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 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);
}
