public static void BoxBlur(CompactVoxelField field, NativeArray <ushort> src, NativeArray <ushort> dst)
{
ushort thr = 20;
int wd = field.width * field.depth;
for (int z = wd - field.width; z >= 0; z -= field.width)
{
for (int x = field.width - 1; x >= 0; x--)
{
int cellIndex = x + z;
CompactVoxelCell c = field.cells[cellIndex];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = field.spans[i];
ushort cd = src[i];
if (cd < thr)
{
dst[i] = cd;
continue;
}
int total = (int)cd;
for (int d = 0; d < 4; d++)
{
if (s.GetConnection(d) != CompactVoxelField.NotConnected)
{
var neighbourIndex = field.GetNeighbourIndex(cellIndex, d);
int ni = (int)(field.cells[neighbourIndex].index + s.GetConnection(d));
total += (int)src[ni];
CompactVoxelSpan ns = field.spans[ni];
int d2 = (d + 1) & 0x3;
if (ns.GetConnection(d2) != CompactVoxelField.NotConnected)
{
var neighbourIndex2 = field.GetNeighbourIndex(neighbourIndex, d2);
int nni = (int)(field.cells[neighbourIndex2].index + ns.GetConnection(d2));
total += (int)src[nni];
}
else
{
total += cd;
}
}
else
{
total += cd * 2;
}
}
dst[i] = (ushort)((total + 5) / 9F);
}
}
}
}
/// <summary>Filters out or merges small regions.</summary>
public void FilterSmallRegions(CompactVoxelField field, NativeArray <ushort> reg, int minRegionSize, int maxRegions)
{
// RelevantGraphSurface c = RelevantGraphSurface.Root;
// Need to use ReferenceEquals because it might be called from another thread
// bool anySurfaces = !RelevantGraphSurface.ReferenceEquals(c, null) && (relevantGraphSurfaceMode != RecastGraph.RelevantGraphSurfaceMode.DoNotRequire);
bool anySurfaces = false;
// Nothing to do here
if (!anySurfaces && minRegionSize <= 0)
{
return;
}
var counter = new NativeArray <int>(maxRegions, Allocator.Temp);
var bits = new NativeArray <ushort>(maxRegions, Allocator.Temp, NativeArrayOptions.ClearMemory);
for (int i = 0; i < counter.Length; i++)
{
counter[i] = -1;
}
int nReg = counter.Length;
int wd = field.width * field.depth;
// const int RelevantSurfaceSet = 1 << 1;
const int BorderBit = 1 << 0;
// Mark RelevantGraphSurfaces
// If they can also be adjacent to tile borders, this will also include the BorderBit
// int RelevantSurfaceCheck = RelevantSurfaceSet | ((relevantGraphSurfaceMode == RecastGraph.RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile) ? BorderBit : 0x0);
int RelevantSurfaceCheck = 0;
// TODO
// if (anySurfaces) {
// // Need to use ReferenceEquals because it might be called from another thread
// while (!RelevantGraphSurface.ReferenceEquals(c, null)) {
// int x, z;
// this.VectorToIndex(c.Position, out x, out z);
// // Check for out of bounds
// if (x >= 0 && z >= 0 && x < field.width && z < field.depth) {
// int y = (int)((c.Position.y - voxelOffset.y)/cellHeight);
// int rad = (int)(c.maxRange / cellHeight);
// CompactVoxelCell cell = field.cells[x+z*field.width];
// for (int i = (int)cell.index; i < cell.index+cell.count; i++) {
// CompactVoxelSpan s = field.spans[i];
// if (System.Math.Abs(s.y - y) <= rad && reg[i] != 0) {
// bits[union_find_find(counter, (int)reg[i] & ~BorderReg)] |= RelevantSurfaceSet;
// }
// }
// }
// c = c.Next;
// }
// }
const ushort BorderReg = VoxelUtilityBurst.BorderReg;
for (int z = 0, pz = 0; z < wd; z += field.width, pz++)
{
for (int x = 0; x < field.width; x++)
{
CompactVoxelCell cell = field.cells[x + z];
for (int i = (int)cell.index; i < cell.index + cell.count; i++)
{
CompactVoxelSpan s = field.spans[i];
int r = (int)reg[i];
// Check if this is an unwalkable span
if ((r & ~BorderReg) == 0)
{
continue;
}
if (r >= nReg) //Probably border
{
bits[union_find_find(counter, r & ~BorderReg)] |= BorderBit;
continue;
}
int root = union_find_find(counter, r);
// Count this span
counter[root]--;
// Iterate through all neighbours of the span.
for (int dir = 0; dir < 4; dir++)
{
if (s.GetConnection(dir) == CompactVoxelField.NotConnected)
{
continue;
}
int nx = x + VoxelUtilityBurst.DX[dir];
int nz = z + VoxelUtilityBurst.DZ[dir] * field.width;
int ni = (int)field.cells[nx + nz].index + s.GetConnection(dir);
int r2 = (int)reg[ni];
// Check if the other span belongs to a different region and is walkable
if (r != r2 && (r2 & ~BorderReg) != 0)
{
if ((r2 & BorderReg) != 0)
{
// If it's a border region we just mark the current region as being adjacent to a border
bits[root] |= BorderBit;
}
else
{
// Join the adjacent region with this region.
union_find_union(counter, root, r2);
}
//counter[r] = minRegionSize;
}
}
//counter[r]++;
}
}
}
// Propagate bits to the region group representative using the union find structure
for (int i = 0; i < counter.Length; i++)
{
bits[union_find_find(counter, i)] |= bits[i];
}
for (int i = 0; i < counter.Length; i++)
{
int ctr = union_find_find(counter, i);
// Check if the region is adjacent to border.
// Mark it as being just large enough to always be included in the graph.
if ((bits[ctr] & BorderBit) != 0)
{
counter[ctr] = -minRegionSize - 2;
}
// Not in any relevant surface
// or it is adjacent to a border (see RelevantSurfaceCheck)
if (anySurfaces && (bits[ctr] & RelevantSurfaceCheck) == 0)
{
counter[ctr] = -1;
}
}
for (int i = 0; i < reg.Length; i++)
{
int r = (int)reg[i];
// Ignore border regions
if (r >= nReg)
{
continue;
}
// If the region group is too small then make the span unwalkable
if (counter[union_find_find(counter, r)] >= -minRegionSize - 1)
{
reg[i] = 0;
}
}
}
public static void CalculateDistanceField(CompactVoxelField field, NativeArray <ushort> output)
{
int wd = field.width * field.depth;
// Mark boundary cells
for (int z = 0; z < wd; z += field.width)
{
for (int x = 0; x < field.width; x++)
{
CompactVoxelCell c = field.cells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = field.spans[i];
int numConnections = 0;
for (int d = 0; d < 4; d++)
{
if (s.GetConnection(d) != CompactVoxelField.NotConnected)
{
//This function (CalculateDistanceField) is used for both ErodeWalkableArea and by itself.
//The C++ recast source uses different code for those two cases, but I have found it works with one function
//the field.areaTypes[ni] will actually only be one of two cases when used from ErodeWalkableArea
//so it will have the same effect as
// if (area != UnwalkableArea) {
//This line is the one where the differ most
numConnections++;
}
else
{
break;
}
}
// TODO: Check initialization
output[i] = numConnections == 4 ? ushort.MaxValue : (ushort)0;
}
}
}
// Grassfire transform
// Pass 1
for (int z = 0; z < wd; z += field.width)
{
for (int x = 0; x < field.width; x++)
{
int cellIndex = x + z;
CompactVoxelCell c = field.cells[cellIndex];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = field.spans[i];
var dist = (int)output[i];
if (s.GetConnection(0) != CompactVoxelField.NotConnected)
{
// (-1,0)
int neighbourCell = field.GetNeighbourIndex(cellIndex, 0);
int ni = (int)(field.cells[neighbourCell].index + s.GetConnection(0));
dist = math.min(dist, (int)output[ni] + 2);
CompactVoxelSpan ns = field.spans[ni];
if (ns.GetConnection(3) != CompactVoxelField.NotConnected)
{
// (-1,0) + (0,-1) = (-1,-1)
int neighbourCell2 = field.GetNeighbourIndex(neighbourCell, 3);
int nni = (int)(field.cells[neighbourCell2].index + ns.GetConnection(3));
dist = math.min(dist, (int)output[nni] + 3);
}
}
if (s.GetConnection(3) != CompactVoxelField.NotConnected)
{
// (0,-1)
int neighbourCell = field.GetNeighbourIndex(cellIndex, 3);
int ni = (int)(field.cells[neighbourCell].index + s.GetConnection(3));
dist = math.min(dist, (int)output[ni] + 2);
CompactVoxelSpan ns = field.spans[ni];
if (ns.GetConnection(2) != CompactVoxelField.NotConnected)
{
// (0,-1) + (1,0) = (1,-1)
int neighbourCell2 = field.GetNeighbourIndex(neighbourCell, 2);
int nni = (int)(field.cells[neighbourCell2].index + ns.GetConnection(2));
dist = math.min(dist, (int)output[nni] + 3);
}
}
output[i] = (ushort)dist;
}
}
}
// Pass 2
for (int z = wd - field.width; z >= 0; z -= field.width)
{
for (int x = field.width - 1; x >= 0; x--)
{
int cellIndex = x + z;
CompactVoxelCell c = field.cells[cellIndex];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
CompactVoxelSpan s = field.spans[i];
var dist = (int)output[i];
if (s.GetConnection(2) != CompactVoxelField.NotConnected)
{
// (-1,0)
int neighbourCell = field.GetNeighbourIndex(cellIndex, 2);
int ni = (int)(field.cells[neighbourCell].index + s.GetConnection(2));
dist = math.min(dist, (int)output[ni] + 2);
CompactVoxelSpan ns = field.spans[ni];
if (ns.GetConnection(1) != CompactVoxelField.NotConnected)
{
// (-1,0) + (0,-1) = (-1,-1)
int neighbourCell2 = field.GetNeighbourIndex(neighbourCell, 1);
int nni = (int)(field.cells[neighbourCell2].index + ns.GetConnection(1));
dist = math.min(dist, (int)output[nni] + 3);
}
}
if (s.GetConnection(1) != CompactVoxelField.NotConnected)
{
// (0,-1)
int neighbourCell = field.GetNeighbourIndex(cellIndex, 1);
int ni = (int)(field.cells[neighbourCell].index + s.GetConnection(1));
dist = math.min(dist, (int)output[ni] + 2);
CompactVoxelSpan ns = field.spans[ni];
if (ns.GetConnection(0) != CompactVoxelField.NotConnected)
{
// (0,-1) + (1,0) = (1,-1)
int neighbourCell2 = field.GetNeighbourIndex(neighbourCell, 0);
int nni = (int)(field.cells[neighbourCell2].index + ns.GetConnection(0));
dist = math.min(dist, (int)output[nni] + 3);
}
}
output[i] = (ushort)dist;
}
}
}
// #if ASTAR_DEBUGREPLAY && FALSE
// DebugReplay.BeginGroup("Distance Field");
// for (int z = wd-field.width; z >= 0; z -= field.width) {
// for (int x = field.width-1; x >= 0; x--) {
// CompactVoxelCell c = field.cells[x+z];
// for (int i = (int)c.index, ci = (int)(c.index+c.count); i < ci; i++) {
// DebugReplay.DrawCube(CompactSpanToVector(x, z/field.width, i), Vector3.one*cellSize, new Color((float)output[i]/maxDist, (float)output[i]/maxDist, (float)output[i]/maxDist));
// }
// }
// }
// DebugReplay.EndGroup();
// #endif
}
public static bool FloodRegion(int x, int z, int i, uint level, ushort r,
CompactVoxelField field,
NativeArray <ushort> distanceField,
NativeArray <ushort> srcReg,
NativeArray <ushort> srcDist,
NativeArray <Int3> stack,
NativeArray <int> flags,
NativeArray <bool> closed)
{
int area = field.areaTypes[i];
// Flood f mark region.
int stackSize = 1;
stack[0] = new Int3 {
x = x,
y = i,
z = z,
};
srcReg[i] = r;
srcDist[i] = 0;
int lev = (int)(level >= 2 ? level - 2 : 0);
int count = 0;
// Store these in local variables (for performance, avoids an extra indirection)
var compactCells = field.cells;
var compactSpans = field.spans;
var areaTypes = field.areaTypes;
while (stackSize > 0)
{
stackSize--;
var c = stack[stackSize];
//Similar to the Pop operation of an array, but Pop is not implemented in List<>
int ci = c.y;
int cx = c.x;
int cz = c.z;
CompactVoxelSpan cs = compactSpans[ci];
//Debug.DrawRay (ConvertPosition(cx,cz,ci),Vector3.up, Color.cyan);
// Check if any of the neighbours already have a valid region set.
ushort ar = 0;
// Loop through four neighbours
// then check one neighbour of the neighbour
// to get the diagonal neighbour
for (int dir = 0; dir < 4; dir++)
{
// 8 connected
if (cs.GetConnection(dir) != CompactVoxelField.NotConnected)
{
int ax = cx + VoxelUtilityBurst.DX[dir];
int az = cz + VoxelUtilityBurst.DZ[dir] * field.width;
int ai = (int)compactCells[ax + az].index + cs.GetConnection(dir);
if (areaTypes[ai] != area)
{
continue;
}
ushort nr = srcReg[ai];
if ((nr & VoxelUtilityBurst.BorderReg) == VoxelUtilityBurst.BorderReg) // Do not take borders into account.
{
continue;
}
if (nr != 0 && nr != r)
{
ar = nr;
// Found a valid region, skip checking the rest
break;
}
// Rotate dir 90 degrees
int dir2 = (dir + 1) & 0x3;
var neighbour2 = compactSpans[ai].GetConnection(dir2);
// Check the diagonal connection
if (neighbour2 != CompactVoxelField.NotConnected)
{
int ax2 = ax + VoxelUtilityBurst.DX[dir2];
int az2 = az + VoxelUtilityBurst.DZ[dir2] * field.width;
int ai2 = (int)compactCells[ax2 + az2].index + neighbour2;
if (areaTypes[ai2] != area)
{
continue;
}
ushort nr2 = srcReg[ai2];
if ((nr2 & VoxelUtilityBurst.BorderReg) == VoxelUtilityBurst.BorderReg) // Do not take borders into account.
{
continue;
}
if (nr2 != 0 && nr2 != r)
{
ar = nr2;
// Found a valid region, skip checking the rest
break;
}
}
}
}
if (ar != 0)
{
srcReg[ci] = 0;
srcDist[ci] = (ushort)0xFFFF;
continue;
}
count++;
if (closed != null)
{
closed[ci] = true;
}
// Expand neighbours.
for (int dir = 0; dir < 4; ++dir)
{
if (cs.GetConnection(dir) != CompactVoxelField.NotConnected)
{
int ax = cx + VoxelUtilityBurst.DX[dir];
int az = cz + VoxelUtilityBurst.DZ[dir] * field.width;
int ai = (int)compactCells[ax + az].index + cs.GetConnection(dir);
if (areaTypes[ai] != area)
{
continue;
}
if (srcReg[ai] == 0)
{
if (distanceField[ai] >= lev && flags[ai] == 0)
{
srcReg[ai] = r;
srcDist[ai] = 0;
stack[stackSize] = new Int3 {
x = ax,
y = ai,
z = az,
};
stackSize++;
}
else if (flags != null)
{
flags[ai] = r;
srcDist[ai] = 2;
}
}
}
}
}
return(count > 0);
}