//将高度区域转换为平面方格
public static RecastGridData HeightfieldToPlaneGrid(Heightfield heightfield, float planeY, float walkHeigh)
{
RecastGridData gridData = new RecastGridData
{
OriginPoint = new Vector2(heightfield.Offset.x, heightfield.Offset.z),
Width = heightfield.Size.x,
Length = heightfield.Size.y,
CellSize = heightfield.CellSize,
};
int zero = (int)((planeY - heightfield.Offset.y) / heightfield.CellSize);
heightfield.Combin(walkHeigh);
gridData.Mask = new BitArray(gridData.Width * gridData.Length);
for (int i = 0; i < gridData.Width; ++i)
{
for (int j = 0; j < gridData.Length; ++j)
{
Cell cell = heightfield.Get(i, j);
if (cell != null)
{
foreach (var span in cell.Spans)
{
if (Mathf.Abs(span.Max - zero) <= 1)
{
gridData.Mask.Set(i + j * gridData.Width, true);
}
}
}
}
}
return(gridData);
}
//体素转换为高度区域
public static Heightfield VoxelToHeightfield(Voxelization voxel)
{
Heightfield heightfield = new Heightfield(voxel.Bounds.min, voxel.Size.x, voxel.Size.z, voxel.CellSize);
Cell cell = new Cell(voxel.Size.y);
for (int x = 0; x < voxel.Size.x; ++x)
{
for (int z = 0; z < voxel.Size.z; ++z)
{
int min = -1;
int count = 0;
for (int y = 0; y < voxel.Size.y; ++y)
{
bool mask = voxel.Voxel.Get(x, y, z);
if (mask)
{
count++;
if (min == -1)
{
min = y;
count = 1;
}
}
else
{
if (min != -1)
{
cell.Spans.Add(new Cell.Span {
Min = min, Max = min + count
});
min = -1;
count = 0;
}
}
}
if (cell.Spans.Count > 0)
{
int cellIndex = z * voxel.Size.x + x;
heightfield.Cells[cellIndex] = cell;
cell = new Cell(voxel.Size.y);
}
}
}
return(heightfield);
}
public static void DrawHeightfield(Heightfield heightfield)
{
//Color color = Gizmos.color;
//Gizmos.color = Color.green;
for (int x = 0; x < heightfield.Size.x; ++x)
{
for (int z = 0; z < heightfield.Size.y; ++z)
{
Cell cell = heightfield.Get(x, z);
if (cell == null)
{
continue;
}
for (int i = 0; i < cell.Spans.Count; ++i)
{
var span = cell.Spans[i];
Vector3 size = new Vector3(heightfield.CellSize, heightfield.CellSize * (span.Max - span.Min), heightfield.CellSize);
Vector3 pos = new Vector3(heightfield.CellSize * x, heightfield.CellSize * span.Min, heightfield.CellSize * z) + heightfield.Offset + size * 0.5f;
Gizmos.DrawCube(pos, size);
}
}
}
//Gizmos.color = color;
}
