/// <summary>
/// Gets the centroids for the polygons that are part of the tile.
/// </summary>
private static int GetCentroids(NavmeshTile tile
, uint[] polyRefs
, int polyCount
, UnityEngine.Vector3[] centroids)
{
NavmeshTileHeader header = tile.GetHeader();
if (header.polyCount < 1)
{
return(0);
}
uint polyBase = tile.GetBasePolyRef();
NavmeshPoly[] polys = new NavmeshPoly[header.polyCount];
tile.GetPolys(polys);
Vector3[] verts = new Vector3[header.vertCount];
tile.GetVerts(verts);
UnityEngine.Vector3[] vverts = VectorHelper.ToUnityVector3Array(ref verts);
int resultCount = 0;
for (int i = 0; i < header.polyCount; i++)
{
uint polyRef = polyBase | ( uint )i;
int iResult = IsInList(polyRef, polyRefs, polyCount);
if (iResult == -1)
{
continue;
}
resultCount++;
NavmeshPoly poly = polys[i];
centroids[iResult] = GetCentroid(vverts, poly.indices, poly.vertCount);
}
return(resultCount);
}
/// <summary>
/// Draws the polygon boundary lines based on the height detail.
/// </summary>
private static void DrawPolyBoundaries(NavmeshTileHeader header
, NavmeshPoly[] polys
, Vector3[] verts
, NavmeshDetailMesh[] meshes
, byte[] detailTris
, Vector3[] detailVerts
, NavmeshLink[] links
, Color color
, bool inner)
{
const float thr = 0.01f * 0.01f;
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type == NavmeshPolyType.OffMeshConnection)
{
continue;
}
NavmeshDetailMesh mesh = meshes[i];
Vector3[] tv = new Vector3[3];
for (int j = 0, nj = (int)poly.vertCount; j < nj; j++)
{
Color c = color; // Color may change.
if (inner)
{
if (poly.neighborPolyRefs[j] == 0)
{
continue;
}
if ((poly.neighborPolyRefs[j]
& Navmesh.ExternalLink) != 0)
{
bool con = false;
for (uint k = poly.firstLink
; k != Navmesh.NullLink
; k = links[k].next)
{
if (links[k].edge == j)
{
con = true;
break;
}
}
if (con)
{
c = new Color(1, 1, 1, 0.2f);
}
else
{
c = new Color(0, 0, 0, 0.2f);
}
}
else
{
c = new Color(0, 0.2f, 0.25f, 0.13f);
}
}
else
{
if (poly.neighborPolyRefs[j] != 0)
{
continue;
}
}
GL.Color(c);
int pVertA = poly.indices[j];
int pVertB = poly.indices[(j + 1) % nj];
for (int k = 0; k < mesh.triCount; k++)
{
int pTri = (int)((mesh.triBase + k) * 4);
for (int m = 0; m < 3; m++)
{
int iVert = detailTris[pTri + m];
if (iVert < poly.vertCount)
{
int pv = poly.indices[iVert];
tv[m] = verts[pv];
}
else
{
int pv = (int)(mesh.vertBase
+ (iVert - poly.vertCount));
tv[m] = detailVerts[pv];
}
}
for (int m = 0, n = 2; m < 3; n = m++)
{
if (((detailTris[pTri + 3] >> (n * 2)) & 0x3) == 0)
{
// Skip inner detail edges.
continue;
}
float distN = Line2.GetPointLineDistanceSq(
new Vector2(tv[n].x, tv[n].z)
, new Vector2(verts[pVertA].x, verts[pVertA].z)
, new Vector2(verts[pVertB].x, verts[pVertB].z));
float distM = Line2.GetPointLineDistanceSq(
new Vector2(tv[m].x, tv[m].z)
, new Vector2(verts[pVertA].x, verts[pVertA].z)
, new Vector2(verts[pVertB].x, verts[pVertB].z));
if (distN < thr && distM < thr)
{
GL.Vertex(tv[n]);
GL.Vertex(tv[m]);
}
}
}
}
}
}
/// <summary>
/// Draws a debug visualization of an individual navmesh tile.
/// </summary>
/// <remarks>
/// <para>
/// The tile will be checked to see if it is in use before it is drawn. So there is no
/// need for caller to do so.
/// </para>
/// </remarks>
private static void Draw(NavmeshTile tile
, NavmeshQuery query, uint[] markPolys, int markPolyCount
, int colorId)
{
NavmeshTileHeader header = tile.GetHeader();
// Keep this check. Less trouble for clients.
if (header.polyCount < 1)
{
return;
}
DebugDraw.SimpleMaterial.SetPass(0);
uint polyBase = tile.GetBasePolyRef();
NavmeshPoly[] polys = new NavmeshPoly[header.polyCount];
tile.GetPolys(polys);
Vector3[] verts = new Vector3[header.vertCount];
tile.GetVerts(verts);
NavmeshDetailMesh[] meshes =
new NavmeshDetailMesh[header.detailMeshCount];
tile.GetDetailMeshes(meshes);
byte[] detailTris = new byte[header.detailTriCount * 4];
tile.GetDetailTris(detailTris);
Vector3[] detailVerts = new Vector3[header.detailVertCount];
tile.GetDetailVerts(detailVerts);
GL.Begin(GL.TRIANGLES);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type == NavmeshPolyType.OffMeshConnection)
{
continue;
}
NavmeshDetailMesh mesh = meshes[i];
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
GL.Color(color);
for (int j = 0; j < mesh.triCount; j++)
{
int pTri = (int)(mesh.triBase + j) * 4;
for (int k = 0; k < 3; k++)
{
// Note: iVert and pVert refer to different
// arrays.
int iVert = detailTris[pTri + k];
if (iVert < poly.vertCount)
{
// Get the vertex from the main vertices.
int pVert = poly.indices[iVert];
GL.Vertex(verts[pVert]);
}
else
{
// Get the vertex from the detail vertices.
int pVert = (int)
(mesh.vertBase + iVert - poly.vertCount);
GL.Vertex(detailVerts[pVert]);
}
}
}
}
GL.End();
NavmeshLink[] links = new NavmeshLink[header.maxLinkCount];
tile.GetLinks(links);
GL.Begin(GL.LINES);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0, 0.2f, 0.25f, 0.13f)
, true);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0.65f, 0.2f, 0, 0.9f)
, false);
if (header.connCount == 0)
{
GL.End();
return;
}
NavmeshConnection[] conns = new NavmeshConnection[header.connCount];
tile.GetConnections(conns);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type != NavmeshPolyType.OffMeshConnection)
{
continue;
}
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
// Note: Alpha of less than one doesn't look good because connections tend to
// overlay a lot of geometry, resulting is off color transitions.
color.a = 1;
GL.Color(color);
NavmeshConnection conn = conns[i - header.connBase];
Vector3 va = verts[poly.indices[0]];
Vector3 vb = verts[poly.indices[1]];
// Check to see if start and end end-points have links.
bool startSet = false;
bool endSet = false;
for (uint k = poly.firstLink; k != Navmesh.NullLink; k = links[k].next)
{
if (links[k].edge == 0)
{
startSet = true;
}
if (links[k].edge == 1)
{
endSet = true;
}
}
// For linked endpoints: Draw a line between on-mesh location and endpoint,
// and draw circle at the endpoint.
// For un-linked endpoints: Draw a small red x-marker.
if (startSet)
{
GL.Vertex(va);
GL.Vertex(conn.endpoints[0]);
DebugDraw.AppendCircle(conn.endpoints[0], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[0], 0.1f);
GL.Color(color);
}
if (endSet)
{
GL.Vertex(vb);
GL.Vertex(conn.endpoints[1]);
DebugDraw.AppendCircle(conn.endpoints[1], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[1], 0.1f);
GL.Color(color);
}
DebugDraw.AppendArc(conn.endpoints[0], conn.endpoints[1]
, 0.25f
, conn.IsBiDirectional ? 0.6f : 0
, 0.6f);
}
GL.End();
}
/// <summary>
/// Gets the centroids for the polygons that are part of the tile.
/// </summary>
private static int GetCentroids(NavmeshTile tile
, uint[] polyRefs
, int polyCount
, Vector3[] centroids)
{
NavmeshTileHeader header = tile.GetHeader();
if (header.polyCount < 1)
return 0;
uint polyBase = tile.GetBasePolyRef();
NavmeshPoly[] polys = new NavmeshPoly[header.polyCount];
tile.GetPolys(polys);
Vector3[] verts = new Vector3[header.vertCount];
tile.GetVerts(verts);
int resultCount = 0;
for (int i = 0; i < header.polyCount; i++)
{
uint polyRef = polyBase | (uint)i;
int iResult = IsInList(polyRef, polyRefs, polyCount);
if (iResult == -1)
continue;
resultCount++;
NavmeshPoly poly = polys[i];
centroids[iResult] = GetCentroid(verts, poly.indices, poly.vertCount);
}
return resultCount;
}
/// <summary>
/// Draws the polygon boundary lines based on the height detail.
/// </summary>
private static void DrawPolyBoundaries(NavmeshTileHeader header
, NavmeshPoly[] polys
, Vector3[] verts
, NavmeshDetailMesh[] meshes
, byte[] detailTris
, Vector3[] detailVerts
, NavmeshLink[] links
, Color color
, bool inner)
{
const float thr = 0.01f * 0.01f;
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type == NavmeshPolyType.OffMeshConnection)
continue;
NavmeshDetailMesh mesh = meshes[i];
Vector3[] tv = new Vector3[3];
for (int j = 0, nj = (int)poly.vertCount; j < nj; j++)
{
Color c = color; // Color may change.
if (inner)
{
if (poly.neighborPolyRefs[j] == 0)
continue;
if ((poly.neighborPolyRefs[j]
& Navmesh.ExternalLink) != 0)
{
bool con = false;
for (uint k = poly.firstLink
; k != Navmesh.NullLink
; k = links[k].next)
{
if (links[k].edge == j)
{
con = true;
break;
}
}
if (con)
c = new Color(1, 1, 1, 0.2f);
else
c = new Color(0, 0, 0, 0.2f);
}
else
c = new Color(0, 0.2f, 0.25f, 0.13f);
}
else
{
if (poly.neighborPolyRefs[j] != 0)
continue;
}
GL.Color(c);
int pVertA = poly.indices[j];
int pVertB = poly.indices[(j + 1) % nj];
for (int k = 0; k < mesh.triCount; k++)
{
int pTri = (int)((mesh.triBase + k) * 4);
for (int m = 0; m < 3; m++)
{
int iVert = detailTris[pTri + m];
if (iVert < poly.vertCount)
{
int pv = poly.indices[iVert];
tv[m] = verts[pv];
}
else
{
int pv = (int)(mesh.vertBase
+ (iVert - poly.vertCount));
tv[m] = detailVerts[pv];
}
}
for (int m = 0, n = 2; m < 3; n = m++)
{
if (((detailTris[pTri + 3] >> (n * 2)) & 0x3) == 0)
// Skip inner detail edges.
continue;
float distN = Line2.GetPointLineDistanceSq(
new Vector2(tv[n].x, tv[n].z)
, new Vector2(verts[pVertA].x, verts[pVertA].z)
, new Vector2(verts[pVertB].x, verts[pVertB].z));
float distM = Line2.GetPointLineDistanceSq(
new Vector2(tv[m].x, tv[m].z)
, new Vector2(verts[pVertA].x, verts[pVertA].z)
, new Vector2(verts[pVertB].x, verts[pVertB].z));
if (distN < thr && distM < thr)
{
GL.Vertex(tv[n]);
GL.Vertex(tv[m]);
}
}
}
}
}
}
/// <summary>
/// Draws a debug visualization of an individual navmesh tile.
/// </summary>
/// <remarks>
/// <para>
/// The tile will be checked to see if it is in use before it is drawn. So there is no
/// need for caller to do so.
/// </para>
/// </remarks>
private static void Draw(NavmeshTile tile
, NavmeshQuery query, uint[] markPolys, int markPolyCount
, int colorId)
{
NavmeshTileHeader header = tile.GetHeader();
// Keep this check. Less trouble for clients.
if (header.polyCount < 1)
return;
DebugDraw.SimpleMaterial.SetPass(0);
uint polyBase = tile.GetBasePolyRef();
NavmeshPoly[] polys = new NavmeshPoly[header.polyCount];
tile.GetPolys(polys);
Vector3[] verts = new Vector3[header.vertCount];
tile.GetVerts(verts);
NavmeshDetailMesh[] meshes =
new NavmeshDetailMesh[header.detailMeshCount];
tile.GetDetailMeshes(meshes);
byte[] detailTris = new byte[header.detailTriCount * 4];
tile.GetDetailTris(detailTris);
Vector3[] detailVerts = new Vector3[header.detailVertCount];
tile.GetDetailVerts(detailVerts);
GL.Begin(GL.TRIANGLES);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type == NavmeshPolyType.OffMeshConnection)
continue;
NavmeshDetailMesh mesh = meshes[i];
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
GL.Color(color);
for (int j = 0; j < mesh.triCount; j++)
{
int pTri = (int)(mesh.triBase + j) * 4;
for (int k = 0; k < 3; k++)
{
// Note: iVert and pVert refer to different
// arrays.
int iVert = detailTris[pTri + k];
if (iVert < poly.vertCount)
{
// Get the vertex from the main vertices.
int pVert = poly.indices[iVert];
GL.Vertex(verts[pVert]);
}
else
{
// Get the vertex from the detail vertices.
int pVert = (int)
(mesh.vertBase + iVert - poly.vertCount);
GL.Vertex(detailVerts[pVert]);
}
}
}
}
GL.End();
NavmeshLink[] links = new NavmeshLink[header.maxLinkCount];
tile.GetLinks(links);
GL.Begin(GL.LINES);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0, 0.2f, 0.25f, 0.13f)
, true);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0.65f, 0.2f, 0, 0.9f)
, false);
if (header.connCount == 0)
{
GL.End();
return;
}
NavmeshConnection[] conns = new NavmeshConnection[header.connCount];
tile.GetConnections(conns);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type != NavmeshPolyType.OffMeshConnection)
continue;
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
// Note: Alpha of less than one doesn't look good because connections tend to
// overlay a lot of geometry, resulting is off color transitions.
color.a = 1;
GL.Color(color);
NavmeshConnection conn = conns[i - header.connBase];
Vector3 va = verts[poly.indices[0]];
Vector3 vb = verts[poly.indices[1]];
// Check to see if start and end end-points have links.
bool startSet = false;
bool endSet = false;
for (uint k = poly.firstLink; k != Navmesh.NullLink; k = links[k].next)
{
if (links[k].edge == 0)
startSet = true;
if (links[k].edge == 1)
endSet = true;
}
// For linked endpoints: Draw a line between on-mesh location and endpoint,
// and draw circle at the endpoint.
// For un-linked endpoints: Draw a small red x-marker.
if (startSet)
{
GL.Vertex(va);
GL.Vertex(conn.endpoints[0]);
DebugDraw.AppendCircle(conn.endpoints[0], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[0], 0.1f);
GL.Color(color);
}
if (endSet)
{
GL.Vertex(vb);
GL.Vertex(conn.endpoints[1]);
DebugDraw.AppendCircle(conn.endpoints[1], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[1], 0.1f);
GL.Color(color);
}
DebugDraw.AppendArc(conn.endpoints[0], conn.endpoints[1]
, 0.25f
, conn.IsBiDirectional ? 0.6f : 0
, 0.6f);
}
GL.End();
}
