/// <summary>
/// Generates a <see cref="NavMesh"/> given a collection of triangles and some settings.
/// </summary>
/// <param name="triangles">The triangles that form the level.</param>
/// <param name="settings">The settings to generate with.</param>
/// <returns>A <see cref="NavMesh"/>.</returns>
public static NavMesh Generate(IEnumerable <Triangle3> triangles, NavMeshGenerationSettings settings)
{
BBox3 bounds = triangles.GetBoundingBox(settings.CellSize);
var hf = new Heightfield(bounds, settings);
hf.RasterizeTriangles(triangles);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentRadius);
chf.BuildDistanceField();
chf.BuildRegions(2, settings.MinRegionSize, settings.MergedRegionSize);
var cont = chf.BuildContourSet(settings);
var polyMesh = new PolyMesh(cont, settings);
var polyMeshDetail = new PolyMeshDetail(polyMesh, chf, settings);
var buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new Pathfinding.OffMeshConnection[0], settings);
var navMesh = new NavMesh(buildData);
return(navMesh);
}
/// <summary>
/// Generates a <see cref="NavMesh"/> given a collection of triangles and some settings.
/// </summary>
/// <param name="triangles">The triangles that form the level.</param>
/// <param name="settings">The settings to generate with.</param>
/// <returns>A <see cref="NavMesh"/>.</returns>
public static NavMesh Generate(IEnumerable<Triangle3> triangles, NavMeshGenerationSettings settings)
{
BBox3 bounds = triangles.GetBoundingBox(settings.CellSize);
var hf = new Heightfield(bounds, settings);
hf.RasterizeTriangles(triangles);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentRadius);
chf.BuildDistanceField();
chf.BuildRegions(2, settings.MinRegionSize, settings.MergedRegionSize);
var cont = chf.BuildContourSet(settings);
var polyMesh = new PolyMesh(cont, settings);
var polyMeshDetail = new PolyMeshDetail(polyMesh, chf, settings);
var buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new Pathfinding.OffMeshConnection[0], settings);
var navMesh = new NavMesh(buildData);
return navMesh;
}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
Stopwatch sw = new Stopwatch();
sw.Start();
long prevMs = 0;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
Console.WriteLine("Heightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
/*Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
.MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
.MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
.MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
.ToArray();
heightfield.RasterizeTrianglesWithAreas(levelTris, areas);*/
heightfield.RasterizeTriangles(levelTris, Area.Default);
Console.WriteLine(" + Rasterization\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
Console.WriteLine(" + Filtering");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
Console.WriteLine(" + Ledge Spans\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
Console.WriteLine(" + Low Hanging Obstacles\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
Console.WriteLine(" + Low Height Spans\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield = new CompactHeightfield(heightfield, settings);
Console.WriteLine("CompactHeightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.Erode(settings.VoxelAgentRadius);
Console.WriteLine(" + Erosion\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildDistanceField();
Console.WriteLine(" + Distance Field\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
Console.WriteLine(" + Regions\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
Random r = new Random();
regionColors = new Color4[compactHeightfield.MaxRegions];
regionColors[0] = Color4.Black;
for (int i = 1; i < regionColors.Length; i++)
regionColors[i] = new Color4((byte)r.Next(0, 255), (byte)r.Next(0, 255), (byte)r.Next(0, 255), 255);
Console.WriteLine(" + Colors\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
contourSet = compactHeightfield.BuildContourSet(settings);
Console.WriteLine("ContourSet");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMesh = new PolyMesh(contourSet, settings);
Console.WriteLine("PolyMesh");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
Console.WriteLine("PolyMeshDetail");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
hasGenerated = true;
}
catch (Exception e)
{
if (!interceptExceptions)
throw;
else
Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
}
finally
{
sw.Stop();
}
if (hasGenerated)
{
try
{
GeneratePathfinding();
//Pathfinding with multiple units
GenerateCrowd();
}
catch (Exception e)
{
Console.WriteLine("Pathfinding generation failed with exception" + Environment.NewLine + e.ToString());
hasGenerated = false;
}
Label l = (Label)statusBar.FindChildByName("GenTime");
l.Text = "Generation Time: " + sw.ElapsedMilliseconds + "ms";
Console.WriteLine("Navmesh generated successfully in " + sw.ElapsedMilliseconds + "ms.");
Console.WriteLine("Rasterized " + level.GetTriangles().Length + " triangles.");
Console.WriteLine("Generated " + contourSet.Count + " regions.");
Console.WriteLine("PolyMesh contains " + polyMesh.VertCount + " vertices in " + polyMesh.PolyCount + " polys.");
Console.WriteLine("PolyMeshDetail contains " + polyMeshDetail.VertCount + " vertices and " + polyMeshDetail.TrisCount + " tris in " + polyMeshDetail.MeshCount + " meshes.");
}
}
public void Filter_LowHangingWalkable_Success()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(10, 15, Area.Default);
var span2 = new Span(16, 20, Area.Null);
hf[0].AddSpan(span);
hf[0].AddSpan(span2);
hf.FilterLowHangingWalkableObstacles(20);
Assert.AreEqual(hf[0].Spans[0].Area, hf[0].Spans[1].Area);
}
public void Filter_LowHangingWalkable_Fail()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(1, 2, Area.Default);
var span2 = new Span(10, 20, Area.Null);
hf[2].AddSpan(span);
hf[2].AddSpan(span2);
//walkable step cannot cover the gap (difference between span2 maximum and span 1 maximum) so fail
hf.FilterLowHangingWalkableObstacles(10);
Assert.AreNotEqual(hf[0, 1].Spans[0].Area, hf[0, 1].Spans[1].Area);
}
