/// <summary>
/// Generates a <see cref="NavMesh"/> given a collection of triangles and some settings.
/// </summary>
/// <param name="triangles">The triangles that form the level.</param>
/// <param name="settings">The settings to generate with.</param>
/// <returns>A <see cref="NavMesh"/>.</returns>
public static NavMesh Generate(IEnumerable<Triangle3> triangles, NavMeshGenerationSettings settings)
{
BBox3 bounds = triangles.GetBoundingBox(settings.CellSize);
var hf = new Heightfield(bounds, settings);
hf.RasterizeTriangles(triangles);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentRadius);
chf.BuildDistanceField();
chf.BuildRegions(2, settings.MinRegionSize, settings.MergedRegionSize);
var cont = chf.BuildContourSet(settings);
var polyMesh = new PolyMesh(cont, settings);
var polyMeshDetail = new PolyMeshDetail(polyMesh, chf, settings);
var buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new Pathfinding.OffMeshConnection[0], settings);
var navMesh = new NavMesh(buildData);
return navMesh;
}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
Stopwatch sw = new Stopwatch();
sw.Start();
long prevMs = 0;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
Console.WriteLine("Heightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
/*Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
.MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
.MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
.MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
.ToArray();
heightfield.RasterizeTrianglesWithAreas(levelTris, areas);*/
heightfield.RasterizeTriangles(levelTris, Area.Default);
Console.WriteLine(" + Rasterization\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
Console.WriteLine(" + Filtering");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
Console.WriteLine(" + Ledge Spans\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
Console.WriteLine(" + Low Hanging Obstacles\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
Console.WriteLine(" + Low Height Spans\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield = new CompactHeightfield(heightfield, settings);
Console.WriteLine("CompactHeightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.Erode(settings.VoxelAgentRadius);
Console.WriteLine(" + Erosion\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildDistanceField();
Console.WriteLine(" + Distance Field\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
Console.WriteLine(" + Regions\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
Random r = new Random();
regionColors = new Color4[compactHeightfield.MaxRegions];
regionColors[0] = Color4.Black;
for (int i = 1; i < regionColors.Length; i++)
regionColors[i] = new Color4((byte)r.Next(0, 255), (byte)r.Next(0, 255), (byte)r.Next(0, 255), 255);
Console.WriteLine(" + Colors\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
contourSet = compactHeightfield.BuildContourSet(settings);
Console.WriteLine("ContourSet");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMesh = new PolyMesh(contourSet, settings);
Console.WriteLine("PolyMesh");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
Console.WriteLine("PolyMeshDetail");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
hasGenerated = true;
}
catch (Exception e)
{
if (!interceptExceptions)
throw;
else
Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
}
finally
{
sw.Stop();
}
if (hasGenerated)
{
try
{
GeneratePathfinding();
//Pathfinding with multiple units
GenerateCrowd();
}
catch (Exception e)
{
Console.WriteLine("Pathfinding generation failed with exception" + Environment.NewLine + e.ToString());
hasGenerated = false;
}
Label l = (Label)statusBar.FindChildByName("GenTime");
l.Text = "Generation Time: " + sw.ElapsedMilliseconds + "ms";
Console.WriteLine("Navmesh generated successfully in " + sw.ElapsedMilliseconds + "ms.");
Console.WriteLine("Rasterized " + level.GetTriangles().Length + " triangles.");
Console.WriteLine("Generated " + contourSet.Count + " regions.");
Console.WriteLine("PolyMesh contains " + polyMesh.VertCount + " vertices in " + polyMesh.PolyCount + " polys.");
Console.WriteLine("PolyMeshDetail contains " + polyMeshDetail.VertCount + " vertices and " + polyMeshDetail.TrisCount + " tris in " + polyMeshDetail.MeshCount + " meshes.");
}
}
/// <summary>
/// Initializes a new instance of the <see cref="NavMeshBuilder" /> class.
/// Add all the PolyMesh and PolyMeshDetail attributes to the Navigation Mesh.
/// Then, add Off-Mesh connection support.
/// </summary>
/// <param name="polyMesh">The PolyMesh</param>
/// <param name="polyMeshDetail">The PolyMeshDetail</param>
/// <param name="offMeshCons">Offmesh connection data</param>
/// <param name="settings">The settings used to build.</param>
public NavMeshBuilder(PolyMesh polyMesh, PolyMeshDetail polyMeshDetail, OffMeshConnection[] offMeshCons, NavMeshGenerationSettings settings)
{
if (settings.VertsPerPoly > PathfindingCommon.VERTS_PER_POLYGON)
throw new InvalidOperationException("The number of vertices per polygon is above SharpNav's limit");
if (polyMesh.VertCount == 0)
throw new InvalidOperationException("The provided PolyMesh has no vertices.");
if (polyMesh.PolyCount == 0)
throw new InvalidOperationException("The provided PolyMesh has not polys.");
int nvp = settings.VertsPerPoly;
//classify off-mesh connection points
BoundarySide[] offMeshSides = new BoundarySide[offMeshCons.Length * 2];
int storedOffMeshConCount = 0;
int offMeshConLinkCount = 0;
if (offMeshCons.Length > 0)
{
//find height bounds
float hmin = float.MaxValue;
float hmax = -float.MaxValue;
if (polyMeshDetail != null)
{
for (int i = 0; i < polyMeshDetail.VertCount; i++)
{
float h = polyMeshDetail.Verts[i].Y;
hmin = Math.Min(hmin, h);
hmax = Math.Max(hmax, h);
}
}
else
{
for (int i = 0; i < polyMesh.VertCount; i++)
{
PolyVertex iv = polyMesh.Verts[i];
float h = polyMesh.Bounds.Min.Y + iv.Y * settings.CellHeight;
hmin = Math.Min(hmin, h);
hmax = Math.Max(hmax, h);
}
}
hmin -= settings.MaxClimb;
hmax += settings.MaxClimb;
BBox3 bounds = polyMesh.Bounds;
bounds.Min.Y = hmin;
bounds.Max.Y = hmax;
for (int i = 0; i < offMeshCons.Length; i++)
{
Vector3 p0 = offMeshCons[i].Pos0;
Vector3 p1 = offMeshCons[i].Pos1;
offMeshSides[i * 2 + 0] = BoundarySideExtensions.FromPoint(p0, bounds);
offMeshSides[i * 2 + 1] = BoundarySideExtensions.FromPoint(p1, bounds);
//off-mesh start position isn't touching mesh
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
if (p0.Y < bounds.Min.Y || p0.Y > bounds.Max.Y)
offMeshSides[i * 2 + 0] = 0;
}
//count number of links to allocate
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
offMeshConLinkCount++;
if (offMeshSides[i * 2 + 1] == BoundarySide.Internal)
offMeshConLinkCount++;
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
storedOffMeshConCount++;
}
}
//off-mesh connections stored as polygons, adjust values
int totPolyCount = polyMesh.PolyCount + storedOffMeshConCount;
int totVertCount = polyMesh.VertCount + storedOffMeshConCount * 2;
//find portal edges
int edgeCount = 0;
int portalCount = 0;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
PolyMesh.Polygon p = polyMesh.Polys[i];
for (int j = 0; j < nvp; j++)
{
if (p.Vertices[j] == PolyMesh.NullId)
break;
edgeCount++;
if (PolyMesh.IsBoundaryEdge(p.NeighborEdges[j]))
{
int dir = p.NeighborEdges[j] % 16;
if (dir != 15)
portalCount++;
}
}
}
int maxLinkCount = edgeCount + portalCount * 2 + offMeshConLinkCount * 2;
//find unique detail vertices
int uniqueDetailVertCount = 0;
int detailTriCount = 0;
if (polyMeshDetail != null)
{
detailTriCount = polyMeshDetail.TrisCount;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int numDetailVerts = polyMeshDetail.Meshes[i].VertexCount;
int numPolyVerts = polyMesh.Polys[i].VertexCount;
uniqueDetailVertCount += numDetailVerts - numPolyVerts;
}
}
else
{
uniqueDetailVertCount = 0;
detailTriCount = 0;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int numPolyVerts = polyMesh.Polys[i].VertexCount;
uniqueDetailVertCount += numPolyVerts - 2;
}
}
//allocate data
header = new PathfindingCommon.NavMeshInfo();
navVerts = new Vector3[totVertCount];
navPolys = new Poly[totPolyCount];
navDMeshes = new PolyMeshDetail.MeshData[polyMesh.PolyCount];
navDVerts = new Vector3[uniqueDetailVertCount];
navDTris = new PolyMeshDetail.TriangleData[detailTriCount];
offMeshConnections = new OffMeshConnection[storedOffMeshConCount];
//store header
//HACK TiledNavMesh should figure out the X/Y/layer instead of the user maybe?
header.X = 0;
header.Y = 0;
header.Layer = 0;
header.PolyCount = totPolyCount;
header.VertCount = totVertCount;
header.MaxLinkCount = maxLinkCount;
header.Bounds = polyMesh.Bounds;
header.DetailMeshCount = polyMesh.PolyCount;
header.DetailVertCount = uniqueDetailVertCount;
header.DetailTriCount = detailTriCount;
header.OffMeshBase = polyMesh.PolyCount;
header.WalkableHeight = settings.AgentHeight;
header.WalkableRadius = settings.AgentRadius;
header.WalkableClimb = settings.MaxClimb;
header.OffMeshConCount = storedOffMeshConCount;
header.BvNodeCount = settings.BuildBoundingVolumeTree ? polyMesh.PolyCount * 2 : 0;
header.BvQuantFactor = 1f / settings.CellSize;
int offMeshVertsBase = polyMesh.VertCount;
int offMeshPolyBase = polyMesh.PolyCount;
//store vertices
for (int i = 0; i < polyMesh.VertCount; i++)
{
PolyVertex iv = polyMesh.Verts[i];
navVerts[i].X = polyMesh.Bounds.Min.X + iv.X * settings.CellSize;
navVerts[i].Y = polyMesh.Bounds.Min.Y + iv.Y * settings.CellHeight;
navVerts[i].Z = polyMesh.Bounds.Min.Z + iv.Z * settings.CellSize;
}
//off-mesh link vertices
int n = 0;
for (int i = 0; i < offMeshCons.Length; i++)
{
//only store connections which start from this tile
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
navVerts[offMeshVertsBase + (n * 2 + 0)] = offMeshCons[i].Pos0;
navVerts[offMeshVertsBase + (n * 2 + 1)] = offMeshCons[i].Pos1;
n++;
}
}
//store polygons
for (int i = 0; i < polyMesh.PolyCount; i++)
{
navPolys[i] = new Poly();
navPolys[i].VertCount = 0;
navPolys[i].Tag = polyMesh.Polys[i].Tag;
navPolys[i].Area = polyMesh.Polys[i].Area;
navPolys[i].PolyType = PolygonType.Ground;
navPolys[i].Verts = new int[nvp];
navPolys[i].Neis = new int[nvp];
for (int j = 0; j < nvp; j++)
{
if (polyMesh.Polys[i].Vertices[j] == PolyMesh.NullId)
break;
navPolys[i].Verts[j] = polyMesh.Polys[i].Vertices[j];
if (PolyMesh.IsBoundaryEdge(polyMesh.Polys[i].NeighborEdges[j]))
{
//border or portal edge
int dir = polyMesh.Polys[i].NeighborEdges[j] % 16;
if (dir == 0xf) //border
navPolys[i].Neis[j] = 0;
else if (dir == 0) //portal x-
navPolys[i].Neis[j] = Link.External | 4;
else if (dir == 1) //portal z+
navPolys[i].Neis[j] = Link.External | 2;
else if (dir == 2) //portal x+
navPolys[i].Neis[j] = Link.External | 0;
else if (dir == 3) //portal z-
navPolys[i].Neis[j] = Link.External | 6;
}
else
{
//normal connection
navPolys[i].Neis[j] = polyMesh.Polys[i].NeighborEdges[j] + 1;
}
navPolys[i].VertCount++;
}
}
//off-mesh connection vertices
n = 0;
for (int i = 0; i < offMeshCons.Length; i++)
{
//only store connections which start from this tile
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
navPolys[offMeshPolyBase + n].VertCount = 2;
navPolys[offMeshPolyBase + n].Verts = new int[nvp];
navPolys[offMeshPolyBase + n].Verts[0] = offMeshVertsBase + (n * 2 + 0);
navPolys[offMeshPolyBase + n].Verts[1] = offMeshVertsBase + (n * 2 + 1);
navPolys[offMeshPolyBase + n].Tag = offMeshCons[i].Flags;
navPolys[offMeshPolyBase + n].Area = polyMesh.Polys[offMeshCons[i].Poly].Area; //HACK is this correct?
navPolys[offMeshPolyBase + n].PolyType = PolygonType.OffMeshConnection;
n++;
}
}
//store detail meshes and vertices
if (polyMeshDetail != null)
{
int vbase = 0;
List<Vector3> storedDetailVerts = new List<Vector3>();
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int vb = polyMeshDetail.Meshes[i].VertexIndex;
int numDetailVerts = polyMeshDetail.Meshes[i].VertexCount;
int numPolyVerts = navPolys[i].VertCount;
navDMeshes[i].VertexIndex = vbase;
navDMeshes[i].VertexCount = numDetailVerts - numPolyVerts;
navDMeshes[i].TriangleIndex = polyMeshDetail.Meshes[i].TriangleIndex;
navDMeshes[i].TriangleCount = polyMeshDetail.Meshes[i].TriangleCount;
//Copy detail vertices
//first 'nv' verts are equal to nav poly verts
//the rest are detail verts
for (int j = 0; j < navDMeshes[i].VertexCount; j++)
{
storedDetailVerts.Add(polyMeshDetail.Verts[vb + numPolyVerts + j]);
}
vbase += numDetailVerts - numPolyVerts;
}
navDVerts = storedDetailVerts.ToArray();
//store triangles
for (int j = 0; j < polyMeshDetail.TrisCount; j++)
navDTris[j] = polyMeshDetail.Tris[j];
}
else
{
//create dummy detail mesh by triangulating polys
int tbase = 0;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int numPolyVerts = navPolys[i].VertCount;
navDMeshes[i].VertexIndex = 0;
navDMeshes[i].VertexCount = 0;
navDMeshes[i].TriangleIndex = tbase;
navDMeshes[i].TriangleCount = numPolyVerts - 2;
//triangulate polygon
for (int j = 2; j < numPolyVerts; j++)
{
navDTris[tbase].VertexHash0 = 0;
navDTris[tbase].VertexHash1 = j - 1;
navDTris[tbase].VertexHash2 = j;
//bit for each edge that belongs to the poly boundary
navDTris[tbase].Flags = 1 << 2;
if (j == 2)
navDTris[tbase].Flags |= 1 << 0;
if (j == numPolyVerts - 1)
navDTris[tbase].Flags |= 1 << 4;
tbase++;
}
}
}
//store and create BV tree
if (settings.BuildBoundingVolumeTree)
{
//build tree
navBvTree = new BVTree(polyMesh.Verts, polyMesh.Polys, nvp, settings.CellSize, settings.CellHeight);
}
//store off-mesh connections
n = 0;
for (int i = 0; i < offMeshConnections.Length; i++)
{
//only store connections which start from this tile
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
offMeshConnections[n].Poly = offMeshPolyBase + n;
//copy connection end points
offMeshConnections[n].Pos0 = offMeshCons[i].Pos0;
offMeshConnections[n].Pos1 = offMeshCons[i].Pos1;
offMeshConnections[n].Radius = offMeshCons[i].Radius;
offMeshConnections[n].Flags = offMeshCons[i].Flags;
offMeshConnections[n].Side = offMeshSides[i * 2 + 1];
offMeshConnections[n].Tag = offMeshCons[i].Tag;
n++;
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="PolyMeshDetail"/> class.
/// </summary>
/// <remarks>
/// <see cref="PolyMeshDetail"/> uses a <see cref="CompactHeightfield"/> to add in details to a
/// <see cref="PolyMesh"/>. This detail is triangulated into a new mesh and can be used to approximate height in the walkable
/// areas of a scene.
/// </remarks>
/// <param name="mesh">The <see cref="PolyMesh"/>.</param>
/// <param name="compactField">The <see cref="CompactHeightfield"/> used to add height detail.</param>
/// <param name="sampleDist">The sampling distance.</param>
/// <param name="sampleMaxError">The maximum sampling error allowed.</param>
public PolyMeshDetail(PolyMesh mesh, CompactHeightfield compactField, float sampleDist, float sampleMaxError)
{
if (mesh.VertCount == 0 || mesh.PolyCount == 0)
return;
Vector3 origin = mesh.Bounds.Min;
int maxhw = 0, maxhh = 0;
BBox2i[] bounds = new BBox2i[mesh.PolyCount];
Vector3[] poly = new Vector3[mesh.NumVertsPerPoly];
var storedVertices = new List<Vector3>();
var storedTriangles = new List<TriangleData>();
//find max size for polygon area
for (int i = 0; i < mesh.PolyCount; i++)
{
var p = mesh.Polys[i];
int xmin = compactField.Width;
int xmax = 0;
int zmin = compactField.Length;
int zmax = 0;
for (int j = 0; j < mesh.NumVertsPerPoly; j++)
{
var pj = p.Vertices[j];
if (pj == PolyMesh.NullId)
break;
var v = mesh.Verts[pj];
xmin = Math.Min(xmin, v.X);
xmax = Math.Max(xmax, v.X);
zmin = Math.Min(zmin, v.Z);
zmax = Math.Max(zmax, v.Z);
}
xmin = Math.Max(0, xmin - 1);
xmax = Math.Min(compactField.Width, xmax + 1);
zmin = Math.Max(0, zmin - 1);
zmax = Math.Min(compactField.Length, zmax + 1);
if (xmin >= xmax || zmin >= zmax)
continue;
maxhw = Math.Max(maxhw, xmax - xmin);
maxhh = Math.Max(maxhh, zmax - zmin);
bounds[i] = new BBox2i(xmin, zmin, xmax, zmax);
}
HeightPatch hp = new HeightPatch(0, 0, maxhw, maxhh);
this.meshes = new MeshData[mesh.PolyCount];
for (int i = 0; i < mesh.PolyCount; i++)
{
var p = mesh.Polys[i];
//store polygon vertices for processing
int npoly = 0;
for (int j = 0; j < mesh.NumVertsPerPoly; j++)
{
int pvi = p.Vertices[j];
if (pvi == PolyMesh.NullId)
break;
PolyVertex pv = mesh.Verts[pvi];
Vector3 v = new Vector3(pv.X, pv.Y, pv.Z);
v.X *= mesh.CellSize;
v.Y *= mesh.CellHeight;
v.Z *= mesh.CellSize;
poly[j] = v;
npoly++;
}
//get height data from area of polygon
BBox2i bound = bounds[i];
hp.Resize(bound.Min.X, bound.Min.Y, bound.Max.X - bound.Min.X, bound.Max.Y - bound.Min.Y);
GetHeightData(compactField, p, npoly, mesh.Verts, mesh.BorderSize, hp);
List<Vector3> tempVerts = new List<Vector3>();
List<TriangleData> tempTris = new List<TriangleData>(128);
List<EdgeInfo> edges = new List<EdgeInfo>(16);
List<SamplingData> samples = new List<SamplingData>(128);
BuildPolyDetail(poly, npoly, sampleDist, sampleMaxError, compactField, hp, tempVerts, tempTris, edges, samples);
//more detail verts
for (int j = 0; j < tempVerts.Count; j++)
{
Vector3 tv = tempVerts[j];
Vector3 v;
v.X = tv.X + origin.X;
v.Y = tv.Y + origin.Y + compactField.CellHeight;
v.Z = tv.Z + origin.Z;
tempVerts[j] = v;
}
for (int j = 0; j < npoly; j++)
{
Vector3 po = poly[j];
po.X += origin.X;
po.Y += origin.Y;
po.Z += origin.Z;
poly[j] = po;
}
//save data
this.meshes[i].VertexIndex = storedVertices.Count;
this.meshes[i].VertexCount = tempVerts.Count;
this.meshes[i].TriangleIndex = storedTriangles.Count;
this.meshes[i].TriangleCount = tempTris.Count;
//store vertices
storedVertices.AddRange(tempVerts);
//store triangles
for (int j = 0; j < tempTris.Count; j++)
{
storedTriangles.Add(new TriangleData(tempTris[j], tempVerts, poly, npoly));
}
}
this.verts = storedVertices.ToArray();
this.tris = storedTriangles.ToArray();
}
/// <summary>
/// Initializes a new instance of the <see cref="PolyMeshDetail"/> class.
/// </summary>
/// <param name="mesh">The <see cref="PolyMesh"/>.</param>
/// <param name="compactField">The <see cref="CompactHeightfield"/> used to add height detail.</param>
/// <param name="settings">The settings to build with.</param>
public PolyMeshDetail(PolyMesh mesh, CompactHeightfield compactField, NavMeshGenerationSettings settings)
: this(mesh, compactField, settings.SampleDistance, settings.MaxSampleError)
{
}
/// <summary>
/// Floodfill heightfield to get 2D height data, starting at vertex locations
/// </summary>
/// <param name="compactField">Original heightfield data</param>
/// <param name="poly">Polygon in PolyMesh</param>
/// <param name="polyCount">Number of vertices per polygon</param>
/// <param name="verts">PolyMesh Vertices</param>
/// <param name="borderSize">Heightfield border size</param>
/// <param name="hp">HeightPatch which extracts heightfield data</param>
/// <param name="stack">Temporary stack of CompactSpanReferences</param>
private void GetHeightDataSeedsFromVertices(CompactHeightfield compactField, PolyMesh.Polygon poly, int polyCount, PolyVertex[] verts, int borderSize, HeightPatch hp, List<CompactSpanReference> stack)
{
hp.SetAll(0);
//use poly vertices as seed points
for (int j = 0; j < polyCount; j++)
{
var csr = new CompactSpanReference(0, 0, -1);
int dmin = int.MaxValue;
var v = verts[poly.Vertices[j]];
for (int k = 0; k < 9; k++)
{
//get vertices and offset x and z coordinates depending on current drection
int ax = v.X + VertexOffset[k * 2 + 0];
int ay = v.Y;
int az = v.Z + VertexOffset[k * 2 + 1];
//skip if out of bounds
if (ax < hp.X || ax >= hp.X + hp.Width || az < hp.Y || az >= hp.Y + hp.Length)
continue;
//get new cell
CompactCell c = compactField.Cells[(az + borderSize) * compactField.Width + (ax + borderSize)];
//loop through all the spans
for (int i = c.StartIndex, end = c.StartIndex + c.Count; i < end; i++)
{
CompactSpan s = compactField.Spans[i];
//find minimum y-distance
int d = Math.Abs(ay - s.Minimum);
if (d < dmin)
{
csr = new CompactSpanReference(ax, az, i);
dmin = d;
}
}
}
//only add if something new found
if (csr.Index != -1)
{
stack.Add(csr);
}
}
//find center of polygon using flood fill
int pcx = 0, pcz = 0;
for (int j = 0; j < polyCount; j++)
{
var v = verts[poly.Vertices[j]];
pcx += v.X;
pcz += v.Z;
}
pcx /= polyCount;
pcz /= polyCount;
//stack groups 3 elements as one part
foreach (var cell in stack)
{
int idx = (cell.Y - hp.Y) * hp.Width + (cell.X - hp.X);
hp[idx] = 1;
}
//process the entire stack
while (stack.Count > 0)
{
var cell = stack[stack.Count - 1];
stack.RemoveAt(stack.Count - 1);
//check if close to center of polygon
if (Math.Abs(cell.X - pcx) <= 1 && Math.Abs(cell.Y - pcz) <= 1)
{
//clear the stack and add a new group
stack.Clear();
stack.Add(cell);
break;
}
CompactSpan cs = compactField[cell];
//check all four directions
for (var dir = Direction.West; dir <= Direction.South; dir++)
{
//skip if disconnected
if (!cs.IsConnected(dir))
continue;
//get neighbor
int ax = cell.X + dir.GetHorizontalOffset();
int ay = cell.Y + dir.GetVerticalOffset();
//skip if out of bounds
if (ax < hp.X || ax >= (hp.X + hp.Width) || ay < hp.Y || ay >= (hp.Y + hp.Length))
continue;
if (hp[(ay - hp.Y) * hp.Width + (ax - hp.X)] != 0)
continue;
//get the new index
int ai = compactField.Cells[(ay + borderSize) * compactField.Width + (ax + borderSize)].StartIndex + CompactSpan.GetConnection(ref cs, dir);
//save data
int idx = (ay - hp.Y) * hp.Width + (ax - hp.X);
hp[idx] = 1;
//push to stack
stack.Add(new CompactSpanReference(ax, ay, ai));
}
}
//clear the heightpatch
hp.Clear();
//mark start locations
for (int i = 0; i < stack.Count; i++)
{
var c = stack[i];
//set new heightpatch data
int idx = (c.Y - hp.Y) * hp.Width + (c.X - hp.X);
CompactSpan cs = compactField.Spans[c.Index];
hp[idx] = cs.Minimum;
stack[i] = new CompactSpanReference(c.X + borderSize, c.Y + borderSize, c.Index);
}
}
private void GetHeightData(CompactHeightfield compactField, PolyMesh.Polygon poly, int polyCount, PolyVertex[] verts, int borderSize, HeightPatch hp)
{
var stack = new List<CompactSpanReference>();
bool empty = true;
hp.Clear();
for (int y = 0; y < hp.Length; y++)
{
int hy = hp.Y + y + borderSize;
for (int x = 0; x < hp.Width; x++)
{
int hx = hp.X + x + borderSize;
var cells = compactField.Cells[hy * compactField.Width + hx];
for (int i = cells.StartIndex, end = cells.StartIndex + cells.Count; i < end; i++)
{
var span = compactField.Spans[i];
if (span.Region == poly.RegionId)
{
hp[x, y] = span.Minimum;
empty = false;
bool border = false;
for (var dir = Direction.West; dir <= Direction.South; dir++)
{
if (span.IsConnected(dir))
{
int ax = hx + dir.GetHorizontalOffset();
int ay = hy + dir.GetVerticalOffset();
int ai = compactField.Cells[ay * compactField.Width + ax].StartIndex + CompactSpan.GetConnection(ref span, dir);
if (compactField.Spans[ai].Region != poly.RegionId)
{
border = true;
break;
}
}
}
if (border)
stack.Add(new CompactSpanReference(hx, hy, i));
break;
}
}
}
}
if (empty)
GetHeightDataSeedsFromVertices(compactField, poly, polyCount, verts, borderSize, hp, stack);
const int RetractSize = 256;
int head = 0;
while (head < stack.Count)
{
var cell = stack[head++];
var cs = compactField[cell];
if (head >= RetractSize)
{
head = 0;
if (stack.Count > RetractSize)
{
for (int i = 0; i < stack.Count - RetractSize; i++)
stack[i] = stack[i + RetractSize];
}
int targetSize = stack.Count % RetractSize;
while (stack.Count > targetSize)
stack.RemoveAt(stack.Count - 1);
}
//loop in all four directions
for (var dir = Direction.West; dir <= Direction.South; dir++)
{
//skip
if (!cs.IsConnected(dir))
continue;
int ax = cell.X + dir.GetHorizontalOffset();
int ay = cell.Y + dir.GetVerticalOffset();
int hx = ax - hp.X - borderSize;
int hy = ay - hp.Y - borderSize;
if (hx < 0 || hx >= hp.Width || hy < 0 || hy >= hp.Length)
continue;
//only continue if height is unset
if (hp.IsSet(hy * hp.Width + hx))
continue;
//get new span
int ai = compactField.Cells[ay * compactField.Width + ax].StartIndex + CompactSpan.GetConnection(ref cs, dir);
CompactSpan ds = compactField.Spans[ai];
hp[hx, hy] = ds.Minimum;
stack.Add(new CompactSpanReference(ax, ay, ai));
}
}
}