public PrimitiveGeometryCollector(NavMeshNativeInputBuilder inputBuilder, Unity.Physics.TerrainCollider *terrainCollider, RigidTransform transform, DtBoundingBox bounds)
{
InputBuilder = inputBuilder;
TerrainCollider = terrainCollider;
Transform = transform;
Bounds = bounds;
}
public ConvexHullGeometryCollector(NavMeshNativeInputBuilder inputBuilder, ConvexCollider *collider, RigidTransform transform, DtBoundingBox bounds)
{
InputBuilder = inputBuilder;
Collider = collider;
Transform = transform;
Bounds = bounds;
}
public MeshGeometryCollector(NavMeshNativeInputBuilder inputBuilder, MeshCollider *Collider, RigidTransform transform, DtBoundingBox bounds)
{
InputBuilder = inputBuilder;
this.Collider = Collider;
Transform = transform;
Bounds = bounds;
}
private void SetGlobalBounds(List <NavMeshBuildInput> inputs)
{
HeightBounds = inputs[0].TileBounds.Bounds;
foreach (NavMeshBuildInput input in inputs)
{
HeightBounds = DtBoundingBox.Merge(HeightBounds, input.TileBounds.Bounds);
}
}
public static DtBoundingBox Merge(DtBoundingBox value1, float3 value2)
{
DtBoundingBox result;
result.min = math.min(value1.min, value2);
result.max = math.max(value1.max, value2);
return(result);
}
public static DtBoundingBox Merge(DtBoundingBox value1, DtBoundingBox value2)
{
DtBoundingBox box;
box.min = math.min(value1.min, value2.min);
box.max = math.max(value1.max, value2.max);
return(box);
}
public NavMeshInputBuilder(NavMeshTileBounds tileBounds)
{
Coord = tileBounds.Coord;
BoundingBox = tileBounds.Bounds;
Vertices = new AiNativeList <float3>(2);
Indices = new AiNativeList <int>(2);
Areas = new AiNativeList <byte>(2);
}
public NavMeshNativeInputBuilder(NavMeshTileBounds tileBounds)
{
Coord = tileBounds.Coord;
BoundingBox = tileBounds.Bounds;
Vertices = new NativeList <float3>(Allocator.TempJob);
Indices = new NativeList <int>(Allocator.TempJob);
Areas = new NativeList <byte>(Allocator.TempJob);
}
public void MarkDirty(DtBoundingBox bounds)
{
if (Building)
{
throw new InvalidOperationException("Building");
}
Builder.MarkDirty(bounds);
}
public void MarkDirty(DtBoundingBox boundingBox)
{
var tiles = NavMeshBuildUtils.GetOverlappingTiles(BuildSettings, boundingBox);
foreach (var tileCoord in tiles)
{
TilesToBuild.Add(tileCoord);
}
}
public void GetDirtyTileBounds(List <NavMeshTileBounds> dirty)
{
foreach (var tileCoord in TilesToBuild)
{
DtBoundingBox bounds = NavMeshBuildUtils.CalculateTileBoundingBox(BuildSettings, tileCoord);
NavMeshTileBounds tileBounds = new NavMeshTileBounds(tileCoord, bounds);
dirty.Add(tileBounds);
}
}
public static bool ContainsPoint(ref DtBoundingBox box, ref float3 point)
{
if (box.min.x <= point.x && box.max.x >= point.x &&
box.min.y <= point.y && box.max.y >= point.y &&
box.min.z <= point.z && box.max.z >= point.z)
{
return(true);
}
return(false);
}
private void HandleMesh(MeshCollider *collider, ref Translation translation, ref Rotation rotation)
{
RigidTransform colliderTransform = new RigidTransform(rotation.Value, translation.Value);
Aabb aabb = collider->CalculateAabb(colliderTransform);
DtBoundingBox colliderBox = new DtBoundingBox(aabb.Min, aabb.Max);
if (DtBoundingBox.Intersects(ref TileBounds.Bounds, ref colliderBox))
{
MeshGeometryCollector collector = new MeshGeometryCollector(InputBuilder, collider, colliderTransform, TileBounds.Bounds);
collector.Collect();
}
}
public void BuildSurface()
{
if (!EnsureSurfaceAdded())
{
return;
}
Bounds bounds = new Bounds(Center, Size);
DtBoundingBox box = DtBoundingBox.FromUnityBounds(bounds);
var controller = Controller;
controller.MarkDirty(box);
Controller.OnBuildCompleted -= OnBuildCompleted;
controller.OnBuildCompleted += OnBuildCompleted;
}
/// <summary>
/// Calculates X-Z span for a navigation mesh tile. The Y-axis will span from <see cref="float.MinValue"/> to <see cref="float.MaxValue"/>
/// </summary>
public static DtBoundingBox CalculateTileBoundingBox(NavMeshBuildSettings settings, int2 tileCoord)
{
float tcs = settings.TileSize * settings.CellSize;
float2 tileMin = new float2(tileCoord.x * tcs, tileCoord.y * tcs);
float2 tileMax = tileMin + new float2(tcs);
DtBoundingBox boundingBox = default;
boundingBox.min.x = tileMin.x;
boundingBox.min.z = tileMin.y;
boundingBox.max.x = tileMax.x;
boundingBox.max.z = tileMax.y;
boundingBox.min.y = float.MinValue;
boundingBox.max.y = float.MaxValue;
return(boundingBox);
}
public void Append(NavMeshNativeInputBuilder other)
{
// Copy vertices
int vbase = Vertices.Length;
for (int i = 0; i < other.Vertices.Length; i++)
{
float3 point = other.Vertices[i];
Vertices.Add(point);
BoundingBox = DtBoundingBox.Merge(BoundingBox, point);
}
// Copy indices with offset applied
for (int i = 0; i < other.Indices.Length; i++)
{
Indices.Add(other.Indices[i] + vbase);
}
}
public static bool Intersects(ref DtBoundingBox box1, ref DtBoundingBox box2)
{
if (box1.min.x > box2.max.x || box2.min.x > box1.max.x)
{
return(false);
}
if (box1.min.y > box2.max.y || box2.min.y > box1.max.y)
{
return(false);
}
if (box1.min.z > box2.max.z || box2.min.z > box1.max.z)
{
return(false);
}
return(true);
}
private bool SetActiveBoundsFilters(DtBoundingBox colliderBounds)
{
bool hasFilter = false;
for (int i = 0; i < BoxFilters.Length; i++)
{
BoxFilter filter = BoxFilters[i];
if (DtBoundingBox.Intersects(ref filter.Bounds, ref colliderBounds))
{
filter.Active = true;
hasFilter = true;
}
else
{
filter.Active = false;
}
BoxFilters[i] = filter;
}
return(hasFilter);
}
public void Append(float3[] vertices, int[] indices, byte[] areas)
{
// Copy vertices
int vbase = Vertices.Length;
for (int i = 0; i < vertices.Length; i++)
{
Vertices.Add(vertices[i]);
BoundingBox = DtBoundingBox.Merge(BoundingBox, vertices[i]);
}
// Copy indices with offset applied
for (int i = 0; i < indices.Length; i++)
{
Indices.Add(indices[i] + vbase);
}
for (int i = 0; i < areas.Length; i++)
{
Areas.Add(areas[i]);
}
}
public void Append(NativeArray <float3> vertices, NativeArray <int> indices, NativeArray <byte> areas)
{
// Copy vertices
int vbase = Vertices.Length;
for (int i = 0; i < vertices.Length; i++)
{
Vertices.Add(vertices[i]);
BoundingBox = DtBoundingBox.Merge(BoundingBox, vertices[i]);
}
// Copy indices with offset applied
for (int i = 0; i < indices.Length; i++)
{
Indices.Add(indices[i] + vbase);
}
for (int i = 0; i < areas.Length; i++)
{
Areas.Add(areas[i]);
}
}
/// <summary>
/// Check which tiles overlap a given bounding box
/// </summary>
/// <param name="settings"></param>
/// <param name="boundingBox"></param>
/// <returns></returns>
public static List <int2> GetOverlappingTiles(NavMeshBuildSettings settings, DtBoundingBox boundingBox)
{
List <int2> ret = new List <int2>();
float tcs = settings.TileSize * settings.CellSize;
float2 start = boundingBox.min.xz / tcs;
float2 end = boundingBox.max.xz / tcs;
int2 startTile = new int2(
(int)Math.Floor(start.x),
(int)Math.Floor(start.y));
int2 endTile = new int2(
(int)Math.Ceiling(end.x),
(int)Math.Ceiling(end.y));
for (int y = startTile.y; y < endTile.y; y++)
{
for (int x = startTile.x; x < endTile.x; x++)
{
ret.Add(new int2(x, y));
}
}
return(ret);
}
private void HandleTerrain(TerrainCollider *collider, ref Translation translation, ref Rotation rotation)
{
RigidTransform colliderTransform = new RigidTransform(rotation.Value, translation.Value);
Aabb aabb = collider->CalculateAabb(colliderTransform);
DtBoundingBox colliderBox = new DtBoundingBox(aabb.Min, aabb.Max);
if (DtBoundingBox.Intersects(ref TileBounds.Bounds, ref colliderBox))
{
TerrainGeometryCollector collector = new TerrainGeometryCollector
{
InputBuilder = InputBuilder,
TerrainCollider = collider,
Transform = colliderTransform,
Bounds = TileBounds.Bounds,
GeometryFilter = GeometryFilter
};
if (SetActiveBoundsFilters(colliderBox))
{
collector.SetBoundsFilters(BoxFilters);
}
collector.Collect();
}
}
public void Append(NativeArray <float3> vertices, NativeArray <int> indices, byte area = DtArea.WALKABLE)
{
// Copy vertices
int vbase = Vertices.Length;
for (int i = 0; i < vertices.Length; i++)
{
Vertices.Add(vertices[i]);
BoundingBox = DtBoundingBox.Merge(BoundingBox, vertices[i]);
}
// Copy indices with offset applied
for (int i = 0; i < indices.Length; i++)
{
Indices.Add(indices[i] + vbase);
}
int triangleCount = indices.Length / 3;
for (int i = 0; i < triangleCount; i++)
{
Areas.Add(area);
}
}
public bool Intersects(DtBoundingBox other)
{
return(Intersects(ref this, ref other));
}
private unsafe int BuildTile(int2 tileCoordinate, NavMeshBuildSettings buildSettings, NavAgentSettings agentSettings,
NavMeshBuildInput buildInput, long buildTimeStamp, out NavMeshTile meshTile)
{
meshTile = null;
if (buildInput.AreasLength != buildInput.IndicesLength / 3)
{
return(-1001);
}
if (buildInput.VerticesLength <= 0 || buildInput.IndicesLength <= 0)
{
return(-1000);
}
DtBoundingBox tileBoundingBox = NavMeshBuildUtils.CalculateTileBoundingBox(buildSettings, tileCoordinate);
NavMeshBuildUtils.SnapBoundingBoxToCellHeight(buildSettings, ref tileBoundingBox);
tileBoundingBox.min.y = HeightBounds.min.y;
tileBoundingBox.max.y = HeightBounds.max.y;
IntPtr builder = Navigation.NavMesh.CreateBuilder();
DtBuildSettings internalBuildSettings = new DtBuildSettings
{
// Tile settings
BoundingBox = tileBoundingBox,
TilePosition = tileCoordinate,
TileSize = buildSettings.TileSize,
// General build settings
CellHeight = buildSettings.CellHeight,
CellSize = buildSettings.CellSize,
RegionMinArea = buildSettings.MinRegionArea,
RegionMergeArea = buildSettings.RegionMergeArea,
EdgeMaxLen = buildSettings.MaxEdgeLen,
EdgeMaxError = buildSettings.MaxEdgeError,
DetailSampleDist = buildSettings.DetailSamplingDistance,
DetailSampleMaxError = buildSettings.MaxDetailSamplingError,
// Agent settings
AgentHeight = agentSettings.Height,
AgentRadius = agentSettings.Radius,
AgentMaxClimb = agentSettings.MaxClimb,
AgentMaxSlope = agentSettings.MaxSlope
};
Navigation.NavMesh.SetSettings(builder, new IntPtr(&internalBuildSettings));
IntPtr buildResultPtr = Navigation.NavMesh.Build2(builder, buildInput.Vertices, buildInput.VerticesLength, buildInput.Indices, buildInput.IndicesLength, buildInput.Areas);
DtGeneratedData *generatedDataPtr = (DtGeneratedData *)buildResultPtr;
if (generatedDataPtr->Success && generatedDataPtr->NavmeshDataLength > 0)
{
meshTile = new NavMeshTile();
// Copy the generated navigationMesh data
meshTile.Data = new byte[generatedDataPtr->NavmeshDataLength + sizeof(long)];
Marshal.Copy(generatedDataPtr->NavmeshData, meshTile.Data, 0, generatedDataPtr->NavmeshDataLength);
// Append time stamp
byte[] timeStamp = BitConverter.GetBytes(buildTimeStamp);
for (int i = 0; i < timeStamp.Length; i++)
{
meshTile.Data[meshTile.Data.Length - sizeof(long) + i] = timeStamp[i];
}
}
int error = generatedDataPtr->Error;
Navigation.NavMesh.DestroyBuilder(builder);
return(error);
}
/// <summary>
/// Snaps a <see cref="DtBoundingBox"/>'s height according to the given <see cref="NavMeshBuildSettings"/>
/// </summary>
/// <param name="settings">The build settings</param>
/// <param name="boundingBox">Reference to the bounding box to snap</param>
public static void SnapBoundingBoxToCellHeight(NavMeshBuildSettings settings, ref DtBoundingBox boundingBox)
{
// Snap Y to tile height to avoid height differences between tiles
boundingBox.min.y = (float)Math.Floor(boundingBox.min.y / settings.CellHeight) * settings.CellHeight;
boundingBox.max.y = (float)Math.Ceiling(boundingBox.max.y / settings.CellHeight) * settings.CellHeight;
}
public NavMeshTileBounds(int2 coord, DtBoundingBox bounds)
{
Coord = coord;
Bounds = bounds;
}
public static bool Approximately(this DtBoundingBox self, DtBoundingBox other)
{
return(Approximately(self.min, other.min) && Approximately(self.max, other.max));
}
