/** Builds a polygon mesh from a contour set.
*
* \param cset contour set to build a mesh from.
* \param nvp Maximum allowed vertices per polygon. \warning Currently locked to 3.
* \param mesh Results will be written to this mesh.
*/
public void BuildPolyMesh (VoxelContourSet cset, int nvp, out VoxelMesh mesh) {
AstarProfiler.StartProfile ("Build Poly Mesh");
nvp = 3;
int maxVertices = 0;
int maxTris = 0;
int maxVertsPerCont = 0;
for (int i = 0; i < cset.conts.Count; i++) {
// Skip null contours.
if (cset.conts[i].nverts < 3) continue;
maxVertices += cset.conts[i].nverts;
maxTris += cset.conts[i].nverts - 2;
maxVertsPerCont = AstarMath.Max (maxVertsPerCont, cset.conts[i].nverts);
}
if (maxVertices >= 65534)
{
Debug.LogWarning ("To many vertices for unity to render - Unity might screw up rendering, but hopefully the navmesh will work ok");
//mesh = new VoxelMesh ();
//yield break;
//return;
}
/** \todo Could be cached to avoid allocations */
Int3[] verts = new Int3[maxVertices];
/** \todo Could be cached to avoid allocations */
int[] polys = new int[maxTris*nvp];
Memory.MemSet<int> (polys, 0xff, sizeof(int));
int[] indices = new int[maxVertsPerCont];
int[] tris = new int[maxVertsPerCont*3];
int vertexIndex = 0;
int polyIndex = 0;
for (int i=0;i<cset.conts.Count;i++) {
VoxelContour cont = cset.conts[i];
//Skip null contours
if (cont.nverts < 3) {
continue;
}
for (int j=0; j < cont.nverts;j++) {
indices[j] = j;
cont.verts[j*4+2] /= voxelArea.width;
}
int ntris = Triangulate (cont.nverts, cont.verts, ref indices, ref tris);
int startIndex = vertexIndex;
for (int j=0;j<ntris*3; polyIndex++, j++) {
//@Error sometimes
polys[polyIndex] = tris[j]+startIndex;
}
for (int j=0;j<cont.nverts; vertexIndex++, j++) {
verts[vertexIndex] = new Int3(cont.verts[j*4],cont.verts[j*4+1],cont.verts[j*4+2]);
}
}
mesh = new VoxelMesh ();
//yield break;
Int3[] trimmedVerts = new Int3[vertexIndex];
for (int i=0;i<vertexIndex;i++) {
trimmedVerts[i] = verts[i];
}
int[] trimmedTris = new int[polyIndex];
System.Buffer.BlockCopy (polys, 0, trimmedTris, 0, polyIndex*sizeof(int));
mesh.verts = trimmedVerts;
mesh.tris = trimmedTris;
// Some debugging
/*for (int i=0;i<mesh.tris.Length/3;i++) {
int p = i*3;
int p1 = mesh.tris[p];
int p2 = mesh.tris[p+1];
int p3 = mesh.tris[p+2];
//Debug.DrawLine (ConvertPosCorrZ (mesh.verts[p1].x,mesh.verts[p1].y,mesh.verts[p1].z),ConvertPosCorrZ (mesh.verts[p2].x,mesh.verts[p2].y,mesh.verts[p2].z),Color.yellow);
//Debug.DrawLine (ConvertPosCorrZ (mesh.verts[p1].x,mesh.verts[p1].y,mesh.verts[p1].z),ConvertPosCorrZ (mesh.verts[p3].x,mesh.verts[p3].y,mesh.verts[p3].z),Color.yellow);
//Debug.DrawLine (ConvertPosCorrZ (mesh.verts[p3].x,mesh.verts[p3].y,mesh.verts[p3].z),ConvertPosCorrZ (mesh.verts[p2].x,mesh.verts[p2].y,mesh.verts[p2].z),Color.yellow);
//Debug.DrawLine (ConvertPosCorrZ (verts[p1],0,verts[p1+2]),ConvertPosCorrZ (verts[p2],0,verts[p2+2]),Color.blue);
//Debug.DrawLine (ConvertPosCorrZ (verts[p1],0,verts[p1+2]),ConvertPosCorrZ (verts[p3],0,verts[p3+2]),Color.blue);
//Debug.DrawLine (ConvertPosCorrZ (verts[p2],0,verts[p2+2]),ConvertPosCorrZ (verts[p3],0,verts[p3+2]),Color.blue);
}*/
AstarProfiler.EndProfile ("Build Poly Mesh");
}
/** Create a tile at tile index \a x , \a z from the mesh.
* \warning This implementation is not thread safe. It uses cached variables to improve performance
*/
NavmeshTile CreateTile (Voxelize vox, VoxelMesh mesh, int x, int z) {
if (mesh.tris == null) throw new System.ArgumentNullException ("mesh.tris");
if (mesh.verts == null) throw new System.ArgumentNullException ("mesh.verts");
//Create a new navmesh tile and assign its settings
var tile = new NavmeshTile();
tile.x = x;
tile.z = z;
tile.w = 1;
tile.d = 1;
tile.tris = mesh.tris;
tile.verts = mesh.verts;
tile.bbTree = new BBTree();
if (tile.tris.Length % 3 != 0) throw new System.ArgumentException ("Indices array's length must be a multiple of 3 (mesh.tris)");
if (tile.verts.Length >= VertexIndexMask) throw new System.ArgumentException ("Too many vertices per tile (more than "+VertexIndexMask+")." +
"\nTry enabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* Inspector");
//Dictionary<Int3, int> firstVerts = new Dictionary<Int3, int> ();
Dictionary<Int3, int> firstVerts = cachedInt3_int_dict;
firstVerts.Clear();
var compressedPointers = new int[tile.verts.Length];
int count = 0;
for (int i=0;i<tile.verts.Length;i++) {
if (!firstVerts.ContainsKey(tile.verts[i])) {
firstVerts.Add (tile.verts[i], count);
compressedPointers[i] = count;
tile.verts[count] = tile.verts[i];
count++;
} else {
// There are some cases, rare but still there, that vertices are identical
compressedPointers[i] = firstVerts[tile.verts[i]];
}
}
for (int i=0;i<tile.tris.Length;i++) {
tile.tris[i] = compressedPointers[tile.tris[i]];
}
var compressed = new Int3[count];
for (int i=0;i<count;i++) compressed[i] = tile.verts[i];
tile.verts = compressed;
var nodes = new TriangleMeshNode[tile.tris.Length/3];
tile.nodes = nodes;
//Here we are faking a new graph
//The tile is not added to any graphs yet, but to get the position querys from the nodes
//to work correctly (not throw exceptions because the tile is not calculated) we fake a new graph
//and direct the position queries directly to the tile
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder (graphIndex, tile);
//This index will be ORed to the triangle indices
int tileIndex = x + z*tileXCount;
tileIndex <<= TileIndexOffset;
//Create nodes and assign triangle indices
for (int i=0;i<nodes.Length;i++) {
var node = new TriangleMeshNode(active);
nodes[i] = node;
node.GraphIndex = (uint)graphIndex;
node.v0 = tile.tris[i*3+0] | tileIndex;
node.v1 = tile.tris[i*3+1] | tileIndex;
node.v2 = tile.tris[i*3+2] | tileIndex;
//Degenerate triangles might occur, but they will not cause any large troubles anymore
//if (Polygon.IsColinear (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
// Debug.Log ("COLINEAR!!!!!!");
//}
//Make sure the triangle is clockwise
if (!Polygon.IsClockwise (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
node.Walkable = true;
node.Penalty = initialPenalty;
node.UpdatePositionFromVertices();
}
tile.bbTree.RebuildFrom(nodes);
CreateNodeConnections (tile.nodes);
//Remove the fake graph
TriangleMeshNode.SetNavmeshHolder (graphIndex, null);
return tile;
}
