├── Flow Fields ├── Assets │ ├── Flow Fields │ │ ├── Actor.cs │ │ ├── Algorithm.cs │ │ ├── Cell.cs │ │ ├── FlowFieldsMaster.cs │ │ ├── Grid2D.cs │ │ └── Group.cs │ ├── Other stuff │ │ ├── Actor.prefab │ │ ├── Arrow.prefab │ │ ├── ArrowTip.mat │ │ ├── CameraController.cs │ │ ├── DrawGrid.cs │ │ ├── GridDebug.mat │ │ ├── MouseLook.cs │ │ └── Text.prefab │ └── Scene.unity ├── Flow Fields.csproj ├── Flow Fields.sln ├── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── NetworkManager.asset │ ├── Physics2DSettings.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ └── UnityConnectSettings.asset └── UnityPackageManager │ └── manifest.json ├── LICENSE └── README.md /Flow Fields/Assets/Flow Fields/Actor.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// This class represents a single pathfinder. 3 | /// 4 | 5 | using UnityEngine; 6 | 7 | public class Actor : MonoBehaviour 8 | { 9 | public const float speed = 1.0f; 10 | 11 | public Vector2 position 12 | { 13 | get 14 | { 15 | return new Vector2(transform.position.x, transform.position.z); 16 | } 17 | 18 | set 19 | { 20 | transform.position = new Vector3(value.x, 0, value.y); 21 | } 22 | } 23 | 24 | public Vector2 direction; 25 | 26 | 27 | public void Move() 28 | { 29 | position += direction * speed * Time.deltaTime; 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Flow Fields/Assets/Flow Fields/Algorithm.cs: -------------------------------------------------------------------------------- 1 | using System.Linq; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Algorithm 6 | { 7 | private Grid2D grid; 8 | 9 | private Vector2[] goals; 10 | 11 | 12 | private Algorithm () { } 13 | 14 | public Algorithm (Grid2D grid, Vector2[] goals) 15 | { 16 | this.grid = grid; 17 | this.goals = goals; 18 | } 19 | 20 | 21 | /// 22 | /// Wavefront algorithm to create a distance field. 23 | /// 24 | public void GenerateDistanceField() 25 | { 26 | var marked = new List(); 27 | var cells = grid.cells; 28 | 29 | for (int i = 0; i < goals.Length; i++) 30 | { 31 | var goalCell = cells.First(c => c.position == goals[i]); 32 | goalCell.distance = 0; 33 | 34 | marked.Add(goalCell); 35 | } 36 | 37 | if (goals == null || goals.Length < 1) 38 | { 39 | Debug.LogError("No goals set !"); 40 | return; 41 | } 42 | 43 | 44 | while (marked.Count < cells.Length) 45 | { 46 | for (int i = 0; i < marked.Count; i++) 47 | { 48 | if (marked[i].unpassable) 49 | continue; 50 | 51 | var neighbours = grid.GetMooreNeighbours(marked[i]); 52 | for (int j = 0; j < 8; j++) 53 | { 54 | var cur = neighbours[j]; 55 | if (cur == null || marked.Contains(cur)) 56 | continue; 57 | 58 | cur.distance = marked[i].distance; 59 | cur.distance += (cur.position - marked[i].position).magnitude; 60 | 61 | marked.Add(cur); 62 | } 63 | } 64 | } 65 | } 66 | 67 | 68 | public void GenerateVectorFields() 69 | { 70 | for (int i = 0; i < grid.cells.Length; i++) 71 | { 72 | var cur = grid.cells[i]; 73 | var neighbours = grid.GetNeumannNeighbours(cur); 74 | 75 | float left, right, up, down; 76 | left = right = up = down = cur.distance; 77 | 78 | if (neighbours[0] != null && !neighbours[0].unpassable) up = neighbours[0].distance; 79 | if (neighbours[1] != null && !neighbours[1].unpassable) right = neighbours[1].distance; 80 | if (neighbours[2] != null && !neighbours[2].unpassable) down = neighbours[2].distance; 81 | if (neighbours[3] != null && !neighbours[3].unpassable) left = neighbours[3].distance; 82 | 83 | 84 | float x = left - right; 85 | float y = down - up; 86 | 87 | cur.direction = new Vector2(x, y); 88 | cur.direction.Normalize(); 89 | } 90 | } 91 | } 92 | -------------------------------------------------------------------------------- /Flow Fields/Assets/Flow Fields/Cell.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// A single node of the underlying 2D grid. Easily extendable to a 3D grid. 3 | /// 4 | 5 | using UnityEngine; 6 | 7 | [System.Serializable] 8 | public class Cell 9 | { 10 | public Vector2 position, direction; 11 | public float distance; 12 | 13 | // I've used a bool as a simple hack to mark cells unpassable. 14 | // You might just want to use a cost factor for something like this. 15 | public bool unpassable; 16 | 17 | private Cell () { } 18 | 19 | public Cell (Vector2 position) 20 | { 21 | this.position = position; 22 | } 23 | } 24 | -------------------------------------------------------------------------------- /Flow Fields/Assets/Flow Fields/FlowFieldsMaster.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Sets up the environment and runs the algorithm. 3 | /// Sets actor's movement. 4 | /// 5 | 6 | using UnityEngine; 7 | 8 | public class FlowFieldsMaster : MonoBehaviour 9 | { 10 | public int width = 20, length = 20; 11 | 12 | private Grid2D grid; 13 | private Group group; 14 | private Algorithm algorithm; 15 | public GameObject actorPrefab; 16 | 17 | public Vector2[] goals = new Vector2[] 18 | { 19 | new Vector2(2, 3), 20 | new Vector2(3, 4), 21 | new Vector2(4, 5), 22 | new Vector2(5, 6) 23 | }; 24 | 25 | public DrawGrid debug; 26 | 27 | 28 | private void Awake() 29 | { 30 | grid = new Grid2D(width, length); 31 | algorithm = new Algorithm(grid, goals); 32 | } 33 | 34 | 35 | private void Start() 36 | { 37 | grid.Generate(); 38 | SetUnpassables(); 39 | 40 | algorithm.GenerateDistanceField(); 41 | algorithm.GenerateVectorFields(); 42 | 43 | // Spawns just a single actor for testing. 44 | group = new Group(1, actorPrefab); 45 | group.SetStartPositions(); 46 | 47 | #if UNITY_EDITOR 48 | debug.InitCam(width, length, grid, goals); 49 | #endif 50 | } 51 | 52 | 53 | private void Update() 54 | { 55 | AssignVelocities(); 56 | group.MoveActors(); 57 | } 58 | 59 | 60 | private void AssignVelocities() 61 | { 62 | for (int i = 0; i < group.size; i++) 63 | { 64 | var actor = group.actors[i]; 65 | var pos = actor.position; 66 | 67 | var cell = grid.FindCellByPosition(actor.position); 68 | actor.direction = (cell != null) ? cell.direction : Vector2.zero; 69 | } 70 | } 71 | 72 | 73 | 74 | /// 75 | /// A little hack to mark some cells as unpassable. 76 | /// 77 | private void SetUnpassables() 78 | { 79 | for (int x = 4; x < 9; x++) 80 | { 81 | int index = x * length + 10; 82 | grid.cells[index].unpassable = true; 83 | } 84 | 85 | for (int y = 4; y < 10; y++) 86 | { 87 | int index = 8 * length + y; 88 | grid.cells[index].unpassable = true; 89 | } 90 | } 91 | } 92 | -------------------------------------------------------------------------------- /Flow Fields/Assets/Flow Fields/Grid2D.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Represents the underlying 2D grid for the implementation. Easily extendable to a 3D grid. 3 | /// 4 | 5 | using System.Linq; 6 | using System.Collections.Generic; 7 | using UnityEngine; 8 | 9 | /// 10 | /// Note: 11 | /// -> Algorithm is currently only for a single group, i.e. all actors will have the same goal ! 12 | /// 13 | 14 | [System.Serializable] 15 | public class Grid2D 16 | { 17 | private int width, length; 18 | public Cell[] cells; 19 | 20 | 21 | private Grid2D () { } 22 | 23 | public Grid2D (int width, int length) 24 | { 25 | this.width = width; 26 | this.length = length; 27 | } 28 | 29 | public void Generate () 30 | { 31 | cells = new Cell[width * length]; 32 | 33 | for (int w = 0; w < width; w++) 34 | { 35 | for (int l = 0; l < length; l++) 36 | { 37 | int index = w * length + l; 38 | var cell = new Cell(new Vector2(w, l)); 39 | 40 | cells[index] = cell; 41 | } 42 | } 43 | } 44 | 45 | 46 | public Cell[] GetNeumannNeighbours(Cell current) 47 | { 48 | var result = new Cell[4]; 49 | 50 | int x = (int)current.position.x; 51 | int y = (int)current.position.y; 52 | 53 | var indices = new int[] 54 | { 55 | x * length + (y + 1), 56 | (x + 1) * length + y, 57 | x * length + (y - 1), 58 | (x - 1) * length + y 59 | }; 60 | 61 | 62 | // North 63 | if (y < length - 1) 64 | result[0] = cells[indices[0]]; 65 | 66 | // East 67 | if (x < width - 1) 68 | result[1] = cells[indices[1]]; 69 | 70 | // South 71 | if (y > 0) 72 | result[2] = cells[indices[2]]; 73 | 74 | // West 75 | if (x > 0) 76 | result[3] = cells[indices[3]]; 77 | 78 | return result; 79 | } 80 | 81 | public Cell[] GetMooreNeighbours (Cell current) 82 | { 83 | var result = new Cell[8]; 84 | 85 | int x = (int) current.position.x; 86 | int y = (int) current.position.y; 87 | 88 | var indices = new int[] 89 | { 90 | x * length + (y + 1), 91 | (x + 1) * length + y, 92 | x * length + (y - 1), 93 | (x - 1) * length + y, 94 | (x - 1) * length + (y + 1), 95 | (x + 1) * length + (y + 1), 96 | (x - 1) * length + (y - 1), 97 | (x + 1) * length + (y - 1) 98 | }; 99 | 100 | 101 | // North 102 | if (y < length - 1) 103 | result[0] = cells[indices[0]]; 104 | 105 | // East 106 | if (x < width - 1) 107 | result[1] = cells[indices[1]]; 108 | 109 | // South 110 | if (y > 0) 111 | result[2] = cells[indices[2]]; 112 | 113 | // West 114 | if (x > 0) 115 | result[3] = cells[indices[3]]; 116 | 117 | 118 | // North-West 119 | if (y < length - 1 && x > 0) 120 | result[4] = cells[indices[4]]; 121 | 122 | // North-East 123 | if (y < length - 1 && x < width - 1) 124 | result[5] = cells[indices[5]]; 125 | 126 | // South-West 127 | if (y > 0 && x > 0) 128 | result[6] = cells[indices[6]]; 129 | 130 | // South-East 131 | if (y > 0 && x < width - 1) 132 | result[7] = cells[indices[7]]; 133 | 134 | return result; 135 | } 136 | 137 | public Cell FindCellByPosition(Vector2 pos) 138 | { 139 | int x = (int)pos.x; 140 | int y = (int)pos.y; 141 | 142 | if (x >= 0 && x < width && y >= 0 && y < length) 143 | { 144 | int index = x * length + y; 145 | var cell = cells[index]; 146 | return cell; 147 | } 148 | 149 | return null; 150 | } 151 | 152 | 153 | #region Debug 154 | public static void DrawGrid(int width, int length, Grid2D grid, Material mat) 155 | { 156 | for (int i = 0; i < width; i++) 157 | { 158 | for (int j = 0; j < length; j++) 159 | { 160 | int index = i * length + j; 161 | var cell = grid.cells[index]; 162 | 163 | GL.Color(Color.cyan); 164 | 165 | var ll = new Vector3(cell.position.x - 0.5f, 0, cell.position.y - 0.5f); 166 | var ul = new Vector3(cell.position.x - 0.5f, 0, cell.position.y + 0.5f); 167 | 168 | var lr = new Vector3(cell.position.x + 0.5f, 0, cell.position.y - 0.5f); 169 | var ur = new Vector3(cell.position.x + 0.5f, 0, cell.position.y + 0.5f); 170 | 171 | DrawEdge(mat, ll, ul); 172 | DrawEdge(mat, ul, ur); 173 | DrawEdge(mat, ur, lr); 174 | DrawEdge(mat, lr, ll); 175 | } 176 | } 177 | } 178 | 179 | public static void DrawEdge(Material material, Vector3 start, Vector3 end) 180 | { 181 | GL.Begin(GL.LINES); 182 | //GL.PushMatrix(); 183 | material.SetPass(0); 184 | //GL.LoadOrtho(); 185 | GL.Color(Color.cyan); 186 | GL.Vertex(start); 187 | GL.Vertex(end); 188 | GL.Color(Color.cyan); 189 | 190 | GL.End(); 191 | //GL.PopMatrix(); 192 | } 193 | 194 | public static List SetTexts (int width, int length, GameObject prefab, GameObject parent) 195 | { 196 | var texts = new List(); 197 | 198 | for (int w = 0; w < width; w++) 199 | { 200 | for (int l = 0; l < length; l++) 201 | { 202 | var go = GameObject.Instantiate(prefab, parent.transform); 203 | var t = go.GetComponentInChildren(); 204 | t.rectTransform.localPosition = new Vector3(w - 10, l - 10, 0); 205 | 206 | texts.Add(t); 207 | } 208 | } 209 | 210 | return texts; 211 | } 212 | 213 | public static List SetArrows(int width, int length, GameObject prefab, GameObject parent) 214 | { 215 | var arrows = new List(); 216 | 217 | for (int w = 0; w < width; w++) 218 | { 219 | for (int l = 0; l < length; l++) 220 | { 221 | var arr = GameObject.Instantiate(prefab).transform; 222 | arr.localPosition = new Vector3(w, 0, l); 223 | 224 | arrows.Add(arr); 225 | } 226 | } 227 | 228 | return arrows; 229 | } 230 | 231 | 232 | public static void UpdateTexts (int width, int length, List texts, Grid2D grid, Vector2[] goals) 233 | { 234 | for (int i = 0; i < width * length; i++) 235 | { 236 | texts[i].text = grid.cells[i].distance.ToString(); 237 | 238 | if(grid.cells[i].unpassable) 239 | { 240 | texts[i].text = "N/A"; 241 | texts[i].color = Color.red; 242 | } 243 | 244 | if (goals.Contains(grid.cells[i].position)) 245 | texts[i].color = Color.green; 246 | } 247 | } 248 | 249 | public static void UpdateArrows(int width, int length, List arrows, Grid2D grid) 250 | { 251 | for (int i = 0; i < width * length; i++) 252 | { 253 | var cur = grid.cells[i]; 254 | var direction = new Vector3(cur.direction.x, 0, cur.direction.y); 255 | 256 | if (direction != Vector3.zero) 257 | arrows[i].rotation = Quaternion.LookRotation(direction, Vector3.up); 258 | } 259 | } 260 | #endregion 261 | } 262 | -------------------------------------------------------------------------------- /Flow Fields/Assets/Flow Fields/Group.cs: -------------------------------------------------------------------------------- 1 | /// 2 | /// Can be used to combine multiple actors with the same goal. 3 | /// 4 | 5 | using UnityEngine; 6 | 7 | [System.Serializable] 8 | public class Group 9 | { 10 | public int size; 11 | public Actor[] actors; 12 | 13 | private GameObject prefab; 14 | 15 | 16 | private Group () { } 17 | 18 | public Group (int size, GameObject prefab) 19 | { 20 | this.size = size; 21 | this.prefab = prefab; 22 | 23 | GeneratePopulation(); 24 | } 25 | 26 | 27 | public void GeneratePopulation () 28 | { 29 | actors = new Actor[size]; 30 | for (int i = 0; i < size; i++) 31 | { 32 | var go = GameObject.Instantiate(prefab, Vector3.zero, Quaternion.identity); 33 | actors[i] = go.GetComponent(); 34 | } 35 | } 36 | 37 | 38 | public void MoveActors () 39 | { 40 | foreach (var act in actors) 41 | act.Move(); 42 | } 43 | 44 | 45 | 46 | // A little hack to set a predefined position for our single actor. 47 | public void SetStartPositions() 48 | { 49 | actors[0].position = new Vector2(16, 16); 50 | } 51 | } 52 | -------------------------------------------------------------------------------- /Flow Fields/Assets/Other stuff/Actor.prefab: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!1001 &100100000 4 | Prefab: 5 | m_ObjectHideFlags: 1 6 | serializedVersion: 2 7 | m_Modification: 8 | m_TransformParent: {fileID: 0} 9 | m_Modifications: [] 10 | m_RemovedComponents: [] 11 | m_ParentPrefab: {fileID: 0} 12 | m_RootGameObject: {fileID: 1182351535184118} 13 | m_IsPrefabParent: 1 14 | --- !u!1 &1182351535184118 15 | GameObject: 16 | m_ObjectHideFlags: 0 17 | m_PrefabParentObject: {fileID: 0} 18 | m_PrefabInternal: {fileID: 100100000} 19 | serializedVersion: 5 20 | m_Component: 21 | - 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-------------------------------------------------------------------------------- /Flow Fields/ProjectSettings/TagManager.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!78 &1 4 | TagManager: 5 | serializedVersion: 2 6 | tags: [] 7 | layers: 8 | - Default 9 | - TransparentFX 10 | - Ignore Raycast 11 | - 12 | - Water 13 | - UI 14 | - 15 | - 16 | - 17 | - 18 | - 19 | - 20 | - 21 | - 22 | - 23 | - 24 | - 25 | - 26 | - 27 | - 28 | - 29 | - 30 | - 31 | - 32 | - 33 | - 34 | - 35 | - 36 | - 37 | - 38 | - 39 | - 40 | m_SortingLayers: 41 | - name: Default 42 | uniqueID: 0 43 | locked: 0 44 | -------------------------------------------------------------------------------- /Flow Fields/ProjectSettings/TimeManager.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!5 &1 4 | TimeManager: 5 | m_ObjectHideFlags: 0 6 | Fixed Timestep: 0.02 7 | Maximum Allowed Timestep: 0.33333334 8 | m_TimeScale: 1 9 | Maximum Particle Timestep: 0.03 10 | -------------------------------------------------------------------------------- /Flow Fields/ProjectSettings/UnityConnectSettings.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!310 &1 4 | UnityConnectSettings: 5 | m_ObjectHideFlags: 0 6 | m_Enabled: 0 7 | m_TestMode: 0 8 | m_TestEventUrl: 9 | m_TestConfigUrl: 10 | m_TestInitMode: 0 11 | CrashReportingSettings: 12 | m_EventUrl: https://perf-events.cloud.unity3d.com/api/events/crashes 13 | m_Enabled: 0 14 | m_CaptureEditorExceptions: 1 15 | UnityPurchasingSettings: 16 | m_Enabled: 0 17 | m_TestMode: 0 18 | UnityAnalyticsSettings: 19 | m_Enabled: 1 20 | m_InitializeOnStartup: 1 21 | m_TestMode: 0 22 | m_TestEventUrl: 23 | m_TestConfigUrl: 24 | UnityAdsSettings: 25 | m_Enabled: 0 26 | m_InitializeOnStartup: 1 27 | m_TestMode: 0 28 | m_EnabledPlatforms: 4294967295 29 | m_IosGameId: 30 | m_AndroidGameId: 31 | m_GameIds: {} 32 | m_GameId: 33 | PerformanceReportingSettings: 34 | m_Enabled: 0 35 | -------------------------------------------------------------------------------- /Flow Fields/UnityPackageManager/manifest.json: -------------------------------------------------------------------------------- 1 | { 2 | "dependencies": { 3 | } 4 | } 5 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Mario Infantino 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Unity-Flow-Fields 2 | The implementation is pretty basic, it needs to be a little adjusted to be used in conjunction with groups having different goals. 3 | That's a trivial task so I've left it out to keep the implementation lighter. However, you can spawn multiple actors with a common goal by simply using the provided 'Group' class. 4 | 5 | See the implementation in action 6 | https://www.youtube.com/watch?v=jLjaN6ps3BA 7 | 8 | 9 | **Instructions** 10 | 1) Set up a prefab for an Actor, throw the 'Actor' component on top of it. 11 | 2) Add the 'FlowFieldsMaster' component to a Game Object in your scene. Assign the actor prefab. 12 | *You're good to go!* 13 | --------------------------------------------------------------------------------