static void InsertNears(Cell a, Cell b, GtMsg.Cell a1, int aLineIndex, int bLineIndex)
{
int index = b.index;
var c = new Nears {
Index = index, Distance = Vector3.Distance(a.MidPos, b.MidPos)
};
CommonFunc.Get2PointIndexBy1LineIndex(aLineIndex, ref c.PointIndex[0], ref c.PointIndex[1]);
c.LineIndex = aLineIndex;
c.OtherLineIndex = bLineIndex;
a.nears[aLineIndex] = c;
GtMsg.Nears c2 = a1.Nears[aLineIndex];
c2.Index = index;
c2.Enable = true;
c2.Distance = c.Distance;
c2.OtherLineIndex = c.OtherLineIndex;
c2.LineIndex = c.LineIndex;
c2.PointIndex.Add(c.PointIndex[0]);
c2.PointIndex.Add(c.PointIndex[1]);
}
static void Export()
{
Debug.Log("ExportNavMesh");
UnityEngine.AI.NavMeshTriangulation tmpNavMeshTriangulation = UnityEngine.AI.NavMesh.CalculateTriangulation();
GtMsg.NavData navData = new GtMsg.NavData();
list = new List <Cell>();
posList = new List <PosData>();
//初始化每个cell的点
for (int i = 0; i < tmpNavMeshTriangulation.indices.Length;)
{
var cell = new Cell();
var v0 = tmpNavMeshTriangulation.indices[i];
var v1 = tmpNavMeshTriangulation.indices[i + 1];
var v2 = tmpNavMeshTriangulation.indices[i + 2];
cell.v[0] = CommonFunc.Round(tmpNavMeshTriangulation.vertices[v0]);
cell.v[1] = CommonFunc.Round(tmpNavMeshTriangulation.vertices[v1]);
cell.v[2] = CommonFunc.Round(tmpNavMeshTriangulation.vertices[v2]);
cell.v[0].y = 0;
cell.v[1].y = 0;
cell.v[2].y = 0;
//cell.vNormal[0] = new Vector3[2];
//cell.vNormal[0][0] = Vector3.Normalize(cell.v[0] - cell.v[1]);
//cell.vNormal[0][1] = Vector3.Normalize(cell.v[0] - cell.v[2]);
//cell.vNormal[1][0] = Vector3.Normalize(cell.v[1] - cell.v[0]);
//cell.vNormal[1][1] = Vector3.Normalize(cell.v[1] - cell.v[2]);
//cell.vNormal[2][0] = Vector3.Normalize(cell.v[2] - cell.v[1]);
//cell.vNormal[2][1] = Vector3.Normalize(cell.v[2] - cell.v[0]);
//cell.MaxX = GetMaxX(cell.v[0], cell.v[1], cell.v[2]);
//cell.MaxY = GetMaxZ(cell.v[0], cell.v[1], cell.v[2]);
//cell.MinX = GetMinX(cell.v[0], cell.v[1], cell.v[2]);
//cell.MinY = GetMinZ(cell.v[0], cell.v[1], cell.v[2]);
//cell.AreaSize = GetAreaSize(cell.v[0], cell.v[1], cell.v[2]);
//cell.index = list.Count;
list.Add(cell);
i = i + 3;
}
//处理不合格的cell
int Count = 0;
for (int i = 0; i < list.Count; i++)
{
var a = list[i];
if (a.tobeRemove)
{
continue;
}
for (int j = 0; j < list.Count; j++)
{
var b = list[j];
if (b.tobeRemove)
{
continue;
}
if (a != b)
{
var a0 = a.v[0];
var a1 = a.v[1];
var a2 = a.v[2];
var b0 = b.v[0];
var b1 = b.v[1];
var b2 = b.v[2];
int index = -1;
int vx1 = -1;
int vx2 = -1;
if (CommonFunc.PointInVector2(a0, a1, b0))
{
index = 0;
vx1 = 0;
vx2 = 1;
}
else if (CommonFunc.PointInVector2(a1, a2, b0))
{
index = 0;
vx1 = 1;
vx2 = 2;
}
else if (CommonFunc.PointInVector2(a2, a0, b0))
{
index = 0;
vx1 = 2;
vx2 = 0;
}
else if (CommonFunc.PointInVector2(a0, a1, b1))
{
index = 1;
vx1 = 0;
vx2 = 1;
}
else if (CommonFunc.PointInVector2(a1, a2, b1))
{
index = 1;
vx1 = 1;
vx2 = 2;
}
else if (CommonFunc.PointInVector2(a2, a0, b1))
{
index = 1;
vx1 = 2;
vx2 = 0;
}
else if (CommonFunc.PointInVector2(a0, a1, b2))
{
index = 2;
vx1 = 0;
vx2 = 1;
}
else if (CommonFunc.PointInVector2(a1, a2, b2))
{
index = 2;
vx1 = 1;
vx2 = 2;
}
else if (CommonFunc.PointInVector2(a2, a0, b2))
{
index = 2;
vx1 = 2;
vx2 = 0;
}
if (index != -1)
{
testList = GetCellByPoint(b.v[index]);
var length1 = Vector3.SqrMagnitude(b.v[index] - a.v[vx1]);
var length2 = Vector3.SqrMagnitude(b.v[index] - a.v[vx2]);
Vector3 pp;
if (length1 > length2)
{
pp = a.v[vx2];
}
else
{
pp = a.v[vx1];
}
foreach (var tt in testList)
{
bool bb = IsCellPoint(tt, pp);
//
if (bb)
{
//删除小三角形
//list.Remove(tt);
tt.tobeRemove = true;
Count++;
}
else
{
//扩张大三角形
for (int k = 0; k < 3; k++)
{
if (tt.v[k].Equals(b.v[index]))
{
tt.v[k] = pp;
break;
}
}
}
}
}
}
}
}
//设置cell的属性
Debug.Log(Count);
List <Cell> listtemp = new List <Cell>();
for (int k = 0; k < list.Count; k++)
{
var cell = list[k];
if (!cell.tobeRemove)
{
for (int i = 0; i < 3; i++)
{
int posIndex = -1;
for (int j = 0; j < posList.Count; j++)
{
var v = posList[j];
if (v.Pos.Equals(cell.v[i]))
{
posIndex = j;
break;
}
}
if (posIndex == -1)
{
posList.Add(new PosData {
Pos = cell.v[i]
});
navData.PosList.Add(new GtMsg.PosData {
Pos = CommonFunc.GetVec3(cell.v[i])
});
posIndex = posList.Count - 1;
}
cell.vIndex[i] = posIndex;
posList[posIndex].CellIndexs.Add(k);
navData.PosList[posIndex].CellIndexs.Add(k);
}
cell.LineMidPos[0] = CommonFunc.Round((cell.v[0] + cell.v[1]) / 2);
cell.LineMidPos[1] = CommonFunc.Round((cell.v[1] + cell.v[2]) / 2);
cell.LineMidPos[2] = CommonFunc.Round((cell.v[2] + cell.v[0]) / 2);
cell.Normalize[0] = Vector3.Normalize(cell.v[1] - cell.v[0]);
cell.Normalize[1] = Vector3.Normalize(cell.v[2] - cell.v[1]);
cell.Normalize[2] = Vector3.Normalize(cell.v[0] - cell.v[2]);
cell.LineMidSqrDistance[0] = CommonFunc.Round(GetLineMidDstance(cell.v[0], cell.v[1], cell.v[2]));
cell.LineMidSqrDistance[1] = CommonFunc.Round(GetLineMidDstance(cell.v[1], cell.v[0], cell.v[2]));
cell.LineMidSqrDistance[2] = CommonFunc.Round(GetLineMidDstance(cell.v[2], cell.v[0], cell.v[1]));
cell.MidPos = (cell.v[0] + cell.v[1] + cell.v[2]) / 3;
listtemp.Add(cell);
GtMsg.Cell msg_cell = new GtMsg.Cell();
msg_cell.V.Add(CommonFunc.GetVec3(cell.v[0]));
msg_cell.V.Add(CommonFunc.GetVec3(cell.v[1]));
msg_cell.V.Add(CommonFunc.GetVec3(cell.v[2]));
msg_cell.VIndex.Add(cell.vIndex[0]);
msg_cell.VIndex.Add(cell.vIndex[1]);
msg_cell.VIndex.Add(cell.vIndex[2]);
msg_cell.MidPos = CommonFunc.GetVec3(cell.MidPos);
msg_cell.Index = navData.Celllist.Count;
msg_cell.LineMidSqrDistance.Add(cell.LineMidSqrDistance[0]);
msg_cell.LineMidSqrDistance.Add(cell.LineMidSqrDistance[1]);
msg_cell.LineMidSqrDistance.Add(cell.LineMidSqrDistance[2]);
msg_cell.LineMidPos.Add(CommonFunc.GetVec3(cell.LineMidPos[0]));
msg_cell.LineMidPos.Add(CommonFunc.GetVec3(cell.LineMidPos[1]));
msg_cell.LineMidPos.Add(CommonFunc.GetVec3(cell.LineMidPos[2]));
msg_cell.Normalize.Add(CommonFunc.GetVec3(cell.Normalize[0]));
msg_cell.Normalize.Add(CommonFunc.GetVec3(cell.Normalize[1]));
msg_cell.Normalize.Add(CommonFunc.GetVec3(cell.Normalize[2]));
for (int i = 0; i < 3; i++)
{
GtMsg.Nears n = new GtMsg.Nears();
n.Enable = false;
msg_cell.Nears.Add(n);
}
cell.index = msg_cell.Index;
navData.Celllist.Add(msg_cell);
}
}
list = listtemp;
//设置相邻cell
for (int i = 0; i < list.Count; i++)
{
var a = list[i];
for (int j = 0; j < list.Count; j++)
{
var b = list[j];
if (a != b)
{
int aLineIndex = -1;
int bLineIndex = -1;
if (IsNearCell(a, b, ref aLineIndex, ref bLineIndex))
{
var a2 = navData.Celllist[i];
InsertNears(a, b, a2, aLineIndex, bLineIndex);
}
}
}
}
string resourcePath = Application.dataPath + "/Resources/File/";
if (!Directory.Exists(resourcePath))
{
Directory.CreateDirectory(resourcePath);
}
using (FileStream output = File.Create(resourcePath + "NavMesh.bytes"))
{
navData.WriteTo(output);
}
AssetDatabase.Refresh();
EditorUtility.DisplayDialog("加载地图网格", "加载成功", "关闭");
Debug.Log("ExportNavMesh Success");
}
