public static void BakeMapData(MapData data, Boolean inEditor)
{
FPMathUtils.LoadLookupTables();
if (inEditor == false && !data.Asset)
{
data.Asset = ScriptableObject.CreateInstance <MapAsset>();
data.Asset.Settings = new Quantum.Map();
}
BakeData(data, inEditor);
}
public static void Init(Boolean force = false)
{
#if UNITY_EDITOR_WIN || UNITY_STANDALONE_WIN
Quantum.Native.Impl = Quantum.Native.NativeImpl.MSCVCRT;
#elif UNITY_EDITOR_OSX || UNITY_STANDALONE_OSX || UNITY_IOS
Quantum.Native.Impl = Quantum.Native.NativeImpl.LIBC;
#elif UNITY_ANDROID
Quantum.Native.Impl = Quantum.Native.NativeImpl.C;
#elif UNITY_SWITCH && !UNITY_EDITOR
unsafe {
Quantum.Native.Impl = Quantum.Native.NativeImpl.DELEGATE;
Quantum.Native.MemCpyDelegate = __Internal.MemCpyCaller;
}
#endif
// load lookup table
FPMathUtils.LoadLookupTables(force);
// init profiler
Quantum.Profiler.Init(x => UnityEngine.Profiling.Profiler.BeginSample(x), () => UnityEngine.Profiling.Profiler.EndSample());
// init debug draw functions
Quantum.Draw.Init(
Quantum.Core.DebugDraw.Ray,
Quantum.Core.DebugDraw.Line,
Quantum.Core.DebugDraw.Circle,
Quantum.Core.DebugDraw.Rectangle
);
// init quantum logger
Quantum.Log.Init(
UnityEngine.Debug.Log,
UnityEngine.Debug.LogWarning,
UnityEngine.Debug.LogError,
UnityEngine.Debug.LogException
);
// init photon logger
Photon.Deterministic.DeterministicLog.Init(
UnityEngine.Debug.Log,
UnityEngine.Debug.LogWarning,
UnityEngine.Debug.LogError,
UnityEngine.Debug.LogException
);
}
public static void BakeNavMeshes(MapData data, Boolean inEditor)
{
FPMathUtils.LoadLookupTables();
data.Asset.NavMeshes = new TextAsset[0];
var navmeshes = BakeNavMeshesLoop(data).ToArray();
if (inEditor)
{
#if UNITY_EDITOR
var pathOnDisk = PathUtils.Combine('/', Path.GetDirectoryName(Application.dataPath), Path.GetDirectoryName(AssetDatabase.GetAssetPath(data.Asset)));
var assetDir = Path.GetDirectoryName(AssetDatabase.GetAssetPath(data.Asset));
var assetPath = PathUtils.Combine('/', assetDir, Path.GetFileNameWithoutExtension(AssetDatabase.GetAssetPath(data.Asset)));
foreach (var navmesh in navmeshes)
{
var navmeshFileOnDisk = data.Asset.name + "_" + navmesh.Name + ".bytes";
var navmeshAssetPath = assetPath + "_" + navmesh.Name + ".bytes";
// serialize (max 20 megabytes for now)
var bytestream = new ByteStream(new Byte[1024 * 1024 * 20]);
navmesh.Serialize(bytestream, true);
// write
File.WriteAllBytes(PathUtils.Combine('/', pathOnDisk, navmeshFileOnDisk), bytestream.ToArray());
// import asset
AssetDatabase.ImportAsset(navmeshAssetPath, ImportAssetOptions.ForceUpdate);
// add assets to navmehs
ArrayUtils.Add(ref data.Asset.NavMeshes, AssetDatabase.LoadAssetAtPath <TextAsset>(navmeshAssetPath));
}
#endif
}
else
{
data.Asset.InitNavMeshes(navmeshes);
}
}
void DrawGizmo(Boolean selected)
{
#if UNITY_EDITOR
if (Vertices.Length >= 3)
{
FPMathUtils.LoadLookupTables();
var color = FPVector2.IsPolygonConvex(Vertices) ? ColorRGBA.ColliderGreen : ColorRGBA.Red;
var normals = FPVector2.CalculatePolygonNormals(Vertices);
UnityEditor.Handles.matrix = transform.localToWorldMatrix;
UnityEditor.Handles.color = color.ToColor().Alpha(0.125f);
UnityEditor.Handles.DrawAAConvexPolygon(Vertices.Select(x => x.ToUnityVector3()).ToArray());
var cw = FPVector2.IsClockWise(Vertices);
Gizmos.color = color.ToColor().Alpha(selected ? 1f : 0.55f);
Gizmos.matrix = transform.localToWorldMatrix;
for (Int32 i = 0; i < Vertices.Length; ++i)
{
var v1 = Vertices[i].ToUnityVector3();
var v2 = Vertices[(i + 1) % Vertices.Length].ToUnityVector3();
var n = (cw ? -normals[i] : normals[i]).ToUnityVector3();
var c = Vector3.Lerp(v1, v2, 0.5f);
Gizmos.DrawLine(v1, v2);
Gizmos.DrawLine(c, c + (n * 0.25f));
}
Gizmos.DrawWireSphere(FPVector2.CalculatePolygonCentroid(Vertices).ToUnityVector3(), 0.025f);
}
//Gizmos.DrawWireSphere(Vector3.zero, FPVector2.CalculatePolygonRadius(Vertices).AsFloat);
Gizmos.color = UnityEditor.Handles.color = Color.white;
Gizmos.matrix = UnityEditor.Handles.matrix = Matrix4x4.identity;
#endif
}
public static NavMesh BakeNavMesh(MapData data, MapNavMeshDefinition navmeshDefinition)
{
try {
FPMathUtils.LoadLookupTables();
var vs_array = navmeshDefinition.Vertices.ToArray();
var nav_vertices = vs_array.Map(x => new NavMeshVertex {
Point = x.Position.ToFPVector2(), Neighbors = new Int32[0], Triangles = new Int32[0], Borders = new Int32[0]
});
var nav_triangles = new NavMeshTriangle[0];
// TRIANGLES
for (Int32 i = 0; i < navmeshDefinition.Triangles.Length; ++i)
{
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Calculating Triangles", i, navmeshDefinition.Triangles.Length);
var t = navmeshDefinition.Triangles[i];
var v0 = Array.FindIndex(vs_array, x => x.Id == t.VertexIds[0]);
var v1 = Array.FindIndex(vs_array, x => x.Id == t.VertexIds[1]);
var v2 = Array.FindIndex(vs_array, x => x.Id == t.VertexIds[2]);
ArrayUtils.Add(ref nav_triangles, new NavMeshTriangle {
Vertex0 = v0,
Vertex1 = v1,
Vertex2 = v2,
Center = (nav_vertices[v0].Point + nav_vertices[v1].Point + nav_vertices[v2].Point) / FP._3
});
}
// TRIANGLE GRID
var nav_triangles_grid = new NavMeshTriangleNode[data.Asset.Settings.GridSize * data.Asset.Settings.GridSize];
//for (Int32 i = 0; i < nav_triangles_grid.Length; ++i) {
// nav_triangles_grid[i] = i + 1;
//}
for (Int32 i = 0; i < nav_triangles.Length; ++i)
{
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Calculating Triangle Grid", i, nav_triangles.Length);
var v0 = nav_vertices[nav_triangles[i].Vertex0].Point;
var v1 = nav_vertices[nav_triangles[i].Vertex1].Point;
var v2 = nav_vertices[nav_triangles[i].Vertex2].Point;
for (Int32 z = 0; z < data.Asset.Settings.GridSize; ++z)
{
for (Int32 x = 0; x < data.Asset.Settings.GridSize; ++x)
{
var bl = data.Asset.Settings.WorldOffset + new FPVector2(x * data.Asset.Settings.GridNodeSize, z * data.Asset.Settings.GridNodeSize);
var br = bl + new FPVector2(data.Asset.Settings.GridNodeSize, 0);
var ur = bl + new FPVector2(data.Asset.Settings.GridNodeSize, data.Asset.Settings.GridNodeSize);
var ul = bl + new FPVector2(0, data.Asset.Settings.GridNodeSize);
if (
// if any of the corners are inside the triangle
FPCollision.TriangleContainsPoint(bl, v0, v1, v2) ||
FPCollision.TriangleContainsPoint(br, v0, v1, v2) ||
FPCollision.TriangleContainsPoint(ur, v0, v1, v2) ||
FPCollision.TriangleContainsPoint(ul, v0, v1, v2) ||
// BL => BR
FPCollision.TriangleContainsPoint(v0, v1, bl, br) ||
FPCollision.TriangleContainsPoint(v1, v2, bl, br) ||
FPCollision.TriangleContainsPoint(v2, v0, bl, br) ||
// BR => UR
FPCollision.TriangleContainsPoint(v0, v1, br, ur) ||
FPCollision.TriangleContainsPoint(v1, v2, br, ur) ||
FPCollision.TriangleContainsPoint(v2, v0, br, ur) ||
// UR => UL
FPCollision.TriangleContainsPoint(v0, v1, ur, ul) ||
FPCollision.TriangleContainsPoint(v1, v2, ur, ul) ||
FPCollision.TriangleContainsPoint(v2, v0, ur, ul) ||
// UL => BL
FPCollision.TriangleContainsPoint(v0, v1, ul, bl) ||
FPCollision.TriangleContainsPoint(v1, v2, ul, bl) ||
FPCollision.TriangleContainsPoint(v2, v0, ul, bl)
)
{
var idx = (z * data.Asset.Settings.GridSize) + x;
if (nav_triangles_grid[idx].Triangles == null)
{
nav_triangles_grid[idx].Triangles = new Int32[0];
}
// add triangle to this grid node
ArrayUtils.Add(ref nav_triangles_grid[idx].Triangles, i);
}
}
}
}
// VERTEX NEIGHBORS
for (Int32 v = 0; v < nav_vertices.Length; ++v)
{
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Calculating Vertex Neighbors", v, nav_vertices.Length);
var triangles = new HashSet <Int32>();
var neighbors = new HashSet <Int32>();
for (Int32 t = 0; t < nav_triangles.Length; ++t)
{
var tr = nav_triangles[t];
if (tr.Vertex0 == v || tr.Vertex1 == v || tr.Vertex2 == v)
{
triangles.Add(t);
neighbors.Add(tr.Vertex0);
neighbors.Add(tr.Vertex1);
neighbors.Add(tr.Vertex2);
}
}
// remove itself from neighbors set
neighbors.Remove(v);
//
nav_vertices[v].Triangles = triangles.OrderBy(x => x).ToArray();
nav_vertices[v].Neighbors = neighbors.ToArray();
}
// BORDER EDGES
for (Int32 t = 0; t < nav_triangles.Length; ++t)
{
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Calculating Border Edges", t, nav_triangles.Length);
var tr = nav_triangles[t];
if (IsBorderEdge(nav_triangles, t, tr.Vertex0, tr.Vertex1))
{
ArrayUtils.Add(ref nav_vertices[tr.Vertex0].Borders, tr.Vertex1);
ArrayUtils.Add(ref nav_vertices[tr.Vertex1].Borders, tr.Vertex0);
}
if (IsBorderEdge(nav_triangles, t, tr.Vertex1, tr.Vertex2))
{
ArrayUtils.Add(ref nav_vertices[tr.Vertex1].Borders, tr.Vertex2);
ArrayUtils.Add(ref nav_vertices[tr.Vertex2].Borders, tr.Vertex1);
}
if (IsBorderEdge(nav_triangles, t, tr.Vertex2, tr.Vertex0))
{
ArrayUtils.Add(ref nav_vertices[tr.Vertex2].Borders, tr.Vertex0);
ArrayUtils.Add(ref nav_vertices[tr.Vertex0].Borders, tr.Vertex2);
}
}
// NORMALS
var pt2 = FP._0_10 * FP._2;
var pt3 = FP._0_10 * FP._3;
for (Int32 i = 0; i < nav_vertices.Length; ++i)
{
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Calculating Normals", i, nav_vertices.Length);
var v = nav_vertices[i];
var tn = new FPVector2[3];
if (v.Borders != null)
{
// 0. preferred middle of borders
var borders = v.Borders.Map(x => FPVector2.Normalize(nav_vertices[x].Point - v.Point));
if (borders.Length == 2)
{
tn[0] = FPVector2.Normalize(FPVector2.Lerp(borders[0], borders[1], FP._0_50));
}
// 1. second preferred neighbor edge that is furthest away from borders
if (v.Neighbors != null)
{
var neighbors = v.Neighbors.Where(x => !v.Borders.Contains(x)).Select(x =>
new Neighbor {
Direction = FPVector2.Normalize(nav_vertices[x].Point - v.Point),
Vertex = x
}
).ToArray();
var max_dot = FP.MinValue;
var max_neighbor = default(Neighbor);
max_neighbor.Vertex = -1;
for (Int32 n = 0; n < neighbors.Length; ++n)
{
var dot = FP._0;
for (Int32 b = 0; b < borders.Length; ++b)
{
dot += FPVector2.Dot(borders[b], neighbors[n].Direction);
}
dot = FPMath.Abs(dot);
if (dot > max_dot)
{
max_dot = dot;
max_neighbor = neighbors[n];
}
}
if (max_neighbor.Vertex >= 0)
{
tn[1] = max_neighbor.Direction * pt2;
}
}
}
// 2. least preferred, avarage of triangle normals
foreach (var tc in v.Triangles.Select(x => FPVector2.Normalize(TriangleCenter(nav_triangles[x], nav_vertices) - v.Point)))
{
tn[2] += tc;
}
tn[2] = FPVector2.Normalize(tn[2]);
// find normal
var failed = true;
for (Int32 k = 0; failed && k < tn.Length; ++k)
{
if (tn[k] != FPVector2.Zero)
{
if (failed && TriangleContains(nav_triangles, nav_vertices, (v.Point + (tn[k] * pt3))))
{
nav_vertices[i].Normal = FPVector2.Normalize(tn[k] * pt2);
// we're done
failed = false;
}
if (failed && TriangleContains(nav_triangles, nav_vertices, (v.Point + (-tn[k] * pt3))))
{
nav_vertices[i].Normal = FPVector2.Normalize(-tn[k] * pt2);
// we're done
failed = false;
}
}
}
}
// BORDER SET
HashSet <Border> border_set = new HashSet <Border>();
for (Int32 v = 0; v < nav_vertices.Length; ++v)
{
Progress(navmeshDefinition.name + " Baking: Border Set", v, nav_vertices.Length);
if (nav_vertices[v].Borders != null)
{
for (Int32 n = 0; n < nav_vertices[v].Borders.Length; ++n)
{
border_set.Add(new Border(v, nav_vertices[v].Borders[n], border_set.Count + 1));
}
}
}
// BORDER GRID
var nav_border_grid = new NavMeshBorderNode[data.Asset.Settings.GridSize * data.Asset.Settings.GridSize];
for (Int32 z = 0; z < data.Asset.Settings.GridSize; ++z)
{
for (Int32 x = 0; x < data.Asset.Settings.GridSize; ++x)
{
var idx = (z * data.Asset.Settings.GridSize) + x;
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Border Grid", idx, data.Asset.Settings.GridSize * data.Asset.Settings.GridSize);
// set index key
// nav_border_grid[idx].key = idx + 1;
//
var zn = (FP)z * data.Asset.Settings.GridNodeSize;
var xn = (FP)x * data.Asset.Settings.GridNodeSize;
FPVector2 bl = data.Asset.Settings.WorldOffset + new FPVector2(xn, zn);
FPVector2 br = data.Asset.Settings.WorldOffset + new FPVector2(xn + data.Asset.Settings.GridNodeSize, zn);
FPVector2 ur = data.Asset.Settings.WorldOffset + new FPVector2(xn + data.Asset.Settings.GridNodeSize, zn + data.Asset.Settings.GridNodeSize);
FPVector2 ul = data.Asset.Settings.WorldOffset + new FPVector2(xn, zn + data.Asset.Settings.GridNodeSize);
foreach (var b in border_set)
{
var p0 = nav_vertices[b.V0].Point;
var p1 = nav_vertices[b.V1].Point;
if (
FPCollision.LineIntersectsLine(p0, p1, bl, br) ||
FPCollision.LineIntersectsLine(p0, p1, br, ur) ||
FPCollision.LineIntersectsLine(p0, p1, ur, ul) ||
FPCollision.LineIntersectsLine(p0, p1, ul, bl)
)
{
if (nav_border_grid[idx].Borders == null)
{
nav_border_grid[idx].Borders = new NavMeshBorder[0];
}
ArrayUtils.Add(ref nav_border_grid[idx].Borders, new NavMeshBorder {
Key = b.Key,
V0 = p0,
V1 = p1,
});
}
}
}
}
// TRIANGLE CENTER GRID
var nav_triangles_center_grid = new Int32[data.Asset.Settings.GridSize * data.Asset.Settings.GridSize];
for (Int32 z = 0; z < data.Asset.Settings.GridSize; ++z)
{
for (Int32 x = 0; x < data.Asset.Settings.GridSize; ++x)
{
var idx = (z * data.Asset.Settings.GridSize) + x;
Progress("Baking NavMesh '" + navmeshDefinition.name + "': Triangle Center Grid", idx, data.Asset.Settings.GridSize * data.Asset.Settings.GridSize);
var zn = (FP)(z * data.Asset.Settings.GridNodeSize);
var xn = (FP)(x * data.Asset.Settings.GridNodeSize);
var g = data.Asset.Settings.WorldOffset + new FPVector2(xn, zn) + new FPVector2(FP.FromFloat_UNSAFE(data.Asset.Settings.GridNodeSize * 0.5f), FP.FromFloat_UNSAFE(data.Asset.Settings.GridNodeSize * 0.5f));
var d = FP.MaxValue;
var t = -1;
for (Int32 i = 0; i < nav_triangles.Length; ++i)
{
var c = nav_triangles[i].Center;
if (FPVector2.DistanceSquared(g, c) < d)
{
d = FPVector2.DistanceSquared(g, c);
t = i;
}
}
Assert.Check(t >= 0);
nav_triangles_center_grid[idx] = t;
}
}
NavMesh navmesh;
navmesh = new NavMesh();
navmesh.GridSize = data.Asset.Settings.GridSize;
navmesh.GridNodeSize = data.Asset.Settings.GridNodeSize;
navmesh.WorldOffset = data.Asset.Settings.WorldOffset;
navmesh.Name = navmeshDefinition.name;
navmesh.Vertices = nav_vertices;
navmesh.BorderGrid = nav_border_grid;
navmesh.Triangles = nav_triangles;
navmesh.TrianglesGrid = nav_triangles_grid;
navmesh.TrianglesCenterGrid = nav_triangles_center_grid;
return(navmesh);
}
finally {
#if UNITY_EDITOR
EditorUtility.ClearProgressBar();
#endif
}
}
