public hkRootLevelContainer BuildNavmesh(BuildParams p, List <Vector3> verts, List <int> indices)
{
var root = new hkRootLevelContainer();
NavMeshNative.SetNavmeshBuildParams(p.Cellsize, p.Cellheight, p.SlopeAngle, p.AgentHeight, p.AgentClimb, p.AgentRadius, p.MinRegionArea);
var buildSuccess = NavMeshNative.BuildNavmeshForMesh(verts.ToArray(), verts.Count, indices.ToArray(), indices.Count);
if (!buildSuccess)
{
return(null);
}
var vcount = NavMeshNative.GetMeshVertCount();
var icount = NavMeshNative.GetMeshTriCount();
if (vcount == 0 || icount == 0)
{
return(null);
}
ushort[] bverts = new ushort[vcount * 3];
ushort[] bindices = new ushort[icount * 3 * 2];
Vector3[] vbverts = new Vector3[vcount];
NavMeshNative.GetMeshVerts(bverts);
NavMeshNative.GetMeshTris(bindices);
Vector3[] bounds = new Vector3[2];
NavMeshNative.GetBoundingBox(bounds);
var nmesh = new hkaiNavMesh();
nmesh.m_aabb = new hkAabb();
nmesh.m_aabb.m_min = new Vector4(bounds[0].X, bounds[0].Y, bounds[0].Z, 1.0f);
nmesh.m_aabb.m_max = new Vector4(bounds[1].X, bounds[1].Y, bounds[1].Z, 1.0f);
nmesh.m_edgeData = new List <int>();
nmesh.m_edgeDataStriding = 1;
nmesh.m_edges = new List <hkaiNavMeshEdge>();
nmesh.m_erosionRadius = 0.0f;
nmesh.m_faceData = new List <int>();
nmesh.m_faceDataStriding = 1;
nmesh.m_faces = new List <hkaiNavMeshFace>();
nmesh.m_flags = 0;
nmesh.m_vertices = new List <Vector4>();
for (int i = 0; i < bverts.Length / 3; i++)
{
var vx = bverts[i * 3];
var vy = bverts[i * 3 + 1];
var vz = bverts[i * 3 + 2];
var vert = new Vector3(bounds[0].X + (float)vx * p.Cellsize,
bounds[0].Y + (float)vy * p.Cellheight,
bounds[0].Z + (float)vz * p.Cellsize);
nmesh.m_vertices.Add(new Vector4(vert.X, vert.Y, vert.Z, 1.0f));
vbverts[i] = vert;
}
for (int t = 0; t < bindices.Length / 2; t += 3)
{
var f = new hkaiNavMeshFace();
f.m_clusterIndex = 0;
f.m_numEdges = 3;
f.m_startEdgeIndex = nmesh.m_edges.Count;
f.m_startUserEdgeIndex = -1;
f.m_padding = 0xCDCD;
nmesh.m_faces.Add(f);
nmesh.m_faceData.Add(0);
for (int i = 0; i < 3; i++)
{
var e = new hkaiNavMeshEdge();
e.m_a = bindices[t * 2 + i];
e.m_b = bindices[t * 2 + ((i + 1) % 3)];
e.m_flags = 4;
// Record adjacency
if (bindices[t * 2 + 3 + i] == 0xFFFF)
{
// No adjacency
e.m_oppositeEdge = 0xFFFFFFFF;
e.m_oppositeFace = 0xFFFFFFFF;
}
else
{
e.m_oppositeFace = bindices[t * 2 + 3 + i];
// Find the edge that has this face as an adjancency
for (int j = 0; j < 3; j++)
{
var edge = bindices[t * 2 + 3 + i] * 6 + 3 + j;
if (bindices[edge] == (t / 3))
{
e.m_oppositeEdge = (uint)bindices[t * 2 + 3 + i] * 3 + (uint)j;
}
}
}
nmesh.m_edges.Add(e);
nmesh.m_edgeData.Add(0);
}
}
root.m_namedVariants = new List <hkRootLevelContainerNamedVariant>();
var variant = new hkRootLevelContainerNamedVariant();
variant.m_className = "hkaiNavMesh";
variant.m_name = "hkaiNavMesh";
variant.m_variant = nmesh;
root.m_namedVariants.Add(variant);
// Next step: build a bvh
var shortIndices = new ushort[bindices.Length / 2];
for (int i = 0; i < bindices.Length / 2; i += 3)
{
shortIndices[i] = bindices[i * 2];
shortIndices[i + 1] = bindices[i * 2 + 1];
shortIndices[i + 2] = bindices[i * 2 + 2];
}
bool didbuild = BVHNative.BuildBVHForMesh(vbverts, vbverts.Length, shortIndices, shortIndices.Length);
if (!didbuild)
{
return(null);
}
var nodecount = BVHNative.GetBVHSize();
var nsize = BVHNative.GetNodeSize();
var nodes = new NativeBVHNode[nodecount];
BVHNative.GetBVHNodes(nodes);
// Rebuild in friendlier tree form
List <BVNode> bnodes = new List <BVNode>((int)nodecount);
foreach (var n in nodes)
{
var bnode = new BVNode();
bnode.Min = new Vector3(n.minX, n.minY, n.minZ);
bnode.Max = new Vector3(n.maxX, n.maxY, n.maxZ);
bnode.IsLeaf = n.isLeaf == 1;
bnode.PrimitiveCount = n.primitiveCount;
bnode.Primitive = n.firstChildOrPrimitive;
bnodes.Add(bnode);
}
for (int i = 0; i < nodes.Length; i++)
{
if (nodes[i].isLeaf == 0)
{
bnodes[i].Left = bnodes[(int)nodes[i].firstChildOrPrimitive];
bnodes[i].Right = bnodes[(int)nodes[i].firstChildOrPrimitive + 1];
}
}
var bvhvariant = new hkRootLevelContainerNamedVariant();
bvhvariant.m_className = "hkcdStaticAabbTree";
bvhvariant.m_name = "hkcdStaticAabbTree";
var tree = new hkcdStaticAabbTree();
bvhvariant.m_variant = tree;
root.m_namedVariants.Add(bvhvariant);
tree.m_treePtr = new hkcdStaticTreeDefaultTreeStorage6();
tree.m_treePtr.m_nodes = bnodes[0].BuildAxis6Tree();
var min = bnodes[0].Min;
var max = bnodes[0].Max;
tree.m_treePtr.m_domain = new hkAabb();
tree.m_treePtr.m_domain.m_min = new Vector4(min.X, min.Y, min.Z, 1.0f);
tree.m_treePtr.m_domain.m_max = new Vector4(max.X, max.Y, max.Z, 1.0f);
// Build a dummy directed graph
var gvariant = new hkRootLevelContainerNamedVariant();
gvariant.m_className = "hkaiDirectedGraphExplicitCost";
gvariant.m_name = "hkaiDirectedGraphExplicitCost";
var graph = new hkaiDirectedGraphExplicitCost();
gvariant.m_variant = graph;
root.m_namedVariants.Add(gvariant);
graph.m_nodes = new List <hkaiDirectedGraphExplicitCostNode>();
var node = new hkaiDirectedGraphExplicitCostNode();
node.m_numEdges = 0;
node.m_startEdgeIndex = 0;
graph.m_nodes.Add(node);
graph.m_positions = new List <Vector4>();
var c = (max - min) / 2;
graph.m_positions.Add(new Vector4(c.X, c.Y, c.Z, 1.0f));
return(root);
}
public void AddMesh(List <Vector3> verts, List <ushort> indices)
{
// Try and build the BVH for the mesh first
var bv = verts.ToArray();
var bi = indices.ToArray();
bool didbuild = BVHNative.BuildBVHForMesh(bv, bv.Count(), bi, bi.Count());
if (didbuild)
{
var nodecount = BVHNative.GetBVHSize();
var nsize = BVHNative.GetNodeSize();
var nodes = new NativeBVHNode[nodecount];
BVHNative.GetBVHNodes(nodes);
// Rebuild in friendlier tree form
List <BVNode> bnodes = new List <BVNode>((int)nodecount);
foreach (var n in nodes)
{
var bnode = new BVNode();
bnode.Min = new Vector3(n.minX, n.minY, n.minZ);
bnode.Max = new Vector3(n.maxX, n.maxY, n.maxZ);
bnode.IsLeaf = n.isLeaf == 1;
bnode.PrimitiveCount = n.primitiveCount;
bnode.Primitive = n.firstChildOrPrimitive;
bnodes.Add(bnode);
}
for (int i = 0; i < nodes.Length; i++)
{
if (nodes[i].isLeaf == 0)
{
bnodes[i].Left = bnodes[(int)nodes[i].firstChildOrPrimitive];
bnodes[i].Right = bnodes[(int)nodes[i].firstChildOrPrimitive + 1];
}
}
// Split the mesh into sections using the BVH and primitive counts as
// guidence
bnodes[0].ComputePrimitiveCounts();
bnodes[0].ComputeUniqueIndicesCounts(indices);
bnodes[0].IsSectionHead = true;
bnodes[0].AttemptSectionSplit();
// Take out the section heads and replace them with new leafs that reference
// the new section
List <BVNode> sectionBVHs = new List <BVNode>();
foreach (var node in bnodes)
{
if (node.IsSectionHead)
{
var secnode = new BVNode();
secnode.Min = node.Min;
secnode.Max = node.Max;
secnode.PrimitiveCount = node.PrimitiveCount;
secnode.Left = node.Left;
secnode.Right = node.Right;
node.Left = null;
node.Right = null;
node.IsLeaf = true;
node.Primitive = (uint)sectionBVHs.Count();
sectionBVHs.Add(secnode);
}
}
List <CollisionSection> sections = new List <CollisionSection>();
foreach (var b in sectionBVHs)
{
var s = new CollisionSection();
s.SectionHead = b;
s.GatherSectionIndices(indices);
sections.Add(s);
}
// Count all the indices across sections to figure out what vertices need to be shared
byte[] indicescount = new byte[indices.Count];
foreach (var s in sections)
{
foreach (var v in s.UsedIndices)
{
indicescount[v]++;
}
}
var shared = new HashSet <ushort>();
for (ushort i = 0; i < indices.Count(); i++)
{
if (indicescount[i] > 1)
{
shared.Add(i);
}
}
// Build shared indices mapping table and compress the shared verts
List <ulong> sharedVerts = new List <ulong>();
Dictionary <ushort, ushort> sharedIndexRemapTable = new Dictionary <ushort, ushort>();
foreach (var i in shared.OrderBy(x => x))
{
sharedIndexRemapTable.Add(i, (ushort)sharedVerts.Count());
sharedVerts.Add(CompressSharedVertex(verts[i], bnodes[0].Min, bnodes[0].Max));
}
// build the havok mesh
fsnpCustomParamCompressedMeshShape mesh = new fsnpCustomParamCompressedMeshShape();
mesh.m_convexRadius = 0.01f;
mesh.m_dispatchType = Enum.COMPOSITE;
mesh.m_edgeWeldingMap = new hknpSparseCompactMapunsignedshort();
mesh.m_edgeWeldingMap.m_primaryKeyToIndex = null;
mesh.m_edgeWeldingMap.m_secondaryKeyMask = 0;
mesh.m_edgeWeldingMap.m_sencondaryKeyBits = 0;
mesh.m_edgeWeldingMap.m_valueAndSecondaryKeys = null;
mesh.m_quadIsFlat = new hkBitField();
mesh.m_quadIsFlat.m_storage = new hkBitFieldStoragehkArrayunsignedinthkContainerHeapAllocator();
mesh.m_quadIsFlat.m_storage.m_numBits = 0;
mesh.m_quadIsFlat.m_storage.m_words = null;
mesh.m_triangleIsInterior = new hkBitField();
mesh.m_triangleIsInterior.m_storage = new hkBitFieldStoragehkArrayunsignedinthkContainerHeapAllocator();
mesh.m_triangleIsInterior.m_storage.m_numBits = 0;
mesh.m_triangleIsInterior.m_storage.m_words = null;
mesh.m_triangleIndexToShapeKey = null;
mesh.m_pParam = null;
mesh.m_shapeTagCodecInfo = 4294967295;
mesh.m_flags = 516;
mesh.m_numShapeKeyBits = 5; // ?
var meshdata = new hknpCompressedMeshShapeData();
mesh.m_data = meshdata;
var meshtree = new hknpCompressedMeshShapeTree();
meshdata.m_meshTree = meshtree;
meshtree.m_bitsPerKey = 5; // ?
meshtree.m_domain = new hkAabb();
meshtree.m_domain.m_min = new Vector4(bnodes[0].Min.X, bnodes[0].Min.Y, bnodes[0].Min.Z, 1.0f);
meshtree.m_domain.m_max = new Vector4(bnodes[0].Max.X, bnodes[0].Max.Y, bnodes[0].Max.Z, 1.0f);
meshtree.m_maxKeyValue = 30; // ?
meshtree.m_nodes = bnodes[0].BuildAxis5Tree();
meshtree.m_sharedVertices = sharedVerts;
var bvh = meshdata.getMeshBVH();
// Now let's process all the sections
meshtree.m_packedVertices = new List <uint>();
meshtree.m_primitiveDataRuns = new List <hknpCompressedMeshShapeTreeDataRun>();
meshtree.m_sharedVerticesIndex = new List <ushort>();
meshtree.m_primitives = new List <hkcdStaticMeshTreeBasePrimitive>();
meshtree.m_sections = new List <hkcdStaticMeshTreeBaseSection>();
foreach (var s in sections)
{
var sharedindexbase = meshtree.m_sharedVerticesIndex.Count;
var packedvertbase = meshtree.m_packedVertices.Count;
var primitivesbase = meshtree.m_primitives.Count;
var sec = new hkcdStaticMeshTreeBaseSection();
var offset = s.SectionHead.Min;
var scale = (s.SectionHead.Max - s.SectionHead.Min) / new Vector3((float)0x7FF, (float)0x7FF, (float)0x3FF);
sec.m_codecParms_0 = offset.X;
sec.m_codecParms_1 = offset.Y;
sec.m_codecParms_2 = offset.Z;
sec.m_codecParms_3 = scale.X;
sec.m_codecParms_4 = scale.Y;
sec.m_codecParms_5 = scale.Z;
sec.m_domain = new hkAabb();
sec.m_domain.m_min = new Vector4(s.SectionHead.Min.X, s.SectionHead.Min.Y, s.SectionHead.Min.Z, 1.0f);
sec.m_domain.m_max = new Vector4(s.SectionHead.Max.X, s.SectionHead.Max.Y, s.SectionHead.Max.Z, 1.0f);
// Map the indices to either shared/packed verts and pack verts that need packing
var packedIndicesRemap = new Dictionary <ushort, byte>();
byte idxcounter = 0;
foreach (var idx in s.UsedIndices.OrderBy(x => x))
{
if (!shared.Contains(idx))
{
packedIndicesRemap.Add(idx, idxcounter);
var vert = verts[idx];
meshtree.m_packedVertices.Add(CompressPackedVertex(verts[idx], scale, offset));
var decomp = meshdata.DecompressPackedVertex(meshtree.m_packedVertices.Last(), scale, offset);
idxcounter++;
}
}
var sharedstart = idxcounter;
idxcounter = 0;
foreach (var idx in s.UsedIndices.OrderBy(x => x))
{
if (shared.Contains(idx))
{
packedIndicesRemap.Add(idx, (byte)(idxcounter + sharedstart));
meshtree.m_sharedVerticesIndex.Add(sharedIndexRemapTable[idx]);
idxcounter++;
}
}
sec.m_firstPackedVertex = (uint)packedvertbase;
sec.m_numSharedIndices = idxcounter;
sec.m_numPackedVertices = sharedstart;
sec.m_sharedVertices = new hkcdStaticMeshTreeBaseSectionSharedVertices();
sec.m_sharedVertices.m_data = (uint)(((uint)sharedstart & 0xFF) | ((uint)sharedindexbase << 8));
// Now pack the primitives
for (int i = 0; i < s.Indices.Count / 3; i++)
{
var p = new hkcdStaticMeshTreeBasePrimitive();
p.m_indices_0 = packedIndicesRemap[s.Indices[i * 3]];
p.m_indices_1 = packedIndicesRemap[s.Indices[i * 3 + 1]];
p.m_indices_2 = packedIndicesRemap[s.Indices[i * 3 + 2]];
p.m_indices_3 = p.m_indices_2;
meshtree.m_primitives.Add(p);
}
sec.m_primitives = new hkcdStaticMeshTreeBaseSectionPrimitives();
sec.m_primitives.m_data = (((uint)s.Indices.Count / 3) & 0xFF) | ((uint)primitivesbase << 8);
// Create a data run
sec.m_dataRuns = new hkcdStaticMeshTreeBaseSectionDataRuns();
sec.m_dataRuns.m_data = ((uint)meshtree.m_primitiveDataRuns.Count() << 8) | 1;
var run = new hknpCompressedMeshShapeTreeDataRun();
run.m_count = (byte)(s.Indices.Count / 3);
run.m_index = 0;
run.m_value = new hknpCompressedMeshShapeTreeDataRunData();
run.m_value.m_data = 65535;
meshtree.m_primitiveDataRuns.Add(run);
sec.m_nodes = s.SectionHead.BuildAxis4Tree();
meshtree.m_sections.Add(sec);
}
meshtree.m_numPrimitiveKeys = meshtree.m_primitives.Count;
var simdtree = new hkcdSimdTree();
meshdata.m_simdTree = simdtree;
simdtree.m_nodes = new List <hkcdSimdTreeNode>();
for (int i = 0; i < 2; i++)
{
hkcdSimdTreeNode n = new hkcdSimdTreeNode();
n.m_data_0 = 0;
n.m_data_1 = 0;
n.m_data_2 = 0;
n.m_data_3 = 0;
float mi = -3.40282E+38F;
float ma = 3.40282E+38F;
n.m_hx = new Vector4(mi, mi, mi, mi);
n.m_hy = new Vector4(mi, mi, mi, mi);
n.m_hz = new Vector4(mi, mi, mi, mi);
n.m_lx = new Vector4(ma, ma, ma, ma);
n.m_ly = new Vector4(ma, ma, ma, ma);
n.m_lz = new Vector4(ma, ma, ma, ma);
simdtree.m_nodes.Add(n);
}
_meshes.Add(mesh);
}
}