/// <summary>
/// Initializes a new instance of the <see cref="NavMeshBuilder" /> class.
/// Add all the PolyMesh and PolyMeshDetail attributes to the Navigation Mesh.
/// Then, add Off-Mesh connection support.
/// </summary>
/// <param name="polyMesh">The PolyMesh</param>
/// <param name="polyMeshDetail">The PolyMeshDetail</param>
/// <param name="offMeshCons">Offmesh connection data</param>
/// <param name="settings">The settings used to build.</param>
public NavMeshBuilder(PolyMesh polyMesh, PolyMeshDetail polyMeshDetail, OffMeshConnection[] offMeshCons, NavMeshGenerationSettings settings)
{
if (settings.VertsPerPoly > PathfindingCommon.VERTS_PER_POLYGON)
throw new InvalidOperationException("The number of vertices per polygon is above SharpNav's limit");
if (polyMesh.VertCount == 0)
throw new InvalidOperationException("The provided PolyMesh has no vertices.");
if (polyMesh.PolyCount == 0)
throw new InvalidOperationException("The provided PolyMesh has not polys.");
int nvp = settings.VertsPerPoly;
//classify off-mesh connection points
BoundarySide[] offMeshSides = new BoundarySide[offMeshCons.Length * 2];
int storedOffMeshConCount = 0;
int offMeshConLinkCount = 0;
if (offMeshCons.Length > 0)
{
//find height bounds
float hmin = float.MaxValue;
float hmax = -float.MaxValue;
if (polyMeshDetail != null)
{
for (int i = 0; i < polyMeshDetail.VertCount; i++)
{
float h = polyMeshDetail.Verts[i].Y;
hmin = Math.Min(hmin, h);
hmax = Math.Max(hmax, h);
}
}
else
{
for (int i = 0; i < polyMesh.VertCount; i++)
{
PolyVertex iv = polyMesh.Verts[i];
float h = polyMesh.Bounds.Min.Y + iv.Y * settings.CellHeight;
hmin = Math.Min(hmin, h);
hmax = Math.Max(hmax, h);
}
}
hmin -= settings.MaxClimb;
hmax += settings.MaxClimb;
BBox3 bounds = polyMesh.Bounds;
bounds.Min.Y = hmin;
bounds.Max.Y = hmax;
for (int i = 0; i < offMeshCons.Length; i++)
{
Vector3 p0 = offMeshCons[i].Pos0;
Vector3 p1 = offMeshCons[i].Pos1;
offMeshSides[i * 2 + 0] = BoundarySideExtensions.FromPoint(p0, bounds);
offMeshSides[i * 2 + 1] = BoundarySideExtensions.FromPoint(p1, bounds);
//off-mesh start position isn't touching mesh
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
if (p0.Y < bounds.Min.Y || p0.Y > bounds.Max.Y)
offMeshSides[i * 2 + 0] = 0;
}
//count number of links to allocate
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
offMeshConLinkCount++;
if (offMeshSides[i * 2 + 1] == BoundarySide.Internal)
offMeshConLinkCount++;
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
storedOffMeshConCount++;
}
}
//off-mesh connections stored as polygons, adjust values
int totPolyCount = polyMesh.PolyCount + storedOffMeshConCount;
int totVertCount = polyMesh.VertCount + storedOffMeshConCount * 2;
//find portal edges
int edgeCount = 0;
int portalCount = 0;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
PolyMesh.Polygon p = polyMesh.Polys[i];
for (int j = 0; j < nvp; j++)
{
if (p.Vertices[j] == PolyMesh.NullId)
break;
edgeCount++;
if (PolyMesh.IsBoundaryEdge(p.NeighborEdges[j]))
{
int dir = p.NeighborEdges[j] % 16;
if (dir != 15)
portalCount++;
}
}
}
int maxLinkCount = edgeCount + portalCount * 2 + offMeshConLinkCount * 2;
//find unique detail vertices
int uniqueDetailVertCount = 0;
int detailTriCount = 0;
if (polyMeshDetail != null)
{
detailTriCount = polyMeshDetail.TrisCount;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int numDetailVerts = polyMeshDetail.Meshes[i].VertexCount;
int numPolyVerts = polyMesh.Polys[i].VertexCount;
uniqueDetailVertCount += numDetailVerts - numPolyVerts;
}
}
else
{
uniqueDetailVertCount = 0;
detailTriCount = 0;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int numPolyVerts = polyMesh.Polys[i].VertexCount;
uniqueDetailVertCount += numPolyVerts - 2;
}
}
//allocate data
header = new PathfindingCommon.NavMeshInfo();
navVerts = new Vector3[totVertCount];
navPolys = new Poly[totPolyCount];
navDMeshes = new PolyMeshDetail.MeshData[polyMesh.PolyCount];
navDVerts = new Vector3[uniqueDetailVertCount];
navDTris = new PolyMeshDetail.TriangleData[detailTriCount];
offMeshConnections = new OffMeshConnection[storedOffMeshConCount];
//store header
//HACK TiledNavMesh should figure out the X/Y/layer instead of the user maybe?
header.X = 0;
header.Y = 0;
header.Layer = 0;
header.PolyCount = totPolyCount;
header.VertCount = totVertCount;
header.MaxLinkCount = maxLinkCount;
header.Bounds = polyMesh.Bounds;
header.DetailMeshCount = polyMesh.PolyCount;
header.DetailVertCount = uniqueDetailVertCount;
header.DetailTriCount = detailTriCount;
header.OffMeshBase = polyMesh.PolyCount;
header.WalkableHeight = settings.AgentHeight;
header.WalkableRadius = settings.AgentRadius;
header.WalkableClimb = settings.MaxClimb;
header.OffMeshConCount = storedOffMeshConCount;
header.BvNodeCount = settings.BuildBoundingVolumeTree ? polyMesh.PolyCount * 2 : 0;
header.BvQuantFactor = 1f / settings.CellSize;
int offMeshVertsBase = polyMesh.VertCount;
int offMeshPolyBase = polyMesh.PolyCount;
//store vertices
for (int i = 0; i < polyMesh.VertCount; i++)
{
PolyVertex iv = polyMesh.Verts[i];
navVerts[i].X = polyMesh.Bounds.Min.X + iv.X * settings.CellSize;
navVerts[i].Y = polyMesh.Bounds.Min.Y + iv.Y * settings.CellHeight;
navVerts[i].Z = polyMesh.Bounds.Min.Z + iv.Z * settings.CellSize;
}
//off-mesh link vertices
int n = 0;
for (int i = 0; i < offMeshCons.Length; i++)
{
//only store connections which start from this tile
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
navVerts[offMeshVertsBase + (n * 2 + 0)] = offMeshCons[i].Pos0;
navVerts[offMeshVertsBase + (n * 2 + 1)] = offMeshCons[i].Pos1;
n++;
}
}
//store polygons
for (int i = 0; i < polyMesh.PolyCount; i++)
{
navPolys[i] = new Poly();
navPolys[i].VertCount = 0;
navPolys[i].Tag = polyMesh.Polys[i].Tag;
navPolys[i].Area = polyMesh.Polys[i].Area;
navPolys[i].PolyType = PolygonType.Ground;
navPolys[i].Verts = new int[nvp];
navPolys[i].Neis = new int[nvp];
for (int j = 0; j < nvp; j++)
{
if (polyMesh.Polys[i].Vertices[j] == PolyMesh.NullId)
break;
navPolys[i].Verts[j] = polyMesh.Polys[i].Vertices[j];
if (PolyMesh.IsBoundaryEdge(polyMesh.Polys[i].NeighborEdges[j]))
{
//border or portal edge
int dir = polyMesh.Polys[i].NeighborEdges[j] % 16;
if (dir == 0xf) //border
navPolys[i].Neis[j] = 0;
else if (dir == 0) //portal x-
navPolys[i].Neis[j] = Link.External | 4;
else if (dir == 1) //portal z+
navPolys[i].Neis[j] = Link.External | 2;
else if (dir == 2) //portal x+
navPolys[i].Neis[j] = Link.External | 0;
else if (dir == 3) //portal z-
navPolys[i].Neis[j] = Link.External | 6;
}
else
{
//normal connection
navPolys[i].Neis[j] = polyMesh.Polys[i].NeighborEdges[j] + 1;
}
navPolys[i].VertCount++;
}
}
//off-mesh connection vertices
n = 0;
for (int i = 0; i < offMeshCons.Length; i++)
{
//only store connections which start from this tile
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
navPolys[offMeshPolyBase + n].VertCount = 2;
navPolys[offMeshPolyBase + n].Verts = new int[nvp];
navPolys[offMeshPolyBase + n].Verts[0] = offMeshVertsBase + (n * 2 + 0);
navPolys[offMeshPolyBase + n].Verts[1] = offMeshVertsBase + (n * 2 + 1);
navPolys[offMeshPolyBase + n].Tag = offMeshCons[i].Flags;
navPolys[offMeshPolyBase + n].Area = polyMesh.Polys[offMeshCons[i].Poly].Area; //HACK is this correct?
navPolys[offMeshPolyBase + n].PolyType = PolygonType.OffMeshConnection;
n++;
}
}
//store detail meshes and vertices
if (polyMeshDetail != null)
{
int vbase = 0;
List<Vector3> storedDetailVerts = new List<Vector3>();
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int vb = polyMeshDetail.Meshes[i].VertexIndex;
int numDetailVerts = polyMeshDetail.Meshes[i].VertexCount;
int numPolyVerts = navPolys[i].VertCount;
navDMeshes[i].VertexIndex = vbase;
navDMeshes[i].VertexCount = numDetailVerts - numPolyVerts;
navDMeshes[i].TriangleIndex = polyMeshDetail.Meshes[i].TriangleIndex;
navDMeshes[i].TriangleCount = polyMeshDetail.Meshes[i].TriangleCount;
//Copy detail vertices
//first 'nv' verts are equal to nav poly verts
//the rest are detail verts
for (int j = 0; j < navDMeshes[i].VertexCount; j++)
{
storedDetailVerts.Add(polyMeshDetail.Verts[vb + numPolyVerts + j]);
}
vbase += numDetailVerts - numPolyVerts;
}
navDVerts = storedDetailVerts.ToArray();
//store triangles
for (int j = 0; j < polyMeshDetail.TrisCount; j++)
navDTris[j] = polyMeshDetail.Tris[j];
}
else
{
//create dummy detail mesh by triangulating polys
int tbase = 0;
for (int i = 0; i < polyMesh.PolyCount; i++)
{
int numPolyVerts = navPolys[i].VertCount;
navDMeshes[i].VertexIndex = 0;
navDMeshes[i].VertexCount = 0;
navDMeshes[i].TriangleIndex = tbase;
navDMeshes[i].TriangleCount = numPolyVerts - 2;
//triangulate polygon
for (int j = 2; j < numPolyVerts; j++)
{
navDTris[tbase].VertexHash0 = 0;
navDTris[tbase].VertexHash1 = j - 1;
navDTris[tbase].VertexHash2 = j;
//bit for each edge that belongs to the poly boundary
navDTris[tbase].Flags = 1 << 2;
if (j == 2)
navDTris[tbase].Flags |= 1 << 0;
if (j == numPolyVerts - 1)
navDTris[tbase].Flags |= 1 << 4;
tbase++;
}
}
}
//store and create BV tree
if (settings.BuildBoundingVolumeTree)
{
//build tree
navBvTree = new BVTree(polyMesh.Verts, polyMesh.Polys, nvp, settings.CellSize, settings.CellHeight);
}
//store off-mesh connections
n = 0;
for (int i = 0; i < offMeshConnections.Length; i++)
{
//only store connections which start from this tile
if (offMeshSides[i * 2 + 0] == BoundarySide.Internal)
{
offMeshConnections[n].Poly = offMeshPolyBase + n;
//copy connection end points
offMeshConnections[n].Pos0 = offMeshCons[i].Pos0;
offMeshConnections[n].Pos1 = offMeshCons[i].Pos1;
offMeshConnections[n].Radius = offMeshCons[i].Radius;
offMeshConnections[n].Flags = offMeshCons[i].Flags;
offMeshConnections[n].Side = offMeshSides[i * 2 + 1];
offMeshConnections[n].Tag = offMeshCons[i].Tag;
n++;
}
}
}
/// <summary>
/// Connect Off-Mesh links between polygons from two different tiles.
/// </summary>
/// <param name="target">Target Tile</param>
/// <param name="side">Polygon edge</param>
public void ConnectExtOffMeshLinks(NavTile target, BoundarySide side)
{
//Connect off-mesh links, specifically links which land from target tile to this tile
BoundarySide oppositeSide = side.GetOpposite();
//Iterate through all the off-mesh connections of target tile
for (int i = 0; i < target.OffMeshConnectionCount; i++)
{
OffMeshConnection targetCon = target.OffMeshConnections[i];
if (targetCon.Side != oppositeSide)
{
continue;
}
NavPoly targetPoly = target.Polys[targetCon.Poly];
//Skip off-mesh connections which start location could not be connected at all
if (targetPoly.Links.Count == 0)
{
continue;
}
Vector3 extents = new Vector3(targetCon.Radius, target.WalkableClimb, targetCon.Radius);
//Find polygon to connect to
Vector3 p = targetCon.Pos1;
Vector3 nearestPt = new Vector3();
NavPolyId reference = FindNearestPoly(p, extents, ref nearestPt);
if (reference == NavPolyId.Null)
{
continue;
}
//Further checks
if ((nearestPt.X - p.X) * (nearestPt.X - p.X) + (nearestPt.Z - p.Z) * (nearestPt.Z - p.Z) >
(targetCon.Radius * targetCon.Radius))
{
continue;
}
//Make sure the location is on the current mesh
target.Verts[targetPoly.Verts[1]] = nearestPt;
//Link off-mesh connection to target poly
Link link = new Link();
link.Reference = reference;
link.Edge = i;
link.Side = oppositeSide;
target.Polys[i].Links.Add(link);
//link target poly to off-mesh connection
if ((targetCon.Flags & OffMeshConnectionFlags.Bidirectional) != 0)
{
int landPolyIdx = idManager.DecodePolyIndex(ref reference);
NavPolyId id;
id = target.baseRef;
idManager.SetPolyIndex(ref id, targetCon.Poly, out id);
Link bidiLink = new Link();
bidiLink.Reference = id;
bidiLink.Edge = 0xff;
bidiLink.Side = side;
Polys[landPolyIdx].Links.Add(bidiLink);
}
}
}
