public MyGridNavigationMesh(MyCubeGrid grid, MyNavmeshCoordinator coordinator, int triPrealloc = 32, Func <long> timestampFunction = null)
: base(coordinator != null ? coordinator.Links : null, triPrealloc, timestampFunction)
{
m_connectionHelper = new Dictionary <EdgeIndex, int>();
m_smallTriangleRegistry = new Dictionary <Vector3I, List <int> >();
m_cubeSet = new MyVector3ISet();
m_coordinator = coordinator;
m_static = false;
if (grid != null)
{
m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
m_higherLevelHelper = new MyGridHighLevelHelper(this, m_smallTriangleRegistry, new Vector3I(8, 8, 8));
m_grid = grid;
grid.OnBlockAdded += grid_OnBlockAdded;
grid.OnBlockRemoved += grid_OnBlockRemoved;
float divisor = 1.0f / grid.CubeBlocks.Count;
Vector3 center = Vector3.Zero;
foreach (var block in grid.CubeBlocks)
{
OnBlockAddedInternal(block);
center += block.Position * grid.GridSize * divisor;
}
}
}
public void MakeStatic()
{
if (!this.m_static)
{
this.m_static = true;
this.m_connectionHelper = null;
this.m_cubeSet = null;
}
}
public void MakeStatic()
{
if (m_static == true)
{
return;
}
m_static = true;
m_connectionHelper = null;
m_cubeSet = null;
}
public MyGridHighLevelHelper(MyGridNavigationMesh mesh, Dictionary <Vector3I, List <int> > triangleRegistry, Vector3I cellSize)
{
this.m_mesh = mesh;
this.m_cellSize = cellSize;
this.m_packedCoord = 0UL;
this.m_currentCellConnections = new List <List <int> >();
this.m_changedCells = new MyVector3ISet();
this.m_changedCubes = new MyVector3ISet();
this.m_triangleRegistry = triangleRegistry;
this.m_components = new MyNavmeshComponents();
}
public MyGridHighLevelHelper(MyGridNavigationMesh mesh, Dictionary<Vector3I, List<int>> triangleRegistry, Vector3I cellSize)
{
m_mesh = mesh;
m_cellSize = cellSize;
m_packedCoord = 0;
m_currentCellConnections = new List<List<int>>();
m_changedCells = new MyVector3ISet();
m_changedCubes = new MyVector3ISet();
m_triangleRegistry = triangleRegistry;
m_components = new MyNavmeshComponents();
}
public MyVoxelHighLevelHelper(MyVoxelNavigationMesh mesh)
{
this.m_mesh = mesh;
this.m_triangleList = new MyIntervalList();
this.m_triangleLists = new Dictionary <ulong, MyIntervalList>();
this.m_exploredCells = new MyVector3ISet();
this.m_navmeshComponents = new MyNavmeshComponents();
this.m_currentCellConnections = new List <List <ConnectionInfo> >();
for (int i = 0; i < 8; i++)
{
this.m_currentCellConnections.Add(new List <ConnectionInfo>());
}
}
public MyVoxelHighLevelHelper(MyVoxelNavigationMesh mesh)
{
m_mesh = mesh;
m_triangleList = new MyIntervalList();
m_triangleLists = new Dictionary<ulong, MyIntervalList>();
m_exploredCells = new MyVector3ISet();
m_navmeshComponents = new MyNavmeshComponents();
m_currentCellConnections = new List<List<ConnectionInfo>>();
for (int i = 0; i < 8; ++i)
{
m_currentCellConnections.Add(new List<ConnectionInfo>());
}
}
public MyVoxelNavigationMesh(MyVoxelMap voxelMap, MyNavmeshCoordinator coordinator, Func <long> timestampFunction)
: base(coordinator.Links, 16, timestampFunction)
{
m_voxelMap = voxelMap;
m_cellSize = m_voxelMap.SizeInMetres / m_voxelMap.Storage.Geometry.CellsCount * (1 << NAVMESH_LOD);
m_processedCells = new MyVector3ISet();
m_markedForAddition = new MyVector3ISet();
m_toAdd = new MyBinaryStructHeap <float, Vector3I>(128);
m_connectionHelper = new MyVoxelConnectionHelper();
m_navmeshCoordinator = coordinator;
m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
m_higherLevelHelper = new MyVoxelHighLevelHelper(this);
m_debugCellEdges = new Dictionary <ulong, List <DebugDrawEdge> >();
voxelMap.Storage.RangeChanged += OnStorageChanged;
}
public MyVoxelNavigationMesh(MyVoxelBase voxelMap, MyNavmeshCoordinator coordinator, Func <long> timestampFunction) : base(coordinator.Links, 0x10, timestampFunction)
{
this.LimitAddingWeight = GetWeight(25f);
this.m_voxelMap = voxelMap;
m_staticVoxelMap = this.m_voxelMap;
this.m_processedCells = new MyVector3ISet();
this.m_cellsOnWayCoords = new HashSet <ulong>();
this.m_cellsOnWay = new List <Vector3I>();
this.m_primitivesOnPath = new List <MyHighLevelPrimitive>(0x80);
this.m_toAdd = new MyBinaryHeap <float, CellToAddHeapItem>(0x80);
this.m_heapItemList = new List <CellToAddHeapItem>();
this.m_markedForAddition = new MyVector3ISet();
this.m_cellsToChange = new LinkedList <Vector3I>();
this.m_cellsToChangeSet = new MyVector3ISet();
this.m_connectionHelper = new MyVoxelConnectionHelper();
this.m_navmeshCoordinator = coordinator;
this.m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
this.m_higherLevelHelper = new MyVoxelHighLevelHelper(this);
this.m_debugCellEdges = new Dictionary <ulong, List <DebugDrawEdge> >();
voxelMap.Storage.RangeChanged += new Action <Vector3I, Vector3I, MyStorageDataTypeFlags>(this.OnStorageChanged);
this.m_maxCellCoord = ((Vector3I)(this.m_voxelMap.Size / 8)) - Vector3I.One;
}
public MyGridNavigationMesh(MyCubeGrid grid, MyNavmeshCoordinator coordinator, int triPrealloc = 0x20, Func <long> timestampFunction = null) : this(coordinator?.Links, triPrealloc, timestampFunction)
{
this.m_connectionHelper = new Dictionary <EdgeIndex, int>();
this.m_smallTriangleRegistry = new Dictionary <Vector3I, List <int> >();
this.m_cubeSet = new MyVector3ISet();
this.m_coordinator = coordinator;
this.m_static = false;
if (grid != null)
{
this.m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
this.m_higherLevelHelper = new MyGridHighLevelHelper(this, this.m_smallTriangleRegistry, new Vector3I(8, 8, 8));
this.m_grid = grid;
grid.OnBlockAdded += new Action <MySlimBlock>(this.grid_OnBlockAdded);
grid.OnBlockRemoved += new Action <MySlimBlock>(this.grid_OnBlockRemoved);
float num = 1f / ((float)grid.CubeBlocks.Count);
Vector3 zero = Vector3.Zero;
foreach (MySlimBlock block in grid.CubeBlocks)
{
this.OnBlockAddedInternal(block);
zero += (block.Position * grid.GridSize) * num;
}
}
}
public MyVoxelNavigationMesh(MyVoxelBase voxelMap, MyNavmeshCoordinator coordinator, Func<long> timestampFunction)
: base(coordinator.Links, 16, timestampFunction)
{
m_voxelMap = voxelMap;
m_cellSize = m_voxelMap.SizeInMetres / m_voxelMap.Storage.Geometry.CellsCount * (1 << NAVMESH_LOD);
m_processedCells = new MyVector3ISet();
m_markedForAddition = new MyVector3ISet();
m_toAdd = new MyBinaryStructHeap<float, Vector3I>(128);
m_connectionHelper = new MyVoxelConnectionHelper();
m_navmeshCoordinator = coordinator;
m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
m_higherLevelHelper = new MyVoxelHighLevelHelper(this);
m_debugCellEdges = new Dictionary<ulong, List<DebugDrawEdge>>();
voxelMap.Storage.RangeChanged += OnStorageChanged;
}
public void RemoveTooFarCells(List <Vector3D> importantPositions, float maxDistance, MyVector3ISet processedCells)
{
// remove too far high level info (if it isn't in processed cells)
m_removedHLpackedCoord.Clear();
foreach (var cell in m_exploredCells)
{
Vector3D worldCellCenterPos;
Vector3I cellPos = cell;
MyVoxelCoordSystems.GeometryCellCenterCoordToWorldPos(m_mesh.VoxelMapReferencePosition, ref cellPos, out worldCellCenterPos);
// finding of distance from the nearest important object
float dist = float.PositiveInfinity;
foreach (Vector3D vec in importantPositions)
{
float d = Vector3.RectangularDistance(vec, worldCellCenterPos);
if (d < dist)
{
dist = d;
}
}
if (dist > maxDistance && !processedCells.Contains(cellPos))
{
MyCellCoord coord = new MyCellCoord(MyVoxelNavigationMesh.NAVMESH_LOD, cellPos);
m_removedHLpackedCoord.Add(coord.PackId64());
}
}
foreach (ulong coord in m_removedHLpackedCoord)
{
TryClearCell(coord);
}
}
public void RemoveTooFarCells(List <Vector3D> importantPositions, float maxDistance, MyVector3ISet processedCells)
{
m_removedHLpackedCoord.Clear();
foreach (Vector3I vectori in this.m_exploredCells)
{
Vector3D vectord;
MyVoxelCoordSystems.GeometryCellCenterCoordToWorldPos(this.m_mesh.VoxelMapReferencePosition, ref vectori, out vectord);
float positiveInfinity = float.PositiveInfinity;
using (List <Vector3D> .Enumerator enumerator2 = importantPositions.GetEnumerator())
{
while (enumerator2.MoveNext())
{
float num2 = Vector3.RectangularDistance(enumerator2.Current, (Vector3)vectord);
if (num2 < positiveInfinity)
{
positiveInfinity = num2;
}
}
}
if ((positiveInfinity > maxDistance) && !processedCells.Contains(vectori))
{
m_removedHLpackedCoord.Add(new MyCellCoord(0, vectori).PackId64());
}
}
foreach (ulong num3 in m_removedHLpackedCoord)
{
this.TryClearCell(num3);
}
}
public void RemoveTooFarCells(List<Vector3D> importantPositions, float maxDistance, MyVector3ISet processedCells)
{
// remove too far high level info (if it isn't in processed cells)
m_removedHLpackedCoord.Clear();
foreach (var cell in m_exploredCells)
{
Vector3D worldCellCenterPos;
Vector3I cellPos = cell;
MyVoxelCoordSystems.GeometryCellCenterCoordToWorldPos(m_mesh.VoxelMapReferencePosition, ref cellPos, out worldCellCenterPos);
// finding of distance from the nearest important object
float dist = float.PositiveInfinity;
foreach (Vector3D vec in importantPositions)
{
float d = Vector3.RectangularDistance(vec, worldCellCenterPos);
if (d < dist)
dist = d;
}
if (dist > maxDistance && !processedCells.Contains(cellPos))
{
MyCellCoord coord = new MyCellCoord(MyVoxelNavigationMesh.NAVMESH_LOD, cellPos);
m_removedHLpackedCoord.Add(coord.PackId64());
}
}
foreach(ulong coord in m_removedHLpackedCoord)
{
TryClearCell(coord);
}
}
public void MakeStatic()
{
if (m_static == true)
{
return;
}
m_static = true;
m_connectionHelper = null;
m_cubeSet = null;
}
public MyGridNavigationMesh(MyCubeGrid grid, MyNavmeshCoordinator coordinator, int triPrealloc = 32, Func<long> timestampFunction = null)
: base(coordinator != null ? coordinator.Links : null, triPrealloc, timestampFunction)
{
m_connectionHelper = new Dictionary<EdgeIndex, int>();
m_smallTriangleRegistry = new Dictionary<Vector3I, List<int>>();
m_cubeSet = new MyVector3ISet();
m_coordinator = coordinator;
m_static = false;
if (grid != null)
{
m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
m_higherLevelHelper = new MyGridHighLevelHelper(this, m_smallTriangleRegistry, new Vector3I(8, 8, 8));
m_grid = grid;
grid.OnBlockAdded += grid_OnBlockAdded;
grid.OnBlockRemoved += grid_OnBlockRemoved;
float divisor = 1.0f / grid.CubeBlocks.Count;
Vector3 center = Vector3.Zero;
foreach (var block in grid.CubeBlocks)
{
OnBlockAddedInternal(block);
center += block.Position * grid.GridSize * divisor;
}
}
}
