/** Updates shortcuts to the first graph of different types.
* Hard coding references to some graph types is not really a good thing imo. I want to keep it dynamic and flexible.
* But these references ease the use of the system, so I decided to keep them. It is the only reference to specific graph types in the pathfinding core.\n
*/
public void UpdateShortcuts()
{
navmesh = (NavMeshGraph)FindGraphOfType(typeof(NavMeshGraph));
#if !ASTAR_NO_GRID_GRAPH
gridGraph = (GridGraph)FindGraphOfType(typeof(GridGraph));
#endif
#if !ASTAR_NO_POINT_GRAPH
pointGraph = (PointGraph)FindGraphOfType(typeof(PointGraph));
#endif
recastGraph = (RecastGraph)FindGraphOfType(typeof(RecastGraph));
}
public static NNInfoInternal GetNearest(NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
{
if ((nodes == null) || (nodes.Length == 0))
{
UnityEngine.Debug.LogError("NavGraph hasn't been generated yet or does not contain any nodes");
return(new NNInfoInternal());
}
if (constraint == null)
{
constraint = NNConstraint.None;
}
Int3[] vertices = graph.vertices;
if (graph.bbTree == null)
{
return(GetNearestForce(graph, graph, position, constraint, accurateNearestNode));
}
float radius = ((graph.bbTree.Size.width + graph.bbTree.Size.height) * 0.5f) * 0.02f;
NNInfoInternal internal2 = graph.bbTree.QueryCircle(position, radius, constraint);
if (internal2.node == null)
{
for (int i = 1; i <= 8; i++)
{
internal2 = graph.bbTree.QueryCircle(position, (i * i) * radius, constraint);
if ((internal2.node != null) || ((((i - 1) * (i - 1)) * radius) > (AstarPath.active.maxNearestNodeDistance * 2f)))
{
break;
}
}
}
if (internal2.node != null)
{
internal2.clampedPosition = ClosestPointOnNode(internal2.node as TriangleMeshNode, vertices, position);
}
if (internal2.constrainedNode != null)
{
if (constraint.constrainDistance)
{
Vector3 vector = ((Vector3)internal2.constrainedNode.position) - position;
if (vector.sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr)
{
internal2.constrainedNode = null;
return(internal2);
}
}
internal2.constClampedPosition = ClosestPointOnNode(internal2.constrainedNode as TriangleMeshNode, vertices, position);
}
return(internal2);
}
public static void RebuildBBTree(NavMeshGraph graph)
{
BBTree bBTree = graph.bbTree;
if (bBTree == null)
{
bBTree = new BBTree(graph);
}
bBTree.Clear();
TriangleMeshNode[] triNodes = graph.TriNodes;
for (int i = triNodes.Length - 1; i >= 0; i--)
{
bBTree.Insert(triNodes[i]);
}
graph.bbTree = bBTree;
}
void IUpdatableGraph.UpdateArea(GraphUpdateObject guo)
{
IntRect touchingTiles = base.GetTouchingTiles(guo.bounds);
if (!guo.updatePhysics)
{
for (int i = touchingTiles.ymin; i <= touchingTiles.ymax; i++)
{
for (int j = touchingTiles.xmin; j <= touchingTiles.xmax; j++)
{
NavmeshTile graph = this.tiles[i * this.tileXCount + j];
NavMeshGraph.UpdateArea(guo, graph);
}
}
return;
}
Voxelize voxelize = this.globalVox;
if (voxelize == null)
{
throw new InvalidOperationException("No Voxelizer object. UpdateAreaInit should have been called before this function.");
}
for (int k = touchingTiles.xmin; k <= touchingTiles.xmax; k++)
{
for (int l = touchingTiles.ymin; l <= touchingTiles.ymax; l++)
{
this.stagingTiles.Add(this.BuildTileMesh(voxelize, k, l, 0));
}
}
uint graphIndex = (uint)AstarPath.active.data.GetGraphIndex(this);
for (int m = 0; m < this.stagingTiles.Count; m++)
{
NavmeshTile navmeshTile = this.stagingTiles[m];
GraphNode[] nodes = navmeshTile.nodes;
for (int n = 0; n < nodes.Length; n++)
{
nodes[n].GraphIndex = graphIndex;
}
}
for (int num = 0; num < voxelize.inputMeshes.Count; num++)
{
voxelize.inputMeshes[num].Pool();
}
ListPool <RasterizationMesh> .Release(voxelize.inputMeshes);
voxelize.inputMeshes = null;
}
public static NNInfo GetNearest(NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
{
if (nodes == null || nodes.Length == 0)
{
Debug.LogError("NavGraph hasn't been generated yet or does not contain any nodes");
return(new NNInfo());
}
if (constraint == null)
{
constraint = NNConstraint.None;
}
return(GetNearestForceBoth(graph, graph, position, NNConstraint.None, accurateNearestNode));
}
public static NNInfo GetNearest(NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
{
if (nodes == null || nodes.Length == 0)
{
Debug.LogError("NavGraph hasn't been generated yet or does not contain any nodes");
return(default(NNInfo));
}
if (constraint == null)
{
constraint = NNConstraint.None;
}
Int3[] vertices = graph.vertices;
if (graph.bbTree == null)
{
return(NavMeshGraph.GetNearestForce(graph, graph, position, constraint, accurateNearestNode));
}
float num = (graph.bbTree.Size.width + graph.bbTree.Size.height) * 0.5f * 0.02f;
NNInfo result = graph.bbTree.QueryCircle(position, num, constraint);
if (result.node == null)
{
for (int i = 1; i <= 8; i++)
{
result = graph.bbTree.QueryCircle(position, (float)(i * i) * num, constraint);
if (result.node != null || (float)((i - 1) * (i - 1)) * num > AstarPath.active.maxNearestNodeDistance * 2f)
{
break;
}
}
}
if (result.node != null)
{
result.clampedPosition = NavMeshGraph.ClosestPointOnNode(result.node as TriangleMeshNode, vertices, position);
}
if (result.constrainedNode != null)
{
if (constraint.constrainDistance && ((Vector3)result.constrainedNode.position - position).sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr)
{
result.constrainedNode = null;
}
else
{
result.constClampedPosition = NavMeshGraph.ClosestPointOnNode(result.constrainedNode as TriangleMeshNode, vertices, position);
}
}
return(result);
}
/** Rebuilds the BBTree on a NavGraph.
* \astarpro
* \see NavMeshGraph.bbTree */
public static void RebuildBBTree(NavMeshGraph graph)
{
//Build Axis Aligned Bounding Box Tree
BBTree bbTree = graph.bbTree;
bbTree = bbTree ?? new BBTree(graph);
bbTree.Clear();
var nodes = graph.nodes;
for (int i = nodes.Length - 1; i >= 0; i--)
{
bbTree.Insert(nodes[i]);
}
graph.bbTree = bbTree;
}
public bool NodeIntersectsCircle(MeshNode node, Vector3 p, float radius)
{
if (NavMeshGraph.ContainsPoint(node, p, graph.vertices))
{
return(true);
}
Int3[] vertices = graph.vertices;
float r2 = radius * radius;
Vector3 p1 = (Vector3)vertices[node[0]], p2 = (Vector3)vertices[node[1]], p3 = (Vector3)vertices[node[2]];
p1.y = p.y;
p2.y = p.y;
p3.y = p.y;
return(Mathfx.DistancePointSegmentStrict(p1, p2, p) < r2 ||
Mathfx.DistancePointSegmentStrict(p2, p3, p) < r2 ||
Mathfx.DistancePointSegmentStrict(p3, p1, p) < r2);
}
public void SearchBox(BBTreeBox box, Vector3 p, NNConstraint constraint, ref NNInfo nnInfo) //, int intendentLevel = 0) {
{
if (box.node != null)
{
//Leaf node
if (NavMeshGraph.ContainsPoint(box.node, p, graph.vertices))
{
//Update the NNInfo
if (nnInfo.node == null)
{
nnInfo.node = box.node;
}
else if (Mathf.Abs(((Vector3)box.node.position).y - p.y) < Mathf.Abs(((Vector3)nnInfo.node.position).y - p.y))
{
nnInfo.node = box.node;
}
if (constraint.Suitable(box.node))
{
if (nnInfo.constrainedNode == null)
{
nnInfo.constrainedNode = box.node;
}
else if (Mathf.Abs(box.node.position.y - p.y) < Mathf.Abs(nnInfo.constrainedNode.position.y - p.y))
{
nnInfo.constrainedNode = box.node;
}
}
}
return;
}
//Search children
if (RectContains(box.c1.rect, p))
{
SearchBox(box.c1, p, constraint, ref nnInfo);
}
if (RectContains(box.c2.rect, p))
{
SearchBox(box.c2, p, constraint, ref nnInfo);
}
}
//These functions are for serialization, the static ones are there so other graphs using mesh nodes can serialize them more easily
public static byte[] SerializeMeshNodes(NavMeshGraph graph, GraphNode[] nodes)
{
System.IO.MemoryStream mem = new System.IO.MemoryStream();
System.IO.BinaryWriter stream = new System.IO.BinaryWriter(mem);
for (int i = 0; i < nodes.Length; i++)
{
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
if (node == null)
{
Debug.LogError("Serialization Error : Couldn't cast the node to the appropriate type - NavMeshGenerator. Omitting node data.");
return(null);
}
stream.Write(node.v0);
stream.Write(node.v1);
stream.Write(node.v2);
}
Int3[] vertices = graph.vertices;
if (vertices == null)
{
vertices = new Int3[0];
}
stream.Write(vertices.Length);
for (int i = 0; i < vertices.Length; i++)
{
stream.Write(vertices[i].x);
stream.Write(vertices[i].y);
stream.Write(vertices[i].z);
}
stream.Close();
return(mem.ToArray());
}
//public GameObject meshRenderer;
public override void OnInspectorGUI(NavGraph target)
{
NavMeshGraph graph = target as NavMeshGraph;
/*
#if UNITY_3_3
* graph.sourceMesh = EditorGUILayout.ObjectField ("Source Mesh",graph.sourceMesh,typeof(Mesh)) as Mesh;
#else
* graph.sourceMesh = EditorGUILayout.ObjectField ("Source Mesh",graph.sourceMesh,typeof(Mesh), true) as Mesh;
#endif
*/
graph.sourceMesh = ObjectField("Source Mesh", graph.sourceMesh, typeof(Mesh), false) as Mesh;
#if UNITY_LE_4_3
EditorGUIUtility.LookLikeControls();
EditorGUILayoutx.BeginIndent();
#endif
graph.offset = EditorGUILayout.Vector3Field("Offset", graph.offset);
#if UNITY_LE_4_3
EditorGUILayoutx.EndIndent();
EditorGUILayoutx.BeginIndent();
#endif
graph.rotation = EditorGUILayout.Vector3Field("Rotation", graph.rotation);
#if UNITY_LE_4_3
EditorGUILayoutx.EndIndent();
EditorGUIUtility.LookLikeInspector();
#endif
graph.scale = EditorGUILayout.FloatField(new GUIContent("Scale", "Scale of the mesh"), graph.scale);
graph.scale = (graph.scale <0.01F && graph.scale> -0.01F) ? (graph.scale >= 0 ? 0.01F : -0.01F) : graph.scale;
graph.accurateNearestNode = EditorGUILayout.Toggle(new GUIContent("Accurate Nearest Node Queries", "More accurate nearest node queries. See docs for more info"), graph.accurateNearestNode);
}
public void UpdateShortcuts()
{
this.navmesh = (NavMeshGraph)this.FindGraphOfType(typeof(NavMeshGraph));
this.recastGraph = (RecastGraph)this.FindGraphOfType(typeof(RecastGraph));
}
/** Rebuilds the BBTree on a NavGraph.
* \astarpro
* \see NavMeshGraph.bbTree */
public static void RebuildBBTree(NavMeshGraph graph)
{
//BBTrees is a A* Pathfinding Project Pro only feature - The Pro version can be bought in the Unity Asset Store or on arongranberg.com
}
// Token: 0x0600256F RID: 9583 RVA: 0x001A2E2C File Offset: 0x001A102C
void IUpdatableGraph.UpdateArea(GraphUpdateObject o)
{
NavMeshGraph.UpdateArea(o, this);
}
/** Updates shortcuts to the first graph of different types.
* Hard coding references to some graph types is not really a good thing imo. I want to keep it dynamic and flexible.
* But these references ease the use of the system, so I decided to keep them. It is the only reference to specific graph types in the pathfinding core.\n
*/
public void UpdateShortcuts()
{
navmesh = (NavMeshGraph)FindGraphOfType(typeof(NavMeshGraph));
gridGraph = (GridGraph)FindGraphOfType(typeof(GridGraph));
pointGraph = (PointGraph)FindGraphOfType(typeof(PointGraph));
}
public static NNInfo GetNearest (NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode) {
if (nodes == null || nodes.Length == 0) {
Debug.LogError ("NavGraph hasn't been generated yet or does not contain any nodes");
return new NNInfo ();
}
if (constraint == null) constraint = NNConstraint.None;
Int3[] vertices = graph.vertices;
//Query BBTree
if (graph.bbTree == null) {
/** \todo Change method to require a navgraph */
return GetNearestForce (graph as NavGraph, graph as INavmeshHolder, position, constraint, accurateNearestNode);
//Debug.LogError ("No Bounding Box Tree has been assigned");
//return new NNInfo ();
}
//Searches in radiuses of 0.05 - 0.2 - 0.45 ... 1.28 times the average of the width and depth of the bbTree
float w = (graph.bbTree.root.rect.width + graph.bbTree.root.rect.height)*0.5F*0.02F;
NNInfo query = graph.bbTree.QueryCircle (position,w,constraint);//graph.bbTree.Query (position,constraint);
if (query.node == null) {
for (int i=1;i<=8;i++) {
query = graph.bbTree.QueryCircle (position, i*i*w, constraint);
if (query.node != null || (i-1)*(i-1)*w > AstarPath.active.maxNearestNodeDistance*2) { // *2 for a margin
break;
}
}
}
if (query.node != null) {
query.clampedPosition = ClosestPointOnNode (query.node as TriangleMeshNode,vertices,position);
}
if (query.constrainedNode != null) {
if (constraint.constrainDistance && ((Vector3)query.constrainedNode.position - position).sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr) {
query.constrainedNode = null;
} else {
query.constClampedPosition = ClosestPointOnNode (query.constrainedNode as TriangleMeshNode, vertices, position);
}
}
return query;
}
public static void DeserializeMeshNodes (NavMeshGraph graph, GraphNode[] nodes, byte[] bytes) {
System.IO.MemoryStream mem = new System.IO.MemoryStream(bytes);
System.IO.BinaryReader stream = new System.IO.BinaryReader(mem);
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
if (node == null) {
Debug.LogError ("Serialization Error : Couldn't cast the node to the appropriate type - NavMeshGenerator");
return;
}
node.v0 = stream.ReadInt32 ();
node.v1 = stream.ReadInt32 ();
node.v2 = stream.ReadInt32 ();
}
int numVertices = stream.ReadInt32 ();
graph.vertices = new Int3[numVertices];
for (int i=0;i<numVertices;i++) {
int x = stream.ReadInt32 ();
int y = stream.ReadInt32 ();
int z = stream.ReadInt32 ();
graph.vertices[i] = new Int3 (x,y,z);
}
RebuildBBTree (graph);
}
/** Rebuilds the BBTree on a NavGraph.
* \astarpro
* \see NavMeshGraph.bbTree */
public static void RebuildBBTree (NavMeshGraph graph) {
//BBTrees is a A* Pathfinding Project Pro only feature - The Pro version can be bought in the Unity Asset Store or on arongranberg.com
}
public static NNInfo GetNearest (NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode) {
if (nodes == null || nodes.Length == 0) {
Debug.LogError ("NavGraph hasn't been generated yet or does not contain any nodes");
return new NNInfo ();
}
if (constraint == null) constraint = NNConstraint.None;
return GetNearestForceBoth (graph,graph, position, NNConstraint.None, accurateNearestNode);
}
public void SearchBoxCircle(BBTreeBox box, Vector3 p, float radius, NNConstraint constraint, ref NNInfo nnInfo) //, int intendentLevel = 0) {
{
if (box.node != null)
{
//Leaf node
if (NodeIntersectsCircle(box.node, p, radius))
{
//Update the NNInfo
#if DEBUG
Debug.DrawLine(graph.vertices[box.node[0]], graph.vertices[box.node[1]], Color.red);
Debug.DrawLine(graph.vertices[box.node[1]], graph.vertices[box.node[2]], Color.red);
Debug.DrawLine(graph.vertices[box.node[2]], graph.vertices[box.node[0]], Color.red);
#endif
Vector3 closest = NavMeshGraph.ClosestPointOnNode(box.node, graph.vertices, p);
float dist = (closest - p).sqrMagnitude;
if (nnInfo.node == null)
{
nnInfo.node = box.node;
nnInfo.clampedPosition = closest;
}
else if (dist < (nnInfo.clampedPosition - p).sqrMagnitude)
{
nnInfo.node = box.node;
nnInfo.clampedPosition = closest;
}
if (constraint.Suitable(box.node))
{
if (nnInfo.constrainedNode == null)
{
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
}
else if (dist < (nnInfo.constClampedPosition - p).sqrMagnitude)
{
nnInfo.constrainedNode = box.node;
nnInfo.constClampedPosition = closest;
}
}
}
return;
}
#if DEBUG
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMin), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMax), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMin, 0, box.rect.yMin), new Vector3(box.rect.xMin, 0, box.rect.yMax), Color.white);
Debug.DrawLine(new Vector3(box.rect.xMax, 0, box.rect.yMin), new Vector3(box.rect.xMax, 0, box.rect.yMax), Color.white);
#endif
//Search children
if (RectIntersectsCircle(box.c1.rect, p, radius))
{
SearchBoxCircle(box.c1, p, radius, constraint, ref nnInfo);
}
if (RectIntersectsCircle(box.c2.rect, p, radius))
{
SearchBoxCircle(box.c2, p, radius, constraint, ref nnInfo);
}
}
/** Rebuilds the BBTree on a NavGraph.
* \astarpro
* \see NavMeshGraph.bbTree */
public static void RebuildBBTree (NavMeshGraph graph) {
//Build Axis Aligned Bounding Box Tree
BBTree bbTree = graph.bbTree;
bbTree = bbTree ?? new BBTree (graph);
bbTree.Clear ();
var nodes = graph.nodes;
for (int i=nodes.Length-1;i>=0;i--) {
bbTree.Insert (nodes[i]);
}
graph.bbTree = bbTree;
}
public NNInfo GetNearest(VInt3 position, NNConstraint constraint, GraphNode hint)
{
return(NavMeshGraph.GetNearest(this, this.nodes, (Vector3)position, constraint, this.accurateNearestNode));
}
public void UpdateShortcuts()
{
navmesh = (NavMeshGraph)FindGraphOfType (typeof(NavMeshGraph));
gridGraph = (GridGraph)FindGraphOfType (typeof(GridGraph));
listGraph = (ListGraph)FindGraphOfType (typeof(ListGraph));
}
public static NNInfo GetNearest(NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
{
if (nodes == null || nodes.Length == 0)
{
Debug.LogError("NavGraph hasn't been generated yet or does not contain any nodes");
return(new NNInfo());
}
if (constraint == null)
{
constraint = NNConstraint.None;
}
Int3[] vertices = graph.vertices;
//Query BBTree
if (graph.bbTree == null)
{
/** \todo Change method to require a navgraph */
return(GetNearestForce(graph, graph, position, constraint, accurateNearestNode));
}
//Searches in radiuses of 0.05 - 0.2 - 0.45 ... 1.28 times the average of the width and depth of the bbTree
float w = (graph.bbTree.Size.width + graph.bbTree.Size.height) * 0.5F * 0.02F;
NNInfo query = graph.bbTree.QueryCircle(position, w, constraint); //graph.bbTree.Query (position,constraint);
if (query.node == null)
{
for (int i = 1; i <= 8; i++)
{
query = graph.bbTree.QueryCircle(position, i * i * w, constraint);
if (query.node != null || (i - 1) * (i - 1) * w > AstarPath.active.maxNearestNodeDistance * 2) // *2 for a margin
{
break;
}
}
}
if (query.node != null)
{
query.clampedPosition = ClosestPointOnNode(query.node as TriangleMeshNode, vertices, position);
}
if (query.constrainedNode != null)
{
if (constraint.constrainDistance && ((Vector3)query.constrainedNode.position - position).sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr)
{
query.constrainedNode = null;
}
else
{
query.constClampedPosition = ClosestPointOnNode(query.constrainedNode as TriangleMeshNode, vertices, position);
}
}
return(query);
}
public override NNInfo GetNearestForce(Vector3 position, NNConstraint constraint)
{
return(NavMeshGraph.GetNearestForce(this, this, position, constraint, this.accurateNearestNode));
}
//These functions are for serialization, the static ones are there so other graphs using mesh nodes can serialize them more easily
public static byte[] SerializeMeshNodes (NavMeshGraph graph, GraphNode[] nodes) {
System.IO.MemoryStream mem = new System.IO.MemoryStream();
System.IO.BinaryWriter stream = new System.IO.BinaryWriter(mem);
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
if (node == null) {
Debug.LogError ("Serialization Error : Couldn't cast the node to the appropriate type - NavMeshGenerator. Omitting node data.");
return null;
}
stream.Write (node.v0);
stream.Write (node.v1);
stream.Write (node.v2);
}
Int3[] vertices = graph.vertices;
if (vertices == null) {
vertices = new Int3[0];
}
stream.Write (vertices.Length);
for (int i=0;i<vertices.Length;i++) {
stream.Write (vertices[i].x);
stream.Write (vertices[i].y);
stream.Write (vertices[i].z);
}
stream.Close ();
return mem.ToArray();
}
public bool Linecast(Vector3 origin, Vector3 end, GraphNode hint)
{
GraphHitInfo graphHitInfo;
return(NavMeshGraph.Linecast(this, origin, end, hint, out graphHitInfo, null));
}
/** Rebuilds the BBTree on a NavGraph.
* \astarpro
* \see NavMeshGraph.bbTree */
public static void RebuildBBTree (NavMeshGraph graph) {
//Build Axis Aligned Bounding Box Tree
NavMeshGraph meshGraph = graph as NavMeshGraph;
BBTree bbTree = new BBTree (graph as INavmeshHolder);
TriangleMeshNode[] nodes = meshGraph.TriNodes;
for (int i=nodes.Length-1;i>=0;i--) {
bbTree.Insert (nodes[i]);
}
meshGraph.bbTree = bbTree;
}
public static bool Linecast(INavmesh graph, Vector3 tmp_origin, Vector3 tmp_end, GraphNode hint, out GraphHitInfo hit)
{
return(NavMeshGraph.Linecast(graph, tmp_origin, tmp_end, hint, out hit, null));
}
private void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
{
if (vectorVertices.Length == 0 || triangles.Length == 0)
{
originalVertices = vectorVertices;
vertices = new Int3[0];
this.nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
int num = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Int3)this.matrix.MultiplyPoint3x4(vectorVertices[i]);
}
Dictionary <Int3, int> dictionary = new Dictionary <Int3, int>();
int[] array = new int[vertices.Length];
for (int j = 0; j < vertices.Length; j++)
{
if (!dictionary.ContainsKey(vertices[j]))
{
array[num] = j;
dictionary.Add(vertices[j], num);
num++;
}
}
for (int k = 0; k < triangles.Length; k++)
{
Int3 key = vertices[triangles[k]];
triangles[k] = dictionary[key];
}
Int3[] array2 = vertices;
vertices = new Int3[num];
originalVertices = new Vector3[num];
for (int l = 0; l < num; l++)
{
vertices[l] = array2[array[l]];
originalVertices[l] = vectorVertices[array[l]];
}
this.nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = this.active.astarData.GetGraphIndex(this);
for (int m = 0; m < this.nodes.Length; m++)
{
this.nodes[m] = new TriangleMeshNode(this.active);
TriangleMeshNode triangleMeshNode = this.nodes[m];
triangleMeshNode.GraphIndex = (uint)graphIndex;
triangleMeshNode.Penalty = this.initialPenalty;
triangleMeshNode.Walkable = true;
triangleMeshNode.v0 = triangles[m * 3];
triangleMeshNode.v1 = triangles[m * 3 + 1];
triangleMeshNode.v2 = triangles[m * 3 + 2];
if (!Polygon.IsClockwise(vertices[triangleMeshNode.v0], vertices[triangleMeshNode.v1], vertices[triangleMeshNode.v2]))
{
int v = triangleMeshNode.v0;
triangleMeshNode.v0 = triangleMeshNode.v2;
triangleMeshNode.v2 = v;
}
if (Polygon.IsColinear(vertices[triangleMeshNode.v0], vertices[triangleMeshNode.v1], vertices[triangleMeshNode.v2]))
{
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v0], (Vector3)vertices[triangleMeshNode.v1], Color.red);
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v1], (Vector3)vertices[triangleMeshNode.v2], Color.red);
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v2], (Vector3)vertices[triangleMeshNode.v0], Color.red);
}
triangleMeshNode.UpdatePositionFromVertices();
}
Dictionary <Int2, TriangleMeshNode> dictionary2 = new Dictionary <Int2, TriangleMeshNode>();
int n = 0;
int num2 = 0;
while (n < triangles.Length)
{
dictionary2[new Int2(triangles[n], triangles[n + 1])] = this.nodes[num2];
dictionary2[new Int2(triangles[n + 1], triangles[n + 2])] = this.nodes[num2];
dictionary2[new Int2(triangles[n + 2], triangles[n])] = this.nodes[num2];
num2++;
n += 3;
}
List <MeshNode> list = new List <MeshNode>();
List <uint> list2 = new List <uint>();
int num3 = 0;
int num4 = 0;
while (num3 < triangles.Length)
{
list.Clear();
list2.Clear();
TriangleMeshNode triangleMeshNode2 = this.nodes[num4];
for (int num5 = 0; num5 < 3; num5++)
{
TriangleMeshNode triangleMeshNode3;
if (dictionary2.TryGetValue(new Int2(triangles[num3 + (num5 + 1) % 3], triangles[num3 + num5]), out triangleMeshNode3))
{
list.Add(triangleMeshNode3);
list2.Add((uint)(triangleMeshNode2.position - triangleMeshNode3.position).costMagnitude);
}
}
triangleMeshNode2.connections = list.ToArray();
triangleMeshNode2.connectionCosts = list2.ToArray();
num4++;
num3 += 3;
}
NavMeshGraph.RebuildBBTree(this);
}
/** Rebuilds the BBTree on a NavGraph.
* \astarpro
* \see NavMeshGraph.bbTree */
public static void RebuildBBTree (NavMeshGraph graph) {
// Build Axis Aligned Bounding Box Tree
BBTree bbTree = graph.bbTree;
bbTree = bbTree ?? new BBTree ();
bbTree.RebuildFrom(graph.nodes);
graph.bbTree = bbTree;
}
public void BuildFunnelCorridor(List <GraphNode> path, int startIndex, int endIndex, List <Vector3> left, List <Vector3> right)
{
NavMeshGraph.BuildFunnelCorridor(this, path, startIndex, endIndex, left, right);
}
public override NNInfo GetNearest(Vector3 position, NNConstraint constraint, GraphNode hint)
{
return NavMeshGraph.GetNearest(this, this.nodes, position, constraint, this.accurateNearestNode);
}
public bool Linecast(Vector3 origin, Vector3 end, GraphNode hint, out GraphHitInfo hit, List <GraphNode> trace)
{
return(NavMeshGraph.Linecast(this, origin, end, hint, out hit, trace));
}
public bool Linecast(VInt3 origin, VInt3 end, GraphNode hint, out GraphHitInfo hit)
{
return NavMeshGraph.Linecast(this, origin, end, hint, out hit, null);
}
public void UpdateArea(GraphUpdateObject o)
{
NavMeshGraph.UpdateArea(o, this);
}
private void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out VInt3[] vertices)
{
if (vectorVertices.Length == 0 || triangles.Length == 0)
{
originalVertices = vectorVertices;
vertices = new VInt3[0];
this.nodes = new TriangleMeshNode[0];
return;
}
vertices = new VInt3[vectorVertices.Length];
int num = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (VInt3)this.matrix.MultiplyPoint3x4(vectorVertices[i]);
}
Dictionary<VInt3, int> dictionary = new Dictionary<VInt3, int>();
int[] array = new int[vertices.Length];
for (int j = 0; j < vertices.Length; j++)
{
if (!dictionary.ContainsKey(vertices[j]))
{
array[num] = j;
dictionary.Add(vertices[j], num);
num++;
}
}
for (int k = 0; k < triangles.Length; k++)
{
VInt3 vInt = vertices[triangles[k]];
triangles[k] = dictionary.get_Item(vInt);
}
VInt3[] array2 = vertices;
vertices = new VInt3[num];
originalVertices = new Vector3[num];
for (int l = 0; l < num; l++)
{
vertices[l] = array2[array[l]];
originalVertices[l] = vectorVertices[array[l]];
}
this.nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = this.active.astarData.GetGraphIndex(this);
for (int m = 0; m < this.nodes.Length; m++)
{
this.nodes[m] = new TriangleMeshNode(this.active);
TriangleMeshNode triangleMeshNode = this.nodes[m];
triangleMeshNode.GraphIndex = (uint)graphIndex;
triangleMeshNode.Penalty = this.initialPenalty;
triangleMeshNode.Walkable = true;
triangleMeshNode.v0 = triangles[m * 3];
triangleMeshNode.v1 = triangles[m * 3 + 1];
triangleMeshNode.v2 = triangles[m * 3 + 2];
if (!Polygon.IsClockwise(vertices[triangleMeshNode.v0], vertices[triangleMeshNode.v1], vertices[triangleMeshNode.v2]))
{
int v = triangleMeshNode.v0;
triangleMeshNode.v0 = triangleMeshNode.v2;
triangleMeshNode.v2 = v;
}
if (Polygon.IsColinear(vertices[triangleMeshNode.v0], vertices[triangleMeshNode.v1], vertices[triangleMeshNode.v2]))
{
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v0], (Vector3)vertices[triangleMeshNode.v1], Color.red);
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v1], (Vector3)vertices[triangleMeshNode.v2], Color.red);
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v2], (Vector3)vertices[triangleMeshNode.v0], Color.red);
}
triangleMeshNode.UpdatePositionFromVertices();
}
DictionaryView<VInt2, TriangleMeshNode> dictionaryView = new DictionaryView<VInt2, TriangleMeshNode>();
int n = 0;
int num2 = 0;
while (n < triangles.Length)
{
dictionaryView[new VInt2(triangles[n], triangles[n + 1])] = this.nodes[num2];
dictionaryView[new VInt2(triangles[n + 1], triangles[n + 2])] = this.nodes[num2];
dictionaryView[new VInt2(triangles[n + 2], triangles[n])] = this.nodes[num2];
num2++;
n += 3;
}
ListLinqView<MeshNode> listLinqView = new ListLinqView<MeshNode>();
List<uint> list = new List<uint>();
int num3 = 0;
int num4 = 0;
int num5 = 0;
while (num4 < triangles.Length)
{
listLinqView.Clear();
list.Clear();
TriangleMeshNode triangleMeshNode2 = this.nodes[num5];
for (int num6 = 0; num6 < 3; num6++)
{
TriangleMeshNode triangleMeshNode3;
if (dictionaryView.TryGetValue(new VInt2(triangles[num4 + (num6 + 1) % 3], triangles[num4 + num6]), out triangleMeshNode3))
{
listLinqView.Add(triangleMeshNode3);
list.Add((uint)(triangleMeshNode2.position - triangleMeshNode3.position).costMagnitude);
}
}
triangleMeshNode2.connections = listLinqView.ToArray();
triangleMeshNode2.connectionCosts = list.ToArray();
num5++;
num4 += 3;
}
if (num3 > 0)
{
Debug.LogError("One or more triangles are identical to other triangles, this is not a good thing to have in a navmesh\nIncreasing the scale of the mesh might help\nNumber of triangles with error: " + num3 + "\n");
}
NavMeshGraph.RebuildBBTree(this);
}
public void DeSerializeNodes(Node[] nodes, AstarSerializer serializer)
{
NavMeshGraph.DeSerializeMeshNodes(this as INavmesh, nodes, serializer);
}
/** Updates shortcuts to the first graph of different types.
* Hard coding references to some graph types is not really a good thing imo. I want to keep it dynamic and flexible.
* But these references ease the use of the system, so I decided to keep them. It is the only reference to specific graph types in the pathfinding core.\n
*/
public void UpdateShortcuts () {
navmesh = (NavMeshGraph)FindGraphOfType (typeof(NavMeshGraph));
#if !ASTAR_NO_GRID_GRAPH
gridGraph = (GridGraph)FindGraphOfType (typeof(GridGraph));
#endif
#if !ASTAR_NO_POINT_GRAPH
pointGraph = (PointGraph)FindGraphOfType (typeof(PointGraph));
#endif
recastGraph = (RecastGraph)FindGraphOfType (typeof(RecastGraph));
}
/** Updates shortcuts to the first graph of different types.
* Hard coding references to some graph types is not really a good thing imo. I want to keep it dynamic and flexible.
* But these references ease the use of the system, so I decided to keep them. It is the only reference to specific graph types in the pathfinding core.\n
*/
public void UpdateShortcuts () {
navmesh = (NavMeshGraph)FindGraphOfType (typeof(NavMeshGraph));
gridGraph = (GridGraph)FindGraphOfType (typeof(GridGraph));
pointGraph = (PointGraph)FindGraphOfType (typeof(PointGraph));
recastGraph = (RecastGraph)FindGraphOfType (typeof(RecastGraph));
}
void IUpdatableGraph.UpdateArea(GraphUpdateObject guo)
{
// Figure out which tiles are affected
// Expand TileBorderSizeInWorldUnits voxels in all directions to make sure
// all tiles that could be affected by the update are recalculated.
var affectedTiles = GetTouchingTiles(guo.bounds, TileBorderSizeInWorldUnits);
if (!guo.updatePhysics)
{
for (int z = affectedTiles.ymin; z <= affectedTiles.ymax; z++)
{
for (int x = affectedTiles.xmin; x <= affectedTiles.xmax; x++)
{
NavmeshTile tile = tiles[z * tileXCount + x];
NavMeshGraph.UpdateArea(guo, tile);
}
}
return;
}
Voxelize vox = globalVox;
if (vox == null)
{
throw new System.InvalidOperationException("No Voxelizer object. UpdateAreaInit should have been called before this function.");
}
AstarProfiler.StartProfile("Build Tiles");
var allMeshes = vox.inputMeshes;
// Build the new tiles
// If we are updating more than one tile it makes sense to do a more optimized pass for assigning each mesh to the buckets that it intersects.
var buckets = PutMeshesIntoTileBuckets(vox.inputMeshes, affectedTiles);
for (int x = affectedTiles.xmin; x <= affectedTiles.xmax; x++)
{
for (int z = affectedTiles.ymin; z <= affectedTiles.ymax; z++)
{
vox.inputMeshes = buckets[(z - affectedTiles.ymin) * affectedTiles.Width + (x - affectedTiles.xmin)];
stagingTiles.Add(BuildTileMesh(vox, x, z));
}
}
for (int i = 0; i < buckets.Length; i++)
{
ListPool <RasterizationMesh> .Release(buckets[i]);
}
for (int i = 0; i < allMeshes.Count; i++)
{
allMeshes[i].Pool();
}
ListPool <RasterizationMesh> .Release(ref allMeshes);
vox.inputMeshes = null;
uint graphIndex = (uint)AstarPath.active.data.GetGraphIndex(this);
// Set the correct graph index
for (int i = 0; i < stagingTiles.Count; i++)
{
NavmeshTile tile = stagingTiles[i];
GraphNode[] nodes = tile.nodes;
for (int j = 0; j < nodes.Length; j++)
{
nodes[j].GraphIndex = graphIndex;
}
}
AstarProfiler.EndProfile("Build Tiles");
}
