float.MinValue;
m_cells = new List<List<Cell>>(xCellCount);
// Creates the cells and calculates the distance to the edges of the desk.
for (var x = 0; x < xCellCount; x++)
{
m_cells.Add(new(yCellCount));
for (var y = 0; y < yCellCount; y++)
{
var position = new Vector2(startX + x * xCellSize, startY + yCellSize * y);
var debugVisualiser = AddDebugVisualiser(position);
var debugRenderer = debugVisualiser.GetComponent<Renderer>();
debugRenderer.material = debugMaterial;
debugRenderer.material.color = Color.green;
debugRenderer.enabled = false;
var distance = DistanceToNearestEdge(position);
m_maxDist = Mathf.Max(m_maxDist, distance);
m_cells[x].Add(new Cell
{
CellDebugRoot = debugVisualiser,
Blocked = false,
LocalPosition = position,
DistToBlockedArea = distance,
DebugRenderer = debugRenderer
});
#if UNITY_EDITOR
debugVisualiser.gameObject.name = distance.ToString(CultureInfo.InvariantCulture);
#endif
}
}
m_debugViewEnabled = false;
RememberDistanceField();
m_isSetUp = true;
}
/// <summary>
/// Creates a debug cube at the location provided and sets it as a child to this GameObject.
/// </summary>
/// <param name="localPosition">The desk space location to be transformed into world space.</param>
/// <returns>The transform of the created cube.</returns>
private Transform AddDebugVisualiser(Vector3 localPosition)
{
// Create a cube primitive.
var visualiser = GameObject.CreatePrimitive(PrimitiveType.Cube);
visualiser.layer = LayerMask.NameToLayer(StringConstants.SCENE_UNDERSTANDING_LAYER);
var visualiserTransform = visualiser.transform;
var thisTransform = transform;
// set the scale to be the size of the cells
visualiserTransform.localScale = Vector3.one * m_spacing;
// Set the position of the cube in world space correctly placed relative to this game object.
visualiserTransform.position = transform.TransformPoint(localPosition);
// set rotation to match this object.
visualiserTransform.localRotation = thisTransform.rotation;
visualiserTransform.SetParent(m_cellsRootTransform, true);
return visualiserTransform;
}
/// <summary>
/// Checks if a point is within a vertical column. The check is against a vertical column rather than
/// if inside a cube because the cube is likely above the desk and not extending through it. As a result
/// all objects on a desk would not strictly block cells.
/// </summary>
/// <param name="boxPosition">World transform of the blocking box</param>
/// <param name="size">Size of the blocking box.</param>
/// <param name="point">The point to check against.</param>
/// <returns>True if the point is inside the checked volume.</returns>
private static bool IsPointWithinColumnSpace(Matrix4x4 boxPosition, Vector3 size, Vector3 point)
{
size *= 0.5f; // convert from full width of the box to half extends of the box.
var boxPos = boxPosition.GetPosition();
boxPos.y -= size.z;
// Converts the local space position of the box edges into world space and checks if the test point is inside
// or outside the box.
return PlaneSideCheck(boxPos, boxPosition.MultiplyPoint(new Vector3(size.x, 0, -size.z)), point) &&
PlaneSideCheck(boxPos, boxPosition.MultiplyPoint(new Vector3(-size.x, 0, -size.z)), point) &&
PlaneSideCheck(boxPos, boxPosition.MultiplyPoint(new Vector3(0, size.y, -size.z)), point) &&
PlaneSideCheck(boxPos, boxPosition.MultiplyPoint(new Vector3(0, -size.y, -size.z)), point);
}
/// <summary>
/// Checks if the target point is on the same side of the plane as the center of the box or not.
/// Simply a Dot product on the vectors from the edge to the center and the edge to the point.
/// </summary>
/// <param name="center">Center of the cube in world space.</param>
/// <param name="edgePoint">center of the face of the cube in world space.</param>
/// <param name="point">The point of interest in world space.</param>
/// <returns>Returns true of the point is on the center side of the cube face.</returns>
private static bool PlaneSideCheck(Vector3 center, Vector3 edgePoint, Vector3 point)
{
return Vector3.Dot((edgePoint - center).normalized, edgePoint - point) >= 0;
}
/// <summary>
/// Tests all 4 edges of the desk to find the nearest edge to a point in local space of the table.
/// </summary>
/// <param name="point">Point on the table in table space.</param>
/// <returns>The shortest distance to an edge in local space.</returns>
private float DistanceToNearestEdge(Vector2 point)
{
var deskExtends = DeskSize * 0.5f;
var a = Mathf.Sqrt(DistanceToLineSegmentSquared(point, new Vector2(-deskExtends.x, deskExtends.y), new Vector2(deskExtends.x, deskExtends.y)));
var b = Mathf.Sqrt(DistanceToLineSegmentSquared(point, new Vector2(deskExtends.x, deskExtends.y), new Vector2(deskExtends.x, -deskExtends.y)));
var c = Mathf.Sqrt(DistanceToLineSegmentSquared(point, new Vector2(deskExtends.x, -deskExtends.y), new Vector2(-deskExtends.x, -deskExtends.y)));
var d = Mathf.Sqrt(DistanceToLineSegmentSquared(point, new Vector2(-deskExtends.x, -deskExtends.y), new Vector2(-deskExtends.x, deskExtends.y)));
return Mathf.Min(a, b, c, d);
}
/// <summary>
/// Updates the colours of the debug cubes and sets the distance text in the hierarchy.
/// Colours are faded from red to green based on the maxDist variable and each cells distToBlockedArea variable.
/// </summary>
private void UpdateCellVisualisations()
{
foreach (var column in m_cells)
{
foreach (var cell in column)
{
var ren = cell.DebugRenderer;
if (ren != null)
{
ren.material.color = cell.Blocked ? Color.red : Color.green;
}
#if UNITY_EDITOR
cell.CellDebugRoot.gameObject.name = cell.DistToBlockedArea.ToString(CultureInfo.InvariantCulture);
#endif
}
}
}
public void RequestTrulyRandomLocation(out Vector3 position)
{
if (m_cells.Count > 0)
{
var randomRow = Random.Range(0, m_cells.Count);
var randomColumn = Random.Range(0, m_cells[randomRow].Count);
var cell = m_cells[randomRow][randomColumn];
position = cell.CellDebugRoot.position;
}
else
{
position = Vector3.zero;
}
}
}
}