private void BuildContours()
{
ContourSet cset = ContourSet.Build(mBuildContext
, mBuildContext.CompactField
, mConfig.EdgeMaxDeviation
, mConfig.MaxEdgeLength
, mConfig.ContourOptions);
if (cset == null)
{
FinalizeAbort("Aborted at contour set build.");
return;
}
if (cset.Count < 1)
{
FinalizeNoResult("Completed after contour build. No useable contours generated.");
return;
}
mBuildContext.Contours = cset;
if (PostProcess() && PostContoursCheck() && PostCompactFieldCheck())
{
mBuildContext.Log("Built contour set. Contour count: " + cset.Count, this);
mState = NMGenState.PolyMeshBuild;
}
}
/// <summary>
/// Constructor
/// </summary>
/// <remarks>
/// <para>
/// A 'no result' object will be created if the <paramref name="polyMesh"/> parameter
/// is null or has a polygon count of zero.
/// </para>
/// </remarks>
/// <param name="tx">The x-index of the tile within the tile grid. (tx, tz)</param>
/// <param name="tz">The z-index of the tile within the tile grid. (tx, tz)</param>
/// <param name="polyMesh">The polymesh.</param>
/// <param name="detailMesh">The detail mesh.</param>
/// <param name="heightfield">The heightfield.</param>
/// <param name="compactField">The compact field.</param>
/// <param name="contours">The contour set.</param>
public NMGenAssets(int tx, int tz
, PolyMesh polyMesh
, PolyMeshDetail detailMesh
, Heightfield heightfield
, CompactHeightfield compactField
, ContourSet contours)
{
mTileX = tx;
mTileZ = tz;
if (polyMesh == null || polyMesh.PolyCount == 0)
{
mPolyMesh = null;
mDetailMesh = null;
mHeightfield = null;
mCompactField = null;
mContours = null;
}
else
{
mPolyMesh = polyMesh;
mDetailMesh = detailMesh; // OK to be null.
mHeightfield = heightfield;
mCompactField = compactField;
mContours = contours;
}
}
public NavMeshBuilder GenerateNavmesh(BBox3 bbox)
{
float[] vertices;
int[] indices;
AreaId[] areas;
GetRawData(out vertices, out indices, out areas);
var settings = WoWSettings;
var hf = new Heightfield(bbox, settings);
hf.RasterizeTrianglesWithAreas(vertices, areas);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentWidth);
chf.BuildDistanceField();
chf.BuildRegions((int)(settings.AgentWidth / settings.CellSize) + 8, settings.MinRegionSize, settings.MergedRegionSize);
var cset = new ContourSet(chf, settings);
var pmesh = new PolyMesh(cset, settings);
var dmesh = new PolyMeshDetail(pmesh, chf, settings);
var buildData = new NavMeshBuilder(pmesh, dmesh, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
return(buildData);
}
/// <summary>
/// Sets the context as having produced no result.
/// </summary>
public void SetAsNoResult()
{
mHeightfield = null;
mCompactField = null;
mContours = null;
mPolyMesh = null;
mDetailMesh = null;
mNoResult = true;
}
//private void GenerateNavMesh()
//{
// Console.WriteLine("Generating NavMesh");
// long prevMs = 0;
// try
// {
// var levelTris = level.GetTriangles();
// var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
// BBox3 bounds = triEnumerable.GetBoundingBox();
// settings = NavMeshGenerationSettings.Default;
// heightfield = new Heightfield(bounds, settings);
// heightfield.RasterizeTriangles(levelTris, Area.Default);
// heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
// heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
// heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
// compactHeightfield = new CompactHeightfield(heightfield, settings);
// compactHeightfield.Erode(settings.VoxelAgentRadius);
// compactHeightfield.BuildDistanceField();
// compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
// contourSet = compactHeightfield.BuildContourSet(settings);
// polyMesh = new PolyMesh(contourSet, settings);
// polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
// buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
// tiledNavMesh = new TiledNavMesh(buildData);
// navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
// }
// catch (Exception e)
// {
// //if (!interceptExceptions)
// // throw;
// //else
// // Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
// }
// finally
// {
// //sw.Stop();
// }
//}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
long prevMs = 0;
//try
//{
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
settings = NavMeshGenerationSettings.Default;
heightfield = new Heightfield(bounds, settings);
heightfield.RasterizeTriangles(levelTris, Area.Default);
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
compactHeightfield = new CompactHeightfield(heightfield, settings);
compactHeightfield.Erode(settings.VoxelAgentRadius);
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
contourSet = compactHeightfield.BuildContourSet(settings);
polyMesh = new PolyMesh(contourSet, settings);
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
OutMesh();
//}
//catch (Exception e)
//{
// //if (!interceptExceptions)
// // throw;
// //else
// // Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
//}
//finally
//{
// //sw.Stop();
//}
}
private bool PostContoursCheck()
{
ContourSet contours = mBuildContext.Contours;
if (contours == null || contours.IsDisposed)
{
FinalizeAbort("Custom processors destroyed the contour set. (" + mState + " Post)");
return(false);
}
else if (contours.Count < 1)
{
FinalizeNoResult(
"Aborted after contour set build. No contours generated. (" + mState + " Post)");
return(false);
}
return(true);
}
public void ContourConstructor()
{
//TODO directly build contours now that ContourSet allows it.
//Build a 5x5 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f / 5.0f), 0.02f);
for (int i = 0; i < 5 * 5; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
chf.BuildRegions(1, 1, 1);
ContourSet contourSet = chf.BuildContourSet(1, 5, ContourBuildFlags.None);
Assert.AreEqual(contourSet.Count, 2);
}
private void BuildPolyMesh()
{
ContourSet cset = mBuildContext.Contours;
PolyMesh polyMesh = PolyMesh.Build(mBuildContext
, cset
, mConfig.MaxVertsPerPoly
, mConfig.WalkableHeight
, mConfig.WalkableRadius
, mConfig.WalkableStep);
if (CanDispose(NMGenAssetFlag.ContourSet))
{
cset.RequestDisposal();
mBuildContext.Contours = null;
}
if (polyMesh == null)
{
FinalizeAbort("Aborted at poly mesh build.");
return;
}
if (polyMesh.PolyCount < 1)
{
FinalizeNoResult("Aborted after poly mesh build. No polygons generated.");
return;
}
mBuildContext.PolyMesh = polyMesh;
if (PostProcess() & PostPolyMeshCheck() & PostCompactFieldCheck())
{
mBuildContext.Log("Built poly mesh. PolyCount: " + polyMesh.PolyCount, this);
mState = NMGenState.DetailMeshBuild;
}
}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
Stopwatch sw = new Stopwatch();
sw.Start();
long prevMs = 0;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
Console.WriteLine("Heightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
/*Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
.MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
.MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
.MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
.ToArray();
heightfield.RasterizeTrianglesWithAreas(levelTris, areas);*/
heightfield.RasterizeTriangles(levelTris, Area.Default);
Console.WriteLine(" + Rasterization\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
Console.WriteLine(" + Filtering");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
Console.WriteLine(" + Ledge Spans\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
Console.WriteLine(" + Low Hanging Obstacles\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
Console.WriteLine(" + Low Height Spans\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield = new CompactHeightfield(heightfield, settings);
Console.WriteLine("CompactHeightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.Erode(settings.VoxelAgentRadius);
Console.WriteLine(" + Erosion\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildDistanceField();
Console.WriteLine(" + Distance Field\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
Console.WriteLine(" + Regions\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
Random r = new Random();
regionColors = new Color4[compactHeightfield.MaxRegions];
regionColors[0] = Color4.Black;
for (int i = 1; i < regionColors.Length; i++)
regionColors[i] = new Color4((byte)r.Next(0, 255), (byte)r.Next(0, 255), (byte)r.Next(0, 255), 255);
Console.WriteLine(" + Colors\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
contourSet = compactHeightfield.BuildContourSet(settings);
Console.WriteLine("ContourSet");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMesh = new PolyMesh(contourSet, settings);
Console.WriteLine("PolyMesh");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
Console.WriteLine("PolyMeshDetail");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
hasGenerated = true;
}
catch (Exception e)
{
if (!interceptExceptions)
throw;
else
Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
}
finally
{
sw.Stop();
}
if (hasGenerated)
{
try
{
GeneratePathfinding();
//Pathfinding with multiple units
GenerateCrowd();
}
catch (Exception e)
{
Console.WriteLine("Pathfinding generation failed with exception" + Environment.NewLine + e.ToString());
hasGenerated = false;
}
Label l = (Label)statusBar.FindChildByName("GenTime");
l.Text = "Generation Time: " + sw.ElapsedMilliseconds + "ms";
Console.WriteLine("Navmesh generated successfully in " + sw.ElapsedMilliseconds + "ms.");
Console.WriteLine("Rasterized " + level.GetTriangles().Length + " triangles.");
Console.WriteLine("Generated " + contourSet.Count + " regions.");
Console.WriteLine("PolyMesh contains " + polyMesh.VertCount + " vertices in " + polyMesh.PolyCount + " polys.");
Console.WriteLine("PolyMeshDetail contains " + polyMeshDetail.VertCount + " vertices and " + polyMeshDetail.TrisCount + " tris in " + polyMeshDetail.MeshCount + " meshes.");
}
}
private void GenerateNavMesh()
{
//Debug.Log("Generating NavMesh");
Stopwatch sw = new Stopwatch();
sw.Start();
long prevMs = 0;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
//Debug.Log("Heightfield");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
/*Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
* .MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
* .MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
* .MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
* .ToArray();
* heightfield.RasterizeTrianglesWithAreas(levelTris, areas);*/
heightfield.RasterizeTriangles(levelTris, Area.Default);
//Debug.Log(" + Rasterization\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
//Debug.Log(" + Filtering");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
//Debug.Log(" + Ledge Spans\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
//Debug.Log(" + Low Hanging Obstacles\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
//Debug.Log(" + Low Height Spans\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield = new CompactHeightfield(heightfield, settings);
//Debug.Log("CompactHeightfield");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.Erode(settings.VoxelAgentRadius);
//Debug.Log(" + Erosion\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildDistanceField();
//Debug.Log(" + Distance Field\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
//Debug.Log(" + Regions\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
contourSet = compactHeightfield.BuildContourSet(settings);
//Debug.Log("ContourSet");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMesh = new PolyMesh(contourSet, settings);
//Debug.Log("PolyMesh");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
//Debug.Log("PolyMeshDetail");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
hasGenerated = true;
}
catch (Exception e)
{
if (!interceptExceptions)
{
throw;
}
else
{
//Debug.Log("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
}
}
finally
{
sw.Stop();
}
if (hasGenerated)
{
try
{
GeneratePathfinding();
//Pathfinding with multiple units
//GenerateCrowd();
}
catch (Exception e)
{
//Debug.Log("Pathfinding generation failed with exception" + Environment.NewLine + e.ToString());
hasGenerated = false;
}
//Label l = (Label)statusBar.FindChildByName("GenTime");
//l.Text = "Generation Time: " + sw.ElapsedMilliseconds + "ms";
//Debug.Log("Navmesh generated successfully in " + sw.ElapsedMilliseconds + "ms.");
//Debug.Log("Rasterized " + level.GetTriangles().Length + " triangles.");
//Debug.Log("Generated " + contourSet.Count + " regions.");
//Debug.Log("PolyMesh contains " + polyMesh.VertCount + " vertices in " + polyMesh.PolyCount + " polys.");
//Debug.Log("PolyMeshDetail contains " + polyMeshDetail.VertCount + " vertices and " + polyMeshDetail.TrisCount + " tris in " + polyMeshDetail.MeshCount + " meshes.");
}
}
public void GenNavMesh()
{
// MeshCollider
List <Triangle3> colliderTringles = new List <Triangle3>();
Collider[] colliders = GameObject.FindObjectsOfType <Collider>();
List <GameObject> destroyGos = new List <GameObject>();
foreach (Collider collider in colliders)
{
Mesh mesh = null;
Matrix4x4 localToWorldMatrix = Matrix4x4.identity;
if (collider is MeshCollider)
{
MeshCollider mc = collider as MeshCollider;
mesh = mc.sharedMesh;
localToWorldMatrix = mc.transform.localToWorldMatrix;
}
if (collider is BoxCollider)
{
BoxCollider bc = collider as BoxCollider;
GameObject go = GameObject.CreatePrimitive(PrimitiveType.Cube);
mesh = go.GetComponent <MeshFilter>().sharedMesh;
go.transform.parent = collider.transform;
go.transform.localRotation = Quaternion.identity;
go.transform.localPosition = bc.center;
go.transform.localScale = bc.size;
localToWorldMatrix = go.transform.localToWorldMatrix;
destroyGos.Add(go);
}
if (null != mesh)
{
UnityEngine.Vector3[] vertices = mesh.vertices;
for (int i = 0; i < mesh.subMeshCount; ++i)
{
var subMesh = mesh.GetIndices(i);
for (int j = 0; j < subMesh.Length; j += 3)
{
UnityEngine.Vector3 a = localToWorldMatrix.MultiplyPoint(vertices[subMesh[j]]);
UnityEngine.Vector3 b = localToWorldMatrix.MultiplyPoint(vertices[subMesh[j + 1]]);
UnityEngine.Vector3 c = localToWorldMatrix.MultiplyPoint(vertices[subMesh[j + 2]]);
colliderTringles.Add(new Triangle3(ConvertVector3(a), ConvertVector3(b), ConvertVector3(c)));
}
}
}
}
foreach (var go in destroyGos)
{
GameObject.DestroyImmediate(go);
}
destroyGos.Clear();
Triangle3[] levelTris = colliderTringles.ToArray();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
heightfield.RasterizeTriangles(levelTris, Area.Default);
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
compactHeightfield = new CompactHeightfield(heightfield, settings);
compactHeightfield.Erode(settings.VoxelAgentRadius);
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
contourSet = compactHeightfield.BuildContourSet(settings);
polyMesh = new PolyMesh(contourSet, settings);
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
{
System.Random r = new System.Random();
regionColors = new Color[compactHeightfield.MaxRegions];
regionColors[0] = Color.black;
for (int i = 1; i < regionColors.Length; i++)
{
regionColors[i] = new Color((byte)r.Next(0, 255), (byte)r.Next(0, 255), (byte)r.Next(0, 255), 255);
}
}
this.GenDrawMesh();
Debug.Log("GenNavMesh Done!");
}
private LunaNav.NavMeshBuilder BuildTileMesh(int tx, int ty, RecastVertex min, RecastVertex max)
{
Config.Width = Config.TileSize + Config.BorderSize * 2;
Config.Height = Config.TileSize + Config.BorderSize * 2;
Config.MinBounds = min;
Config.MaxBounds = max;
Config.MinBounds.X -= Config.BorderSize * Config.CellSize;
Config.MinBounds.Z -= Config.BorderSize * Config.CellSize;
Config.MaxBounds.X += Config.BorderSize * Config.CellSize;
Config.MaxBounds.Z += Config.BorderSize * Config.CellSize;
HeightField heightfield = new HeightField(Config.Width, Config.Height, Config.MinBounds.ToArray(), Config.MaxBounds.ToArray(), Config.CellSize, Config.CellHeight);
short[] triAreas = new short[Geometry.ChunkyTriMesh.MaxTrisPerChunk];
float[] tbmin = new float[2], tbmax = new float[2];
tbmin[0] = Config.MinBounds.X;
tbmin[1] = Config.MinBounds.Z;
tbmax[0] = Config.MaxBounds.X;
tbmax[1] = Config.MaxBounds.Z;
int[] cid = new int[512];
int ncid = Geometry.ChunkyTriMesh.GetChunksOverlappingRect(tbmin, tbmax, ref cid, 512);
if (ncid == 0)
{
return(null);
}
for (int i = 0; i < ncid; i++)
{
ChunkyTriMeshNode node = Geometry.ChunkyTriMesh.Nodes[cid[i]];
int[] tris = new int[node.n * 3];
Array.Copy(Geometry.ChunkyTriMesh.Tris, node.i * 3, tris, 0, node.n * 3);
List <int> ctris = new List <int>(tris);
int nctris = node.n;
Array.Clear(triAreas, 0, triAreas.Length);
Geometry.MarkWalkableTriangles(Config.WalkableSlopeAngle, ctris, nctris, ref triAreas);
heightfield.RasterizeTriangles(Geometry, ctris, nctris, triAreas, Config.WalkableClimb);
}
heightfield.FilterLowHangingWalkableObstacles(Config.WalkableClimb);
heightfield.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb);
heightfield.FilterWalkableLowHeightSpans(Config.WalkableHeight);
CompactHeightfield compactHeightfield = new CompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, heightfield);
compactHeightfield.ErodeWalkableArea(Config.WalkableRadius);
// optional convex volumes
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea);
ContourSet contourSet = new ContourSet(compactHeightfield, Config.MaxSimplificationError, Config.MaxEdgeLength);
if (contourSet.NConts == 0)
{
return(null);
}
PolyMesh polyMesh = new PolyMesh(contourSet, Config.MaxVertexesPerPoly);
DetailPolyMesh detailPolyMesh = new DetailPolyMesh(polyMesh, compactHeightfield, Config.DetailSampleDistance,
Config.DetailSampleMaxError);
// Convert the Areas and Flags for path weighting
for (int i = 0; i < polyMesh.NPolys; i++)
{
if (polyMesh.Areas[i] == Geometry.WalkableArea)
{
polyMesh.Areas[i] = 0; // Sample_polyarea_ground
polyMesh.Flags[i] = 1; // Samply_polyflags_walk
}
}
NavMeshCreateParams param = new NavMeshCreateParams
{
Verts = polyMesh.Verts,
VertCount = polyMesh.NVerts,
Polys = polyMesh.Polys,
PolyAreas = polyMesh.Areas,
PolyFlags = polyMesh.Flags,
PolyCount = polyMesh.NPolys,
Nvp = polyMesh.Nvp,
DetailMeshes = detailPolyMesh.Meshes,
DetailVerts = detailPolyMesh.Verts,
DetailVertsCount = detailPolyMesh.NVerts,
DetailTris = detailPolyMesh.Tris,
DetailTriCount = detailPolyMesh.NTris,
// Off Mesh data
OffMeshConVerts = Geometry.OffMeshConnectionVerts.ToArray(),
OffMeshConRad = Geometry.OffMeshConnectionRadii.ToArray(),
OffMeshConDir = Geometry.OffMeshConnectionDirections.ToArray(),
OffMeshConAreas = Geometry.OffMeshConnectionAreas.ToArray(),
OffMeshConFlags = Geometry.OffMeshConnectionFlags.ToArray(),
OffMeshConUserId = Geometry.OffMeshConnectionIds.ToArray(),
OffMeshConCount = (int)Geometry.OffMeshConnectionCount,
// end off mesh data
WalkableHeight = Config.WalkableHeight,
WalkableRadius = Config.WalkableRadius,
WalkableClimb = Config.WalkableClimb,
BMin = new float[] { polyMesh.BMin[0], polyMesh.BMin[1], polyMesh.BMin[2] },
BMax = new float[] { polyMesh.BMax[0], polyMesh.BMax[1], polyMesh.BMax[2] },
Cs = polyMesh.Cs,
Ch = polyMesh.Ch,
BuildBvTree = true,
TileX = tx,
TileY = ty,
TileLayer = 0
};
return(new LunaNav.NavMeshBuilder(param));
}
/// <summary>
/// Initializes a new instance of the <see cref="PolyMesh"/> class by creating polygons from contours.
/// </summary>
/// <param name="contSet">The <see cref="ContourSet"/> to generate polygons from.</param>
/// <param name="cellSize">The size of one voxel/cell.</param>
/// <param name="cellHeight">The height of one voxel/cell.</param>
/// <param name="borderSize">The size of the border around the mesh.</param>
/// <param name="numVertsPerPoly">The maximum number of vertices per polygon.</param>
public PolyMesh(ContourSet contSet, float cellSize, float cellHeight, int borderSize, int numVertsPerPoly)
{
//copy contour data
this.bounds = contSet.Bounds;
this.cellSize = cellSize;
this.cellHeight = cellHeight;
this.borderSize = borderSize;
//get maximum limits
//TODO move to ContourSet?
int maxVertices = 0;
int maxTris = 0;
int maxVertsPerCont = 0;
foreach (var cont in contSet)
{
int vertCount = cont.Vertices.Length;
//skip null contours
if (vertCount < 3)
continue;
maxVertices += vertCount;
maxTris += vertCount - 2;
maxVertsPerCont = Math.Max(maxVertsPerCont, vertCount);
}
//initialize the mesh members
var verts = new List<PolyVertex>(maxVertices);
var polys = new List<Polygon>(maxTris);
Queue<int> vertRemoveQueue = new Queue<int>(maxVertices);
this.numVertsPerPoly = numVertsPerPoly;
var vertDict = new Dictionary<PolyVertex, int>(new PolyVertex.RoughYEqualityComparer(2));
int[] indices = new int[maxVertsPerCont]; //keep track of vertex hash codes
Triangle[] tris = new Triangle[maxVertsPerCont];
List<Polygon> contPolys = new List<Polygon>(maxVertsPerCont + 1);
//extract contour data
foreach (Contour cont in contSet)
{
//skip null contours
if (cont.IsNull)
continue;
PolyVertex[] vertices = new PolyVertex[cont.Vertices.Length];
//triangulate contours
for (int i = 0; i < cont.Vertices.Length; i++)
{
var cv = cont.Vertices[i];
vertices[i] = new PolyVertex(cv.X, cv.Y, cv.Z);
indices[i] = i;
}
//Form triangles inside the area bounded by the contours
int ntris = Triangulate(vertices, indices, tris);
if (ntris <= 0) //TODO notify user when this happens. Logging?
ntris = -ntris;
//add and merge vertices
for (int i = 0; i < cont.Vertices.Length; i++)
{
var cv = cont.Vertices[i];
var pv = vertices[i];
//save the hash code for each vertex
indices[i] = AddVertex(vertDict, pv, verts);
if (RegionId.HasFlags(cv.RegionId, RegionFlags.VertexBorder))
{
//the vertex should be removed
vertRemoveQueue.Enqueue(indices[i]);
}
}
contPolys.Clear();
//iterate through all the triangles
for (int i = 0; i < ntris; i++)
{
Triangle ti = tris[i];
//make sure there are three distinct vertices. anything less can't be a polygon.
if (ti.Index0 == ti.Index1
|| ti.Index0 == ti.Index2
|| ti.Index1 == ti.Index2)
continue;
//each polygon has numVertsPerPoly
//index 0, 1, 2 store triangle vertices
//other polygon indexes (3 to numVertsPerPoly - 1) should be used for storing extra vertices when two polygons merge together
Polygon p = new Polygon(numVertsPerPoly, Area.Null, RegionId.Null, 0);
p.Vertices[0] = RemoveDiagonalFlag(indices[ti.Index0]);
p.Vertices[1] = RemoveDiagonalFlag(indices[ti.Index1]);
p.Vertices[2] = RemoveDiagonalFlag(indices[ti.Index2]);
contPolys.Add(p);
}
//no polygons generated, so skip
if (contPolys.Count == 0)
continue;
//merge polygons
if (numVertsPerPoly > 3)
{
while (true)
{
//find best polygons
int bestMergeVal = 0;
int bestPolyA = 0, bestPolyB = 0, bestEdgeA = 0, bestEdgeB = 0;
for (int i = 0; i < contPolys.Count - 1; i++)
{
int pj = i;
for (int j = i + 1; j < contPolys.Count; j++)
{
int pk = j;
int ea = 0, eb = 0;
int v = GetPolyMergeValue(contPolys, pj, pk, verts, out ea, out eb);
if (v > bestMergeVal)
{
bestMergeVal = v;
bestPolyA = i;
bestPolyB = j;
bestEdgeA = ea;
bestEdgeB = eb;
}
}
}
if (bestMergeVal > 0)
{
int pa = bestPolyA;
int pb = bestPolyB;
MergePolys(contPolys, pa, pb, bestEdgeA, bestEdgeB);
contPolys[pb] = contPolys[contPolys.Count - 1];
contPolys.RemoveAt(contPolys.Count - 1);
}
else
{
//no more merging
break;
}
}
}
//store polygons
for (int i = 0; i < contPolys.Count; i++)
{
Polygon p = contPolys[i];
Polygon p2 = new Polygon(numVertsPerPoly, cont.Area, cont.RegionId, 0);
Buffer.BlockCopy(p.Vertices, 0, p2.Vertices, 0, numVertsPerPoly * sizeof(int));
polys.Add(p2);
}
}
//remove edge vertices
while (vertRemoveQueue.Count > 0)
{
int i = vertRemoveQueue.Dequeue();
if (CanRemoveVertex(polys, i))
RemoveVertex(verts, polys, i);
}
//calculate adjacency (edges)
BuildMeshAdjacency(verts, polys, numVertsPerPoly);
//find portal edges
if (this.borderSize > 0)
{
//iterate through all the polygons
for (int i = 0; i < polys.Count; i++)
{
Polygon p = polys[i];
//iterate through all the vertices
for (int j = 0; j < numVertsPerPoly; j++)
{
if (p.Vertices[j] == NullId)
break;
//skip connected edges
if (p.NeighborEdges[j] != NullId)
continue;
int nj = j + 1;
if (nj >= numVertsPerPoly || p.Vertices[nj] == NullId)
nj = 0;
//grab two consecutive vertices
int va = p.Vertices[j];
int vb = p.Vertices[nj];
//set some flags
if (verts[va].X == 0 && verts[vb].X == 0)
p.NeighborEdges[j] = NeighborEdgeFlag | 0;
else if (verts[va].Z == contSet.Height && verts[vb].Z == contSet.Height)
p.NeighborEdges[j] = NeighborEdgeFlag | 1;
else if (verts[va].X == contSet.Width && verts[vb].X == contSet.Width)
p.NeighborEdges[j] = NeighborEdgeFlag | 2;
else if (verts[va].Z == 0 && verts[vb].Z == 0)
p.NeighborEdges[j] = NeighborEdgeFlag | 3;
}
}
}
this.vertices = verts.ToArray();
this.polygons = polys.ToArray();
}
//HACK borderSize is 0 here. Fix with borderSize.
/// <summary>
/// Initializes a new instance of the <see cref="PolyMesh"/> class.
/// </summary>
/// <param name="contSet">The <see cref="ContourSet"/> to generate polygons from.</param>
/// <param name="settings">The settings to build with.</param>
public PolyMesh(ContourSet contSet, NavMeshGenerationSettings settings)
: this(contSet, settings.CellSize, settings.CellHeight, 0, settings.VertsPerPoly)
{
}
private Detour.AtavismNavTile BuildTileMesh(int tx, int ty, RecastVertex min, RecastVertex max)
{
Config.Width = Config.TileSize + Config.BorderSize * 2;
Config.Height = Config.TileSize + Config.BorderSize * 2;
Config.MinBounds = min;
Config.MaxBounds = max;
Config.MinBounds.X -= Config.BorderSize * Config.CellSize;
Config.MinBounds.Z -= Config.BorderSize * Config.CellSize;
Config.MaxBounds.X += Config.BorderSize * Config.CellSize;
Config.MaxBounds.Z += Config.BorderSize * Config.CellSize;
HeightField heightfield = new HeightField(Config.Width, Config.Height, Config.MinBounds.ToArray(), Config.MaxBounds.ToArray(), Config.CellSize, Config.CellHeight);
short[] triAreas = new short[Geometry.ChunkyTriMesh.MaxTrisPerChunk];
float[] tbmin = new float[2], tbmax = new float[2];
tbmin[0] = Config.MinBounds.X;
tbmin[1] = Config.MinBounds.Z;
tbmax[0] = Config.MaxBounds.X;
tbmax[1] = Config.MaxBounds.Z;
int[] cid = new int[512];
int ncid = Geometry.ChunkyTriMesh.GetChunksOverlappingRect(tbmin, tbmax, ref cid, 512);
if (ncid == 0)
return null;
for (int i = 0; i < ncid; i++)
{
ChunkyTriMeshNode node = Geometry.ChunkyTriMesh.Nodes[cid[i]];
int[] tris = new int[node.n * 3];
Array.Copy(Geometry.ChunkyTriMesh.Tris, node.i * 3, tris, 0, node.n * 3);
List<int> ctris = new List<int>(tris);
int nctris = node.n;
Array.Clear(triAreas, 0, triAreas.Length);
Geometry.MarkWalkableTriangles(Config.WalkableSlopeAngle, ctris, nctris, ref triAreas);
heightfield.RasterizeTriangles(Geometry, ctris, nctris, triAreas, Config.WalkableClimb);
}
heightfield.FilterLowHangingWalkableObstacles(Config.WalkableClimb);
heightfield.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb);
heightfield.FilterWalkableLowHeightSpans(Config.WalkableHeight);
CompactHeightfield compactHeightfield = new CompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, heightfield);
compactHeightfield.ErodeWalkableArea(Config.WalkableRadius);
// optional convex volumes
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea);
ContourSet contourSet = new ContourSet(compactHeightfield, Config.MaxSimplificationError, Config.MaxEdgeLength);
if (contourSet.NConts == 0)
return null;
PolyMesh polyMesh = new PolyMesh(contourSet, Config.MaxVertexesPerPoly);
DetailPolyMesh detailPolyMesh = new DetailPolyMesh(polyMesh, compactHeightfield, Config.DetailSampleDistance,
Config.DetailSampleMaxError);
// Convert the Areas and Flags for path weighting
for (int i = 0; i < polyMesh.NPolys; i++)
{
if (polyMesh.Areas[i] == Geometry.WalkableArea)
{
polyMesh.Areas[i] = 0; // Sample_polyarea_ground
polyMesh.Flags[i] = 1; // Samply_polyflags_walk
}
}
NavMeshCreateParams param = new NavMeshCreateParams
{
Verts = polyMesh.Verts,
VertCount = polyMesh.NVerts,
Polys = polyMesh.Polys,
PolyAreas = polyMesh.Areas,
PolyFlags = polyMesh.Flags,
PolyCount = polyMesh.NPolys,
Nvp = polyMesh.Nvp,
DetailMeshes = detailPolyMesh.Meshes,
DetailVerts = detailPolyMesh.Verts,
DetailVertsCount = detailPolyMesh.NVerts,
DetailTris = detailPolyMesh.Tris,
DetailTriCount = detailPolyMesh.NTris,
// Off Mesh data
OffMeshConVerts = Geometry.OffMeshConnectionVerts.ToArray(),
OffMeshConRad = Geometry.OffMeshConnectionRadii.ToArray(),
OffMeshConDir = Geometry.OffMeshConnectionDirections.ToArray(),
OffMeshConAreas = Geometry.OffMeshConnectionAreas.ToArray(),
OffMeshConFlags = Geometry.OffMeshConnectionFlags.ToArray(),
OffMeshConUserId = Geometry.OffMeshConnectionIds.ToArray(),
OffMeshConCount = (int)Geometry.OffMeshConnectionCount,
// end off mesh data
WalkableHeight = Config.WalkableHeight,
WalkableRadius = Config.WalkableRadius,
WalkableClimb = Config.WalkableClimb,
BMin = new float[] { polyMesh.BMin[0], polyMesh.BMin[1], polyMesh.BMin[2] },
BMax = new float[] { polyMesh.BMax[0], polyMesh.BMax[1], polyMesh.BMax[2] },
Cs = polyMesh.Cs,
Ch = polyMesh.Ch,
BuildBvTree = true,
TileX = tx,
TileY = ty,
TileLayer = 0
};
return new Detour.AtavismNavTile(param);
}
