public virtual RecastBuilderResult build(InputGeom geom, RecastBuilderConfig bcfg)
{
RecastConfig cfg = bcfg.cfg;
Context ctx = new Context();
CompactHeightfield chf = buildCompactHeightfield(geom, bcfg, ctx);
// Partition the heightfield so that we can use simple algorithm later
// to triangulate the walkable areas.
// There are 3 martitioning methods, each with some pros and cons:
// 1) Watershed partitioning
// - the classic Recast partitioning
// - creates the nicest tessellation
// - usually slowest
// - partitions the heightfield into nice regions without holes or
// overlaps
// - the are some corner cases where this method creates produces holes
// and overlaps
// - holes may appear when a small obstacles is close to large open area
// (triangulation can handle this)
// - overlaps may occur if you have narrow spiral corridors (i.e
// stairs), this make triangulation to fail
// * generally the best choice if you precompute the nacmesh, use this
// if you have large open areas
// 2) Monotone partioning
// - fastest
// - partitions the heightfield into regions without holes and overlaps
// (guaranteed)
// - creates long thin polygons, which sometimes causes paths with
// detours
// * use this if you want fast navmesh generation
// 3) Layer partitoining
// - quite fast
// - partitions the heighfield into non-overlapping regions
// - relies on the triangulation code to cope with holes (thus slower
// than monotone partitioning)
// - produces better triangles than monotone partitioning
// - does not have the corner cases of watershed partitioning
// - can be slow and create a bit ugly tessellation (still better than
// monotone)
// if you have large open areas with small obstacles (not a problem if
// you use tiles)
// * good choice to use for tiled navmesh with medium and small sized
// tiles
if (cfg.partitionType == PartitionType.WATERSHED)
{
// Prepare for region partitioning, by calculating distance field
// along the walkable surface.
RecastRegion.buildDistanceField(ctx, chf);
// Partition the walkable surface into simple regions without holes.
RecastRegion.buildRegions(ctx, chf, bcfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea);
}
else if (cfg.partitionType == PartitionType.MONOTONE)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
RecastRegion.buildRegionsMonotone(ctx, chf, bcfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea);
}
else
{
// Partition the walkable surface into simple regions without holes.
RecastRegion.buildLayerRegions(ctx, chf, bcfg.borderSize, cfg.minRegionArea);
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
ContourSet cset = RecastContour.buildContours(ctx, chf, cfg.maxSimplificationError, cfg.maxEdgeLen, RecastConstants.RC_CONTOUR_TESS_WALL_EDGES);
//
// Step 6. Build polygons mesh from contours.
//
PolyMesh pmesh = RecastMesh.buildPolyMesh(ctx, cset, cfg.maxVertsPerPoly);
//
// Step 7. Create detail mesh which allows to access approximate height
// on each polygon.
//
PolyMeshDetail dmesh = RecastMeshDetail.buildPolyMeshDetail(ctx, pmesh, chf, cfg.detailSampleDist, cfg.detailSampleMaxError);
return(new RecastBuilderResult(this, pmesh, dmesh));
}
public RecastBuilderResult(RecastBuilder outerInstance, PolyMesh pmesh, PolyMeshDetail dmesh)
{
this.outerInstance = outerInstance;
this.pmesh = pmesh;
this.dmesh = dmesh;
}