public MyNavigationMesh(MyNavgroupLinks externalLinks, int trianglePrealloc = 16, Func <long> timestampFunction = null)
: base(128, timestampFunction)
{
m_triPool = new MyDynamicObjectPool <MyNavigationTriangle>(trianglePrealloc);
m_mesh = new MyWingedEdgeMesh();
m_externalLinks = externalLinks;
}
public void DebugDraw(ref Matrix drawMatrix, MyWingedEdgeMesh mesh)
{
Dictionary <Vector3I, int> .Enumerator enumerator = this.m_outerEdgePoints.EnumerateBins();
for (int i = 0; enumerator.MoveNext(); i++)
{
int binIndex = MyCestmirDebugInputComponent.BinIndex;
if ((binIndex == this.m_outerEdgePoints.InvalidIndex) || (i == binIndex))
{
BoundingBoxD xd;
BoundingBoxD xd2;
Vector3I key = enumerator.Current.Key;
int index = enumerator.Current.Value;
this.m_outerEdgePoints.GetLocalBinBB(ref key, out xd);
xd2.Min = Vector3D.Transform(xd.Min, drawMatrix);
xd2.Max = Vector3D.Transform(xd.Max, drawMatrix);
while (true)
{
if (index == this.m_outerEdgePoints.InvalidIndex)
{
MyRenderProxy.DebugDrawAABB(xd2, Color.PowderBlue, 1f, 1f, false, false, false);
break;
}
Vector3 point = this.m_outerEdgePoints.GetPoint(index);
MyWingedEdgeMesh.Edge edge = mesh.GetEdge(this.m_outerEdgePoints.GetData(index).EdgeIndex);
Vector3 vertexPosition = mesh.GetVertexPosition(edge.Vertex2);
Vector3D pointTo = Vector3D.Transform(point, drawMatrix);
MyRenderProxy.DebugDrawArrow3D(Vector3D.Transform((mesh.GetVertexPosition(edge.Vertex1) + vertexPosition) * 0.5f, drawMatrix), pointTo, Color.Yellow, new Color?(Color.Yellow), false, 0.1, null, 0.5f, false);
index = this.m_outerEdgePoints.GetNextBinIndex(index);
}
}
}
}
public MyNavigationMesh(MyNavgroupLinks externalLinks, int trianglePrealloc = 0x10, Func <long> timestampFunction = null) : base(0x80, timestampFunction)
{
this.m_vertexList = new List <Vector3>();
this.m_triPool = new MyDynamicObjectPool <MyNavigationTriangle>(trianglePrealloc);
this.m_mesh = new MyWingedEdgeMesh();
this.m_externalLinks = externalLinks;
}
public void GetEdgeVertices(int index, out Vector3 pred, out Vector3 succ)
{
MyWingedEdgeMesh mesh = this.m_navMesh.Mesh;
MyWingedEdgeMesh.Edge edge = mesh.GetEdge(this.GetEdgeIndex(index));
pred = mesh.GetVertexPosition(edge.GetFacePredVertex(this.m_triIndex));
succ = mesh.GetVertexPosition(edge.GetFaceSuccVertex(this.m_triIndex));
}
public void GetEdgeVertices(int index, out Vector3 pred, out Vector3 succ)
{
MyWingedEdgeMesh mesh = m_navMesh.Mesh;
int i = GetEdgeIndex(index);
MyWingedEdgeMesh.Edge edge = mesh.GetEdge(i);
pred = mesh.GetVertex(edge.GetFacePredVertex(m_triIndex));
succ = mesh.GetVertex(edge.GetFaceSuccVertex(m_triIndex));
}
public void DebugDraw(ref Matrix drawMatrix, MyWingedEdgeMesh mesh)
{
var binEnum = m_outerEdgePoints.EnumerateBins();
int i = 0;
while (binEnum.MoveNext())
{
int binIndex = Sandbox.Game.Gui.MyCestmirDebugInputComponent.BinIndex;
if (binIndex == -1 || i == binIndex)
{
Vector3I position = binEnum.Current.Key;
int storageIndex = binEnum.Current.Value;
if (storageIndex == -1)
{
continue;
}
BoundingBoxD bb, bbTform;
m_outerEdgePoints.GetLocalBinBB(ref position, out bb);
bbTform.Min = Vector3D.Transform(bb.Min, drawMatrix);
bbTform.Max = Vector3D.Transform(bb.Max, drawMatrix);
m_outerEdgePoints.CollectStorage(storageIndex, ref m_tmpOuterEdgePointList);
foreach (var point in m_tmpOuterEdgePointList)
{
var edge = mesh.GetEdge(point.EdgeIndex);
Vector3 v1 = mesh.GetVertex(edge.Vertex1);
Vector3 v2 = mesh.GetVertex(edge.Vertex2);
Vector3 vc = (v1 + v2) * 0.5f;
Vector3 vertex;
if (point.FirstPoint)
{
vertex = v2 * 0.9f + vc * 0.1f;
}
else
{
vertex = v1 * 0.9f + vc * 0.1f;
}
Vector3D vertexTformed = vertex;
vertexTformed = Vector3D.Transform(vertexTformed, drawMatrix);
VRageRender.MyRenderProxy.DebugDrawSphere(vertexTformed, 0.025f, Color.Yellow, 1.0f, false);
}
VRageRender.MyRenderProxy.DebugDrawAABB(bbTform, Color.PowderBlue, 1.0f, 1.0f, false);
}
i++;
}
}
public bool IsEdgeVertexDangerous(int index, bool predVertex)
{
MyWingedEdgeMesh mesh = this.m_navMesh.Mesh;
int edgeIndex = this.GetEdgeIndex(index);
MyWingedEdgeMesh.Edge edge = mesh.GetEdge(edgeIndex);
int vertexIndex = predVertex ? edge.GetFacePredVertex(this.m_triIndex) : edge.GetFaceSuccVertex(this.m_triIndex);
while (!IsTriangleDangerous(edge.VertexLeftFace(vertexIndex)))
{
int nextVertexEdge = edge.GetNextVertexEdge(vertexIndex);
edge = mesh.GetEdge(nextVertexEdge);
if (nextVertexEdge == edgeIndex)
{
return(false);
}
}
return(true);
}
public MyNavigationEdge GetNavigationEdge(int index)
{
MyWingedEdgeMesh mesh = this.m_navMesh.Mesh;
int edgeIndex = this.GetEdgeIndex(index);
MyWingedEdgeMesh.Edge edge = mesh.GetEdge(edgeIndex);
MyNavigationTriangle triA = null;
MyNavigationTriangle triB = null;
if (edge.LeftFace != -1)
{
triA = mesh.GetFace(edge.LeftFace).GetUserData <MyNavigationTriangle>();
}
if (edge.RightFace != -1)
{
triB = mesh.GetFace(edge.RightFace).GetUserData <MyNavigationTriangle>();
}
MyNavigationEdge.Static.Init(triA, triB, edgeIndex);
return(MyNavigationEdge.Static);
}
/// <summary>
/// Whether it's dangerous for the bot to navigate close to this edge
/// </summary>
public bool IsEdgeVertexDangerous(int index, bool predVertex)
{
MyWingedEdgeMesh mesh = m_navMesh.Mesh;
int i = GetEdgeIndex(index);
int e = i;
MyWingedEdgeMesh.Edge edge = mesh.GetEdge(e);
int v = predVertex ? edge.GetFacePredVertex(m_triIndex) : edge.GetFaceSuccVertex(m_triIndex);
do
{
if (IsTriangleDangerous(edge.VertexLeftFace(v)))
{
return(true);
}
e = edge.GetNextVertexEdge(v);
edge = mesh.GetEdge(e);
} while (e != i);
return(false);
}
public void DebugDraw(ref Matrix drawMatrix, MyWingedEdgeMesh mesh)
{
var binEnum = m_outerEdgePoints.EnumerateBins();
int i = 0;
while (binEnum.MoveNext())
{
int binIndex = Sandbox.Game.Gui.MyCestmirDebugInputComponent.BinIndex;
if (binIndex == m_outerEdgePoints.InvalidIndex || i == binIndex)
{
Vector3I position = binEnum.Current.Key;
int storageIndex = binEnum.Current.Value;
BoundingBoxD bb, bbTform;
m_outerEdgePoints.GetLocalBinBB(ref position, out bb);
bbTform.Min = Vector3D.Transform(bb.Min, drawMatrix);
bbTform.Max = Vector3D.Transform(bb.Max, drawMatrix);
while (storageIndex != m_outerEdgePoints.InvalidIndex)
{
Vector3 p = m_outerEdgePoints.GetPoint(storageIndex);
var edge = mesh.GetEdge(m_outerEdgePoints.GetData(storageIndex).EdgeIndex);
Vector3 v1 = mesh.GetVertexPosition(edge.Vertex1);
Vector3 v2 = mesh.GetVertexPosition(edge.Vertex2);
Vector3 vc = (v1 + v2) * 0.5f;
Vector3D vcTformed = Vector3D.Transform((Vector3D)vc, drawMatrix);
Vector3D pTformed = Vector3D.Transform((Vector3D)p, drawMatrix);
VRageRender.MyRenderProxy.DebugDrawArrow3D(vcTformed, pTformed, Color.Yellow, Color.Yellow, false);
storageIndex = m_outerEdgePoints.GetNextBinIndex(storageIndex);
}
VRageRender.MyRenderProxy.DebugDrawAABB(bbTform, Color.PowderBlue, 1.0f, 1.0f, false);
}
i++;
}
}
public void DebugDraw(ref Matrix drawMatrix, MyWingedEdgeMesh mesh)
{
var binEnum = m_outerEdgePoints.EnumerateBins();
int i = 0;
while (binEnum.MoveNext())
{
int binIndex = Sandbox.Game.Gui.MyCestmirDebugInputComponent.BinIndex;
if (binIndex == -1 || i == binIndex)
{
Vector3I position = binEnum.Current.Key;
int storageIndex = binEnum.Current.Value;
if (storageIndex == -1) continue;
BoundingBoxD bb, bbTform;
m_outerEdgePoints.GetLocalBinBB(ref position, out bb);
bbTform.Min = Vector3D.Transform(bb.Min, drawMatrix);
bbTform.Max = Vector3D.Transform(bb.Max, drawMatrix);
m_outerEdgePoints.CollectStorage(storageIndex, ref m_tmpOuterEdgePointList);
foreach (var point in m_tmpOuterEdgePointList)
{
var edge = mesh.GetEdge(point.EdgeIndex);
Vector3 v1 = mesh.GetVertex(edge.Vertex1);
Vector3 v2 = mesh.GetVertex(edge.Vertex2);
Vector3 vc = (v1 + v2) * 0.5f;
Vector3 vertex;
if (point.FirstPoint)
vertex = v2 * 0.9f + vc * 0.1f;
else
vertex = v1 * 0.9f + vc * 0.1f;
Vector3D vertexTformed = vertex;
vertexTformed = Vector3D.Transform(vertexTformed, drawMatrix);
VRageRender.MyRenderProxy.DebugDrawSphere(vertexTformed, 0.025f, Color.Yellow, 1.0f, false);
}
VRageRender.MyRenderProxy.DebugDrawAABB(bbTform, Color.PowderBlue, 1.0f, 1.0f, false);
}
i++;
}
}
