//void SaveCollisionMap(NavMeshData data)
public void SaveCollisionMap(string serverPath)
{
List <BoundaryEdge> boundary = WG_Helper.GetNavmeshBoundary();
if (serverPath != null)
{
using (StreamWriter outputFile = new StreamWriter(serverPath + @"CollisionMap.txt"))
{
for (int i = 0; i < boundary.Count; i++)
{
BoundaryEdge edge = boundary[i];
outputFile.Write(WG_Helper.Vectro3ToString(edge.start) + "|" + WG_Helper.Vectro3ToString(edge.end) + (i == boundary.Count - 1 ? "" : "|"));
//IntIntClass edge = edgesList[boundaryEdges[i]].GetEdgeVertices();
//outputFile.Write(WG_Helper.Vectro3ToString(vertexList[edge.value1].position) + "|" + WG_Helper.Vectro3ToString(vertexList[edge.value2].position) + (i == boundaryEdges.Count - 1 ? "" : "|"));
}
}
}
}
public static List <BoundaryEdge> GetNavmeshBoundary()
{
//copy algorithm
NavMeshTriangulation triangulatedNavMesh = NavMesh.CalculateTriangulation();
Vector3[] originalVertices = triangulatedNavMesh.vertices;
int[] originalIndexes = triangulatedNavMesh.indices;
float weldValue = 0.01f;
List <VertexData> vertexList = new List <VertexData>();
for (int i = 0; i < originalVertices.Length; i++)
{
Vector3 vPos = originalVertices[i];
bool isNew = true;
//Try to find this vertex on vertexList
for (int vIndex = 0; vIndex < vertexList.Count; vIndex++)
{
VertexData v = vertexList[vIndex];
if (Vector3.Distance(vPos, v.position) < weldValue)
{//i-th vertex placed in the same position as vIndex in the list. Add it index
v.indexes.Add(i);
vIndex = vertexList.Count;
isNew = false;
}
}
if (isNew)
{
VertexData newVertex = new VertexData();
newVertex.position = vPos;
newVertex.indexes = new List <int>();
newVertex.indexes.Add(i);
vertexList.Add(newVertex);
}
}
List <EdgeData> edgesList = new List <EdgeData>();
int originalTrianglesCount = originalIndexes.Length / 3;
for (int i = 0; i < originalTrianglesCount; i++)
{
int i1 = WG_Helper.GetVertexIndex(originalIndexes[3 * i], vertexList);
int i2 = WG_Helper.GetVertexIndex(originalIndexes[3 * i + 1], vertexList);
int i3 = WG_Helper.GetVertexIndex(originalIndexes[3 * i + 2], vertexList);
bool isFindI12 = false;
bool isFindI23 = false;
bool isFindI31 = false;
for (int eIndex = 0; eIndex < edgesList.Count; eIndex++)
{
isFindI12 = edgesList[eIndex].TryToAdd(i1, i2) || isFindI12;
isFindI23 = edgesList[eIndex].TryToAdd(i2, i3) || isFindI23;
isFindI31 = edgesList[eIndex].TryToAdd(i3, i1) || isFindI31;
}
if (!isFindI12)
{
EdgeData newEdge = new EdgeData(i1, i2);
edgesList.Add(newEdge);
}
if (!isFindI23)
{
EdgeData newEdge = new EdgeData(i2, i3);
edgesList.Add(newEdge);
}
if (!isFindI31)
{
EdgeData newEdge = new EdgeData(i3, i1);
edgesList.Add(newEdge);
}
}
//filter boundary edges, if it contains vertex of the other boundary edge inside it
List <int> boundaryIndexes = new List <int>();
for (int i = 0; i < edgesList.Count; i++)
{
if (edgesList[i].IsBoundary())
{
boundaryIndexes.Add(i);
}
}
bool isUpdate = true;
while (isUpdate)
{
isUpdate = false;
int i = 0;
while (i < boundaryIndexes.Count)
{
IntInt currentEdge;
currentEdge.value01 = edgesList[boundaryIndexes[i]].GetEdgeVertices().value1;
currentEdge.value02 = edgesList[boundaryIndexes[i]].GetEdgeVertices().value2;
//IntIntClass currentEdge = edgesList[boundaryIndexes[i]].GetEdgeVertices();
Vector3 currentStart = vertexList[currentEdge.value01].position;
Vector3 currentEnd = vertexList[currentEdge.value02].position;
if (Vector3.Distance(currentStart, currentEnd) < 0.01f)
{
boundaryIndexes.RemoveAt(i);
i = boundaryIndexes.Count + 1;
isUpdate = true;
}
else
{
int j = 0;
while (j < boundaryIndexes.Count)
{
IntInt testEdge;
testEdge.value01 = edgesList[boundaryIndexes[j]].GetEdgeVertices().value1;
testEdge.value02 = edgesList[boundaryIndexes[j]].GetEdgeVertices().value2;
//IntIntClass testEdge = edgesList[boundaryIndexes[j]].GetEdgeVertices();
Vector3 testStart = vertexList[testEdge.value01].position;
Vector3 testEnd = vertexList[testEdge.value02].position;
if (Vector3.Distance(testStart, testEnd) < 0.01f)
{
boundaryIndexes.RemoveAt(j);
j = boundaryIndexes.Count + 1;
i = boundaryIndexes.Count + 1;
isUpdate = true;
}
else if (i != j && boundaryIndexes[i] < boundaryIndexes[j])
{
if (IsEdgesCollinear(currentStart, currentEnd, testStart, testEnd))
{
if (IsPointsClose(currentStart, testEnd) && IsPointOnTheEdge(testStart, currentStart, currentEnd))
{
EdgeData ith = new EdgeData(testEdge.value01, currentEdge.value02);
EdgeData jth = new EdgeData(currentEdge.value01, testEdge.value02);
edgesList[boundaryIndexes[i]] = ith;
edgesList[boundaryIndexes[j]] = jth;
i = boundaryIndexes.Count + 1;
j = boundaryIndexes.Count + 1;
isUpdate = true;
}
else if (IsPointsClose(currentEnd, testStart) && IsPointOnTheEdge(testEnd, currentStart, currentEnd))
{
EdgeData ith = new EdgeData(currentEdge.value01, testEdge.value02);
EdgeData jth = new EdgeData(testEdge.value01, currentEdge.value02);
edgesList[boundaryIndexes[i]] = ith;
edgesList[boundaryIndexes[j]] = jth;
i = boundaryIndexes.Count + 1;
j = boundaryIndexes.Count + 1;
isUpdate = true;
}
else if (IsPointsClose(currentStart, testEnd) && IsPointOnTheEdge(currentEnd, testStart, testEnd))
{
EdgeData ith = new EdgeData(currentEdge.value01, testEdge.value02);
EdgeData jth = new EdgeData(testEdge.value01, currentEdge.value02);
edgesList[boundaryIndexes[i]] = ith;
edgesList[boundaryIndexes[j]] = jth;
i = boundaryIndexes.Count + 1;
j = boundaryIndexes.Count + 1;
isUpdate = true;
}
else if (IsPointsClose(currentEnd, testStart) && IsPointOnTheEdge(currentStart, testStart, testEnd))
{
EdgeData ith = new EdgeData(testEdge.value01, currentEdge.value02);
EdgeData jth = new EdgeData(currentEdge.value01, testEdge.value02);
edgesList[boundaryIndexes[i]] = ith;
edgesList[boundaryIndexes[j]] = jth;
i = boundaryIndexes.Count + 1;
j = boundaryIndexes.Count + 1;
isUpdate = true;
}
else if (IsPointsClose(currentEnd, testStart) && IsPointsClose(currentStart, testEnd))
{
EdgeData ith = new EdgeData(currentEdge.value01, currentEdge.value01);
EdgeData jth = new EdgeData(testEdge.value01, testEdge.value01);
edgesList[boundaryIndexes[i]] = ith;
edgesList[boundaryIndexes[j]] = jth;
i = boundaryIndexes.Count + 1;
j = boundaryIndexes.Count + 1;
isUpdate = true;
}
}
}
j++;
}
}
i++;
}
}
//copy to the output
List <BoundaryEdge> toReturn = new List <BoundaryEdge>();
for (int i = 0; i < boundaryIndexes.Count; i++)
{
int index = boundaryIndexes[i];
IntIntClass edge = edgesList[index].GetEdgeVertices();
BoundaryEdge newEdge = new BoundaryEdge();
newEdge.index = index;
newEdge.start = vertexList[edge.value1].position;
newEdge.end = vertexList[edge.value2].position;
newEdge.startVertex = edge.value1;
newEdge.endVertes = edge.value2;
toReturn.Add(newEdge);
}
return(toReturn);
}
void OnDrawGizmos()
{
#if UNITY_EDITOR
if (visualMap != null && visualizeMap)
{
for (int x = 0; x < visualMap.GetLength(0); x++)
{
for (int y = 0; y < visualMap.GetLength(1); y++)
{
Gizmos.color = (visualMap[x, y]) ? new Color(0, 0, 0, gizmoAlpha) : new Color(1, 1, 1, gizmoAlpha);
Vector3 pos = new Vector3(-visualAreaSize / 2 + (x + 0.5f) * visualSquareSize + visualAreaCenter.position.x, 0, -visualAreaSize / 2 + (y + 0.5f) * visualSquareSize + visualAreaCenter.position.z);
Gizmos.DrawCube(pos, new Vector3(visualSquareSize * 0.75f, 0.0f, visualSquareSize * 0.75f));
}
}
Vector2 minCorner = new Vector2(visualAreaCenter.position.x - visualAreaSize / 2, visualAreaCenter.position.z - visualAreaSize / 2);
Vector2 maxCorner = new Vector2(visualAreaCenter.position.x + visualAreaSize / 2, visualAreaCenter.position.z + visualAreaSize / 2);
int minX = (int)(minCorner.x / (segmentSize / 2)) + (minCorner.x > 0 ? 1 : 0);
int maxX = (int)(maxCorner.x / (segmentSize / 2)) + (maxCorner.x > 0 ? 1 : 0);
int minY = (int)(minCorner.y / (segmentSize / 2)) + (minCorner.y > 0 ? 1 : 0);
int maxY = (int)(maxCorner.y / (segmentSize / 2)) + (maxCorner.y > 0 ? 1 : 0);
Gizmos.color = visualZoneLine;
for (int x = minX - 1; x < maxX + 1; x++)
{
for (int y = minY - 1; y < maxY + 1; y++)
{
if (x % 2 == 0 && y % 2 == 0)
{
Gizmos.DrawLine(GetPositionOfSegmetnCorner(x - 1, y - 1), GetPositionOfSegmetnCorner(x + 1, y - 1));
Gizmos.DrawLine(GetPositionOfSegmetnCorner(x + 1, y - 1), GetPositionOfSegmetnCorner(x + 1, y + 1));
Gizmos.DrawLine(GetPositionOfSegmetnCorner(x + 1, y + 1), GetPositionOfSegmetnCorner(x - 1, y + 1));
Gizmos.DrawLine(GetPositionOfSegmetnCorner(x - 1, y + 1), GetPositionOfSegmetnCorner(x - 1, y - 1));
string labelString = "(" + (x / 2).ToString() + ", " + (y / 2).ToString() + ")";
Vector3 labelPos = new Vector3(x * segmentSize / 2, 2.0f, y * segmentSize / 2);
Handles.Label(labelPos, labelString);
}
}
}
}
if (visualizeBoundaryEdges)
{
List <BoundaryEdge> boundary = WG_Helper.GetNavmeshBoundary();
Gizmos.color = boundaryLine;
for (int i = 0; i < boundary.Count; i++)
{
BoundaryEdge edge = boundary[i];
if (true)
{
Gizmos.DrawLine(edge.start, edge.end);
//Handles.DrawSolidDisc(edge.start, Vector3.up, 0.03f);
//Handles.Label(edge.start, edge.startVertex.ToString());
//Handles.DrawSolidDisc(edge.end, Vector3.up, 0.03f);
//Handles.Label(edge.end, edge.endVertes.ToString());
//Handles.Label((edge.start + edge.end) / 2.0f, edge.index.ToString());
}
}
}
#endif
}
