/// <summary>
/// Rebuilds outdated triangle data for colliders and recalculates hashes storing everything in StaticColliderData
/// </summary>
private void BuildInput(StaticColliderData[] collidersLocal, CollisionFilterGroupFlags includedCollisionGroups)
{
NavigationMeshCache lastCache = oldNavigationMesh?.Cache;
bool clearCache = false;
Dispatcher.ForEach(collidersLocal, colliderData =>
{
var entity = colliderData.Component.Entity;
TransformComponent entityTransform = entity.Transform;
Matrix entityWorldMatrix = entityTransform.WorldMatrix;
NavigationMeshInputBuilder entityNavigationMeshInputBuilder = colliderData.InputBuilder = new NavigationMeshInputBuilder();
// Compute hash of collider and compare it with the previous build if there is one
colliderData.ParameterHash = NavigationMeshBuildUtils.HashEntityCollider(colliderData.Component, includedCollisionGroups);
colliderData.Previous = null;
if (lastCache?.Objects.TryGetValue(colliderData.Component.Id, out colliderData.Previous) ?? false)
{
if ((!colliderData.Component.AlwaysUpdateNaviMeshCache) &&
(colliderData.Previous.ParameterHash == colliderData.ParameterHash))
{
// In this case, we don't need to recalculate the geometry for this shape, since it wasn't changed
// here we take the triangle mesh from the previous build as the current
colliderData.InputBuilder = colliderData.Previous.InputBuilder;
colliderData.Planes.Clear();
colliderData.Planes.AddRange(colliderData.Previous.Planes);
colliderData.Processed = false;
return;
}
}
// Clear cache on removal of infinite planes
if (colliderData.Planes.Count > 0)
{
clearCache = true;
}
// Clear planes
colliderData.Planes.Clear();
// Return empty data for disabled colliders, filtered out colliders or trigger colliders
if (!colliderData.Component.Enabled || colliderData.Component.IsTrigger ||
!NavigationMeshBuildUtils.CheckColliderFilter(colliderData.Component, includedCollisionGroups))
{
colliderData.Processed = true;
return;
}
// Make sure shape is up to date
if (!NavigationMeshBuildUtils.HasLatestColliderShape(colliderData.Component))
{
colliderData.Component.ComposeShape();
}
// Interate through all the colliders shapes while queueing all shapes in compound shapes to process those as well
Queue <ColliderShape> shapesToProcess = new Queue <ColliderShape>();
if (colliderData.Component.ColliderShape != null)
{
shapesToProcess.Enqueue(colliderData.Component.ColliderShape);
while (shapesToProcess.Count > 0)
{
var shape = shapesToProcess.Dequeue();
var shapeType = shape.GetType();
if (shapeType == typeof(BoxColliderShape))
{
var box = (BoxColliderShape)shape;
var boxDesc = GetColliderShapeDesc <BoxColliderShapeDesc>(box.Description);
Matrix transform = box.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Cube.New(boxDesc.Size, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(SphereColliderShape))
{
var sphere = (SphereColliderShape)shape;
var sphereDesc = GetColliderShapeDesc <SphereColliderShapeDesc>(sphere.Description);
Matrix transform = sphere.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Sphere.New(sphereDesc.Radius, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(CylinderColliderShape))
{
var cylinder = (CylinderColliderShape)shape;
var cylinderDesc = GetColliderShapeDesc <CylinderColliderShapeDesc>(cylinder.Description);
Matrix transform = cylinder.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Cylinder.New(cylinderDesc.Height, cylinderDesc.Radius, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(CapsuleColliderShape))
{
var capsule = (CapsuleColliderShape)shape;
var capsuleDesc = GetColliderShapeDesc <CapsuleColliderShapeDesc>(capsule.Description);
Matrix transform = capsule.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Capsule.New(capsuleDesc.Length, capsuleDesc.Radius, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(ConeColliderShape))
{
var cone = (ConeColliderShape)shape;
var coneDesc = GetColliderShapeDesc <ConeColliderShapeDesc>(cone.Description);
Matrix transform = cone.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Cone.New(coneDesc.Radius, coneDesc.Height, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(StaticPlaneColliderShape))
{
var planeShape = (StaticPlaneColliderShape)shape;
var planeDesc = GetColliderShapeDesc <StaticPlaneColliderShapeDesc>(planeShape.Description);
Matrix transform = entityWorldMatrix;
Plane plane = new Plane(planeDesc.Normal, planeDesc.Offset);
// Pre-Transform plane parameters
plane.Normal = Vector3.TransformNormal(planeDesc.Normal, transform);
plane.Normal.Normalize();
plane.D += Vector3.Dot(transform.TranslationVector, plane.Normal);
colliderData.Planes.Add(plane);
}
else if (shapeType == typeof(ConvexHullColliderShape))
{
var hull = (ConvexHullColliderShape)shape;
Matrix transform = hull.PositiveCenterMatrix * entityWorldMatrix;
// Convert hull indices to int
int[] indices = new int[hull.Indices.Count];
if (hull.Indices.Count % 3 != 0)
{
throw new InvalidOperationException($"{shapeType} does not consist of triangles");
}
for (int i = 0; i < hull.Indices.Count; i += 3)
{
indices[i] = (int)hull.Indices[i];
indices[i + 2] = (int)hull.Indices[i + 1]; // NOTE: Reversed winding to create left handed input
indices[i + 1] = (int)hull.Indices[i + 2];
}
entityNavigationMeshInputBuilder.AppendArrays(hull.Points.ToArray(), indices, transform);
}
else if (shapeType == typeof(StaticMeshColliderShape))
{
var mesh = (StaticMeshColliderShape)shape;
Matrix transform = mesh.PositiveCenterMatrix * entityWorldMatrix;
// Convert hull indices to int
int[] indices = new int[mesh.Indices.Count];
if (mesh.Indices.Count % 3 != 0)
{
throw new InvalidOperationException($"{shapeType} does not consist of triangles");
}
for (int i = 0; i < mesh.Indices.Count; i += 3)
{
indices[i] = (int)mesh.Indices[i];
indices[i + 2] = (int)mesh.Indices[i + 1]; // NOTE: Reversed winding to create left handed input
indices[i + 1] = (int)mesh.Indices[i + 2];
}
entityNavigationMeshInputBuilder.AppendArrays(mesh.Vertices.ToArray(), indices, transform);
}
else if (shapeType == typeof(HeightfieldColliderShape))
{
var heightfield = (HeightfieldColliderShape)shape;
var halfRange = (heightfield.MaxHeight - heightfield.MinHeight) * 0.5f;
var offset = -(heightfield.MinHeight + halfRange);
Matrix transform = Matrix.Translation(new Vector3(0, offset, 0)) * heightfield.PositiveCenterMatrix * entityWorldMatrix;
var width = heightfield.HeightStickWidth - 1;
var length = heightfield.HeightStickLength - 1;
var mesh = GeometricPrimitive.Plane.New(width, length, width, length, normalDirection: NormalDirection.UpY, toLeftHanded: true);
var arrayLength = heightfield.HeightStickWidth * heightfield.HeightStickLength;
using (heightfield.LockToReadHeights())
{
switch (heightfield.HeightType)
{
case HeightfieldTypes.Short:
if (heightfield.ShortArray == null)
{
continue;
}
for (int i = 0; i < arrayLength; ++i)
{
mesh.Vertices[i].Position.Y = heightfield.ShortArray[i] * heightfield.HeightScale;
}
break;
case HeightfieldTypes.Byte:
if (heightfield.ByteArray == null)
{
continue;
}
for (int i = 0; i < arrayLength; ++i)
{
mesh.Vertices[i].Position.Y = heightfield.ByteArray[i] * heightfield.HeightScale;
}
break;
case HeightfieldTypes.Float:
if (heightfield.FloatArray == null)
{
continue;
}
for (int i = 0; i < arrayLength; ++i)
{
mesh.Vertices[i].Position.Y = heightfield.FloatArray[i];
}
break;
}
}
entityNavigationMeshInputBuilder.AppendMeshData(mesh, transform);
}
else if (shapeType == typeof(CompoundColliderShape))
{
// Unroll compound collider shapes
var compound = (CompoundColliderShape)shape;
for (int i = 0; i < compound.Count; i++)
{
shapesToProcess.Enqueue(compound[i]);
}
}
}
}
// Clear cache on addition of infinite planes
if (colliderData.Planes.Count > 0)
{
clearCache = true;
}
// Mark collider as processed
colliderData.Processed = true;
});
if (clearCache && oldNavigationMesh != null)
{
oldNavigationMesh = null;
}
}
/// <summary>
/// Rebuilds outdated triangle data for colliders and recalculates hashes storing everything in StaticColliderData
/// </summary>
private void BuildInput(StaticColliderData[] collidersLocal, CollisionFilterGroupFlags includedCollisionGroups)
{
NavigationMeshCache lastCache = oldNavigationMesh?.Cache;
bool clearCache = false;
Dispatcher.ForEach(collidersLocal, colliderData =>
{
var entity = colliderData.Component.Entity;
TransformComponent entityTransform = entity.Transform;
Matrix entityWorldMatrix = entityTransform.WorldMatrix;
NavigationMeshInputBuilder entityNavigationMeshInputBuilder = colliderData.InputBuilder = new NavigationMeshInputBuilder();
// Compute hash of collider and compare it with the previous build if there is one
colliderData.ParameterHash = NavigationMeshBuildUtils.HashEntityCollider(colliderData.Component, includedCollisionGroups);
colliderData.Previous = null;
if (lastCache?.Objects.TryGetValue(colliderData.Component.Id, out colliderData.Previous) ?? false)
{
if ((!colliderData.Component.AlwaysUpdateNaviMeshCache) &&
(colliderData.Previous.ParameterHash == colliderData.ParameterHash))
{
// In this case, we don't need to recalculate the geometry for this shape, since it wasn't changed
// here we take the triangle mesh from the previous build as the current
colliderData.InputBuilder = colliderData.Previous.InputBuilder;
colliderData.Planes.Clear();
colliderData.Planes.AddRange(colliderData.Previous.Planes);
colliderData.Processed = false;
return;
}
}
// Clear cache on removal of infinite planes
if (colliderData.Planes.Count > 0)
{
clearCache = true;
}
// Clear planes
colliderData.Planes.Clear();
// Return empty data for disabled colliders, filtered out colliders or trigger colliders
if (!colliderData.Component.Enabled || colliderData.Component.GenerateOverlapEvents ||
!NavigationMeshBuildUtils.CheckColliderFilter(colliderData.Component, includedCollisionGroups))
{
colliderData.Processed = true;
return;
}
// Make sure shape is up to date
if (!NavigationMeshBuildUtils.HasLatestColliderShape(colliderData.Component))
{
colliderData.Component.ComposeShape();
}
// Interate through all the colliders shapes while queueing all shapes in compound shapes to process those as well
Queue <ColliderShape> shapesToProcess = new Queue <ColliderShape>();
if (colliderData.Component.ColliderShape != null)
{
shapesToProcess.Enqueue(colliderData.Component.ColliderShape);
while (shapesToProcess.Count > 0)
{
var shape = shapesToProcess.Dequeue();
var shapeType = shape.GetType();
if (shapeType == typeof(BoxColliderShape))
{
var box = (BoxColliderShape)shape;
var boxDesc = GetColliderShapeDesc <BoxColliderShapeDesc>(box.Description);
Matrix transform = box.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Cube.New(boxDesc.Size, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(SphereColliderShape))
{
var sphere = (SphereColliderShape)shape;
var sphereDesc = GetColliderShapeDesc <SphereColliderShapeDesc>(sphere.Description);
Matrix transform = sphere.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Sphere.New(sphereDesc.Radius, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(CylinderColliderShape))
{
var cylinder = (CylinderColliderShape)shape;
var cylinderDesc = GetColliderShapeDesc <CylinderColliderShapeDesc>(cylinder.Description);
Matrix transform = cylinder.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Cylinder.New(cylinderDesc.Length, cylinderDesc.Radius, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(CapsuleColliderShape))
{
var capsule = (CapsuleColliderShape)shape;
var capsuleDesc = GetColliderShapeDesc <CapsuleColliderShapeDesc>(capsule.Description);
Matrix transform = capsule.PositiveCenterMatrix * entityWorldMatrix;
var meshData = GeometricPrimitive.Capsule.New(capsuleDesc.Length, capsuleDesc.Radius, toLeftHanded: true);
entityNavigationMeshInputBuilder.AppendMeshData(meshData, transform);
}
else if (shapeType == typeof(ConvexHullColliderShape))
{
var hull = (ConvexHullColliderShape)shape;
Matrix transform = hull.PositiveCenterMatrix * entityWorldMatrix;
// Convert hull indices to int
int[] indices = new int[hull.Indices.Count];
if (hull.Indices.Count % 3 != 0)
{
throw new InvalidOperationException($"{shapeType} does not consist of triangles");
}
for (int i = 0; i < hull.Indices.Count; i += 3)
{
indices[i] = (int)hull.Indices[i];
indices[i + 2] = (int)hull.Indices[i + 1]; // NOTE: Reversed winding to create left handed input
indices[i + 1] = (int)hull.Indices[i + 2];
}
entityNavigationMeshInputBuilder.AppendArrays(hull.Points.ToArray(), indices, transform);
}
else if (shapeType == typeof(MeshColliderShape))
{
var mesh = (MeshColliderShape)shape;
Matrix transform = mesh.PositiveCenterMatrix * entityWorldMatrix;
// Convert hull indices to int
int[] indices = new int[mesh.Indices.Length];
if (mesh.Indices.Length % 3 != 0)
{
throw new InvalidOperationException($"{shapeType} does not consist of triangles");
}
for (int i = 0; i < mesh.Indices.Length; i += 3)
{
indices[i] = (int)mesh.Indices[i];
indices[i + 2] = (int)mesh.Indices[i + 1]; // NOTE: Reversed winding to create left handed input
indices[i + 1] = (int)mesh.Indices[i + 2];
}
entityNavigationMeshInputBuilder.AppendArrays(mesh.Vertices.ToArray(), indices, transform);
}
}
}
// Clear cache on addition of infinite planes
if (colliderData.Planes.Count > 0)
{
clearCache = true;
}
// Mark collider as processed
colliderData.Processed = true;
});
if (clearCache && oldNavigationMesh != null)
{
oldNavigationMesh = null;
}
}