static bool LoadedTilesCommand(StringArguments args, CommandHandler handler) { Player player = handler.GetSession().GetPlayer(); uint terrainMapId = PhasingHandler.GetTerrainMapId(player.GetPhaseShift(), player.GetMap(), player.GetPositionX(), player.GetPositionY()); Detour.dtNavMesh navmesh = Global.MMapMgr.GetNavMesh(terrainMapId); Detour.dtNavMeshQuery navmeshquery = Global.MMapMgr.GetNavMeshQuery(terrainMapId, handler.GetPlayer().GetInstanceId()); if (navmesh == null || navmeshquery == null) { handler.SendSysMessage("NavMesh not loaded for current map."); return(true); } handler.SendSysMessage("mmap loadedtiles:"); for (int i = 0; i < navmesh.getMaxTiles(); ++i) { Detour.dtMeshTile tile = navmesh.getTile(i); if (tile.header == null) { continue; } handler.SendSysMessage("[{0:D2}, {1:D2}]", tile.header.x, tile.header.y); } return(true); }
static bool LoadedTilesCommand(StringArguments args, CommandHandler handler) { uint mapid = handler.GetPlayer().GetMapId(); Detour.dtNavMesh navmesh = Global.MMapMgr.GetNavMesh(mapid); Detour.dtNavMeshQuery navmeshquery = Global.MMapMgr.GetNavMeshQuery(mapid, handler.GetPlayer().GetInstanceId()); if (navmesh == null || navmeshquery == null) { handler.SendSysMessage("NavMesh not loaded for current map."); return(true); } handler.SendSysMessage("mmap loadedtiles:"); for (int i = 0; i < navmesh.getMaxTiles(); ++i) { Detour.dtMeshTile tile = navmesh.getTile(i); if (tile == null) { continue; } handler.SendSysMessage("[{0:D2}, {1:D2}]", tile.header.x, tile.header.y); } return(true); }
public static void ShowTilePolyDetails(DbgRenderMesh renderMesh, Detour.dtNavMesh navMesh, int tileId) { renderMesh.Clear(); UnityEngine.Random.seed = c_RandomSeed; if (navMesh == null) { renderMesh.Rebuild(); return; } Detour.dtMeshTile tile = navMesh.getTile(tileId); if (tile == null) { Debug.LogError("RcdtcsUnityUtils.ShowTilePolyDetails : Tile " + tileId + " does not exist."); return; } int detailMeshCount = tile.detailMeshes.Length; for (int i = 0; i < detailMeshCount; ++i) { Detour.dtPolyDetail pd = tile.detailMeshes[i]; Detour.dtPoly poly = tile.polys[i]; Color col = Color.green; //new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value); for (int j = 0; j < pd.triCount; ++j) { int tStart = (int)(pd.triBase + j) * 4; int[] vStarts = new int[3]; float[][] vSrc = new float[3][]; for (int k = 0; k < 3; ++k) { byte tk = tile.detailTris[tStart + k]; byte vCount = poly.vertCount; if (tk < vCount) { vStarts[k] = poly.verts[tk] * 3; vSrc[k] = tile.verts; } else { vStarts[k] = (int)(pd.vertBase + (tk - vCount)) * 3; vSrc[k] = tile.detailVerts; } } Vector3 a = new Vector3(vSrc[0][vStarts[0] + 0], vSrc[0][vStarts[0] + 1], vSrc[0][vStarts[0] + 2]); Vector3 b = new Vector3(vSrc[1][vStarts[1] + 0], vSrc[1][vStarts[1] + 1], vSrc[1][vStarts[1] + 2]); Vector3 c = new Vector3(vSrc[2][vStarts[2] + 0], vSrc[2][vStarts[2] + 1], vSrc[2][vStarts[2] + 2]); col = VaryColor(col); renderMesh.AddTriangle(new DbgRenderTriangle(a, b, c, col)); } } renderMesh.Rebuild(); }
public bool Load(string path) { navMesh = DetourNavMeshLoader.Load(path); if (navMesh != null) { PrepareRender(); } return(navMesh != null); }
static bool HandleMmapStatsCommand(StringArguments args, CommandHandler handler) { Player player = handler.GetSession().GetPlayer(); uint terrainMapId = PhasingHandler.GetTerrainMapId(player.GetPhaseShift(), player.GetMap(), player.GetPositionX(), player.GetPositionY()); handler.SendSysMessage("mmap stats:"); handler.SendSysMessage(" global mmap pathfinding is {0}abled", Global.DisableMgr.IsPathfindingEnabled(player.GetMapId()) ? "En" : "Dis"); handler.SendSysMessage(" {0} maps loaded with {1} tiles overall", Global.MMapMgr.getLoadedMapsCount(), Global.MMapMgr.getLoadedTilesCount()); Detour.dtNavMesh navmesh = Global.MMapMgr.GetNavMesh(terrainMapId); if (navmesh == null) { handler.SendSysMessage("NavMesh not loaded for current map."); return(true); } uint tileCount = 0; int nodeCount = 0; int polyCount = 0; int vertCount = 0; int triCount = 0; int triVertCount = 0; for (int i = 0; i < navmesh.getMaxTiles(); ++i) { Detour.dtMeshTile tile = navmesh.getTile(i); if (tile == null) { continue; } tileCount++; nodeCount += tile.header.bvNodeCount; polyCount += tile.header.polyCount; vertCount += tile.header.vertCount; triCount += tile.header.detailTriCount; triVertCount += tile.header.detailVertCount; } handler.SendSysMessage("Navmesh stats:"); handler.SendSysMessage(" {0} tiles loaded", tileCount); handler.SendSysMessage(" {0} BVTree nodes", nodeCount); handler.SendSysMessage(" {0} polygons ({1} vertices)", polyCount, vertCount); handler.SendSysMessage(" {0} triangles ({1} vertices)", triCount, triVertCount); return(true); }
public void ClearComputedData() { m_ctx = new Recast.BuildContext(); m_triareas = null; m_solid = null; m_chf = null; m_cset = null; m_pmesh = null; m_cfg = null; m_dmesh = null; m_navMesh = null; m_navQuery = null; m_bmin = new float[3]; m_bmax = new float[3]; }
public bool ComputeSystem(byte[] tileRawData, int start) { m_ctx.enableLog(true); m_ctx.resetTimers(); // Start the build process. m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); m_rawTileData = new Detour.dtRawTileData(); m_rawTileData.FromBytes(tileRawData, start); m_navMesh = new Detour.dtNavMesh(); if (m_navMesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh"); return(false); } dtStatus status; status = m_navMesh.init(m_rawTileData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh"); return(false); } m_navQuery = new Detour.dtNavMeshQuery(); status = m_navQuery.init(m_navMesh, 2048); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query"); return(false); } m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); //m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons"); m_totalBuildTimeMs = (float)m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL); return(true); }
bool loadMapData(uint mapId) { // we already have this map loaded? if (loadedMMaps.ContainsKey(mapId) && loadedMMaps[mapId] != null) { return(true); } // load and init dtNavMesh - read parameters from file string filename = string.Format(MAP_FILE_NAME_FORMAT, Global.WorldMgr.GetDataPath(), mapId); if (!File.Exists(filename)) { Log.outError(LogFilter.Maps, "Could not open mmap file {0}", filename); return(false); } using (BinaryReader reader = new BinaryReader(new FileStream(filename, FileMode.Open, FileAccess.Read), Encoding.UTF8)) { Detour.dtNavMeshParams Params = new Detour.dtNavMeshParams(); Params.orig[0] = reader.ReadSingle(); Params.orig[1] = reader.ReadSingle(); Params.orig[2] = reader.ReadSingle(); Params.tileWidth = reader.ReadSingle(); Params.tileHeight = reader.ReadSingle(); Params.maxTiles = reader.ReadInt32(); Params.maxPolys = reader.ReadInt32(); Detour.dtNavMesh mesh = new Detour.dtNavMesh(); if (Detour.dtStatusFailed(mesh.init(Params))) { Log.outError(LogFilter.Maps, "MMAP:loadMapData: Failed to initialize dtNavMesh for mmap {0:D4} from file {1}", mapId, filename); return(false); } Log.outInfo(LogFilter.Maps, "MMAP:loadMapData: Loaded {0:D4}.mmap", mapId); // store inside our map list loadedMMaps[mapId] = new MMapData(mesh, mapId); return(true); } }
public MMapData(Detour.dtNavMesh mesh) { navMesh = mesh; }
public MMapData(Detour.dtNavMesh mesh, uint mapId) { navMesh = mesh; _mapId = mapId; }
public bool ComputeSystem(byte[] tileRawData, int start) { m_ctx.enableLog(true); m_ctx.resetTimers(); // Start the build process. m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); m_rawTileData = new Detour.dtRawTileData(); m_rawTileData.FromBytes(tileRawData, start); m_navMesh = new Detour.dtNavMesh(); if (m_navMesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh"); return false; } dtStatus status; status = m_navMesh.init(m_rawTileData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh"); return false; } m_navQuery = new Detour.dtNavMeshQuery(); status = m_navQuery.init(m_navMesh, 2048); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query"); return false; } m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); //m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons"); m_totalBuildTimeMs = (float) m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL); return true; }
public void ClearComputedData() { m_ctx = new Recast.BuildContext(); m_triareas = null; m_solid = null; m_chf = null; m_cset = null; m_pmesh = null; m_cfg = null; m_dmesh = null; m_navMesh = null; m_navQuery = null; m_bmin = new float[3]; m_bmax = new float[3]; }
static bool LocCommand(StringArguments args, CommandHandler handler) { handler.SendSysMessage("mmap tileloc:"); // grid tile location Player player = handler.GetPlayer(); int gx = (int)(32 - player.GetPositionX() / MapConst.SizeofGrids); int gy = (int)(32 - player.GetPositionY() / MapConst.SizeofGrids); float x, y, z; player.GetPosition(out x, out y, out z); handler.SendSysMessage("{0:D4}{1:D2}{2:D2}.mmtile", player.GetMapId(), gy, gx); handler.SendSysMessage("gridloc [{0}, {1}]", gx, gy); // calculate navmesh tile location uint terrainMapId = PhasingHandler.GetTerrainMapId(player.GetPhaseShift(), player.GetMap(), x, y); Detour.dtNavMesh navmesh = Global.MMapMgr.GetNavMesh(terrainMapId); Detour.dtNavMeshQuery navmeshquery = Global.MMapMgr.GetNavMeshQuery(terrainMapId, player.GetInstanceId()); if (navmesh == null || navmeshquery == null) { handler.SendSysMessage("NavMesh not loaded for current map."); return(true); } float[] min = navmesh.getParams().orig; float[] location = { y, z, x }; float[] extents = { 3.0f, 5.0f, 3.0f }; int tilex = (int)((y - min[0]) / MapConst.SizeofGrids); int tiley = (int)((x - min[2]) / MapConst.SizeofGrids); handler.SendSysMessage("Calc [{0:D2}, {1:D2}]", tilex, tiley); // navmesh poly . navmesh tile location Detour.dtQueryFilter filter = new Detour.dtQueryFilter(); float[] nothing = new float[3]; ulong polyRef = 0; if (Detour.dtStatusFailed(navmeshquery.findNearestPoly(location, extents, filter, ref polyRef, ref nothing))) { handler.SendSysMessage("Dt [??,??] (invalid poly, probably no tile loaded)"); return(true); } if (polyRef == 0) { handler.SendSysMessage("Dt [??, ??] (invalid poly, probably no tile loaded)"); } else { Detour.dtMeshTile tile = new Detour.dtMeshTile(); Detour.dtPoly poly = new Detour.dtPoly(); if (Detour.dtStatusSucceed(navmesh.getTileAndPolyByRef(polyRef, ref tile, ref poly))) { if (tile != null) { handler.SendSysMessage("Dt [{0:D2},{1:D2}]", tile.header.x, tile.header.y); return(false); } } handler.SendSysMessage("Dt [??,??] (no tile loaded)"); } return(true); }
//Compute Recast and Detour navmesh public bool ComputeSystem() { ClearComputedData(); Recast.rcCalcBounds(m_verts, m_vertCount, m_bmin, m_bmax); // // Step 1. Initialize build config. // // Init build configuration from GUI m_cfg = new Recast.rcConfig(); m_cfg.cs = m_RecastMeshParams.m_cellSize; m_cfg.ch = m_RecastMeshParams.m_cellHeight; m_cfg.walkableSlopeAngle = m_RecastMeshParams.m_agentMaxSlope; m_cfg.walkableHeight = (int)Math.Ceiling(m_RecastMeshParams.m_agentHeight / m_cfg.ch); m_cfg.walkableClimb = (int)Math.Floor(m_RecastMeshParams.m_agentMaxClimb / m_cfg.ch); m_cfg.walkableRadius = (int)Math.Ceiling(m_RecastMeshParams.m_agentRadius / m_cfg.cs); m_cfg.maxEdgeLen = (int)(m_RecastMeshParams.m_edgeMaxLen / m_RecastMeshParams.m_cellSize); m_cfg.maxSimplificationError = m_RecastMeshParams.m_edgeMaxError; m_cfg.minRegionArea = (int)(m_RecastMeshParams.m_regionMinSize * m_RecastMeshParams.m_regionMinSize); // Note: area = size*size m_cfg.mergeRegionArea = (int)(m_RecastMeshParams.m_regionMergeSize * m_RecastMeshParams.m_regionMergeSize); // Note: area = size*size m_cfg.maxVertsPerPoly = (int)m_RecastMeshParams.m_vertsPerPoly; m_cfg.detailSampleDist = m_RecastMeshParams.m_detailSampleDist < 0.9f ? 0 : m_RecastMeshParams.m_cellSize * m_RecastMeshParams.m_detailSampleDist; m_cfg.detailSampleMaxError = m_RecastMeshParams.m_cellHeight * m_RecastMeshParams.m_detailSampleMaxError; // Set the area where the navigation will be build. // Here the bounds of the input mesh are used, but the // area could be specified by an user defined box, etc. Recast.rcVcopy(m_cfg.bmin, m_bmin); Recast.rcVcopy(m_cfg.bmax, m_bmax); Recast.rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, out m_cfg.width, out m_cfg.height); // Reset build times gathering. m_ctx.resetTimers(); // Start the build process. m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, "Building navigation:"); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_cfg.width + " x " + m_cfg.height + " cells"); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_vertCount / 1000.0f + "K verts, " + m_triCount / 1000.0f + "K tris"); // // Step 2. Rasterize input polygon soup. // // Allocate voxel heightfield where we rasterize our input data to. m_solid = new Recast.rcHeightfield(); if (m_solid == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'."); return false; } if (!Recast.rcCreateHeightfield(m_ctx, m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield."); return false; } // Allocate array that can hold triangle area types. // If you have multiple meshes you need to process, allocate // and array which can hold the max number of triangles you need to process. m_triareas = new byte[m_triCount]; if (m_triareas == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (" + m_triCount + ")."); return false; } // Find triangles which are walkable based on their slope and rasterize them. // If your input data is multiple meshes, you can transform them here, calculate // the are type for each of the meshes and rasterize them. //memset(m_triareas, 0, ntris*sizeof(byte)); Recast.rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, m_verts, m_vertCount, m_tris, m_triCount, m_triareas); Recast.rcRasterizeTriangles(m_ctx, m_verts, m_vertCount, m_tris, m_triareas, m_triCount, m_solid, m_cfg.walkableClimb); if (!m_keepInterResults) { m_triareas = null; } // // Step 3. Filter walkables surfaces. // // Once all geoemtry is rasterized, we do initial pass of filtering to // remove unwanted overhangs caused by the conservative rasterization // as well as filter spans where the character cannot possibly stand. Recast.rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, m_solid); Recast.rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid); Recast.rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, m_solid); // // Step 4. Partition walkable surface to simple regions. // // Compact the heightfield so that it is faster to handle from now on. // This will result more cache coherent data as well as the neighbours // between walkable cells will be calculated. m_chf = new Recast.rcCompactHeightfield(); if (m_chf == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'."); return false; } if (!Recast.rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid, m_chf)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build compact data."); return false; } if (!m_keepInterResults) { m_solid = null; } // Erode the walkable area by agent radius. if (!Recast.rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, m_chf)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not erode."); return false; } /* // (Optional) Mark areas. ConvexVolume[] vols = m_geom.getConvexVolumes(); for (int i = 0; i < m_geom.getConvexVolumeCount(); ++i) rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (byte)vols[i].area, *m_chf); */ if (m_RecastMeshParams.m_monotonePartitioning) { // Partition the walkable surface into simple regions without holes. // Monotone partitioning does not need distancefield. if (!Recast.rcBuildRegionsMonotone(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions."); return false; } } else { // Prepare for region partitioning, by calculating distance field along the walkable surface. if (!Recast.rcBuildDistanceField(m_ctx, m_chf)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build distance field."); return false; } // Partition the walkable surface into simple regions without holes. if (!Recast.rcBuildRegions(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions."); return false; } } // // Step 5. Trace and simplify region contours. // // Create contours. m_cset = new Recast.rcContourSet(); if (m_cset == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'."); return false; } if (!Recast.rcBuildContours(m_ctx, m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, m_cset, -1)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create contours."); return false; } //m_cset.dumpToTxt("Data/CSET_dump.txt"); // // Step 6. Build polygons mesh from contours. // // Build polygon navmesh from the contours. m_pmesh = new Recast.rcPolyMesh(); if (m_pmesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'."); return false; } if (!Recast.rcBuildPolyMesh(m_ctx, m_cset, m_cfg.maxVertsPerPoly, m_pmesh)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not triangulate contours."); return false; } //m_pmesh.dumpToObj("Data/navmesh.obj"); //m_pmesh.dumpToText("Data/navmesh.txt"); // // Step 7. Create detail mesh which allows to access approximate height on each polygon. // m_dmesh = new Recast.rcPolyMeshDetail();//rcAllocPolyMeshDetail(); if (m_dmesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'."); return false; } if (!Recast.rcBuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, m_dmesh)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build detail mesh."); return false; } //m_dmesh.dumpToText("Data/polymeshdetail_cs.txt"); //m_dmesh.dumpToObj("Data/polymeshdetail_cs.obj"); if (!m_keepInterResults) { m_chf = null; m_cset = null; } // At this point the navigation mesh data is ready, you can access it from m_pmesh. // See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data. // // (Optional) Step 8. Create Detour data from Recast poly mesh. // // The GUI may allow more max points per polygon than Detour can handle. // Only build the detour navmesh if we do not exceed the limit. if (m_cfg.maxVertsPerPoly <= Detour.DT_VERTS_PER_POLYGON) { //unsigned char* navData = 0; Detour.dtRawTileData navData = null; //int navDataSize = 0; // Update poly flags from areas. for (int i = 0; i < m_pmesh.npolys; ++i) { if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA) m_pmesh.areas[i] = (byte)SamplePolyAreas.GROUND; if (m_pmesh.areas[i] == (byte)SamplePolyAreas.GROUND) { m_pmesh.flags[i] = (ushort)SamplePolyFlags.WALK; } /* if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA) m_pmesh.areas[i] = SAMPLE_POLYAREA_GROUND; if (m_pmesh.areas[i] == SAMPLE_POLYAREA_GROUND || m_pmesh.areas[i] == SAMPLE_POLYAREA_GRASS || m_pmesh.areas[i] == SAMPLE_POLYAREA_ROAD) { m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK; } else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_WATER) { m_pmesh.flags[i] = SAMPLE_POLYFLAGS_SWIM; } else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_DOOR) { m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR; }*/ } Detour.dtNavMeshCreateParams navMeshCreateParams = new Detour.dtNavMeshCreateParams(); navMeshCreateParams.verts = m_pmesh.verts; navMeshCreateParams.vertCount = m_pmesh.nverts; navMeshCreateParams.polys = m_pmesh.polys; navMeshCreateParams.polyAreas = m_pmesh.areas; navMeshCreateParams.polyFlags = m_pmesh.flags; navMeshCreateParams.polyCount = m_pmesh.npolys; navMeshCreateParams.nvp = m_pmesh.nvp; navMeshCreateParams.detailMeshes = m_dmesh.meshes; navMeshCreateParams.detailVerts = m_dmesh.verts; navMeshCreateParams.detailVertsCount = m_dmesh.nverts; navMeshCreateParams.detailTris = m_dmesh.tris; navMeshCreateParams.detailTriCount = m_dmesh.ntris; navMeshCreateParams.offMeshConVerts = null;//m_geom.getOffMeshConnectionVerts(); navMeshCreateParams.offMeshConRad = null;//m_geom.getOffMeshConnectionRads(); navMeshCreateParams.offMeshConDir = null;//m_geom.getOffMeshConnectionDirs(); navMeshCreateParams.offMeshConAreas = null;//m_geom.getOffMeshConnectionAreas(); navMeshCreateParams.offMeshConFlags = null;//m_geom.getOffMeshConnectionFlags(); navMeshCreateParams.offMeshConUserID = null;//m_geom.getOffMeshConnectionId(); navMeshCreateParams.offMeshConCount = 0;//m_geom.getOffMeshConnectionCount(); navMeshCreateParams.walkableHeight = m_RecastMeshParams.m_agentHeight; navMeshCreateParams.walkableRadius = m_RecastMeshParams.m_agentRadius; navMeshCreateParams.walkableClimb = m_RecastMeshParams.m_agentMaxClimb; Recast.rcVcopy(navMeshCreateParams.bmin, m_pmesh.bmin); Recast.rcVcopy(navMeshCreateParams.bmax, m_pmesh.bmax); navMeshCreateParams.cs = m_cfg.cs; navMeshCreateParams.ch = m_cfg.ch; navMeshCreateParams.buildBvTree = true; if (!Detour.dtCreateNavMeshData(navMeshCreateParams, out navData)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not build Detour navmesh."); return false; } m_navMesh = new Detour.dtNavMesh(); if (m_navMesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh"); return false; } dtStatus status; status = m_navMesh.init(navData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh"); return false; } m_navQuery = new Detour.dtNavMeshQuery(); status = m_navQuery.init(m_navMesh, 2048); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query"); return false; } m_rawTileData = navData; } else { m_ctx.log(Recast.rcLogCategory.RC_LOG_WARNING, "Detour does not support more than " + Detour.DT_VERTS_PER_POLYGON + " verts per polygon. A navmesh has not been generated."); } m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); // Show performance stats. m_ctx.logBuildTimes(); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons"); m_totalBuildTimeMs = (float) m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL); return true; }
//Compute Recast and Detour navmesh public bool ComputeSystem() { ClearComputedData(); Recast.rcCalcBounds(m_verts, m_vertCount, m_bmin, m_bmax); // // Step 1. Initialize build config. // // Init build configuration from GUI m_cfg = new Recast.rcConfig(); m_cfg.cs = m_RecastMeshParams.m_cellSize; m_cfg.ch = m_RecastMeshParams.m_cellHeight; m_cfg.walkableSlopeAngle = m_RecastMeshParams.m_agentMaxSlope; m_cfg.walkableHeight = (int)Math.Ceiling(m_RecastMeshParams.m_agentHeight / m_cfg.ch); m_cfg.walkableClimb = (int)Math.Floor(m_RecastMeshParams.m_agentMaxClimb / m_cfg.ch); m_cfg.walkableRadius = (int)Math.Ceiling(m_RecastMeshParams.m_agentRadius / m_cfg.cs); m_cfg.maxEdgeLen = (int)(m_RecastMeshParams.m_edgeMaxLen / m_RecastMeshParams.m_cellSize); m_cfg.maxSimplificationError = m_RecastMeshParams.m_edgeMaxError; m_cfg.minRegionArea = (int)(m_RecastMeshParams.m_regionMinSize * m_RecastMeshParams.m_regionMinSize); // Note: area = size*size m_cfg.mergeRegionArea = (int)(m_RecastMeshParams.m_regionMergeSize * m_RecastMeshParams.m_regionMergeSize); // Note: area = size*size m_cfg.maxVertsPerPoly = (int)m_RecastMeshParams.m_vertsPerPoly; m_cfg.detailSampleDist = m_RecastMeshParams.m_detailSampleDist < 0.9f ? 0 : m_RecastMeshParams.m_cellSize * m_RecastMeshParams.m_detailSampleDist; m_cfg.detailSampleMaxError = m_RecastMeshParams.m_cellHeight * m_RecastMeshParams.m_detailSampleMaxError; // Set the area where the navigation will be build. // Here the bounds of the input mesh are used, but the // area could be specified by an user defined box, etc. Recast.rcVcopy(m_cfg.bmin, m_bmin); Recast.rcVcopy(m_cfg.bmax, m_bmax); Recast.rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, out m_cfg.width, out m_cfg.height); // Reset build times gathering. m_ctx.resetTimers(); // Start the build process. m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, "Building navigation:"); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_cfg.width + " x " + m_cfg.height + " cells"); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_vertCount / 1000.0f + "K verts, " + m_triCount / 1000.0f + "K tris"); // // Step 2. Rasterize input polygon soup. // // Allocate voxel heightfield where we rasterize our input data to. m_solid = new Recast.rcHeightfield(); if (m_solid == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'."); return(false); } if (!Recast.rcCreateHeightfield(m_ctx, m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield."); return(false); } // Allocate array that can hold triangle area types. // If you have multiple meshes you need to process, allocate // and array which can hold the max number of triangles you need to process. m_triareas = new byte[m_triCount]; if (m_triareas == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (" + m_triCount + ")."); return(false); } // Find triangles which are walkable based on their slope and rasterize them. // If your input data is multiple meshes, you can transform them here, calculate // the are type for each of the meshes and rasterize them. //memset(m_triareas, 0, ntris*sizeof(byte)); Recast.rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, m_verts, m_vertCount, m_tris, m_triCount, m_triareas); Recast.rcRasterizeTriangles(m_ctx, m_verts, m_vertCount, m_tris, m_triareas, m_triCount, m_solid, m_cfg.walkableClimb); if (!m_keepInterResults) { m_triareas = null; } // // Step 3. Filter walkables surfaces. // // Once all geoemtry is rasterized, we do initial pass of filtering to // remove unwanted overhangs caused by the conservative rasterization // as well as filter spans where the character cannot possibly stand. Recast.rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, m_solid); Recast.rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid); Recast.rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, m_solid); // // Step 4. Partition walkable surface to simple regions. // // Compact the heightfield so that it is faster to handle from now on. // This will result more cache coherent data as well as the neighbours // between walkable cells will be calculated. m_chf = new Recast.rcCompactHeightfield(); if (m_chf == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'."); return(false); } if (!Recast.rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid, m_chf)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build compact data."); return(false); } if (!m_keepInterResults) { m_solid = null; } // Erode the walkable area by agent radius. if (!Recast.rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, m_chf)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not erode."); return(false); } /* * // (Optional) Mark areas. * ConvexVolume[] vols = m_geom.getConvexVolumes(); * for (int i = 0; i < m_geom.getConvexVolumeCount(); ++i) * rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (byte)vols[i].area, *m_chf); */ if (m_RecastMeshParams.m_monotonePartitioning) { // Partition the walkable surface into simple regions without holes. // Monotone partitioning does not need distancefield. if (!Recast.rcBuildRegionsMonotone(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions."); return(false); } } else { // Prepare for region partitioning, by calculating distance field along the walkable surface. if (!Recast.rcBuildDistanceField(m_ctx, m_chf)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build distance field."); return(false); } // Partition the walkable surface into simple regions without holes. if (!Recast.rcBuildRegions(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions."); return(false); } } // // Step 5. Trace and simplify region contours. // // Create contours. m_cset = new Recast.rcContourSet(); if (m_cset == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'."); return(false); } if (!Recast.rcBuildContours(m_ctx, m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, m_cset, -1)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create contours."); return(false); } //m_cset.dumpToTxt("Data/CSET_dump.txt"); // // Step 6. Build polygons mesh from contours. // // Build polygon navmesh from the contours. m_pmesh = new Recast.rcPolyMesh(); if (m_pmesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'."); return(false); } if (!Recast.rcBuildPolyMesh(m_ctx, m_cset, m_cfg.maxVertsPerPoly, m_pmesh)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not triangulate contours."); return(false); } //m_pmesh.dumpToObj("Data/navmesh.obj"); //m_pmesh.dumpToText("Data/navmesh.txt"); // // Step 7. Create detail mesh which allows to access approximate height on each polygon. // m_dmesh = new Recast.rcPolyMeshDetail(); //rcAllocPolyMeshDetail(); if (m_dmesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'."); return(false); } if (!Recast.rcBuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, m_dmesh)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build detail mesh."); return(false); } //m_dmesh.dumpToText("Data/polymeshdetail_cs.txt"); //m_dmesh.dumpToObj("Data/polymeshdetail_cs.obj"); if (!m_keepInterResults) { m_chf = null; m_cset = null; } // At this point the navigation mesh data is ready, you can access it from m_pmesh. // See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data. // // (Optional) Step 8. Create Detour data from Recast poly mesh. // // The GUI may allow more max points per polygon than Detour can handle. // Only build the detour navmesh if we do not exceed the limit. if (m_cfg.maxVertsPerPoly <= Detour.DT_VERTS_PER_POLYGON) { //unsigned char* navData = 0; Detour.dtRawTileData navData = null; //int navDataSize = 0; // Update poly flags from areas. for (int i = 0; i < m_pmesh.npolys; ++i) { if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA) { m_pmesh.areas[i] = (byte)SamplePolyAreas.GROUND; } if (m_pmesh.areas[i] == (byte)SamplePolyAreas.GROUND) { m_pmesh.flags[i] = (ushort)SamplePolyFlags.WALK; } /* * if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA) * m_pmesh.areas[i] = SAMPLE_POLYAREA_GROUND; * * if (m_pmesh.areas[i] == SAMPLE_POLYAREA_GROUND || * m_pmesh.areas[i] == SAMPLE_POLYAREA_GRASS || * m_pmesh.areas[i] == SAMPLE_POLYAREA_ROAD) * { * m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK; * } * else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_WATER) * { * m_pmesh.flags[i] = SAMPLE_POLYFLAGS_SWIM; * } * else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_DOOR) * { * m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR; * }*/ } Detour.dtNavMeshCreateParams navMeshCreateParams = new Detour.dtNavMeshCreateParams(); navMeshCreateParams.verts = m_pmesh.verts; navMeshCreateParams.vertCount = m_pmesh.nverts; navMeshCreateParams.polys = m_pmesh.polys; navMeshCreateParams.polyAreas = m_pmesh.areas; navMeshCreateParams.polyFlags = m_pmesh.flags; navMeshCreateParams.polyCount = m_pmesh.npolys; navMeshCreateParams.nvp = m_pmesh.nvp; navMeshCreateParams.detailMeshes = m_dmesh.meshes; navMeshCreateParams.detailVerts = m_dmesh.verts; navMeshCreateParams.detailVertsCount = m_dmesh.nverts; navMeshCreateParams.detailTris = m_dmesh.tris; navMeshCreateParams.detailTriCount = m_dmesh.ntris; navMeshCreateParams.offMeshConVerts = null; //m_geom.getOffMeshConnectionVerts(); navMeshCreateParams.offMeshConRad = null; //m_geom.getOffMeshConnectionRads(); navMeshCreateParams.offMeshConDir = null; //m_geom.getOffMeshConnectionDirs(); navMeshCreateParams.offMeshConAreas = null; //m_geom.getOffMeshConnectionAreas(); navMeshCreateParams.offMeshConFlags = null; //m_geom.getOffMeshConnectionFlags(); navMeshCreateParams.offMeshConUserID = null; //m_geom.getOffMeshConnectionId(); navMeshCreateParams.offMeshConCount = 0; //m_geom.getOffMeshConnectionCount(); navMeshCreateParams.walkableHeight = m_RecastMeshParams.m_agentHeight; navMeshCreateParams.walkableRadius = m_RecastMeshParams.m_agentRadius; navMeshCreateParams.walkableClimb = m_RecastMeshParams.m_agentMaxClimb; Recast.rcVcopy(navMeshCreateParams.bmin, m_pmesh.bmin); Recast.rcVcopy(navMeshCreateParams.bmax, m_pmesh.bmax); navMeshCreateParams.cs = m_cfg.cs; navMeshCreateParams.ch = m_cfg.ch; navMeshCreateParams.buildBvTree = true; if (!Detour.dtCreateNavMeshData(navMeshCreateParams, out navData)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not build Detour navmesh."); return(false); } m_navMesh = new Detour.dtNavMesh(); if (m_navMesh == null) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh"); return(false); } dtStatus status; status = m_navMesh.init(navData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh"); return(false); } m_navQuery = new Detour.dtNavMeshQuery(); status = m_navQuery.init(m_navMesh, 2048); if (Detour.dtStatusFailed(status)) { m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query"); return(false); } m_rawTileData = navData; } else { m_ctx.log(Recast.rcLogCategory.RC_LOG_WARNING, "Detour does not support more than " + Detour.DT_VERTS_PER_POLYGON + " verts per polygon. A navmesh has not been generated."); } m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL); // Show performance stats. m_ctx.logBuildTimes(); m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons"); m_totalBuildTimeMs = (float)m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL); return(true); }
public void Unload() { dtNavMesh = null; }
public bool LoadZone(Zone zone) { if (zone == Zone.Unknown) { Unload(); return(false); } string path = "navmeshes\\" + zone.ToString() + ".nav"; if (_zone == zone && dtNavMesh != null) { return(true); } else { Unload(); } _zone = zone; var headerBufferSize = NavMeshSetHeader.ByteSize(); var headerBuffer = new byte[headerBufferSize]; if (!File.Exists(path)) { return(false); } var file = File.OpenRead(path); file.Read(headerBuffer, 0, headerBufferSize); NavMeshSetHeader header = new NavMeshSetHeader(); var headerBytesRead = header.FromBytes(headerBuffer, 0); if (header.magic != NAVMESHSET_MAGIC) { return(false); } if (header.version != NAVMESHSET_VERSION) { return(false); } var navMesh = new Detour.dtNavMesh(); navMesh.init(header.meshParams); for (int i = 0; i < header.numTiles; ++i) { var tileHeaderBuffer = new byte[NavMeshTileHeader.ByteSize()]; file.Read(tileHeaderBuffer, 0, tileHeaderBuffer.Length); var tileHeader = new NavMeshTileHeader(); tileHeader.FromBytes(tileHeaderBuffer, 0); if (tileHeader.dataSize == 0 || tileHeader.tileRef == 0) { break; } var rawTileData = new Detour.dtRawTileData(); var data = new byte[tileHeader.dataSize]; file.Read(data, 0, data.Length); rawTileData.FromBytes(data, 0); uint result = 0; navMesh.addTile(rawTileData, tileHeader.dataSize, 0x01 /*DT_TILE_FREE_DATA*/, tileHeader.tileRef, ref result); if (Detour.dtStatusFailed(result)) { return(false); } } // hard-code to make sure it is compatible with expectation. var maxPolys = header.meshParams.maxPolys; var status = new Detour.dtNavMeshQuery().init(navMesh, maxPolys); if (Detour.dtStatusFailed(status)) { return(false); } dtNavMesh = navMesh; return(headerBytesRead > 0); }