} //buildRawContour
/*
* 以Span为s ， direction 为 0 举例，这个函数要寻找的就是s,ds,ns,里面，floor最大值
* ds
* ns s
*
* 如果direction为1的话
* ns ds
* s
*
*/
private static int getCornerHeight(OpenHeightSpan span, int direction)
{
//OpenHeightSpan的floor 就真的是floor了，而不是
//像 SolidHeightSpan那样对应的其实是顶部
int maxFloor = span.floor();
OpenHeightSpan dSpan = null;
//顺时针
int directionOffset = NMGenUtility.ClockwiseRotateDir(direction);
OpenHeightSpan nSpan = span.getNeighbor(direction);
if (nSpan != null)
{
maxFloor = Math.Max(maxFloor, nSpan.floor());
dSpan = nSpan.getNeighbor(directionOffset);
}
nSpan = span.getNeighbor(directionOffset);
if (nSpan != null)
{
maxFloor = Math.Max(maxFloor, nSpan.floor());
if (null == dSpan)
{
dSpan = nSpan.getNeighbor(direction);
}
}
if (dSpan != null)
{
maxFloor = Math.Max(maxFloor, dSpan.floor());
}
return(maxFloor);
}
public void getDetailedRegionMap(ref int[] outData, int insertIndex)
{
for (int i = 0; i < 8; ++i)
{
outData[insertIndex + i] = NULL_REGION;
}
OpenHeightSpan nSpan = null;
OpenHeightSpan nnSpan = null;
for (int dir = 0; dir < 4; dir++)
{
nSpan = getNeighbor(dir);
if (nSpan != null)
{
outData[insertIndex + dir] = nSpan.regionID();
nnSpan = nSpan.getNeighbor((dir + 1) & 0x3);
if (nnSpan != null)
{
outData[insertIndex + dir + 4] = nnSpan.regionID();
}
nnSpan = nSpan.getNeighbor((dir + 3) & 0x3);
if (nnSpan != null)
{
outData[insertIndex + ((dir + 3) & 0x3) + 4] = nnSpan.regionID();
}
}
}
}
public void printDistanceField()
{
Logger.Log("[OpenHeightfield][printDistanceField]Log Start");
Logger.Log("[OpenHeightfield][printDistanceField]Distance Field Spans|{0}", mSpanCount);
int depth = -1;
Logger.Log("\t");
for (int width = 0; width < this.width(); ++width)
{
Logger.Log("{0}\t", width);
}
OpenHeightFieldIterator iter = GetEnumerator();
while (iter.MoveNext())
{
OpenHeightSpan span = iter.Current;
if (iter.depthIndex() != depth)
{
Logger.LogWarning("\n{0}\t", ++depth);
}
Logger.Log("{0}\t", span.distanceToBorder());
}
Logger.Log("[OpenHeightfield][printDistanceField]Log End");
}
} // MoveNext
public void Reset()
{
mNextWidth = 0;
mNextDepth = 0;
mNext = null;
mIsReverseIter = false;
}
public bool addData(int widthIndex, int depthIndex, OpenHeightSpan span)
{
if (widthIndex < 0 ||
widthIndex >= width() ||
depthIndex < 0 ||
depthIndex >= depth())
{
Logger.LogWarning("[OpenHeightfield][addData]width|depth|{0}|{1}|{2}|{3}", widthIndex, depthIndex, width(), depth());
return(false);
}
if (mSpans == null || span == null)
{
Logger.LogWarning("[OpenHeightfield][addData]mSpan or Span null|{0}|{1}|{2}|{3}", widthIndex, depthIndex, width(), depth());
return(false);
}
int gridIndex = GetGridIndex(widthIndex, depthIndex);
OpenHeightSpan currentSpan;
if (!mSpans.TryGetValue(gridIndex, out currentSpan))
{
mSpans.Add(gridIndex, span);
return(true);
}
else
{
Logger.LogWarning("[OpenHeightfield][addData]Span already in|{0}|{1}|{2}|{3}", widthIndex, depthIndex, width(), depth());
return(false);
}
}
private static bool isSameRegion(OpenHeightSpan span, int dir)
{
if (span == null)
{
return(false);
}
return((span.flags & (1 << dir)) == 0);
}
public OpenHeightSpan getData(int widthIndex, int depthIndex)
{
OpenHeightSpan retSpan = null;
if (mSpans != null)
{
mSpans.TryGetValue(GetGridIndex(widthIndex, depthIndex), out retSpan);
}
return(retSpan);
}
/// <summary>
/// </summary>
/// <param name="startSpan"></param>
/// <param name="borderDirection"></param>
/// <param name="newRegionID"></param>
private void partialFloodRegion(OpenHeightSpan startSpan,
int borderDirection,
int newRegionID)
{
int antiBorderDirection = NMGenUtility.AntiDir(borderDirection);
int regionID = startSpan.regionID();
startSpan.setRegionID(newRegionID);
startSpan.setDistanceToRegionCore(0); //???所以这个值 没啥卵用啊，一直都是0的
mwOpenSpans.Push(startSpan);
mwBorderDistance.Push(0);
while (mwOpenSpans.Count > 0)
{
OpenHeightSpan span = mwOpenSpans.Pop();
int distance = mwBorderDistance.Pop();
for (int i = 0; i < 4; ++i)
{
OpenHeightSpan nSpan = span.getNeighbor(i);
if (null == nSpan ||
nSpan.regionID() != regionID)
{
continue;
}
int nDistance = distance;
if (i == borderDirection) //null region所在的方向
{
//这里是不是应该小于等于0呢？
// 以这个距离Border为0作为边界，将大于0那一侧的Span全部变成
// 新的Region。然后小于等于0那一侧的作为旧的Region保留下来。
if (0 == distance)
{
continue;
}
nDistance--;
}
else if (i == antiBorderDirection)
{
nDistance++;
}
//注意上面的if-else，如果都不是这两个方向的Span
//会直接被重新设置为新的Region
nSpan.setRegionID(newRegionID);
nSpan.setDistanceToRegionCore(0);
mwOpenSpans.Push(nSpan);
mwBorderDistance.Push(nDistance);
}
}
}
public void ReverseReset()
{
if (mOpenHeightfield != null)
{
mNextWidth = mOpenHeightfield.width();
mNextDepth = mOpenHeightfield.depth();
}
mNext = null;
mIsReverseIter = true;
}
public void setNeighbor(int direction, OpenHeightSpan neighbor)
{
switch (direction)
{
case 0: mNeighborConnection0 = neighbor; break;
case 1: mNeighborConnection0 = neighbor; break;
case 2: mNeighborConnection0 = neighbor; break;
case 3: mNeighborConnection0 = neighbor; break;
}
}
private static int getNonNullBorderDrection(OpenHeightSpan span)
{
for (int dir = 0; dir < 4; ++dir)
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if (nSpan != null &&
nSpan.regionID() != NULL_REGION)
{
return(dir);
}
}
return(-1);
}
private static int getRegionEdgeDirection(OpenHeightSpan span)
{
for (int dir = 0; dir < 4; ++dir)
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if (null == nSpan ||
nSpan.regionID() != span.regionID())
{
return(dir);
}
}
return(-1);
}
/// <summary>
/// 必须nSpan是存在的，如果不存在的话，span2Border的值自然就0了
/// </summary>
/// <param name="span2Border"></param>
/// <param name="nSpan"></param>
/// <param name="isAxisNeighbor"></param>
/// <returns></returns>
private int calcMiniDistanceToBorder( int span2Border, OpenHeightSpan nSpan , bool isAxisNeighbor)
{
if( nSpan != null )
{
int nDist = nSpan.distanceToBorder();
if( nDist == NEEDS_INIT )
{
nDist = isAxisNeighbor ? 1 : 2;
}
else
{
nDist = isAxisNeighbor ? nDist + 2 : nDist + 3;
}
span2Border = Math.Min(span2Border, nDist);
}
else
{
Logger.LogWarning("[OpenHeightfieldBuilder][calcMiniDistanceToBorder]nSpan null");
}
return span2Border;
}
public void generateNeighborLinks(OpenHeightfield field)
{
if( field == null )
{
Logger.LogError("[OpenHeightfieldBuilder][generateNeighborLinks]field Empty");
return;
}
OpenHeightfield.OpenHeightFieldIterator iter = field.GetEnumerator();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
for(int dir = 0; dir < 4; ++dir)
{
//邻居的GirdIndex
int nWidthIndex = (iter.widthIndex() + BoundeField.getDirOffsetWidth(dir));
int nDepthIndex = (iter.depthIndex() + BoundeField.getDirOffsetDepth(dir));
for(OpenHeightSpan nSpan = field.getData(nWidthIndex,nDepthIndex);
nSpan != null;
nSpan = nSpan.next())
{
int maxFloor = Math.Max(span.floor(), nSpan.floor());
int minCeling = Math.Min(span.ceiling(), nSpan.ceiling());
if( (minCeling - maxFloor) >= mMinTraversableHeight //邻居之间的通道足够高，可以通过
&& Math.Abs(nSpan.floor() - span.floor()) <= mMaxTraversableStep ) //两邻居之间的落差足够小
{
span.setNeighbor(dir, nSpan);
break;
}
}
}
}
}
private void calcBorderDistanceBounds()
{
if (0 == mSpanCount)
{
return;
}
mMinBorderDistance = int.MaxValue;
mMaxBorderDistance = UNKNOWN;
OpenHeightFieldIterator iter = GetEnumerator();
while (iter.MoveNext())
{
OpenHeightSpan span = iter.Current;
mMinBorderDistance = Math.Min(mMinBorderDistance, span.distanceToBorder());
mMaxBorderDistance = Math.Max(mMaxBorderDistance, span.distanceToBorder());
}
if (mMinBorderDistance == int.MaxValue)
{
mMinBorderDistance = UNKNOWN;
}
}
public void apply(OpenHeightfield field)
{
if (null == field)
{
Logger.LogError("[CLeanNullRegionBorders][apply]field null");
return;
}
int nextRegionID = field.regionCount();
OpenHeightfield.OpenHeightFieldIterator iter = field.GetEnumerator();
while (iter.MoveNext())
{
OpenHeightSpan span = iter.Current;
if (span.flags != 0)
{
continue;
}
span.flags = 1;
OpenHeightSpan workingSpan = null;
int edgeDirection = -1;
if (NULL_REGION == span.regionID())
{
//找到Border Span第一个非空的邻居
edgeDirection = getNonNullBorderDrection(span);
if (-1 == edgeDirection)
{
continue;
}
//起点Span为有所属Region的Span
//而行走方向为 null Region所在的方向
workingSpan = span.getNeighbor(edgeDirection);
//转180度
edgeDirection = NMGenUtility.AntiDir(edgeDirection);
}
else if (!mUseOnlyNullSpans)
{
//起点Span为 null Region的Span
//而行走方向即为有所属 Region 的 Span
edgeDirection = getNullBorderDrection(span);
if (-1 == edgeDirection)
{
continue;
}
workingSpan = span;
}
else
{
continue;
}
//上面两个分支都会保证workingSpan是有所属Region的
//而Dir 即是 Region 为 Null Region的Dir
bool isEncompassedNullRegion = processNullRegion(workingSpan, edgeDirection);
if (isEncompassedNullRegion) //确定以这个Span为起点的Region，是一个单一Region，并且内含了一个Null Region
{
//如果是完全包含了不可走的NullRegion ，就将这个Region分割成两个Region
partialFloodRegion(workingSpan, edgeDirection, nextRegionID);
nextRegionID++;
}
}
field.setRegionCount(nextRegionID);
iter.Reset();
while (iter.MoveNext())
{
iter.Current.flags = 0;
}
}
public void generateRegions( OpenHeightfield field )
{
if (null == field)
{
return;
}
//这个距离，控制生成的网络有多贴近实际的模型
int minDist = mTraversableAreaBorderSize + field.minBorderDistance();
int expandIterations = 4 + (mTraversableAreaBorderSize * 2); //TODO emmm
//排除奇数
int dist = (field.maxBorderDistance() - 1) & ~1 ;
List<OpenHeightSpan> floodedSpans = new List<OpenHeightSpan>(1024);
Stack<OpenHeightSpan> workingStack = new Stack<OpenHeightSpan>(1024);
OpenHeightfield.OpenHeightFieldIterator iter = field.GetEnumerator();
int nextRegionID = 1;
//高于这个距离的体素都得生成Regions，那剩下的体素怎么办呢？
while ( dist > minDist )
{
iter.Reset();
floodedSpans.Clear();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
if( span.regionID() == NULL_REGION
&& span.distanceToBorder() >= dist )
{
floodedSpans.Add(span);
}
}
if( nextRegionID > 1 )
{
//大于1表示已经至少存在1个region，先去尝试一下合并
if( dist > 0 )
{
expandRegions(floodedSpans, expandIterations);
}
else //这里不太可能会走到吧？除非minDist == 0
{
expandRegions(floodedSpans, -1);
}
}
//剩下的可能要生成新的Region
foreach( OpenHeightSpan span in floodedSpans )
{
if( null == span
|| span.regionID() != NULL_REGION )
{
continue;
}
//TODO ????
int fillTo = Math.Max(dist - 2, minDist);
if( floodNewRegion(span,fillTo,nextRegionID,workingStack ))
{
nextRegionID++;
}
}
//更新深度
dist = Math.Max(dist - 2, 0);
} //while dist > minDist
//最后一篇循环
iter.Reset();
floodedSpans.Clear();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
if( span.distanceToBorder() >= minDist
&& span.regionID() == NULL_REGION )
{
floodedSpans.Add(span);
}
}
if( minDist > 0 )
{
expandRegions(floodedSpans, expandIterations * 8);
}
else
{
expandRegions(floodedSpans, -1);
}
field.setRegionCount(nextRegionID);
//后处理
foreach( IOpenHeightFieldAlgorithm algorithm in mRegionAlgorithms )
{
algorithm.apply(field);
}
}
/// <summary>
/// 重新设置对应的Region，根据拐点的情况
/// </summary>
/// <param name="referenceSpan"></param>
/// <param name="borderDirection"></param>
/// <param name="cornerDirection"></param>
/// <returns></returns>
private int selectedRegionID(OpenHeightSpan referenceSpan,
int borderDirection,
int cornerDirection)
{
referenceSpan.getDetailedRegionMap(ref mwNeighborRegions, 0);
/*
* Initial example state:
*
* a - Known region.
* x - Null region.
* u - Unknown, not checked yet.
*
* u u u
* u a x
* u a a
*/
int antiBorderDirection = NMGenUtility.AntiDir(borderDirection);
int antiCornerDirection = NMGenUtility.AntiDir(cornerDirection);
int regionID = mwNeighborRegions[antiBorderDirection];
if (regionID == referenceSpan.regionID() ||
NULL_REGION == regionID)
{
/*
* The region away from the border is either a null region
* or the same region. So we keep the current region.
*
* u u u u u u
* a a x or x a x <-- Potentially bad, but stuck with it.
* u a a u a a
*/
return(referenceSpan.regionID());
}
int potentialRegion = regionID;
regionID = mwNeighborRegions[antiCornerDirection];
if (regionID == referenceSpan.regionID() ||
NULL_REGION == regionID)
{
/*
* The region opposite from the corner direction is
* either a null region or the same region. So we
* keep the current region.
*
* u a u u x u
* b a x or b a x
* u a a u a a
*/
return(referenceSpan.regionID());
}
int potentialCount = 0;
int currentCount = 0;
for (int i = 0; i < 8; ++i)
{
if (mwNeighborRegions[i] == referenceSpan.regionID())
{
currentCount++;
}
else if (mwNeighborRegions[i] == potentialRegion)
{
potentialCount++;
}
}
return(potentialCount < currentCount
? referenceSpan.regionID()
: potentialRegion);
}
/// <summary>
/// 就是Reference所属的Region分成两部分来看。分别是backTwo和Reference。
/// 然后再分别和backOne所属的Region来检测连接。
/// </summary>
/// <param name="referenceSpan"></param>
/// <param name="borderDirection"></param>
/// <returns></returns>
private bool processOuterCorner(OpenHeightSpan referenceSpan, int borderDirection)
{
bool hasMultiRegions = false;
//比如 borderDirection 是 方向1的话 ，那么 backOne 就是 0
/*
* r 是 referenceSpan , x 是 border span，1、2就是对应的backOne和backTwo
* 2 x
* 1 r
*/
//backOne 和 backTwo 沿着borderDir方向的两个Span
int backOneDirection = (borderDirection + 3) & 0x3;
int antiBorderDirection = (borderDirection + 2) & 0x3;
OpenHeightSpan backOne = referenceSpan.getNeighbor(backOneDirection);
OpenHeightSpan backTwo = backOne.getNeighbor(borderDirection);
OpenHeightSpan testSpan;
if (backOne.regionID() != referenceSpan.regionID() &&
backTwo.regionID() == referenceSpan.regionID())
{
/*
* Example:
*
* a a x x x a
* a a x x a a
* b b a a a a
* b b a a a a
*
*/
/*
* 有问题的布局
* a x
* b a
*
* 需要转换成下面两种
* b x a x
* b a b b
*
*/
hasMultiRegions = true;
/*
* 2 x 2 x
* 1 r => t 1 r
*
*/
testSpan = backOne.getNeighbor(backOneDirection);
//检查 backTwo 和 backOne 有多少个连接
int backTwoConnections = 0;
if (testSpan != null &&
testSpan.regionID() == backOne.regionID())
{
// b 是 backOne ， a 是 backTwo
/*
* a x
* t b a
*
* ||
*
* a x
* b b a
*
*/
backTwoConnections++;
testSpan = testSpan.getNeighbor(borderDirection);
if (testSpan != null &&
testSpan.regionID() == backOne.regionID())
{
/*
*
* t a x
* b b a
*
* ||
*
* b a x
* b b a
*
*/
backTwoConnections++;
}
} // backTwo - backOne
//检查 reference span 和 backOne 有多少连接
int referenceConnections = 0;
testSpan = backOne.getNeighbor(antiBorderDirection);
if (testSpan != null &&
testSpan.regionID() == backOne.regionID())
{
/*
* a x
* b a
* t
*
* ||
*
* a x
* b a
* b
*/
referenceConnections++;
//TODO 这个方向我修改过,应该是转向才对,感觉原作者是笔误
testSpan = testSpan.getNeighbor((borderDirection + 1) & 0x3);
if (testSpan != null &&
testSpan.regionID() == backOne.regionID())
{
/*
* a x
* b a
* b t
*
*
* ||
*
* a x
* b a
* b b
*
*/
if (testSpan != null &&
testSpan.regionID() == backOne.regionID())
{
referenceConnections++;
}
}
} // Reference-backOne
//变成这个拐点
if (referenceConnections > backTwoConnections)
{
referenceSpan.setRegionID(backOne.regionID());
}
else
{
backTwo.setRegionID(backOne.regionID());
}
}
else if (backOne.regionID() == referenceSpan.regionID() &&
backTwo.regionID() == referenceSpan.regionID())
{
//源码本来的注释
/*
* Potential dangerous short wrap.
*
* a x
* a a
*
* Example of actual problem configuration:
*
* b b x x
* b a x x <- Short wrap.
* b a a a
*
* In the above case, the short wrap around the corner of the
* null region has been demonstrated to cause self-intersecting
* polygons during polygon formation.
*
* This algorithm detects whether or not one (and only one)
* of the axis neighbors of the corner should be re-assigned to
* a more appropriate region.
*
* In the above example, the following configuration is more
* appropriate:
*
* b b x x
* b b x x <- Change to this row.
* b a a a
*/
/*
* 2 x
* 1 r
*
* ||
*
* a x
* a a
*
*
*/
//以1为borderDirection的话，那么相对于backTwo来说
//borderDirection 为 2 ，所以+1 ，CornerDirection 为3，所以+2，
int selectedRegion = selectedRegionID(backTwo,
(borderDirection + 1) & 0x3,
(borderDirection + 2) & 0x3
);
if (backTwo.regionID() == selectedRegion)
{
//backTwo不用改变，尝试改变一下reference
selectedRegion = selectedRegionID(referenceSpan,
borderDirection,
(borderDirection + 3) & 0x3); //
if (selectedRegion != referenceSpan.regionID())
{
referenceSpan.setRegionID(selectedRegion);
hasMultiRegions = true;
}
}
else
{
backTwo.setRegionID(selectedRegion);
hasMultiRegions = true;
}
}
else
{
hasMultiRegions = true;
}
return(hasMultiRegions);
}
/* 参考 ：http://www.cnblogs.com/wantnon/p/4947067.html
* http://fab.cba.mit.edu/classes/S62.12/docs/Meijster_distance.pdf
* 具体算法名：Saito算法
* 因为初始化值都是未知的，通过一个大约估计的初始化，来重复来回算一个大致准确的距离
* 值 ？
*/
public void generateDistanceField(OpenHeightfield field)
{
if (field == null)
{
Logger.LogError("[OpenHeightfieldBuilder][generateNeighborLinks]field Empty");
return;
}
/*
* 先将OpenHeightField的Span数据转换成0和1的二值图。如果是边缘Span
* 那么就是0，否则就是NEEDS_INIT。
*/
OpenHeightfield.OpenHeightFieldIterator iter = field.GetEnumerator();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
bool isBorder = false;
for(int dir = 0; dir < 4; ++dir)
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if( null == nSpan
|| nSpan.getNeighbor(dir == 3 ? 0 : dir + 1) == null)
{
//如果8个邻居有任何一个缺失的话，那么就是边界Border
isBorder = true;
break;
}
}
if( isBorder )
{
//自己就是边界Border
span.setDistanceToBorder(BORDER);
}
else
{
//需要再次计算
span.setDistanceToBorder(NEEDS_INIT);
}
} //while
/*
* 逆时针访问？
*
* (-1,1) (0,1) (1,1)
* (-1,0) x (1,0)
* (-1,-1) (0,-1) (1,-1)
*/
//Pass 1
//顺序访问 (-1,0) (-1,-1) (0,-1) (1,-1)
iter.Reset();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
int selfDist = span.distanceToBorder();
if( selfDist == BORDER)
{
continue;
}
//(-1,0)
OpenHeightSpan nSpan = span.getNeighbor(0);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, true);
//(-1,-1),左下角的领域
nSpan = nSpan.getNeighbor(3); //领域0的领域3，也就是原Span的左下角
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, false);
//(0,-1)
nSpan = span.getNeighbor(3);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, true);
//(1,-1)
nSpan = nSpan.getNeighbor(2);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, true);
span.setDistanceToBorder(selfDist);
} // while
//Pass 2
//顺序访问 (1,0) (1,1) (0,1) (-1,1)
//注意这个是反向遍历
iter.ReverseReset();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
int selfDist = span.distanceToBorder();
if( selfDist == BORDER )
{
continue;
}
/*
* 因为经过Pass1之后 ，所有的Span要么就是Border
* 要么就是有个大概值的，不会等于NEED_INIT的。
* 所以直接按照按照上面的流程跑
*/
//(1,0)
OpenHeightSpan nSpan = span.getNeighbor(2);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, true);
//(1,1)
nSpan = nSpan.getNeighbor(1);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, false);
//(0,1)
nSpan = span.getNeighbor(1);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, true);
//(-1,1)
nSpan = nSpan.getNeighbor(0);
selfDist = calcMiniDistanceToBorder(selfDist, nSpan, false);
span.setDistanceToBorder(selfDist);
}
field.clearBorderDistanceBounds();
}
public void setNext(OpenHeightSpan value)
{
mNext = value;
}
public OpenHeightfield build(SolidHeightfield sourceField ,
bool performFullGeneration )
{
if( sourceField == null )
{
Logger.LogError("[OpenHeightfieldBuilder][build] sourceField null ");
return null;
}
OpenHeightfield result = new OpenHeightfield(
sourceField.boundsMin(),
sourceField.boundsMax(),
sourceField.cellSize(),
sourceField.cellHeight()
);
for(int depthIndex = 0; depthIndex < sourceField.depth(); depthIndex++)
{
for(int widthIndex = 0; widthIndex < sourceField.width(); widthIndex++)
{
OpenHeightSpan baseSpan = null;
OpenHeightSpan previousSpan = null;
for (HeightSpan span = sourceField.getData(widthIndex, depthIndex);
span != null;
span = span.next()
)
{
if ( span.flags() != mFilterFlags )
{
continue;
}
//当前Solid Span的max对应的是对应OpenSpan的floor
int floor = span.max();
//下一个Next Solid Span的min对应当前OpenSpan的Ceil。
int ceiling = (span.next() != null
? span.next().min()
: int.MaxValue) ;
//对应的Open Span
OpenHeightSpan oSpan = new OpenHeightSpan(floor,
(ceiling - floor )
);
if( baseSpan == null )
{
baseSpan = oSpan;
}
if( previousSpan != null )
{
previousSpan.setNext(oSpan);
}
previousSpan = oSpan;
result.incrementSpanCount();
} //for
if( baseSpan != null )
{
result.addData(widthIndex, depthIndex, baseSpan);
}
}//for
} //for
if( performFullGeneration )
{
generateNeighborLinks(result);
generateDistanceField(result);
blurDistanceField(result);
generateRegions(result);
}
return result;
}
public void blurDistanceField(OpenHeightfield field)
{
if( null == field )
{
return;
}
if( mSmoothingThreshold <= 0 )
{
return;
}
//Span => Distance
Dictionary<OpenHeightSpan, int> blurResults = new Dictionary<OpenHeightSpan, int>();
OpenHeightfield.OpenHeightFieldIterator iter = field.GetEnumerator();
while( iter.MoveNext() )
{
OpenHeightSpan span = iter.Current;
int origDist = span.distanceToBorder();
if( origDist <= mSmoothingThreshold ) //这里也会Border引进去
{
blurResults.Add(span, mSmoothingThreshold);
continue;
}
int workingDist = origDist;
//将9个格子的距离加起来
for(int dir = 0; dir < 4; ++dir)
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if( null == nSpan )
{
//这是不知道能不能看作自己占的比较增加了？但是为啥是 * 2 呢？
workingDist += origDist * 2;
}
else
{
workingDist += nSpan.distanceToBorder();
nSpan = nSpan.getNeighbor( (dir+1) & 0x3 ); //对角线的
if( null == nSpan )
{
workingDist += origDist;
}
else
{
workingDist += nSpan.distanceToBorder();
}
}
} //for
if( blurResults.ContainsKey(span) )
{
//除以9是平均呢，但是加上五就真的是不知道为什么了
blurResults[span] = (workingDist + 5) / 9;
}
} //while
//更新一下距离值
foreach( var blurIter in blurResults )
{
blurIter.Key.setDistanceToBorder(blurIter.Value);
}
}
private static bool floodNewRegion( OpenHeightSpan rootSpan,
int fillToDist ,
int regionID,
Stack<OpenHeightSpan> workingStack )
{
workingStack.Clear();
workingStack.Push(rootSpan);
rootSpan.setRegionID(regionID);
rootSpan.setDistanceToRegionCore(0);
int regionSize = 0;
//广度优先搜索
while( workingStack.Count > 0 )
{
OpenHeightSpan span = workingStack.Pop();
//表示当前Region是否已经在所属Region附近
bool isOnRegionBorder = false;
for( int dir = 0; dir < 4; ++dir )
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if( null == nSpan )
{
continue;
}
if( nSpan.regionID() != NULL_REGION
&& nSpan.regionID() != regionID )
{
isOnRegionBorder = true;
break;
}
//对角线邻居
nSpan = nSpan.getNeighbor((dir + 1) & 0x3);
if( nSpan != null
&& nSpan.regionID() != NULL_REGION
&& nSpan.regionID() != regionID )
{
isOnRegionBorder = true;
break;
}
} //for
//那么，它就不能成为新的Region
if( isOnRegionBorder )
{
span.setRegionID(NULL_REGION);
continue;
}
//到这里，表明要新增加一个Region了
regionSize++;
for( int dir = 0; dir < 4;++dir )
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if( nSpan != null
&& nSpan.distanceToBorder() >= fillToDist //
&& nSpan.regionID() == NULL_REGION )
{
nSpan.setRegionID(regionID);
nSpan.setDistanceToRegionCore(0); //如果是同一区域的话 ？离中心是0的？
workingStack.Push(nSpan);
}
}
} // while
return regionSize > 0;
}
/// <summary>
/// 为了防止 Null Region 内含在有效Region内，这阻碍了凸包的生成
/// </summary>
/// <param name="startSpan"></param>
/// <param name="startDirection"></param>
/// <returns></returns>
private bool processNullRegion(OpenHeightSpan startSpan, int startDirection)
{
/*
* 这段直接翻译源码的：
* 这个算法遍历这个轮廓。正如它所做的，这个算法检测并且修复一些危险的
* Span Configurations。
*
* 遍历轮廓：一个很好的可视化方向就是，想像一个机器人面向一堵墙，并坐
* 在地板上。它会采取以下措施来绕过这堵墙：
* 1. 如果有一堵墙位于它的前面，顺时针转90度，直到他前面不再是墙。
* 2. 向前一步。
* 3. 逆时针转向90度
* 4. 重复从1开始的步骤 ，直到它发现自己位于原来的起点，还有原来的朝向。
*
*/
/*
* 算法在遍历的同时，检测锐角(90度) 和 钝角(270)拐点。如果
* 一个完整的轮廓被检测完整，并且 钝角拐点比锐角拐点多。那
* 么 null Region 就在这个轮廓里面。否则就在轮廓外面。
*
*/
//环绕null region 走一圈，最后走回自己的起点
int borderRegionID = startSpan.regionID();
OpenHeightSpan span = startSpan;
OpenHeightSpan nSpan = null;
int dir = startDirection;
int loopCount = 0;
int acuteCornerCount = 0;
int obtuseCornerCount = 0;
int stepsWithoutBorder = 0;
bool borderSeenLastLoop = false;
bool isBorder = true;
bool hasSingleConnection = true;
while (++loopCount < int.MaxValue)
{
//初始方向就是面向的Null Region，所以一开始是肯定是isBorder的
nSpan = span.getNeighbor(dir);
if (null == nSpan)
{
isBorder = true;
}
else
{
nSpan.flags = 1;
if (NULL_REGION == nSpan.regionID())
{
isBorder = true;
}
else
{
isBorder = false;
if (nSpan.regionID() != borderRegionID)
{
hasSingleConnection = false;
}
}
} // else
if (isBorder)
{
if (borderSeenLastLoop)
{
/*
* a x
* x x
*/
//其实这个应用用inner来描述更加准确 ，表明a被x包围了
acuteCornerCount++;
}
else if (stepsWithoutBorder > 1)
{
/*
* a a
* a x
*
*/
obtuseCornerCount++; //相对地，我觉得这个应该用outer来描述更加准确，表明a正在包围x
stepsWithoutBorder = 0;
//处理钝角的各种异常情况
if (processOuterCorner(span, dir))
{
hasSingleConnection = false;
}
}
dir = NMGenUtility.ClockwiseRotateDir(dir);
borderSeenLastLoop = true;
stepsWithoutBorder = 0;
}
else //注意，不是边界，才会进行移动，如果是边界的话，只会进行转向
{
span = nSpan;
dir = NMGenUtility.CClockwiseRotateDir(dir); //逆时针转向一下
borderSeenLastLoop = false;
stepsWithoutBorder++;
} // else
//回到原方位了
if (startSpan == span &&
startDirection == dir)
{
return(hasSingleConnection &&
obtuseCornerCount > acuteCornerCount);
}
} // while
return(false);
}
//遍历轮廓，找邻接的Region
private static void findRegionConnections(OpenHeightSpan startSpan,
int startDirection,
ref List <int> outConnections)
{
OpenHeightSpan span = startSpan;
int dir = startDirection;
int lastEdgeRegionID = NULL_REGION;
OpenHeightSpan nSpan = span.getNeighbor(dir);
if (nSpan != null)
{
lastEdgeRegionID = nSpan.regionID();
}
//连接的Region，至少存在一个NULL_REGION
outConnections.Add(lastEdgeRegionID);
int loopCount = 0;
while (++loopCount < ushort.MaxValue)
{
nSpan = span.getNeighbor(dir);
int currEdgeRegionID = NULL_REGION; //默认nSpan是null的
if (null == nSpan ||
nSpan.regionID() != span.regionID())
{
if (nSpan != null)
{
currEdgeRegionID = nSpan.regionID();
}
if (currEdgeRegionID != lastEdgeRegionID)
{
outConnections.Add(currEdgeRegionID);
lastEdgeRegionID = currEdgeRegionID;
}
//顺时针转向下一个
dir = NMGenUtility.ClockwiseRotateDir(dir);
}
else
{
//这个分支代表 Region是相同的
span = nSpan;
//逆时针转一下
dir = NMGenUtility.CClockwiseRotateDir(dir);
}
if (startSpan == span &&
startDirection == dir)
{
break;
}
} //while
//TODO 为啥会存在首尾相同呢？因为退出条件是原来的那个点么
int connectionsCnt = outConnections.Count;
if (connectionsCnt > 1 &&
outConnections[0] == outConnections[connectionsCnt - 1])
{
outConnections.RemoveAt(connectionsCnt - 1);
}
}
private void buildRawContours(OpenHeightSpan startSpan,
int startWidthIndex,
int startDepthIndex,
int startDirection,
ref List <int> outContourVerts
)
{
OpenHeightSpan span = startSpan;
int dir = startDirection;
int spanX = startWidthIndex;
int spanZ = startDepthIndex;
int loopCount = 0;
while (++loopCount < ushort.MaxValue)
{
//这个Edge的一个Span
if (!isSameRegion(span, dir))
{
//span
int px = spanX;
int py = getCornerHeight(span, dir);
int pz = spanZ;
/*
* 这里取的是点，所以需要做这些偏移来记录点，而不是记录对应的Span
* 这里需要结合 ： 方向 + 某个点 ，来理解 为什么要加这个偏移
*
*
* * --- *
* | S |
* ----—-*
*
* dir = 0 的时候，需要取左上角的点
* dir = 1 的时候，需要取右上角的点
* dir = 2 的时候，需要取右下角的点
* dir = 3 的时候，取的就是参考点
*
* 以左下角的点为参考点，就是 dir方向对应的顺时针的点
*
*/
/*
* Update the px and pz values based on current direction.
* The update is such that the corner being represented is
* clockwise from the edge the direction is currently pointing
* toward.
*/
switch (dir)
{
case 0: pz++; break;
case 1: px++; pz++; break;
case 2: px++; break;
}
int regionThisDirection = NULL_REGION;
OpenHeightSpan nSpan = span.getNeighbor(dir);
if (nSpan != null)
{
regionThisDirection = nSpan.regionID();
}
//这是轮廓的点
outContourVerts.Add(px);
outContourVerts.Add(py);
outContourVerts.Add(pz);
outContourVerts.Add(regionThisDirection);
span.flags &= ~(1 << dir); //清除dir对应的位
dir = NMGenUtility.ClockwiseRotateDir(dir);
} //isSameRegion
else
{
//这段就是步进到下一个同Region的Span，很好理解。
span = span.getNeighbor(dir);
switch (dir)
{
case 0: spanX--; break;
case 1: spanZ++; break;
case 2: spanX++; break;
case 3: spanZ--; break;
}
dir = NMGenUtility.CClockwiseRotateDir(dir);
} // no the SameRegion
if (span == startSpan &&
dir == startDirection)
{
break;
}
} //while
} //buildRawContour
public void apply(OpenHeightfield field)
{
if (null == field)
{
Logger.LogError("[FilterOutSmallRegions][apply]field null");
return;
}
if (field.regionCount() < 2)
{
Logger.LogError("[FilterOutSmallRegions][apply]RegionCnt|{0}", field.regionCount());
return;
}
//PS：索引即是对应的ID
Region[] regions = new Region[field.regionCount()];
for (int i = 0; i < field.regionCount(); ++i)
{
regions[i] = new Region(i);
}
#region 收集邻接信息
OpenHeightfield.OpenHeightFieldIterator iter = field.GetEnumerator();
while (iter.MoveNext())
{
OpenHeightSpan span = iter.Current;
if (span.regionID() <= NULL_REGION)
{
continue;
}
//索引即RegionID
Region region = regions[span.regionID()];
region.spanCount++;
for (OpenHeightSpan nextHigherSpan = span.next();
nextHigherSpan != null;
nextHigherSpan = nextHigherSpan.next()
)
{
int nextHigherSpanRegionID = nextHigherSpan.regionID();
if (nextHigherSpanRegionID <= NULL_REGION)
{
continue;
}
//因为是同属一个Grid的，所以肯定是重叠的
if (!region.overlappingRegions.Contains(nextHigherSpanRegionID))
{
region.overlappingRegions.Add(nextHigherSpanRegionID);
}
} //for
if (region.connections.Count > 0)
{
continue;
}
int edgeDirection = getRegionEdgeDirection(span);
if (edgeDirection != -1)
{
findRegionConnections(span, edgeDirection, ref region.connections);
}
} // while
#endregion
#region 清理孤岛Region
for (int regionID = 1; regionID < field.regionCount(); ++regionID)
{
Region region = regions[regionID];
if (0 == region.spanCount)
{
continue;
}
// 有且仅有一个 Null Region 邻居
if (region.connections.Count == 1 &&
region.connections[0] == NULL_REGION)
{
if (region.spanCount < mMinUnconnectedRegionSize)
{
region.resetWithID(0);
}
}
} //for
#endregion
#region 合并小的Region
int mergeCount;
do
{
mergeCount = 0;
foreach (Region region in regions)
{
if (region.id <= NULL_REGION ||
region.spanCount == 0)
{
continue;
}
if (region.spanCount > mMergeRegionSize)
{
continue;
}
Region targetMergeRegion = null;
int smallestSizeFound = int.MaxValue;
foreach (int nRegionID in region.connections)
{
if (nRegionID <= 0)
{
continue;
}
Region nRegion = regions[nRegionID];
if (nRegion.spanCount < smallestSizeFound &&
canMerge(region, nRegion))
{
targetMergeRegion = nRegion;
smallestSizeFound = nRegion.spanCount;
}
} // foreach nRegionID
if (targetMergeRegion != null &&
mergeRegions(targetMergeRegion, region)) //为啥是反过来Merge。。。
{
int oldRegionID = region.id;
region.resetWithID(targetMergeRegion.id);
foreach (Region r in regions)
{
if (r.id <= NULL_REGION)
{
continue;
}
if (r.id == oldRegionID)
{
r.id = targetMergeRegion.id;
}
else
{
replaceNeighborRegionID(r, oldRegionID, targetMergeRegion.id);
}
} // foreach regions
mergeCount++;
} // if mergerRegion
} // foreach region
} while (mergeCount > 0);
#endregion
#region re-map 区域ID，保持ID连接
foreach (Region region in regions)
{
if (region.id >= NULL_REGION)
{
region.remap = true;
}
}
int currRegionID = NULL_REGION;
foreach (Region region in regions)
{
if (!region.remap)
{
continue;
}
currRegionID++;
int oldID = region.id;
foreach (Region r in regions)
{
if (r.id == oldID)
{
r.id = currRegionID;
r.remap = false;
}
} //foreach
} //foreach
field.setRegionCount(currRegionID + 1);
iter.Reset();
while (iter.MoveNext())
{
OpenHeightSpan span = iter.Current;
if (NULL_REGION == span.regionID())
{
continue;
}
else
{
//真正re-map一下
span.setRegionID(regions[span.regionID()].id);
}
}
#endregion
} //apply
public bool MoveNext()
{
if (mOpenHeightfield == null)
{
Logger.LogError("[OpenHeightfield][OpenHeightFieldIterator][MoveNext]Null");
return(false);
}
//公有逻辑
if (mNext != null)
{
if (mNext.next() != null)
{
mNext = mNext.next();
return(true);
}
else
{
if (mIsReverseIter)
{
mNextWidth--;
}
else
{
mNextWidth++;
}
}
}
if (mIsReverseIter)
{
#region 反向遍历
for (int depthIndex = mNextDepth; depthIndex >= 0; --depthIndex)
{
for (int widthIndex = mNextWidth; widthIndex >= 0; --widthIndex)
{
OpenHeightSpan span = mOpenHeightfield.getData(widthIndex, depthIndex);
if (span != null)
{
mNext = span;
mNextWidth = widthIndex;
mNextDepth = depthIndex;
return(true);
}
}
mNextWidth = 0;
}
mNext = null;
mNextDepth = -1;
mNextWidth = -1;
return(false);
#endregion
}
else
{
#region 正向遍历
for (int depthIndex = mNextDepth; depthIndex < mOpenHeightfield.depth(); ++depthIndex)
{
for (int widthIndex = mNextWidth; widthIndex < mOpenHeightfield.width(); widthIndex++)
{
OpenHeightSpan span = mOpenHeightfield.getData(widthIndex, depthIndex);
if (span != null)
{
mNext = span;
mNextWidth = widthIndex;
mNextDepth = depthIndex;
return(true);
}
}
mNextWidth = 0;
}
mNext = null;
mNextDepth = -1;
mNextWidth = -1;
return(false);
#endregion
} // if-else
} // MoveNext
/// <summary>
/// TODO 解决那两个地方为啥是加2
/// </summary>
/// <param name="inoutSpans"></param>
/// <param name="maxIterations"></param>
private void expandRegions(List<OpenHeightSpan> inoutSpans ,int maxIterations)
{
if( inoutSpans.Count == 0 )
{
return;
}
int iterCount = 0;
while(true)
{
int skipped = 0;
for(int iSpan = 0; iSpan < inoutSpans.Count; ++iSpan)
{
OpenHeightSpan span = inoutSpans[iSpan];
if( null == span )
{
skipped++;
continue;
}
int spanRegion = NULL_REGION;
int regionCenterDist = int.MaxValue;
//看看邻居的RegionID情况
for(int dir = 0; dir < 4; ++dir)
{
OpenHeightSpan nSpan = span.getNeighbor(dir);
if( null == nSpan )
{
continue;
}
if( nSpan.regionID() > NULL_REGION )
{
//TODO 为啥是+2
//初始的话，这个值都是0的。
if( nSpan.distanceToRegionCore() + 2 < regionCenterDist )
{
int sameRegionCount = 0;
if( mUseConservativeExpansion )
{
for( int ndir = 0; ndir < 4; ++ndir )
{
OpenHeightSpan nnSpan = nSpan.getNeighbor(ndir);
if( null == nnSpan )
{
continue;
}
if( nnSpan.regionID() == nSpan.regionID() )
{
sameRegionCount++;
}
}
}
//如果轴对齐邻居的邻居的Region相同，也就是多于1个体素就可以了
if( !mUseConservativeExpansion
|| sameRegionCount > 1)
{
//TODO 为啥要加2
spanRegion = nSpan.regionID();
regionCenterDist = nSpan.distanceToRegionCore() + 2;
}
}
}
} // for
if( spanRegion != NULL_REGION )
{
inoutSpans[iSpan] = null;
span.setRegionID(spanRegion);
}
else
{
skipped++;
}
} // for
if( skipped == inoutSpans.Count )
{
break;
}
if( maxIterations != -1)
{
iterCount++;
if( iterCount > maxIterations )
{
break;
}
}
}
}