public static void Process(PNavMesh pNavMesh)
{
using (new SProfiler("Finding Islands"))
{
// find islands
List <PNavIsland> islands = new List <PNavIsland>();
int maxX = pNavMesh.columns.GetLength(0) - 1;
int maxZ = pNavMesh.columns.GetLength(1) - 1;
PNavPoint pointMax = new PNavPoint(maxX, maxZ);
int islandIndex = 0;
PNavIsland island = new PNavIsland();
for (int x = 0; x < maxX; x++)
{
for (int z = 0; z < maxZ; z++)
{
PNavPoint point = new PNavPoint(x, z);
bool foundIsland = DetectIsland(pNavMesh.columns, point, pointMax, 1, pNavMesh.verticalDrop, islandIndex, island);
if (foundIsland)
{
islandIndex++;
islands.Add(island);
PNavMeshHelper.DetectEdgeCorner(pNavMesh.columns, pointMax, island);
PNavMeshHelper.ApplyEdgeGap(pNavMesh.columns, pointMax, island, pNavMesh.edgeGap);
island = new PNavIsland();
}
}
}
pNavMesh.islands = islands;
Debug.Log($"Found {islands.Count} islands");
}
}
static bool isWalkableNode(PNavPoint self, PNavPoint max, PNavPoint delta, PNavColumn[,] columns)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(self, max, delta, out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
valid = (n != null && n.walkable);
}
return(valid);
}
static bool isInnerNode(PNavPoint point, PNavPoint max, PNavPoint delta, int nodes, PNavColumn[,] columns)
{
PNavPoint pOut;
PNavPoint newDelta = new PNavPoint(delta.x * nodes, delta.z * nodes);
bool valid = PNavMeshHelper.GetPoint(point, max, newDelta, out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
valid = (n != null && n.IsInner);
}
return(valid);
}
static bool isEdgeNode(PNavPoint point, PNavPoint max, PNavPoint delta, PNavColumn[,] columns)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(point, max, delta, out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
if (n == null)
{
return(false);
}
return(n.IsLeftEdge || n.IsRghtEdge || n.IsBackEdge || n.IsFrontEdge);
}
return(false);
}
static bool CheckIfNodeIsValidEdge(PNavNode node, PNavColumn[,] columns, PNavPoint pointMax)
{
node.isEdge = false;
node.edgeFlag = 0;
bool allSurroundingAreInner = true;
for (int i = 0; i < 8; i++)
{
walkables[i] = false;
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(node.point, pointMax, points2[i], out pOut);
if (valid)
{
PNavNode n = columns[pOut.x, pOut.z].SurfaceNode();
if (n != null)
{
if (n.walkable)
{
walkables[i] = true;
node.edgeFlag = (byte)(node.edgeFlag | 1 << i);
}
if (!n.IsInner)
{
allSurroundingAreInner = false;
}
}
}
}
if (!allSurroundingAreInner)
{
node.isEdge = true;
}
if (walkables[0] != walkables[4]) //left and right
{
node.isEdge = true;
// if top and bot are not walkable, not valid
if (!walkables[2] && !walkables[6])
{
node.isEdge = false;
}
}
if (walkables[2] != walkables[6]) // top and bot
{
node.isEdge = true;
// if left and right are not walkable, not valid
if (!walkables[0] && !walkables[4])
{
node.isEdge = false;
}
}
// if all diagonal nodes are not walkable, not valid
if (!walkables[1] && !walkables[3] && !walkables[5] && !walkables[7])
{
node.isEdge = false;
}
return(node.isEdge);
}
static bool DetectEdgeLoop(PNavNode node, PNavEdgeLoop edgeLoop, int edgeLoopIndex, PNavColumn[,] columns, PNavPoint pointMax)
{
bool foundLoop = false;
if (node == null || !node.walkable || node.edgeLoopIndex >= 0)
{
return(false);
}
bool isEdge = CheckIfNodeIsValidEdge(node, columns, pointMax);
if (!isEdge)
{
return(false);
}
Stack <PNavNode> stack = new Stack <PNavNode>();
stack.Push(node);
while (stack.Count > 0)
{
PNavNode n = stack.Pop();
//possible to be added more than once
if (n.edgeLoopIndex >= 0)
{
continue;
}
edgeLoop.nodes.Add(n);
n.edgeLoopIndex = edgeLoopIndex;
foundLoop = true;
for (int i = 0; i < 8; i++)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(n.point, pointMax, points[i], out pOut);
if (valid)
{
PNavNode nPush = columns[pOut.x, pOut.z].SurfaceNode();
if (nPush != null)
{
if (!nPush.walkable || nPush.edgeLoopIndex >= 0)
{
continue;
}
bool isEdge1 = CheckIfNodeIsValidEdge(nPush, columns, pointMax);
if (!isEdge1)
{
continue;
}
stack.Push(nPush);
}
}
}
}
return(foundLoop);
}
static bool DetectIsland(PNavColumn[,] columns, PNavPoint point, PNavPoint pointMax, int edgeGap, int verticalDrop, int islandIndex, PNavIsland island)
{
PNavColumn column = columns[point.x, point.z];
if (column.type != ParallelNavColumnType.Walkable)
{
return(false);
}
PNavNode surfaceNode = column.SurfaceNode();
if (surfaceNode == null)
{
return(false);
}
//already checked
if (surfaceNode.islandIndex >= 0)
{
return(false);
}
surfaceNode.islandIndex = islandIndex;
island.nodes.Add(surfaceNode);
Queue <PNavPoint> queue = new Queue <PNavPoint>();
queue.Enqueue(point);
while (queue.Count > 0)
{
PNavPoint p = queue.Dequeue();
PNavColumn c = columns[p.x, p.z];
//check top edge
PNavPoint pTopOut;
bool addedTop = PNavMeshHelper.AddTop(columns, p, out pTopOut, pointMax, verticalDrop, edgeGap, islandIndex, island);
if (addedTop)
{
queue.Enqueue(pTopOut);
}
//check bottom edge
PNavPoint pBottomOut;
bool addedBottom = PNavMeshHelper.AddBottom(columns, p, out pBottomOut, pointMax, verticalDrop, edgeGap, islandIndex, island);
if (addedBottom)
{
queue.Enqueue(pBottomOut);
}
//search left
PNavPoint left = p;
while (true)
{
PNavPoint pLeftOut;
bool added = PNavMeshHelper.AddLeft(columns, left, out pLeftOut, pointMax, verticalDrop, edgeGap, islandIndex, island, queue);
if (!added)
{
break;
}
else
{
left = pLeftOut;
}
}
//search right
PNavPoint right = p;
while (true)
{
PNavPoint pRightOut;
bool added = PNavMeshHelper.AddRight(columns, right, out pRightOut, pointMax, verticalDrop, edgeGap, islandIndex, island, queue);
if (!added)
{
break;
}
else
{
right = pRightOut;
}
}
}
return(true);
}