/** Builds a polygon mesh from a contour set.
*
* \param cset contour set to build a mesh from.
* \param nvp Maximum allowed vertices per polygon. \warning Currently locked to 3.
* \param mesh Results will be written to this mesh.
*/
public void BuildPolyMesh (VoxelContourSet cset, int nvp, out VoxelMesh mesh) {
AstarProfiler.StartProfile ("Build Poly Mesh");
nvp = 3;
int maxVertices = 0;
int maxTris = 0;
int maxVertsPerCont = 0;
for (int i = 0; i < cset.conts.Count; i++) {
// Skip null contours.
if (cset.conts[i].nverts < 3) continue;
maxVertices += cset.conts[i].nverts;
maxTris += cset.conts[i].nverts - 2;
maxVertsPerCont = AstarMath.Max (maxVertsPerCont, cset.conts[i].nverts);
}
if (maxVertices >= 65534)
{
Debug.LogWarning ("To many vertices for unity to render - Unity might screw up rendering, but hopefully the navmesh will work ok");
//mesh = new VoxelMesh ();
//yield break;
//return;
}
/** \todo Could be cached to avoid allocations */
Int3[] verts = new Int3[maxVertices];
/** \todo Could be cached to avoid allocations */
int[] polys = new int[maxTris*nvp];
Memory.MemSet<int> (polys, 0xff, sizeof(int));
int[] indices = new int[maxVertsPerCont];
int[] tris = new int[maxVertsPerCont*3];
int vertexIndex = 0;
int polyIndex = 0;
for (int i=0;i<cset.conts.Count;i++) {
VoxelContour cont = cset.conts[i];
//Skip null contours
if (cont.nverts < 3) {
continue;
}
for (int j=0; j < cont.nverts;j++) {
indices[j] = j;
cont.verts[j*4+2] /= voxelArea.width;
}
int ntris = Triangulate (cont.nverts, cont.verts, ref indices, ref tris);
int startIndex = vertexIndex;
for (int j=0;j<ntris*3; polyIndex++, j++) {
//@Error sometimes
polys[polyIndex] = tris[j]+startIndex;
}
for (int j=0;j<cont.nverts; vertexIndex++, j++) {
verts[vertexIndex] = new Int3(cont.verts[j*4],cont.verts[j*4+1],cont.verts[j*4+2]);
}
}
mesh = new VoxelMesh ();
//yield break;
Int3[] trimmedVerts = new Int3[vertexIndex];
for (int i=0;i<vertexIndex;i++) {
trimmedVerts[i] = verts[i];
}
int[] trimmedTris = new int[polyIndex];
System.Buffer.BlockCopy (polys, 0, trimmedTris, 0, polyIndex*sizeof(int));
mesh.verts = trimmedVerts;
mesh.tris = trimmedTris;
// Some debugging
/*for (int i=0;i<mesh.tris.Length/3;i++) {
int p = i*3;
int p1 = mesh.tris[p];
int p2 = mesh.tris[p+1];
int p3 = mesh.tris[p+2];
//Debug.DrawLine (ConvertPosCorrZ (mesh.verts[p1].x,mesh.verts[p1].y,mesh.verts[p1].z),ConvertPosCorrZ (mesh.verts[p2].x,mesh.verts[p2].y,mesh.verts[p2].z),Color.yellow);
//Debug.DrawLine (ConvertPosCorrZ (mesh.verts[p1].x,mesh.verts[p1].y,mesh.verts[p1].z),ConvertPosCorrZ (mesh.verts[p3].x,mesh.verts[p3].y,mesh.verts[p3].z),Color.yellow);
//Debug.DrawLine (ConvertPosCorrZ (mesh.verts[p3].x,mesh.verts[p3].y,mesh.verts[p3].z),ConvertPosCorrZ (mesh.verts[p2].x,mesh.verts[p2].y,mesh.verts[p2].z),Color.yellow);
//Debug.DrawLine (ConvertPosCorrZ (verts[p1],0,verts[p1+2]),ConvertPosCorrZ (verts[p2],0,verts[p2+2]),Color.blue);
//Debug.DrawLine (ConvertPosCorrZ (verts[p1],0,verts[p1+2]),ConvertPosCorrZ (verts[p3],0,verts[p3+2]),Color.blue);
//Debug.DrawLine (ConvertPosCorrZ (verts[p2],0,verts[p2+2]),ConvertPosCorrZ (verts[p3],0,verts[p3+2]),Color.blue);
}*/
AstarProfiler.EndProfile ("Build Poly Mesh");
}
/** Releases contents of a contour set to caches */
static void ReleaseContours (VoxelContourSet cset) {
for (int i=0;i<cset.conts.Count;i++) {
VoxelContour cont = cset.conts[i];
ReleaseIntArr(cont.verts);
ReleaseIntArr(cont.rverts);
}
cset.conts = null;
}
public void BuildContours (float maxError, int maxEdgeLength, VoxelContourSet cset, int buildFlags) {
AstarProfiler.StartProfile ("Build Contours");
AstarProfiler.StartProfile ("- Init");
int w = voxelArea.width;
int d = voxelArea.depth;
int wd = w*d;
//cset.bounds = voxelArea.bounds;
int maxContours = Mathf.Max (8/*Max Regions*/,8);
//cset.conts = new VoxelContour[maxContours];
List<VoxelContour> contours = new List<VoxelContour>(maxContours);
AstarProfiler.EndProfile ("- Init");
AstarProfiler.StartProfile ("- Mark Boundaries");
//cset.nconts = 0;
//NOTE: This array may contain any data, but since we explicitly set all data in it before we use it, it's OK.
ushort[] flags = voxelArea.tmpUShortArr;
if (flags.Length < voxelArea.compactSpanCount) {
flags = voxelArea.tmpUShortArr = new ushort[voxelArea.compactSpanCount];
}
// Mark boundaries. (@?)
for (int z=0;z < wd;z += voxelArea.width) {
for (int x=0;x < voxelArea.width;x++) {
CompactVoxelCell c = voxelArea.compactCells[x+z];
for (int i= (int)c.index, ci = (int)(c.index+c.count); i < ci; i++) {
ushort res = 0;
CompactVoxelSpan s = voxelArea.compactSpans[i];
if (s.reg == 0 || (s.reg & BorderReg) == BorderReg) {
flags[i] = 0;
continue;
}
for (int dir=0;dir < 4; dir++) {
int r = 0;
if (s.GetConnection (dir) != NotConnected) {
int nx = x + voxelArea.DirectionX[dir];
int nz = z + voxelArea.DirectionZ[dir];
int ni = (int)voxelArea.compactCells[nx+nz].index + s.GetConnection (dir);
r = voxelArea.compactSpans[ni].reg;
}
//@TODO - Why isn't this inside the previous IF
if (r == s.reg) {
res |= (ushort)(1 << dir);
}
}
//Inverse, mark non connected edges.
flags[i] = (ushort)(res ^ 0xf);
}
}
}
AstarProfiler.EndProfile ("- Mark Boundaries");
AstarProfiler.StartProfile ("- Simplify Contours");
List<int> verts = ListPool<int>.Claim(256);//new List<int> (256);
List<int> simplified = ListPool<int>.Claim(64);//new List<int> (64);
for (int z=0;z < wd;z += voxelArea.width) {
for (int x=0;x < voxelArea.width;x++) {
CompactVoxelCell c = voxelArea.compactCells[x+z];
for (int i= (int)c.index, ci = (int)(c.index+c.count); i < ci; i++) {
//CompactVoxelSpan s = voxelArea.compactSpans[i];
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
int reg = voxelArea.compactSpans[i].reg;
if (reg == 0 || (reg & BorderReg) == BorderReg) {
continue;
}
int area = voxelArea.areaTypes[i];
verts.Clear ();
simplified.Clear ();
WalkContour(x, z, i, flags, verts);
SimplifyContour(verts, simplified, maxError, maxEdgeLength, buildFlags);
RemoveDegenerateSegments (simplified);
VoxelContour contour = new VoxelContour ();
contour.verts = ClaimIntArr(simplified.Count,false);//simplified.ToArray ();
for (int j=0;j<simplified.Count;j++) contour.verts[j] = simplified[j];
#if ASTAR_RECAST_INCLUDE_RAW_VERTEX_CONTOUR
//Not used at the moment, just debug stuff
contour.rverts = ClaimIntArr(verts.Count);
for (int j=0;j<verts.Count;j++) contour.rverts[j] = verts[j];
#endif
contour.nverts = simplified.Count/4;
contour.reg = reg;
contour.area = area;
contours.Add (contour);
#if ASTARDEBUG
for (int q=0, j = (simplified.Count/4)-1;q<(simplified.Count/4);j=q, q++) {
int i4 = q*4;
int j4 = j*4;
Vector3 p1 = Vector3.Scale (
new Vector3 (
simplified[i4+0],
simplified[i4+1],
(simplified[i4+2]/(float)voxelArea.width)
),
cellScale)
+voxelOffset;
Vector3 p2 = Vector3.Scale (
new Vector3 (
simplified[j4+0],
simplified[j4+1],
(simplified[j4+2]/(float)voxelArea.width)
)
,cellScale)
+voxelOffset;
if (CalcAreaOfPolygon2D(contour.verts, contour.nverts) > 0) {
Debug.DrawLine (p1,p2,AstarMath.IntToColor (reg,0.5F));
} else {
Debug.DrawLine (p1,p2,Color.red);
}
}
#endif
}
}
}
ListPool<int>.Release(verts);
ListPool<int>.Release(simplified);
AstarProfiler.EndProfile ("- Simplify Contours");
AstarProfiler.StartProfile ("- Fix Contours");
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
for (int i = 0; i < contours.Count; i++)
{
VoxelContour cont = contours[i];
// Check if the contour is would backwards.
if (CalcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < contours.Count; j++)
{
if (i == j) continue;
if (contours[j].nverts > 0 && contours[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (CalcAreaOfPolygon2D(contours[j].verts, contours[j].nverts) > 0)
{
mergeIdx = j;
break;
}
}
}
if (mergeIdx == -1)
{
Debug.LogError ("rcBuildContours: Could not find merge target for bad contour "+i+".");
}
else
{
// Debugging
//Debug.LogWarning ("Fixing contour");
VoxelContour mcont = contours[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
GetClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ref ia, ref ib);
if (ia == -1 || ib == -1)
{
Debug.LogWarning ("rcBuildContours: Failed to find merge points for "+i+" and "+mergeIdx+".");
continue;
}
#if ASTARDEBUG
int p4 = ia*4;
int p42 = ib*4;
Vector3 p12 = Vector3.Scale (
new Vector3 (
mcont.verts[p4+0],
mcont.verts[p4+1],
(mcont.verts[p4+2]/(float)voxelArea.width)
),
cellScale)
+voxelOffset;
Vector3 p22 = Vector3.Scale (
new Vector3 (
cont.verts[p42+0],
cont.verts[p42+1],
(cont.verts[p42+2]/(float)voxelArea.width)
)
,cellScale)
+voxelOffset;
Debug.DrawLine (p12,p22,Color.green);
#endif
if (!MergeContours(ref mcont, ref cont, ia, ib))
{
Debug.LogWarning ("rcBuildContours: Failed to merge contours "+i+" and "+mergeIdx+".");
continue;
}
contours[mergeIdx] = mcont;
contours[i] = cont;
#if ASTARDEBUG
Debug.Log (mcont.nverts);
for (int q=0, j = (mcont.nverts)-1;q<(mcont.nverts);j=q, q++) {
int i4 = q*4;
int j4 = j*4;
Vector3 p1 = Vector3.Scale (
new Vector3 (
mcont.verts[i4+0],
mcont.verts[i4+1],
(mcont.verts[i4+2]/(float)voxelArea.width)
),
cellScale)
+voxelOffset;
Vector3 p2 = Vector3.Scale (
new Vector3 (
mcont.verts[j4+0],
mcont.verts[j4+1],
(mcont.verts[j4+2]/(float)voxelArea.width)
)
,cellScale)
+voxelOffset;
Debug.DrawLine (p1,p2,Color.red);
//}
}
#endif
}
}
}
cset.conts = contours;
AstarProfiler.EndProfile ("- Fix Contours");
AstarProfiler.EndProfile ("Build Contours");
}
protected void BuildTileMesh (Voxelize vox, int x, int z) {
AstarProfiler.StartProfile ("Build Tile");
AstarProfiler.StartProfile ("Init");
//World size of tile
float tcsx = tileSizeX*cellSize;
float tcsz = tileSizeZ*cellSize;
int voxelCharacterRadius = Mathf.CeilToInt (characterRadius/cellSize);
Vector3 forcedBoundsMin = forcedBounds.min;
Vector3 forcedBoundsMax = forcedBounds.max;
var bounds = new Bounds ();
bounds.SetMinMax(new Vector3 (x*tcsx, 0, z*tcsz) + forcedBoundsMin,
new Vector3 ((x+1)*tcsx + forcedBoundsMin.x, forcedBoundsMax.y, (z+1)*tcsz + forcedBoundsMin.z)
);
vox.borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
bounds.Expand (new Vector3 (vox.borderSize,0,vox.borderSize)*cellSize*2);
vox.forcedBounds = bounds;
vox.width = tileSizeX + vox.borderSize*2;
vox.depth = tileSizeZ + vox.borderSize*2;
if (!useTiles && relevantGraphSurfaceMode == RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile) {
// This best reflects what the user would actually want
vox.relevantGraphSurfaceMode = RelevantGraphSurfaceMode.RequireForAll;
} else {
vox.relevantGraphSurfaceMode = relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(minRegionSize / (cellSize*cellSize));
#if ASTARDEBUG
Debug.Log ("Building Tile " + x+","+z);
System.Console.WriteLine ("Recast Graph -- Voxelizing");
#endif
AstarProfiler.EndProfile ("Init");
//Init voxelizer
vox.Init ();
vox.CollectMeshes ();
vox.VoxelizeInput ();
AstarProfiler.StartProfile ("Filter Ledges");
#if ASTAR_RECAST_VOXEL_DEBUG
if (importMode) {
if (File.Exists(Application.dataPath+"/tile."+x+"."+z)) {
FileStream fs = File.OpenRead (Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = new byte[fs.Length];
fs.Read (bytes,0,(int)fs.Length);
VoxelArea tmpVox = new VoxelArea(vox.width,vox.depth);
Pathfinding.Voxels.VoxelSerializeUtility.DeserializeVoxelAreaData (bytes,tmpVox);
Pathfinding.Voxels.VoxelSerializeUtility.MergeVoxelAreaData(tmpVox,vox.voxelArea,vox.voxelWalkableClimb);
}
}
if (exportMode) {
FileStream fs = File.Create(Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = Pathfinding.Voxels.VoxelSerializeUtility.SerializeVoxelAreaData(vox.voxelArea);
fs.Write(bytes,0,bytes.Length);
fs.Close();
}
#endif
vox.FilterLedges (vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile ("Filter Ledges");
AstarProfiler.StartProfile ("Filter Low Height Spans");
vox.FilterLowHeightSpans (vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile ("Filter Low Height Spans");
vox.BuildCompactField ();
vox.BuildVoxelConnections ();
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Eroding");
#endif
vox.ErodeWalkableArea (voxelCharacterRadius);
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Building Distance Field");
#endif
vox.BuildDistanceField ();
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Building Regions");
#endif
vox.BuildRegions ();
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Building Contours");
#endif
var cset = new VoxelContourSet ();
vox.BuildContours (contourMaxError,1,cset,Voxelize.RC_CONTOUR_TESS_WALL_EDGES);
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Building Poly Mesh");
#endif
VoxelMesh mesh;
vox.BuildPolyMesh (cset,3,out mesh);
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Building Nodes");
#endif
//Vector3[] vertices = new Vector3[mesh.verts.Length];
AstarProfiler.StartProfile ("Build Nodes");
// Debug code
//matrix = Matrix4x4.TRS (vox.voxelOffset,Quaternion.identity,Int3.Precision*vox.cellScale);
//Position the vertices correctly in the world
for (int i=0;i<mesh.verts.Length;i++) {
//Note the multiplication is Scalar multiplication of vectors
mesh.verts[i] = ((mesh.verts[i]*Int3.Precision) * vox.cellScale) + (Int3)vox.voxelOffset;
// Debug code
//Debug.DrawRay (matrix.MultiplyPoint3x4(vertices[i]),Vector3.up,Color.red);
}
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Generating Nodes");
#endif
NavmeshTile tile = CreateTile (vox, mesh, x,z);
tiles[tile.x + tile.z*tileXCount] = tile;
AstarProfiler.EndProfile ("Build Nodes");
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Done");
#endif
AstarProfiler.EndProfile ("Build Tile");
}
