public int SharedEdge(NavmeshTriangle other)
{
int a, b;
GetPortal(other, out a, out b);
return(a);
}
void Buildsegments()
{
segments.Clear();
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle node = ObsTriangles [i];
for (int j = 0; j < node.shared.Count; ++j)
{
if (node.shared[j] == false)
{
segments.Add(node.GetSegment(j));
}
}
ShowProgress("构建单边列表", (float)i / (ObsTriangles.Length));
}
DefineIDforSegments(segments);
}
public bool isSharedEdge(NavmeshTriangle other, out int idx)
{
for (int i = 0; i < 3; ++i)
{
KInt2 p1 = GetXZVertex(i);
KInt2 p2 = GetXZVertex((i + 1) % 3);
for (int k = 0; k < 3; ++k)
{
KInt2 p3 = other.GetXZVertex(k);
KInt2 p4 = other.GetXZVertex((k + 1) % 3);
if ((p1 == p3 && p2 == p4) || (p1 == p4 && p2 == p3))
{
idx = i;
return(true);
}
}
}
idx = -1;
return(false);
}
public void GetPortal(NavmeshTriangle other, out int aIndex, out int bIndex)
{
int first = -1;
int second = -1;
for (int a = 0; a < 3; a++)
{
int va = GetVertexIndex(a);
for (int b = 0; b < 3; b++)
{
if (va == other.GetVertexIndex((b + 1) % 3) && GetVertexIndex((a + 1) % 3) == other.GetVertexIndex(b))
{
first = a;
second = b;
a = 3;
break;
}
}
}
aIndex = first;
bIndex = second;
}
bool Mesh2Obstacle()
{
if (mesh.vertexCount == 0 || mesh.triangles.Length == 0)
{
LogMgr.LogError("Convert Error");
return(false);
}
BeginSample("Mesh2Obstacle");
//old
Vector3[] vectorVertices = mesh.vertices;
int[] triangles = mesh.triangles;
//create new
KInt3[] vertices = new KInt3[mesh.vertexCount];
Dictionary <KInt3, int> hashedVerts = new Dictionary <KInt3, int> (mesh.vertexCount);
int[] newVertices = new int[vertices.Length];
//从模型坐标系转换到世界坐标系
for (int i = 0; i < vertices.Length; i++)
{
vertices [i] = (KInt3)MeshMatrix.MultiplyPoint3x4(vectorVertices [i]);
ShowProgress("从模型坐标系转换到世界坐标系", (float)i / vertices.Length);
}
//旧顶点在新顶点中的索引
int newVerIdx = 0;
for (int i = 0; i < vertices.Length; i++)
{
//当hash 顶点集合不包含这个顶点的时候，把这个点加入进去,去除共点
if (!hashedVerts.ContainsKey(vertices [i]))
{
newVertices [newVerIdx] = i;
hashedVerts.Add(vertices [i], newVerIdx);
newVerIdx++;
}
ShowProgress("构建映射", (float)i / vertices.Length);
}
for (int x = 0; x < triangles.Length; x++)
{
//把老的顶点索引映射到新的顶点索引上
KInt3 vertex = vertices [triangles [x]];
triangles [x] = hashedVerts [vertex];
ShowProgress("三角映射", (float)x / triangles.Length);
}
KInt3[] totalIntVertices = vertices;
vertices = new KInt3[newVerIdx];
for (int i = 0; i < newVerIdx; i++)
{
vertices [i] = totalIntVertices [newVertices [i]];
ShowProgress("顶点索引转换", (float)i / newVerIdx);
}
//顶点创建结束
#if UNITY_EDITOR
this.ObsVertices = vertices;
#endif
if (triangles.Length % 3 != 0)
{
LogMgr.LogErrorFormat("triangle lenth error :{0}", triangles.Length);
}
//创建三角
ObsTriangles = new NavmeshTriangle[triangles.Length / 3];
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle tri = new NavmeshTriangle();
ObsTriangles [i] = tri;
#if UNITY_EDITOR
//init
tri.uid = i;
#endif
//
tri.v0 = triangles [i * 3];
tri.v1 = triangles [i * 3 + 1];
tri.v2 = triangles [i * 3 + 2];
if (RVOMath.IsClockwiseXZ(vertices [tri.v0], vertices [tri.v1], vertices [tri.v2]) == false)
{
int tmp = tri.v0;
tri.v0 = tri.v2;
tri.v2 = tmp;
}
//finish position
tri.v03 = vertices [tri.v0];
tri.v13 = vertices [tri.v1];
tri.v23 = vertices [tri.v2];
tri.v03xz = new KInt2(tri.v03.x, tri.v03.z);
tri.v13xz = new KInt2(tri.v13.x, tri.v13.z);
tri.v23xz = new KInt2(tri.v23.x, tri.v23.z);
tri.averagePos = (tri.v03 + tri.v13 + tri.v23) / 3;
if (this.ExactMode >= ExactType.TWO)
{
tri.xzPos = new KInt2(tri.averagePos.x, tri.averagePos.z);
if (point2triangle.ContainsKey(tri.xzPos))
{
point2triangle [tri.xzPos].Add(tri);
}
else
{
point2triangle [tri.xzPos] = new List <NavmeshTriangle> ();
point2triangle [tri.xzPos].Add(tri);
}
}
ShowProgress("构建三角形", (float)i / ObsTriangles.Length);
}
Dictionary <KInt2, NavmeshTriangle> sides = new Dictionary <KInt2, NavmeshTriangle> (triangles.Length * 3);
//创建三角形的边
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
sides [KInt2.ToInt2(triangles [i + 0], triangles [i + 1])] = ObsTriangles [j];
sides [KInt2.ToInt2(triangles [i + 1], triangles [i + 2])] = ObsTriangles [j];
sides [KInt2.ToInt2(triangles [i + 2], triangles [i + 0])] = ObsTriangles [j];
}
HashSet <NavmeshTriangle> connections = new HashSet <NavmeshTriangle> ();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
connections.Clear();
NavmeshTriangle node = ObsTriangles [j];
for (int q = 0; q < 3; q++)
{
NavmeshTriangle other;
//如果是mesh中的边，则加入
if (sides.TryGetValue(KInt2.ToInt2(triangles [i + ((q + 1) % 3)], triangles [i + q]), out other))
{
connections.Add(other);
}
}
//拷贝当前的一份连接点，而不是赋值引用过去
node.connections = new List <NavmeshTriangle> ();
node.connections.AddRange(connections);
node.CreateSharedInfo();
ShowProgress("构建连接点", (float)i / (triangles.Length / 3));
}
ClearProgressBar();
EndSample();
return(true);
}
void TriangleCheck(List <NavmeshTriangle> testtriangles, Dictionary <KInt2, HashSet <Segment> > IntersectCache, List <Segment> removeList, Segment TestSegment)
{
HashSet <Segment> hitCache = null;
if (IntersectCache.ContainsKey(TestSegment.start))
{
hitCache = IntersectCache [TestSegment.start];
}
if (IntersectCache.ContainsKey(TestSegment.end))
{
HashSet <Segment> cache = IntersectCache [TestSegment.end];
if (cache != null)
{
if (hitCache == null)
{
hitCache = cache;
}
else
{
var en = cache.GetEnumerator();
while (en.MoveNext())
{
hitCache.Add(en.Current);
}
}
}
}
for (int PassedTricnt = 0; PassedTricnt < testtriangles.Count; ++PassedTricnt)
{
NavmeshTriangle targettriangle = testtriangles [PassedTricnt];
int insidecnt = 0;
int hitcnt = 0;
int concnt = 0;
KInt2 result;
for (int j = 0; j < 3; ++j)
{
Segment side = targettriangle.GetSegment(j);
bool h1 = hitCache != null && hitCache.Contains(side);
bool h2 = Segment.Intersect(TestSegment.start, TestSegment.end, side.start, side.end, out result);
if (h1 || h2)
{
hitcnt++;
}
if (side.ContainsSegment(TestSegment))
{
insidecnt++;
}
if (TestSegment.isConnect(side))
{
concnt++;
}
}
if (insidecnt == 0 && concnt == 0)
{
int b1 = isInside(targettriangle.v03xz, targettriangle.v13xz, targettriangle.v23xz, TestSegment.start, ErrorRadius);
int b2 = isInside(targettriangle.v03xz, targettriangle.v13xz, targettriangle.v23xz, TestSegment.end, ErrorRadius);
if (b1 == 2 && b2 == 2)
{
removeList.Add(TestSegment);
break;
}
else if ((b1 == 1 && b2 == 2) || (b1 == 2 && b2 == 1))
{
removeList.Add(TestSegment);
break;
}
else if ((b1 <= 1 && b2 <= 1) && hitcnt == 2)
{
removeList.Add(TestSegment);
break;
}
else if ((b1 == 2 || b2 == 2) && hitcnt > 0)
{
removeList.Add(TestSegment);
break;
}
}
ShowProgress("三角相交检测 移除相交线段", (float)PassedTricnt / testtriangles.Count);
}
}
void Add2Rvo()
{
BeginSample("Add2Rvo");
float firsttime = Time.realtimeSinceStartup;
if (ExactMode == ExactType.ZERO)
{
BeginSample("ZERO COST");
int[] uses = new int[20];
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle node = ObsTriangles [i];
uses [0] = uses [1] = uses [2] = 0;
if (node != null)
{
for (int j = 0; j < node.connections.Count; j++)
{
NavmeshTriangle other = node.connections [j];
if (other != null)
{
int a = node.SharedEdge(other);
if (a != -1)
{
uses [a] = 1;
}
}
}
for (int j = 0; j < 3; j++)
{
if (uses [j] == 0)
{
var v1 = node.GetVertex(j);
var v2 = node.GetVertex((j + 1) % 3);
Simulator.Instance.addObstacle(v1, v2);
}
}
}
ShowProgress("插入障碍点", (float)i / (ObsTriangles.Length));
}
EndSample();
}
if (ExactMode >= ExactType.ONE)
{
BeginSample("Buildsegments");
Buildsegments();
EndSample();
BeginSample("RemoveUnused");
RemoveUnused();
EndSample();
BeginSample("PushSegmentstoObstacles");
PushSegmentstoObstacles();
EndSample();
}
ShowProgress("准备构建ObstacleTree", 0);
float time = Time.realtimeSinceStartup;
BeginSample("processObstacles");
if (processObstacles)
{
Simulator.Instance.processObstacles();
}
EndSample();
LogMgr.LogFormat("Add2Rvo cost :{0} processObstacles cost :{1} ", Time.realtimeSinceStartup - firsttime, Time.realtimeSinceStartup - time);
ShowProgress("构建ObstacleTree 完成", 1);
this.ClearProgressBar();
EndSample();
#if !UNITY_EDITOR
ObsTriangles = null;
segments = null;
tree = null;
point2triangle = null;
#else
if (ObstacleDebug >= DebugMode.ShowAll && UnityEditor.EditorUtility.DisplayDialog("tips", "export kdtree asset or not ?", "OK", "NO"))
{
string assetpath = UnityEditor.EditorUtility.SaveFilePanelInProject("save", "kdtree", "asset", "please enter a filename");
if (!string.IsNullOrEmpty(assetpath))
{
KdtreeAsset node = ScriptableObject.CreateInstance <KdtreeAsset> ();
ScriptCommand cmd = ScriptCommand.Create((int)FrameWorkCmdDefine.GET_KDTREE);
cmd.Excute();
ScriptCommand obscmd = ScriptCommand.Create((int)FrameWorkCmdDefine.GET_OBSTACLES);
obscmd.Excute();
KdTree tree = cmd.ReturnParams.ReadObject() as KdTree;
IList <Obstacle> obstacles = obscmd.ReturnParams.ReadObject() as IList <Obstacle>;
node.CreateKdtree(tree, obstacles);
cmd.Release(true);
obscmd.Release(true);
UnityEditor.AssetDatabase.CreateAsset(node, assetpath);
}
}
#endif
}
void OnDrawGizmos()
{
if (ObsTriangles == null || !DrawGizmos)
{
return;
}
bool show = !Drawsegments && !DrawRmovelist && !DrawNearstTriangles && DrawGizmos;
if (DrawRmovelist)
{
for (int i = 0; i < willremoveList.Count; ++i)
{
Gizmos.color = Color.red;
Segment seg = willremoveList [i];
KInt3 start = new KInt3(seg.start.x, 0, seg.start.y);
KInt3 end = new KInt3(seg.end.x, 0, seg.end.y);
Gizmos.DrawLine(start, end);
UnityEditor.Handles.Label((start + end) / 2, "序号 [" + seg.uid + "]");
}
}
if (Drawsegments)
{
for (int i = 0; i < segments.Count; ++i)
{
Gizmos.color = (i % 2 == 0) ? Color.green : Color.blue;
Segment seg = segments [i];
KInt3 start = new KInt3(seg.start.x, 0, seg.start.y);
KInt3 end = new KInt3(seg.end.x, 0, seg.end.y);
Gizmos.DrawLine(start, end);
UnityEditor.Handles.Label((start + end) / 2, "序号 [" + seg.uid + "]");
}
}
if (DrawNearstTriangles)
{
if (tree != null && lastpoint != targetPoint)
{
if (SeekedTriangleList == null)
{
SeekedTriangleList = new List <NavmeshTriangle> ();
}
SeekedTriangleList.Clear();
List <KInt2> startidxs = ListPool.TrySpawn <List <KInt2> > ();
tree.ball_queryPoints((KInt2)targetPoint, Seekrange, startidxs);
for (int k = 0; k < startidxs.Count; ++k)
{
var trianglelist = point2triangle [startidxs [k]];
for (int v = 0; v < trianglelist.Count; ++v)
{
SeekedTriangleList.Add(trianglelist [v]);
}
}
ListPool.TryDespawn(startidxs);
lastpoint = targetPoint;
}
Gizmos.DrawWireCube(new Vector3(targetPoint.x, 0, targetPoint.y), Vector3.one);
if (SeekedTriangleList != null)
{
for (int i = 0; i < SeekedTriangleList.Count; i++)
{
NavmeshTriangle node = SeekedTriangleList [i];
Gizmos.color = Color.cyan;
for (int q = 0; q < node.connections.Count; q++)
{
Gizmos.DrawLine(node.averagePos, Vector3.Lerp(node.averagePos, node.connections [q].averagePos, 0.45f));
}
Gizmos.color = Color.black;
Gizmos.DrawLine(ObsVertices [node.v0], ObsVertices [node.v1]);
Gizmos.DrawLine(ObsVertices [node.v1], ObsVertices [node.v2]);
Gizmos.DrawLine(ObsVertices [node.v2], ObsVertices [node.v0]);
UnityEditor.Handles.Label(node.averagePos, "序号 [" + node.uid + "]");
}
}
}
if (show)
{
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle node = ObsTriangles [i];
Gizmos.color = Color.cyan;
for (int q = 0; q < node.connections.Count; q++)
{
Gizmos.DrawLine(node.averagePos, Vector3.Lerp(node.averagePos, node.connections [q].averagePos, 0.45f));
}
Gizmos.color = Color.black;
Gizmos.DrawLine(ObsVertices [node.v0], ObsVertices [node.v1]);
Gizmos.DrawLine(ObsVertices [node.v1], ObsVertices [node.v2]);
Gizmos.DrawLine(ObsVertices [node.v2], ObsVertices [node.v0]);
}
}
}
