public static RecastGridData VoxelizationToGrid(Voxelization voxel)
{
Vector3 min = voxel.Bounds.min;
RecastGridData gridData = new RecastGridData
{
OriginPoint = new Vector3(min.x, min.z),
Width = voxel.Size.x,
Length = voxel.Size.z,
Mask = new SerializBitArray(voxel.Size.x * voxel.Size.z)
};
int bgHeight = (int)voxel.Bounds.min.y;
if (bgHeight < 0)
{
bgHeight = -bgHeight;
}
for (int x = 0; x < voxel.Size.x; ++x)
{
for (int z = 0; z < voxel.Size.x; ++z)
{
if (voxel.Check(x, bgHeight, z) && !voxel.Check(x, bgHeight + 1, z))
{
gridData.Mask.Set(z * voxel.Size.x + x, true);
}
}
}
return(gridData);
}
public static void AddMesh(Voxelization voxel, Vector3[] vertices, int[] triangles, Matrix4x4 matrix)
{
int count = triangles.Length / 3;
for (int i = 0; i < count; i++)
{
Vector3 v1 = vertices[triangles[i * 3]];
Vector3 v2 = vertices[triangles[i * 3 + 1]];
Vector3 v3 = vertices[triangles[i * 3 + 2]];
voxel.VoxelTriangle(matrix.MultiplyPoint(v1), matrix.MultiplyPoint(v2), matrix.MultiplyPoint(v3));
}
}
public static void AddMeshByRender(Voxelization voxel, MeshRenderer renderer)
{
MeshFilter meshFilter = renderer.GetComponent <MeshFilter>();
if (meshFilter == null || meshFilter.sharedMesh == null)
{
return;
}
if (!renderer.bounds.Intersects(voxel.Bounds))
{
return;
}
var mesh = meshFilter.sharedMesh;
AddMesh(voxel, mesh.vertices, mesh.triangles, meshFilter.transform.localToWorldMatrix);
}
//体素转换为高度区域
public static Heightfield VoxelToHeightfield(Voxelization voxel)
{
Heightfield heightfield = new Heightfield(voxel.Bounds.min, voxel.Size.x, voxel.Size.z, voxel.CellSize);
Cell cell = new Cell(voxel.Size.y);
for (int x = 0; x < voxel.Size.x; ++x)
{
for (int z = 0; z < voxel.Size.z; ++z)
{
int min = -1;
int count = 0;
for (int y = 0; y < voxel.Size.y; ++y)
{
bool mask = voxel.Voxel.Get(x, y, z);
if (mask)
{
count++;
if (min == -1)
{
min = y;
count = 1;
}
}
else
{
if (min != -1)
{
cell.Spans.Add(new Cell.Span {
Min = min, Max = min + count
});
min = -1;
count = 0;
}
}
}
if (cell.Spans.Count > 0)
{
int cellIndex = z * voxel.Size.x + x;
heightfield.Cells[cellIndex] = cell;
cell = new Cell(voxel.Size.y);
}
}
}
return(heightfield);
}
public static BitArray VoxelizationWalkableFilter(Voxelization voxel)
{
BitArray bitArray = new BitArray(voxel.Size.x * voxel.Size.z);
int bgHeight = (int)voxel.Bounds.min.y;
if (bgHeight < 0)
{
bgHeight = -bgHeight;
}
for (int x = 0; x < voxel.Size.x; ++x)
{
for (int z = 0; z < voxel.Size.x; ++z)
{
if (voxel.Check(x, bgHeight, z) && !voxel.Check(x, bgHeight + 1, z))
{
bitArray.Set(z * voxel.Size.x + x, true);
}
}
}
return(bitArray);
}
public static void AddGameObject(Voxelization voxel, GameObject gameObject, int layerMask = -1)
{
var renderers = gameObject.GetComponentsInChildren <MeshRenderer>();
foreach (var render in renderers)
{
if (((1 << render.gameObject.layer) & layerMask) != 0)
{
AddMeshByRender(voxel, render);
}
}
var boxCollider = gameObject.GetComponentsInChildren <BoxCollider>();
foreach (var box in boxCollider)
{
if (box.isTrigger || ((1 << box.gameObject.layer) & layerMask) != 0)
{
continue;
}
AddBox(voxel, box.center, box.size, box.transform.localToWorldMatrix);
}
}
public static void DrawVoxel(Voxelization voxel)
{
Color color = Gizmos.color;
Gizmos.color = Color.blue;
Vector3 offset = voxel.Bounds.min;
for (int x = 0; x < voxel.Size.x; ++x)
{
for (int y = 0; y < voxel.Size.y; ++y)
{
for (int z = 0; z < voxel.Size.z; ++z)
{
if (voxel.Voxel.Get(x, y, z))
{
DrawGrid(x, y, z, voxel.CellSize, offset);
}
}
}
}
Gizmos.color = color;
}
public static void AddBox(Voxelization voxel, Vector3 center, Vector3 size, Matrix4x4 matrix)
{
matrix = Matrix4x4.TRS(center, Quaternion.identity, size * 0.5f) * matrix;
AddMesh(voxel, BoxVertices, BoxTriangles, matrix);
}
