public bool HasCollision(RayX ray)
{
bool hasCollision = false;
m_collisionMeshTree.DoActionOnIntersectingMeshes(ray.GetBoundingBox(),
(Vector3[] points) =>
{
for (int i = 0; i < points.Length; i += 3)
{
float t = ray.IntersectsTriangle(points[i], points[i + 1], points[i + 2]);
if (t <= ray.Limit)
{
hasCollision = true;
return(false); // stop
}
}
return(true);
});
return(hasCollision);
}
// scans the geospace and collects points where it finds a floor.
public CompiledNavMeshSet ScanFloor(GeoSpace geoSpace)
{
var timer = DateTime.Now;
// collect the heights at each cell.
Parallel.For(0, m_blockHeight, new ParallelOptions {
MaxDegreeOfParallelism = OPTION_PARALLEL_THREADS
}, (blockY) =>
{
float y = m_y1 + blockY * m_step;
int blockX = 0;
for (float x = m_x1; x < m_x2; x += m_step, blockX++)
{
float curTop = m_z2;
while (curTop > m_z1)
{
var v0 = new Vector3(x, y, curTop);
var ray = new RayX(v0, new Vector3(0, 0, -1), (curTop - m_z1));
float best = (curTop - m_z1);
// descend from top to find vertical hits.
geoSpace.DoActionOnIntersectingMeshes(ray.GetBoundingBox(),
(Vector3[] points) =>
{
for (int i = 0; i < points.Length; i += 3)
{
float d = ray.IntersectsTriangle(points[i], points[i + 1], points[i + 2]);
if (d < best)
{
best = d;
}
}
return(true); // process all
});
// no more hits?
if (best >= (curTop - m_z1))
{
break;
}
float z = curTop - best;
// round-trip the height value
//z = NavMeshUtil.DecodeHeight(m_z1, m_z2, NavMeshUtil.EncodeHeight(m_z1, m_z2, z));
// add the floor if there is enough room above it.
if (!geoSpace.HasCollision(
new RayX(new Vector3(x, y, z + 0.01f), // raise z to avoid colliding with start point
new Vector3(0, 0, 1), // look up
m_requiredSpaceAboveFloor)))
{
AddFloorPoint(x, y, z);
}
curTop -= best + 1; // +1 to move down to skip some solid space
}
}
});
Debug.WriteLine("ScanFloor time: " + (DateTime.Now - timer));
// for each floor in each cell, determine neighbor connections.
timer = DateTime.Now;
ComputeDirectionFlags(geoSpace);
Debug.WriteLine("ComputeDirectionFlags time: " + (DateTime.Now - timer));
// make a temporary map of each vertex to its neighboring vertices.
// this is used for subgraph calculation.
timer = DateTime.Now;
Dictionary <EdgeVertex, List <EdgeVertex> > edges = GatherEdgeVertices();
Debug.WriteLine("GATHER EDGES time: " + (DateTime.Now - timer));
/* // PRINT ALL EDGES
* foreach (var kvp in edges)
* {
* Debug.WriteLine(kvp.Key);
* foreach (var v in kvp.Value)
* {
* Debug.WriteLine(" " + v);
* }
* }*/
// TODO - why the need to remove steep edges? they should have been excluded when
// computing directions already...
// // remove steep edges... modifies edges (and floordata), do this before
// // computing subgraphs.
// //timer = DateTime.Now;
// //RemoveSteepEdges(edges);
// //Debug.WriteLine("RemoveSteepEdges time: " + (DateTime.Now - timer));
// separate the subgraphs
timer = DateTime.Now;
List <HashSet <EdgeVertex> > subgraphs = ComputeSubgraphs(edges);
Debug.WriteLine("ComputeSubgraphs time: " + (DateTime.Now - timer));
// FILTERING
// filter subgraphs by size
if (OPTION_REMOVE_SMALL_GRAPHS)
{
timer = DateTime.Now;
subgraphs = subgraphs.Where(vertices => vertices.Count >= 100).ToList();
Debug.WriteLine("RemoveSmallSubgraphs time: " + (DateTime.Now - timer));
}
else
{
Debug.WriteLine("NOTE: not removing small graphs");
}
// POST FILTERING
// by now, the gathered subgraph edges may not match the original direction flags,
// due to slope checks, height checks, etc...
// so, update the direction flags so they reflect the current gathered subgraphs.
// it is possible this step could hide bugs, but overall is necessary...
timer = DateTime.Now;
FixDirectionFlagsToMatchSubgraphs(edges, subgraphs);
Debug.WriteLine("FIX DIRECTION FLAGS time: " + (DateTime.Now - timer));
// VALIDATION
ValidateAllSubgraphVerticesExistInFloorData(subgraphs);
ValidateEdgesAtBoundsAreBlocked(subgraphs);
timer = DateTime.Now;
var compiledMeshes = new List <CompiledNavMesh>();
foreach (var sg in subgraphs)
{
compiledMeshes.Add(Build(sg));
}
var compiledNavMeshSet = new CompiledNavMeshSet(compiledMeshes);
Debug.WriteLine("Compile time: " + (DateTime.Now - timer));
return(compiledNavMeshSet);
}