/// <summary>
/// Find the distance from a point to a triangle.
/// </summary>
/// <param name="indexPoly">Current polygon's index</param>
/// <param name="pos">Current position</param>
/// <param name="h">Resulting height</param>
/// <returns>True, if a height is found. False, if otherwise.</returns>
public bool ClosestHeight(int indexPoly, Vector3 pos, out float h)
{
Poly poly = Polys[indexPoly];
PolyMeshDetail.MeshData pd = DetailMeshes[indexPoly];
//find height at the location
for (int j = 0; j < DetailMeshes[indexPoly].TriangleCount; j++)
{
PolyMeshDetail.TriangleData t = DetailTris[pd.TriangleIndex + j];
Vector3[] v = new Vector3[3];
for (int k = 0; k < 3; k++)
{
if (t[k] < poly.VertCount)
{
v[k] = Verts[poly.Verts[t[k]]];
}
else
{
v[k] = DetailVerts[pd.VertexIndex + (t[k] - poly.VertCount)];
}
}
if (Distance.PointToTriangle(pos, v[0], v[1], v[2], out h))
{
return(true);
}
}
h = float.MaxValue;
return(false);
}
public List <Line> GetObstacle()
{
//tmpStreamWriter.WriteLine(tmpNavMeshTriangulation.vertices.Length.ToString());
for (int i = 0; i < polyMeshDetail.Verts.Length; i++)
{
//tmpStreamWriter.WriteLine("v " + polyMeshDetail.Verts[i].X + " " + polyMeshDetail.Verts[i].Y + " " + polyMeshDetail.Verts[i].Z);
_points.Add(new Vector2(polyMeshDetail.Verts[i].X, polyMeshDetail.Verts[i].Z));
}
//tmpStreamWriter.WriteLine(tmpNavMeshTriangulation.indices.Length);
for (int i = 0; i < polyMeshDetail.MeshCount; i++)
{
PolyMeshDetail.MeshData m = polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = polyMeshDetail.Tris[triIndex + j];
var v = polyMeshDetail.Verts[vertIndex + t.VertexHash0];
v = polyMeshDetail.Verts[vertIndex + t.VertexHash1];
v = polyMeshDetail.Verts[vertIndex + t.VertexHash2];
//tmpStreamWriter.WriteLine("f " + (vertIndex + t.VertexHash0 + 1) + " " + (vertIndex + t.VertexHash1 + 1) + " " + (vertIndex + t.VertexHash2 + 1));
LinesFromTriangle(_points[vertIndex + t.VertexHash0], _points[vertIndex + t.VertexHash1], _points[vertIndex + t.VertexHash2]);
}
}
for (int i = 0; i < _lines.Count; i++)
{
//if(_lines[i].valid == true)
{
for (int ii = i + 1; ii < _lines.Count; ii++)
{
if (_lines[i] == _lines[ii])// && _lines[ii].valid == true)
{
_lines[i].valid = false;
_lines[ii].valid = false;
}
}
}
}
return(_lines);
}
public void OutMesh()
{
string tmpPath = "mmesh.obj";
System.IO.StreamWriter tmpStreamWriter = new System.IO.StreamWriter(tmpPath);
//顶点
//tmpStreamWriter.WriteLine(tmpNavMeshTriangulation.vertices.Length.ToString());
for (int i = 0; i < polyMeshDetail.Verts.Length; i++)
{
tmpStreamWriter.WriteLine("v " + polyMeshDetail.Verts[i].X + " " + polyMeshDetail.Verts[i].Y + " " + polyMeshDetail.Verts[i].Z);
}
//tmpStreamWriter.WriteLine(tmpNavMeshTriangulation.indices.Length);
for (int i = 0; i < polyMeshDetail.MeshCount; i++)
{
PolyMeshDetail.MeshData m = polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = polyMeshDetail.Tris[triIndex + j];
var v = polyMeshDetail.Verts[vertIndex + t.VertexHash0];
v = polyMeshDetail.Verts[vertIndex + t.VertexHash1];
v = polyMeshDetail.Verts[vertIndex + t.VertexHash2];
tmpStreamWriter.WriteLine("f " + (vertIndex + t.VertexHash0 + 1) + " " + (vertIndex + t.VertexHash1 + 1) + " " + (vertIndex + t.VertexHash2 + 1));
}
}
tmpStreamWriter.Flush();
tmpStreamWriter.Close();
}
private void DrawPolyMeshDetail()
{
if (polyMeshDetail == null)
{
return;
}
GL.PushMatrix();
Matrix4 transMatrix = Matrix4.CreateTranslation(0, -polyMesh.CellHeight, 0);
GL.MultMatrix(ref transMatrix);
Color4 color = Color4.DarkViolet;
color.A = 0.5f;
GL.Color4(color);
GL.Begin(PrimitiveType.Triangles);
for (int i = 0; i < polyMeshDetail.MeshCount; i++)
{
PolyMeshDetail.MeshData m = polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = polyMeshDetail.Tris[triIndex + j];
var v = polyMeshDetail.Verts[vertIndex + t.VertexHash0];
GL.Vertex3(v.X, v.Y, v.Z);
v = polyMeshDetail.Verts[vertIndex + t.VertexHash1];
GL.Vertex3(v.X, v.Y, v.Z);
v = polyMeshDetail.Verts[vertIndex + t.VertexHash2];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
GL.End();
GL.Color4(Color4.Purple);
GL.LineWidth(1.5f);
GL.Begin(PrimitiveType.Lines);
for (int i = 0; i < polyMeshDetail.MeshCount; i++)
{
var m = polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = polyMeshDetail.Tris[triIndex + j];
for (int k = 0, kp = 2; k < 3; kp = k++)
{
if (((t.Flags >> (kp * 2)) & 0x3) == 0)
{
if (t[kp] < t[k])
{
var v = polyMeshDetail.Verts[vertIndex + t[kp]];
GL.Vertex3(v.X, v.Y, v.Z);
v = polyMeshDetail.Verts[vertIndex + t[k]];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
}
}
}
GL.End();
GL.LineWidth(3.5f);
GL.Begin(PrimitiveType.Lines);
for (int i = 0; i < polyMeshDetail.MeshCount; i++)
{
var m = polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = polyMeshDetail.Tris[triIndex + j];
for (int k = 0, kp = 2; k < 3; kp = k++)
{
if (((t.Flags >> (kp * 2)) & 0x3) != 0)
{
var v = polyMeshDetail.Verts[vertIndex + t[kp]];
GL.Vertex3(v.X, v.Y, v.Z);
v = polyMeshDetail.Verts[vertIndex + t[k]];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
}
}
GL.End();
GL.PointSize(4.8f);
GL.Begin(PrimitiveType.Points);
for (int i = 0; i < polyMeshDetail.MeshCount; i++)
{
var m = polyMeshDetail.Meshes[i];
for (int j = 0; j < m.VertexCount; j++)
{
var v = polyMeshDetail.Verts[m.VertexIndex + j];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
GL.End();
GL.PopMatrix();
}
private NavTile DeserializeMeshTile(ref Stream stream, NavPolyIdManager manager, out NavPolyId baseRef)
{
NavTile tile;
using (var binaryReader = new BinaryReader(stream))
{
var id = binaryReader.ReadInt32();
baseRef = new NavPolyId(id);
var x = binaryReader.ReadInt32();
var y = binaryReader.ReadInt32();
var location = new Vector2i(x, y);
var layer = binaryReader.ReadInt32();
tile = new NavTile(location, layer, manager, baseRef);
tile.Salt = binaryReader.ReadInt32();
var minX = binaryReader.ReadSingle();
var minY = binaryReader.ReadSingle();
var minZ = binaryReader.ReadSingle();
var maxX = binaryReader.ReadSingle();
var maxY = binaryReader.ReadSingle();
var maxZ = binaryReader.ReadSingle();
tile.Bounds = new BBox3(minX, minY, minZ, maxX, maxY, maxZ);
var polysCount = binaryReader.ReadInt32();
var polys = new NavPoly[polysCount];
for (var i = 0; i < polysCount; i++)
{
var poly = new NavPoly();
poly.PolyType = (NavPolyType)binaryReader.ReadByte();
var polyLinksCount = binaryReader.ReadInt32();
for (var j = 0; j < polyLinksCount; j++)
{
var navPolyId = binaryReader.ReadInt32();
var link = new Link();
link.Reference = new NavPolyId(navPolyId);
link.Edge = binaryReader.ReadInt32();
link.Side = (BoundarySide)binaryReader.ReadByte();
link.BMin = binaryReader.ReadInt32();
link.BMax = binaryReader.ReadInt32();
poly.Links.Add(link);
}
var polyVertsCount = binaryReader.ReadInt32();
poly.Verts = new int[polyVertsCount];
for (var j = 0; j < polyVertsCount; j++)
{
poly.Verts[j] = binaryReader.ReadInt32();
}
var polyNeisCount = binaryReader.ReadInt32();
poly.Neis = new int[polyNeisCount];
for (var j = 0; j < polyNeisCount; j++)
{
poly.Neis[j] = binaryReader.ReadInt32();
}
var polyTag = binaryReader.ReadByte();
if (polyTag == 0xFE)
{
poly.Tag = null;
}
else
{
poly.Tag = (OffMeshConnectionFlags)polyTag;
}
poly.VertCount = binaryReader.ReadInt32();
var areaId = binaryReader.ReadByte();
poly.Area = new Area(areaId);
polys[i] = poly;
}
tile.Polys = polys;
tile.PolyCount = polysCount;
var vertsCount = binaryReader.ReadInt32();
var verts = new Vector3[vertsCount];
for (var i = 0; i < vertsCount; i++)
{
var vx = binaryReader.ReadSingle();
var vy = binaryReader.ReadSingle();
var vz = binaryReader.ReadSingle();
var vert = new Vector3(vx, vy, vz);
verts[i] = vert;
}
tile.Verts = verts;
var detailMeshesCount = binaryReader.ReadInt32();
var detailMeshes = new PolyMeshDetail.MeshData[detailMeshesCount];
for (var i = 0; i < detailMeshesCount; i++)
{
var detailMesh = new PolyMeshDetail.MeshData();
detailMesh.VertexIndex = binaryReader.ReadInt32();
detailMesh.VertexCount = binaryReader.ReadInt32();
detailMesh.TriangleIndex = binaryReader.ReadInt32();
detailMesh.TriangleCount = binaryReader.ReadInt32();
detailMeshes[i] = detailMesh;
}
tile.DetailMeshes = detailMeshes;
var detailVertsCount = binaryReader.ReadInt32();
var detailVerts = new Vector3[detailVertsCount];
for (var i = 0; i < detailVertsCount; i++)
{
var vx = binaryReader.ReadSingle();
var vy = binaryReader.ReadSingle();
var vz = binaryReader.ReadSingle();
var detailVert = new Vector3(vx, vy, vz);
detailVerts[i] = detailVert;
}
tile.DetailVerts = detailVerts;
var detailTrisCount = binaryReader.ReadInt32();
var detailTris = new PolyMeshDetail.TriangleData[detailTrisCount];
for (var i = 0; i < detailTrisCount; i++)
{
var hash0 = binaryReader.ReadInt32();
var hash1 = binaryReader.ReadInt32();
var hash2 = binaryReader.ReadInt32();
var flags = binaryReader.ReadInt32();
var detailTri = new PolyMeshDetail.TriangleData(hash0, hash1, hash2, flags);
detailTris[i] = detailTri;
}
tile.DetailTris = detailTris;
var offMeshConnectionsCount = binaryReader.ReadInt32();
for (var i = 0; i < offMeshConnectionsCount; i++)
{
}
var nodesCount = binaryReader.ReadInt32();
var nodes = new BVTree.Node[nodesCount];
for (var i = 0; i < nodesCount; i++)
{
var node = new BVTree.Node();
node.Bounds.Min.X = binaryReader.ReadInt32();
node.Bounds.Min.Y = binaryReader.ReadInt32();
node.Bounds.Min.Z = binaryReader.ReadInt32();
node.Bounds.Max.X = binaryReader.ReadInt32();
node.Bounds.Max.Y = binaryReader.ReadInt32();
node.Bounds.Max.Z = binaryReader.ReadInt32();
node.Index = binaryReader.ReadInt32();
nodes[i] = node;
}
tile.BVTree = new BVTree(nodes);
tile.BvQuantFactor = binaryReader.ReadSingle();
tile.BvNodeCount = binaryReader.ReadInt32();
tile.WalkableClimb = binaryReader.ReadSingle();
}
return(tile);
}
private void DrawPolyMeshDetail()
{
if (Program.nav.polyMeshDetail == null)
{
return;
}
GL.PushMatrix();
Matrix4 transMatrix = Matrix4.CreateTranslation(0, -Program.nav.polyMesh.CellHeight, 0);
GL.MultMatrix(ref transMatrix);
Color4 color = Color4.DarkViolet;
color.A = 0.5f;
GL.Color4(color);
GL.Begin(BeginMode.Triangles);
for (int i = 0; i < Program.nav.polyMeshDetail.MeshCount; i++)
{
PolyMeshDetail.MeshData m = Program.nav.polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
if (color.R < 1)
{
color.R += 0.1f;
}
if (color.G < 1)
{
color.G += 0.1f;
}
if (color.R >= 1)
{
color.R = 0.1f;
}
if (color.G >= 1)
{
color.G = 0.1f;
}
GL.Color4(color);
var t = Program.nav.polyMeshDetail.Tris[triIndex + j];
var v = Program.nav.polyMeshDetail.Verts[vertIndex + t.VertexHash0];
GL.Vertex3(v.X, v.Y, v.Z);
v = Program.nav.polyMeshDetail.Verts[vertIndex + t.VertexHash1];
GL.Vertex3(v.X, v.Y, v.Z);
v = Program.nav.polyMeshDetail.Verts[vertIndex + t.VertexHash2];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
GL.End();
GL.Color4(Color4.Purple);
GL.LineWidth(0.5f);
GL.Begin(BeginMode.Lines);
for (int i = 0; i < Program.nav.polyMeshDetail.MeshCount; i++)
{
var m = Program.nav.polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = Program.nav.polyMeshDetail.Tris[triIndex + j];
for (int k = 0, kp = 2; k < 3; kp = k++)
{
if (((t.Flags >> (kp * 2)) & 0x3) == 0)
{
if (t[kp] < t[k])
{
var v = Program.nav.polyMeshDetail.Verts[vertIndex + t[kp]];
GL.Vertex3(v.X, v.Y, v.Z);
v = Program.nav.polyMeshDetail.Verts[vertIndex + t[k]];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
}
}
}
GL.End();
GL.Color4(Color4.Red);
GL.LineWidth(0.5f);
GL.Begin(BeginMode.Lines);
for (int i = 0; i < Program.nav.polyMeshDetail.MeshCount; i++)
{
var m = Program.nav.polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = Program.nav.polyMeshDetail.Tris[triIndex + j];
for (int k = 0, kp = 2; k < 3; kp = k++)
{
if (((t.Flags >> (kp * 2)) & 0x3) == 0)
{
if (t[kp] < t[k])
{
var v = Program.nav.polyMeshDetail.Verts[vertIndex + t[kp]];
GL.Vertex3(v.X, v.Y, v.Z);
v = Program.nav.polyMeshDetail.Verts[vertIndex + t[k]];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
}
}
}
//GL.Vertex3(-144, 2, -372);
//GL.Vertex3(-280, 2,124.8);
GL.End();
GL.LineWidth(0.5f);
GL.Begin(BeginMode.Lines);
for (int i = 0; i < Program.nav.polyMeshDetail.MeshCount; i++)
{
var m = Program.nav.polyMeshDetail.Meshes[i];
int vertIndex = m.VertexIndex;
int triIndex = m.TriangleIndex;
for (int j = 0; j < m.TriangleCount; j++)
{
var t = Program.nav.polyMeshDetail.Tris[triIndex + j];
for (int k = 0, kp = 2; k < 3; kp = k++)
{
if (((t.Flags >> (kp * 2)) & 0x3) != 0)
{
var v = Program.nav.polyMeshDetail.Verts[vertIndex + t[kp]];
GL.Vertex3(v.X, v.Y, v.Z);
v = Program.nav.polyMeshDetail.Verts[vertIndex + t[k]];
GL.Vertex3(v.X, v.Y, v.Z);
}
}
}
}
GL.End();
// GL.PointSize(4.8f);
//GL.Begin(BeginMode.Points);
//for (int i = 0; i < polyMeshDetail.MeshCount; i++)
//{
// var m = polyMeshDetail.Meshes[i];
// for (int j = 0; j < m.VertexCount; j++)
// {
// var v = polyMeshDetail.Verts[m.VertexIndex + j];
// GL.Vertex3(v.X, v.Y, v.Z);
// }
//}
//GL.End();
GL.PopMatrix();
}
