/// <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);
}
public static void OutputVertices()
{
NavmeshTile tile = navmesh.GetTile(0);
float[] headerVerts = new float[tile.GetHeader().vertCount * 3];
org.critterai.Vector3[] buffer = new org.critterai.Vector3[tile.GetHeader().vertCount * 3];
tile.GetVerts(buffer);
string filename = "Vertices.txt";
if (File.Exists(filename))
{
File.Delete(filename);
}
File.AppendAllText(filename, "Left List is Raw (vertcount = " + vertCount +
"), Right List is From Header (vertcount = " + tile.GetHeader().vertCount + ") (you might see data loss, as converted in/out of grid space.) \n\n");
for (int i = 0; i < vertCount; i++)
{
File.AppendAllText(filename, "Vertex " + i + ": x: " + vertices[i].x + " y: " + vertices[i].y + " z: " + vertices[i].z + "\t\t|");
File.AppendAllText(filename, "Vertex " + i + ": x: " + buffer[3 * i + 0].x + " y: " + headerVerts[3 * i + 1] + " z: " + headerVerts[3 * i + 2] + "\n");
}
}
/// <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 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();
}
public void CreateQuery(float fMoveSpeed, float fTurnSpeed)
{
this.mTurnSpeed = fTurnSpeed;
this.mMoveSpeed = fMoveSpeed;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
fileName + ": Aborted initialization. Failed query creation: " + status.ToString());
mCrowdManager = null;
return;
}
mCrowdManager = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (mCrowdManager == null)
{
Debug.LogError(fileName + ": Aborted initialization. Failed crowd creation.");
}
CrowdAvoidanceParams mCrowdParam = CrowdAvoidanceParams.CreateStandardMedium();
mCrowdManager.SetAvoidanceConfig(0, mCrowdParam);
mCrowdAgentParams = new CrowdAgentParams();
mCrowdAgentParams.avoidanceType = 0;
mCrowdAgentParams.collisionQueryRange = 3.2f;
mCrowdAgentParams.height = 1.8f;
mCrowdAgentParams.maxAcceleration = 8.0f;
mCrowdAgentParams.maxSpeed = this.mMoveSpeed;
mCrowdAgentParams.pathOptimizationRange = 12.0f;
mCrowdAgentParams.radius = 1.0f;
mCrowdAgentParams.separationWeight = 2.0f;
mCrowdAgentParams.updateFlags = CrowdUpdateFlags.AnticipateTurns | CrowdUpdateFlags.ObstacleAvoidance | CrowdUpdateFlags.CrowdSeparation | CrowdUpdateFlags.OptimizeVis | CrowdUpdateFlags.OptimizeTopo;
polyResult = new uint[300];
pointResult = new Vector3[300];
tileBufferPoints = new Vector3[3000];
pointResultBuffer = new Vector3[300];
polyResultBuffer = new uint[300];
NavmeshTile tile = navmesh.GetTile(0);
int count = tile.GetVerts(tileBufferPoints);
Debug.Log("Tile " + tile.GetTileRef() + " count:" + count);
if (count > 3000)
{
tileBufferPoints = new Vector3[count];
}
tileBufferRef = -1;
//NavmeshPoly[] polys=new NavmeshPoly[3000];
//int polyCount;
//polyCount=tile.GetPolys(polys);
//for (int i = 0; i < polyCount; i++)
//{
// NavmeshPoly poly = polys[i];
// //if (poly.Type == NavmeshPolyType.OffMeshConnection)
// {
// Debug.Log("Poly" + i+"type"+poly.Type.ToString());
// }
//}
}