public static void ShowTilePolyDetails(DbgRenderMesh renderMesh, Detour.dtNavMesh navMesh, int tileId)
{
renderMesh.Clear();
UnityEngine.Random.seed = c_RandomSeed;
if (navMesh == null)
{
renderMesh.Rebuild();
return;
}
Detour.dtMeshTile tile = navMesh.getTile(tileId);
if (tile == null)
{
Debug.LogError("RcdtcsUnityUtils.ShowTilePolyDetails : Tile " + tileId + " does not exist.");
return;
}
int detailMeshCount = tile.detailMeshes.Length;
for (int i = 0; i < detailMeshCount; ++i)
{
Detour.dtPolyDetail pd = tile.detailMeshes[i];
Detour.dtPoly poly = tile.polys[i];
Color col = Color.green; //new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
for (int j = 0; j < pd.triCount; ++j)
{
int tStart = (int)(pd.triBase + j) * 4;
int[] vStarts = new int[3];
float[][] vSrc = new float[3][];
for (int k = 0; k < 3; ++k)
{
byte tk = tile.detailTris[tStart + k];
byte vCount = poly.vertCount;
if (tk < vCount)
{
vStarts[k] = poly.verts[tk] * 3;
vSrc[k] = tile.verts;
}
else
{
vStarts[k] = (int)(pd.vertBase + (tk - vCount)) * 3;
vSrc[k] = tile.detailVerts;
}
}
Vector3 a = new Vector3(vSrc[0][vStarts[0] + 0], vSrc[0][vStarts[0] + 1], vSrc[0][vStarts[0] + 2]);
Vector3 b = new Vector3(vSrc[1][vStarts[1] + 0], vSrc[1][vStarts[1] + 1], vSrc[1][vStarts[1] + 2]);
Vector3 c = new Vector3(vSrc[2][vStarts[2] + 0], vSrc[2][vStarts[2] + 1], vSrc[2][vStarts[2] + 2]);
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(a, b, c, col));
}
}
renderMesh.Rebuild();
}
public void ShowRecastNavmesh(DbgRenderMesh renderMesh)
{
renderMesh.Clear();
int vbsize = RecastMove.get_vb_size();
vbsize = RecastMove.get_tri_vert_count() * 3;
float[] vb = new float[vbsize];
//RecastMove.get_vb(vb);
RecastMove.get_tri_vert_pos(vb);
Dbgrendermesh.Clear();
for (int i = 0; i < vbsize;)
{
Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
Vector3 b = new Vector3(vb[i + 3], vb[i + 4], vb[i + 5]);
Vector3 c = new Vector3(vb[i + 6], vb[i + 7], vb[i + 8]);
Dbgrendermesh.AddTriangle(new DbgRenderTriangle(a, b, c, _vcolor));
i += 9;
}
renderMesh.Rebuild();
renderMesh.ComputeBounds();
_Bounds = new Bounds(renderMesh.m_BBCenter, renderMesh.m_Max - renderMesh.m_Min);
int obsize = RecastMove.get_ob_count() * 3;
float[] op = new float[obsize];
RecastMove.get_ob_info(op);
for (int i = 0; i != obsize;)
{
if (first)
{
break;
}
first = true;
Vector3 pos = new Vector3(op[i++], op[i++], op[i++]);
// radius 1.0f, height 2.0f
GameObject tempQie = AssetDatabase.LoadAssetAtPath("Assets/Models/obstacle_perfab/CubeOBBOX.prefab", typeof(GameObject)) as GameObject;
GameObject tempQie2 = (GameObject)GameObject.Instantiate(tempQie);
tempQie2.transform.position = pos;
}
}
public void ShowRecastNavmesh(DbgRenderMesh renderMesh)
{
renderMesh.Clear();
int vbsize = RecastMove.get_vb_size();
float[] vb = new float[vbsize];
RecastMove.get_vb(vb);
Dbgrendermesh.Clear();
for (int i = 0; i < vbsize;)
{
Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
Vector3 b = new Vector3(vb[i + 3], vb[i + 4], vb[i + 5]);
Vector3 c = new Vector3(vb[i + 6], vb[i + 7], vb[i + 8]);
Dbgrendermesh.AddTriangle(new DbgRenderTriangle(a, b, c, _vcolor));
i += 9;
}
renderMesh.Rebuild();
}
public static void ShowRecastNavmesh(DbgRenderMesh renderMesh, PolyMeshAsset.PolyMeshData pmesh, Pathfinding.Config config)
{
renderMesh.Clear();
UnityEngine.Random.seed = c_RandomSeed;
int npolys = pmesh.npolys;
int nvp = pmesh.nvp;
int[] tri = new int[3];
Vector3[] verts = new Vector3[3];
for (int i = 0; i < npolys; ++i)
{
int pIndex = i * nvp * 2;
Color col = new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
for (int j = 2; j < nvp; ++j)
{
if (pmesh.polys[pIndex + j] == RC_MESH_NULL_IDX)
{
break;
}
tri[0] = pmesh.polys[pIndex];
tri[1] = pmesh.polys[pIndex + j - 1];
tri[2] = pmesh.polys[pIndex + j];
for (int k = 0; k < 3; ++k)
{
int vIndex = tri[k] * 3;
verts[k].x = config.bmin[0] + pmesh.verts[vIndex + 0] * pmesh.cs;
verts[k].y = config.bmin[1] + (pmesh.verts[vIndex + 1] + 1) * pmesh.ch + 0.1f;
verts[k].z = config.bmin[2] + pmesh.verts[vIndex + 2] * pmesh.cs;
}
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(verts[0], verts[1], verts[2], col));
}
}
renderMesh.Rebuild();
}
public void LoadMap(string path)
{
m_ret = RecastHelper.load_map_bin(path);
if (!m_ret)
{
Debug.LogWarning("load map bin failed");
return;
}
CreateDbgRenderMesh();
///1 tri => 3 verts, 1 verts = 1 pos(vec3) => 3 float
int vertCount = RecastHelper.get_mesh_vert_count();
float[] vertPos = new float[vertCount * 3];
RecastHelper.get_mesh_vert_pos(vertPos);
Color col = new Color();
for (int i = 0; i < vertCount * 3; i += 9)
{
Vector3 a = new Vector3(vertPos[i + 0], vertPos[i + 1], vertPos[i + 2]);
Vector3 b = new Vector3(vertPos[i + 3], vertPos[i + 4], vertPos[i + 5]);
Vector3 c = new Vector3(vertPos[i + 6], vertPos[i + 7], vertPos[i + 8]);
m_dbgRenderMesh.AddTriangle(new DbgRenderTriangle(a, b, c, col));
Vector3 triCenter = (a + b + c) / 3;
float[] pos = new float[3];
pos[0] = triCenter.x;
pos[1] = triCenter.y;
pos[2] = triCenter.z;
if (RecastHelper.is_valid_pos(pos))
{
bornList.Add(triCenter);
}
}
m_dbgRenderMesh.Rebuild();
BuildPathMap();
}
public static void ShowRecastDetailMesh(DbgRenderMesh renderMesh, PolyMeshAsset.PolyMeshDetailData dmesh)
{
renderMesh.Clear();
UnityEngine.Random.seed = c_RandomSeed;
int nmeshes = dmesh.nmeshes;
for (int i = 0; i < nmeshes; ++i)
{
Color col = new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
uint bverts = dmesh.meshes[i * 4];
uint btris = dmesh.meshes[i * 4 + 2];
uint ntris = dmesh.meshes[i * 4 + 3];;
uint trisStart = btris * 4;
for (uint j = 0; j < ntris; ++j)
{
Vector3[] verts = new Vector3[3];
for (int k = 0; k < 3; ++k)
{
int vertStart = (int)(bverts + dmesh.tris[trisStart + j * 4 + k]) * 3;
verts[k].x = dmesh.verts[vertStart + 0];
verts[k].y = dmesh.verts[vertStart + 1];
verts[k].z = dmesh.verts[vertStart + 2];
}
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(
verts[0]
, verts[1]
, verts[2]
, col));
}
}
renderMesh.Rebuild();
}
public static void ShowRecastNavmesh(DbgRenderMesh renderMesh, PolyMeshAsset.PolyMeshData pmesh, Pathfinding.Config config)
{
renderMesh.Clear();
UnityEngine.Random.seed = c_RandomSeed;
int npolys = pmesh.npolys;
int nvp = pmesh.nvp;
int[] tri = new int[3];
Vector3[] verts = new Vector3[3];
for (int i = 0; i < npolys; ++i)
{
int pIndex = i * nvp * 2;
Color col = new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
for (int j = 2; j < nvp; ++j)
{
if (pmesh.polys[pIndex + j] == RC_MESH_NULL_IDX)
break;
tri[0] = pmesh.polys[pIndex];
tri[1] = pmesh.polys[pIndex + j - 1];
tri[2] = pmesh.polys[pIndex + j];
for (int k = 0; k < 3; ++k)
{
int vIndex = tri[k] * 3;
verts[k].x = config.bmin[0] + pmesh.verts[vIndex + 0] * pmesh.cs;
verts[k].y = config.bmin[1] + (pmesh.verts[vIndex + 1] + 1) * pmesh.ch + 0.1f;
verts[k].z = config.bmin[2] + pmesh.verts[vIndex + 2] * pmesh.cs;
}
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(verts[0], verts[1], verts[2], col));
}
}
renderMesh.Rebuild();
}
public static void ShowTilePolyDetails(DbgRenderMesh renderMesh, IntPtr navMesh, int tileId)
{
UnityEngine.Random.seed = c_RandomSeed;
if (navMesh == null)
{
renderMesh.Rebuild();
return;
}
IntPtr tilePtr = Pathfinding.Detour.getTile(navMesh, tileId);
Pathfinding.MeshTile tile = (Pathfinding.MeshTile)Marshal.PtrToStructure(tilePtr, typeof(Pathfinding.MeshTile));
if (tile.header.ToInt32() == 0)
{
return;
}
Pathfinding.MeshHeader header = (Pathfinding.MeshHeader)Marshal.PtrToStructure(tile.header, typeof(Pathfinding.MeshHeader));
byte[] detailTris = new byte[header.detailTriCount * 4];
Marshal.Copy(tile.detailTris, detailTris, 0, header.detailTriCount * 4);
float[] verts = new float[header.vertCount * 3];
Marshal.Copy(tile.verts, verts, 0, header.vertCount * 3);
float[] detailVerts = new float[header.detailVertCount * 3];
Marshal.Copy(tile.detailVerts, detailVerts, 0, header.detailVertCount * 3);
int polyDetailSize = Marshal.SizeOf(typeof(Pathfinding.PolyDetail));
int polySize = Marshal.SizeOf(typeof(Pathfinding.Poly));
int detailMeshCount = header.detailMeshCount;
for (int i = 0; i < detailMeshCount; ++i)
{
Pathfinding.PolyDetail pd = (Pathfinding.PolyDetail)Marshal.PtrToStructure(new IntPtr(tile.detailMeshes.ToInt64() + (polyDetailSize * i)), typeof(Pathfinding.PolyDetail));
Pathfinding.Poly poly = (Pathfinding.Poly)Marshal.PtrToStructure(new IntPtr(tile.polys.ToInt64() + (polySize * i)), typeof(Pathfinding.Poly));
Color col = new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
for (int j = 0; j < pd.triCount; ++j)
{
int tStart = (int)(pd.triBase + j) * 4;
int[] vStarts = new int[3];
float[][] vSrc = new float[3][];
for (int k = 0; k < 3; ++k)
{
byte tk = detailTris[tStart + k];
byte vCount = poly.vertCount;
if (tk < vCount)
{
vStarts[k] = poly.verts[tk] * 3;
vSrc[k] = verts;
}
else
{
vStarts[k] = (int)(pd.vertBase + (tk - vCount)) * 3;
vSrc[k] = detailVerts;
}
}
Vector3 a = new Vector3(vSrc[0][vStarts[0] + 0], vSrc[0][vStarts[0] + 1], vSrc[0][vStarts[0] + 2]);
Vector3 b = new Vector3(vSrc[1][vStarts[1] + 0], vSrc[1][vStarts[1] + 1], vSrc[1][vStarts[1] + 2]);
Vector3 c = new Vector3(vSrc[2][vStarts[2] + 0], vSrc[2][vStarts[2] + 1], vSrc[2][vStarts[2] + 2]);
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(a, b, c, col));
}
}
renderMesh.Rebuild();
}
public static void ShowRecastDetailMesh(DbgRenderMesh renderMesh, PolyMeshAsset.PolyMeshDetailData dmesh)
{
renderMesh.Clear();
UnityEngine.Random.seed = c_RandomSeed;
int nmeshes = dmesh.nmeshes;
for (int i = 0; i < nmeshes; ++i)
{
Color col = new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
uint bverts = dmesh.meshes[i * 4];
uint btris = dmesh.meshes[i * 4 + 2];
uint ntris = dmesh.meshes[i * 4 + 3]; ;
uint trisStart = btris * 4;
for (uint j = 0; j < ntris; ++j)
{
Vector3[] verts = new Vector3[3];
for (int k = 0; k < 3; ++k)
{
int vertStart = (int)(bverts + dmesh.tris[trisStart + j * 4 + k]) * 3;
verts[k].x = dmesh.verts[vertStart + 0];
verts[k].y = dmesh.verts[vertStart + 1];
verts[k].z = dmesh.verts[vertStart + 2];
}
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(
verts[0]
, verts[1]
, verts[2]
, col));
}
}
renderMesh.Rebuild();
}
public static void ShowTilePolyDetails(DbgRenderMesh renderMesh, IntPtr navMesh, int tileId)
{
UnityEngine.Random.seed = c_RandomSeed;
if (navMesh == null)
{
renderMesh.Rebuild();
return;
}
IntPtr tilePtr = Pathfinding.Detour.getTile(navMesh, tileId);
Pathfinding.MeshTile tile = (Pathfinding.MeshTile)Marshal.PtrToStructure(tilePtr, typeof(Pathfinding.MeshTile));
if (tile.header.ToInt32() == 0)
{
return;
}
Pathfinding.MeshHeader header = (Pathfinding.MeshHeader)Marshal.PtrToStructure(tile.header, typeof(Pathfinding.MeshHeader));
byte[] detailTris = new byte[header.detailTriCount * 4];
Marshal.Copy(tile.detailTris, detailTris, 0, header.detailTriCount * 4);
float[] verts = new float[header.vertCount * 3];
Marshal.Copy(tile.verts, verts, 0, header.vertCount * 3);
float[] detailVerts = new float[header.detailVertCount * 3];
Marshal.Copy(tile.detailVerts, detailVerts, 0, header.detailVertCount * 3);
int polyDetailSize = Marshal.SizeOf(typeof(Pathfinding.PolyDetail));
int polySize = Marshal.SizeOf(typeof(Pathfinding.Poly));
int detailMeshCount = header.detailMeshCount;
for (int i = 0; i < detailMeshCount; ++i)
{
Pathfinding.PolyDetail pd = (Pathfinding.PolyDetail)Marshal.PtrToStructure(new IntPtr(tile.detailMeshes.ToInt64() + (polyDetailSize * i)), typeof(Pathfinding.PolyDetail));
Pathfinding.Poly poly = (Pathfinding.Poly)Marshal.PtrToStructure(new IntPtr(tile.polys.ToInt64() + (polySize * i)), typeof(Pathfinding.Poly));
Color col = new Color(UnityEngine.Random.value, UnityEngine.Random.value, UnityEngine.Random.value);
for (int j = 0; j < pd.triCount; ++j)
{
int tStart = (int)(pd.triBase + j) * 4;
int[] vStarts = new int[3];
float[][] vSrc = new float[3][];
for (int k = 0; k < 3; ++k)
{
byte tk = detailTris[tStart + k];
byte vCount = poly.vertCount;
if (tk < vCount)
{
vStarts[k] = poly.verts[tk] * 3;
vSrc[k] = verts;
}
else
{
vStarts[k] = (int)(pd.vertBase + (tk - vCount)) * 3;
vSrc[k] = detailVerts;
}
}
Vector3 a = new Vector3(vSrc[0][vStarts[0] + 0], vSrc[0][vStarts[0] + 1], vSrc[0][vStarts[0] + 2]);
Vector3 b = new Vector3(vSrc[1][vStarts[1] + 0], vSrc[1][vStarts[1] + 1], vSrc[1][vStarts[1] + 2]);
Vector3 c = new Vector3(vSrc[2][vStarts[2] + 0], vSrc[2][vStarts[2] + 1], vSrc[2][vStarts[2] + 2]);
col = VaryColor(col);
renderMesh.AddTriangle(new DbgRenderTriangle(a, b, c, col));
}
}
renderMesh.Rebuild();
}
