public Detour.dtNavMeshQuery GetNavMeshQuery(uint mapId, uint instanceId, List <uint> swaps)
{
MMapData mmap = GetMMapData(mapId);
if (mmap == null)
{
return(null);
}
if (!mmap.navMeshQueries.ContainsKey(instanceId))
{
// allocate mesh query
Detour.dtNavMeshQuery query = new Detour.dtNavMeshQuery();
if (Detour.dtStatusFailed(query.init(mmap.GetNavMesh(swaps), 1024)))
{
Log.outError(LogFilter.Maps, "MMAP:GetNavMeshQuery: Failed to initialize dtNavMeshQuery for mapId {0} instanceId {1}", mapId, instanceId);
return(null);
}
Log.outInfo(LogFilter.Maps, "MMAP:GetNavMeshQuery: created dtNavMeshQuery for mapId {0} instanceId {1}", mapId, instanceId);
mmap.navMeshQueries.Add(instanceId, query);
}
return(mmap.navMeshQueries[instanceId]);
}
bool loadMapInstanceImpl(string basePath, uint mapId, uint instanceId)
{
if (!loadMapData(basePath, mapId))
{
return(false);
}
MMapData mmap = loadedMMaps[mapId];
if (mmap.navMeshQueries.ContainsKey(instanceId))
{
return(true);
}
// allocate mesh query
Detour.dtNavMeshQuery query = new Detour.dtNavMeshQuery();
if (Detour.dtStatusFailed(query.init(mmap.navMesh, 1024)))
{
Log.outError(LogFilter.Maps, "MMAP.GetNavMeshQuery: Failed to initialize dtNavMeshQuery for mapId {0:D4} instanceId {1}", mapId, instanceId);
return(false);
}
Log.outDebug(LogFilter.Maps, "MMAP.GetNavMeshQuery: created dtNavMeshQuery for mapId {0:D4} instanceId {1}", mapId, instanceId);
mmap.navMeshQueries.Add(instanceId, query);
return(true);
}
public bool ComputeSystem(byte[] tileRawData, int start)
{
m_ctx.enableLog(true);
m_ctx.resetTimers();
// Start the build process.
m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
m_rawTileData = new Detour.dtRawTileData();
m_rawTileData.FromBytes(tileRawData, start);
m_navMesh = new Detour.dtNavMesh();
if (m_navMesh == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh");
return(false);
}
dtStatus status;
status = m_navMesh.init(m_rawTileData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA);
if (Detour.dtStatusFailed(status))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh");
return(false);
}
m_navQuery = new Detour.dtNavMeshQuery();
status = m_navQuery.init(m_navMesh, 2048);
if (Detour.dtStatusFailed(status))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query");
return(false);
}
m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
//m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons");
m_totalBuildTimeMs = (float)m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL);
return(true);
}
//Compute Recast and Detour navmesh
public bool ComputeSystem()
{
ClearComputedData();
Recast.rcCalcBounds(m_verts, m_vertCount, m_bmin, m_bmax);
//
// Step 1. Initialize build config.
//
// Init build configuration from GUI
m_cfg = new Recast.rcConfig();
m_cfg.cs = m_RecastMeshParams.m_cellSize;
m_cfg.ch = m_RecastMeshParams.m_cellHeight;
m_cfg.walkableSlopeAngle = m_RecastMeshParams.m_agentMaxSlope;
m_cfg.walkableHeight = (int)Math.Ceiling(m_RecastMeshParams.m_agentHeight / m_cfg.ch);
m_cfg.walkableClimb = (int)Math.Floor(m_RecastMeshParams.m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableRadius = (int)Math.Ceiling(m_RecastMeshParams.m_agentRadius / m_cfg.cs);
m_cfg.maxEdgeLen = (int)(m_RecastMeshParams.m_edgeMaxLen / m_RecastMeshParams.m_cellSize);
m_cfg.maxSimplificationError = m_RecastMeshParams.m_edgeMaxError;
m_cfg.minRegionArea = (int)(m_RecastMeshParams.m_regionMinSize * m_RecastMeshParams.m_regionMinSize); // Note: area = size*size
m_cfg.mergeRegionArea = (int)(m_RecastMeshParams.m_regionMergeSize * m_RecastMeshParams.m_regionMergeSize); // Note: area = size*size
m_cfg.maxVertsPerPoly = (int)m_RecastMeshParams.m_vertsPerPoly;
m_cfg.detailSampleDist = m_RecastMeshParams.m_detailSampleDist < 0.9f ? 0 : m_RecastMeshParams.m_cellSize * m_RecastMeshParams.m_detailSampleDist;
m_cfg.detailSampleMaxError = m_RecastMeshParams.m_cellHeight * m_RecastMeshParams.m_detailSampleMaxError;
// Set the area where the navigation will be build.
// Here the bounds of the input mesh are used, but the
// area could be specified by an user defined box, etc.
Recast.rcVcopy(m_cfg.bmin, m_bmin);
Recast.rcVcopy(m_cfg.bmax, m_bmax);
Recast.rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, out m_cfg.width, out m_cfg.height);
// Reset build times gathering.
m_ctx.resetTimers();
// Start the build process.
m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, "Building navigation:");
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_cfg.width + " x " + m_cfg.height + " cells");
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_vertCount / 1000.0f + "K verts, " + m_triCount / 1000.0f + "K tris");
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = new Recast.rcHeightfield();
if (m_solid == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return(false);
}
if (!Recast.rcCreateHeightfield(m_ctx, m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
return(false);
}
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
m_triareas = new byte[m_triCount];
if (m_triareas == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (" + m_triCount + ").");
return(false);
}
// Find triangles which are walkable based on their slope and rasterize them.
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
//memset(m_triareas, 0, ntris*sizeof(byte));
Recast.rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, m_verts, m_vertCount, m_tris, m_triCount, m_triareas);
Recast.rcRasterizeTriangles(m_ctx, m_verts, m_vertCount, m_tris, m_triareas, m_triCount, m_solid, m_cfg.walkableClimb);
if (!m_keepInterResults)
{
m_triareas = null;
}
//
// Step 3. Filter walkables surfaces.
//
// Once all geoemtry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Recast.rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, m_solid);
Recast.rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid);
Recast.rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, m_solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
m_chf = new Recast.rcCompactHeightfield();
if (m_chf == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return(false);
}
if (!Recast.rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid, m_chf))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return(false);
}
if (!m_keepInterResults)
{
m_solid = null;
}
// Erode the walkable area by agent radius.
if (!Recast.rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, m_chf))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not erode.");
return(false);
}
/*
* // (Optional) Mark areas.
* ConvexVolume[] vols = m_geom.getConvexVolumes();
* for (int i = 0; i < m_geom.getConvexVolumeCount(); ++i)
* rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (byte)vols[i].area, *m_chf);
*/
if (m_RecastMeshParams.m_monotonePartitioning)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
if (!Recast.rcBuildRegionsMonotone(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return(false);
}
}
else
{
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Recast.rcBuildDistanceField(m_ctx, m_chf))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
return(false);
}
// Partition the walkable surface into simple regions without holes.
if (!Recast.rcBuildRegions(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return(false);
}
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = new Recast.rcContourSet();
if (m_cset == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return(false);
}
if (!Recast.rcBuildContours(m_ctx, m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, m_cset, -1))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create contours.");
return(false);
}
//m_cset.dumpToTxt("Data/CSET_dump.txt");
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_pmesh = new Recast.rcPolyMesh();
if (m_pmesh == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return(false);
}
if (!Recast.rcBuildPolyMesh(m_ctx, m_cset, m_cfg.maxVertsPerPoly, m_pmesh))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return(false);
}
//m_pmesh.dumpToObj("Data/navmesh.obj");
//m_pmesh.dumpToText("Data/navmesh.txt");
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
m_dmesh = new Recast.rcPolyMeshDetail(); //rcAllocPolyMeshDetail();
if (m_dmesh == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
return(false);
}
if (!Recast.rcBuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, m_dmesh))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
return(false);
}
//m_dmesh.dumpToText("Data/polymeshdetail_cs.txt");
//m_dmesh.dumpToObj("Data/polymeshdetail_cs.obj");
if (!m_keepInterResults)
{
m_chf = null;
m_cset = null;
}
// At this point the navigation mesh data is ready, you can access it from m_pmesh.
// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
//
// (Optional) Step 8. Create Detour data from Recast poly mesh.
//
// The GUI may allow more max points per polygon than Detour can handle.
// Only build the detour navmesh if we do not exceed the limit.
if (m_cfg.maxVertsPerPoly <= Detour.DT_VERTS_PER_POLYGON)
{
//unsigned char* navData = 0;
Detour.dtRawTileData navData = null;
//int navDataSize = 0;
// Update poly flags from areas.
for (int i = 0; i < m_pmesh.npolys; ++i)
{
if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA)
{
m_pmesh.areas[i] = (byte)SamplePolyAreas.GROUND;
}
if (m_pmesh.areas[i] == (byte)SamplePolyAreas.GROUND)
{
m_pmesh.flags[i] = (ushort)SamplePolyFlags.WALK;
}
/*
* if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA)
* m_pmesh.areas[i] = SAMPLE_POLYAREA_GROUND;
*
* if (m_pmesh.areas[i] == SAMPLE_POLYAREA_GROUND ||
* m_pmesh.areas[i] == SAMPLE_POLYAREA_GRASS ||
* m_pmesh.areas[i] == SAMPLE_POLYAREA_ROAD)
* {
* m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK;
* }
* else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_WATER)
* {
* m_pmesh.flags[i] = SAMPLE_POLYFLAGS_SWIM;
* }
* else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_DOOR)
* {
* m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
* }*/
}
Detour.dtNavMeshCreateParams navMeshCreateParams = new Detour.dtNavMeshCreateParams();
navMeshCreateParams.verts = m_pmesh.verts;
navMeshCreateParams.vertCount = m_pmesh.nverts;
navMeshCreateParams.polys = m_pmesh.polys;
navMeshCreateParams.polyAreas = m_pmesh.areas;
navMeshCreateParams.polyFlags = m_pmesh.flags;
navMeshCreateParams.polyCount = m_pmesh.npolys;
navMeshCreateParams.nvp = m_pmesh.nvp;
navMeshCreateParams.detailMeshes = m_dmesh.meshes;
navMeshCreateParams.detailVerts = m_dmesh.verts;
navMeshCreateParams.detailVertsCount = m_dmesh.nverts;
navMeshCreateParams.detailTris = m_dmesh.tris;
navMeshCreateParams.detailTriCount = m_dmesh.ntris;
navMeshCreateParams.offMeshConVerts = null; //m_geom.getOffMeshConnectionVerts();
navMeshCreateParams.offMeshConRad = null; //m_geom.getOffMeshConnectionRads();
navMeshCreateParams.offMeshConDir = null; //m_geom.getOffMeshConnectionDirs();
navMeshCreateParams.offMeshConAreas = null; //m_geom.getOffMeshConnectionAreas();
navMeshCreateParams.offMeshConFlags = null; //m_geom.getOffMeshConnectionFlags();
navMeshCreateParams.offMeshConUserID = null; //m_geom.getOffMeshConnectionId();
navMeshCreateParams.offMeshConCount = 0; //m_geom.getOffMeshConnectionCount();
navMeshCreateParams.walkableHeight = m_RecastMeshParams.m_agentHeight;
navMeshCreateParams.walkableRadius = m_RecastMeshParams.m_agentRadius;
navMeshCreateParams.walkableClimb = m_RecastMeshParams.m_agentMaxClimb;
Recast.rcVcopy(navMeshCreateParams.bmin, m_pmesh.bmin);
Recast.rcVcopy(navMeshCreateParams.bmax, m_pmesh.bmax);
navMeshCreateParams.cs = m_cfg.cs;
navMeshCreateParams.ch = m_cfg.ch;
navMeshCreateParams.buildBvTree = true;
if (!Detour.dtCreateNavMeshData(navMeshCreateParams, out navData))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not build Detour navmesh.");
return(false);
}
m_navMesh = new Detour.dtNavMesh();
if (m_navMesh == null)
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh");
return(false);
}
dtStatus status;
status = m_navMesh.init(navData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA);
if (Detour.dtStatusFailed(status))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh");
return(false);
}
m_navQuery = new Detour.dtNavMeshQuery();
status = m_navQuery.init(m_navMesh, 2048);
if (Detour.dtStatusFailed(status))
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query");
return(false);
}
m_rawTileData = navData;
}
else
{
m_ctx.log(Recast.rcLogCategory.RC_LOG_WARNING, "Detour does not support more than " + Detour.DT_VERTS_PER_POLYGON + " verts per polygon. A navmesh has not been generated.");
}
m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
// Show performance stats.
m_ctx.logBuildTimes();
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons");
m_totalBuildTimeMs = (float)m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL);
return(true);
}
public Queue <Position> FindPathBetween(Position start, Position end, bool useStraightPath = false)
{
var path = new Queue <Position>();
if (dtNavMesh == null)
{
return(path);
}
var startDetourPosition = start.ToDetourPosition();
var endDetourPosition = end.ToDetourPosition();
var queryFilter = new Detour.dtQueryFilter();
var navMeshQuery = new Detour.dtNavMeshQuery();
var status = navMeshQuery.init(dtNavMesh, MAX_PATH);
if (Detour.dtStatusFailed(status))
{
return(path);
}
queryFilter.setIncludeFlags(0xffff);
queryFilter.setExcludeFlags(0x0);
uint startRef = 0;
uint endRef = 0;
float[] startNearest = new float[3];
float[] endNearest = new float[3];
float[] extents = new float[] { 10.0F, 25.0F, 10.0F };
status = navMeshQuery.findNearestPoly(startDetourPosition, extents, queryFilter, ref startRef, ref startNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
status = navMeshQuery.findNearestPoly(endDetourPosition, extents, queryFilter, ref endRef, ref endNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
if (!dtNavMesh.isValidPolyRef(startRef) || !dtNavMesh.isValidPolyRef(endRef))
{
return(path);
}
uint[] pathPolys = new uint[MAX_PATH];
int pathCount = 0;
float[] straightPath = new float[MAX_PATH * 3];
byte[] straightPathFlags = new byte[MAX_PATH];
uint[] straightPathPolys = new uint[MAX_PATH];
int straightPathCount = 0;
status = navMeshQuery.findPath(
startRef,
endRef,
startNearest,
endNearest,
queryFilter,
pathPolys,
ref pathCount,
MAX_PATH
);
if (Detour.dtStatusFailed(status))
{
path.Enqueue(start);
path.Enqueue(end);
return(path);
}
status = navMeshQuery.findStraightPath(
startNearest,
endNearest,
pathPolys,
pathCount,
straightPath,
straightPathFlags,
straightPathPolys,
ref straightPathCount,
MAX_PATH,
(int)Detour.dtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS
);
if (Detour.dtStatusFailed(status))
{
path.Enqueue(start);
path.Enqueue(end);
return(path);
}
if (straightPathCount > 0)
{
if (Detour.dtStatusFailed(status))
{
return(path);
}
for (int i = 3; i < straightPathCount * 3;)
{
float[] pathPos = new float[3];
pathPos[0] = straightPath[i++];
pathPos[1] = straightPath[i++];
pathPos[2] = straightPath[i++];
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
else
{
for (int i = 1; i < pathCount; i++)
{
float[] pathPos = new float[3];
bool posOverPoly = false;
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPoly(pathPolys[i], startDetourPosition, pathPos, ref posOverPoly)))
{
return(path);
}
if (path.Count < 1)
{
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPolyBoundary(pathPolys[i], startDetourPosition, pathPos)))
{
return(path);
}
}
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
if (path.Count < 1)
{
path.Enqueue(end);
}
return(path);
}
//Compute Recast and Detour navmesh
public bool ComputeSystem()
{
ClearComputedData();
Recast.rcCalcBounds(m_verts, m_vertCount, m_bmin, m_bmax);
//
// Step 1. Initialize build config.
//
// Init build configuration from GUI
m_cfg = new Recast.rcConfig();
m_cfg.cs = m_RecastMeshParams.m_cellSize;
m_cfg.ch = m_RecastMeshParams.m_cellHeight;
m_cfg.walkableSlopeAngle = m_RecastMeshParams.m_agentMaxSlope;
m_cfg.walkableHeight = (int)Math.Ceiling(m_RecastMeshParams.m_agentHeight / m_cfg.ch);
m_cfg.walkableClimb = (int)Math.Floor(m_RecastMeshParams.m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableRadius = (int)Math.Ceiling(m_RecastMeshParams.m_agentRadius / m_cfg.cs);
m_cfg.maxEdgeLen = (int)(m_RecastMeshParams.m_edgeMaxLen / m_RecastMeshParams.m_cellSize);
m_cfg.maxSimplificationError = m_RecastMeshParams.m_edgeMaxError;
m_cfg.minRegionArea = (int)(m_RecastMeshParams.m_regionMinSize * m_RecastMeshParams.m_regionMinSize); // Note: area = size*size
m_cfg.mergeRegionArea = (int)(m_RecastMeshParams.m_regionMergeSize * m_RecastMeshParams.m_regionMergeSize); // Note: area = size*size
m_cfg.maxVertsPerPoly = (int)m_RecastMeshParams.m_vertsPerPoly;
m_cfg.detailSampleDist = m_RecastMeshParams.m_detailSampleDist < 0.9f ? 0 : m_RecastMeshParams.m_cellSize * m_RecastMeshParams.m_detailSampleDist;
m_cfg.detailSampleMaxError = m_RecastMeshParams.m_cellHeight * m_RecastMeshParams.m_detailSampleMaxError;
// Set the area where the navigation will be build.
// Here the bounds of the input mesh are used, but the
// area could be specified by an user defined box, etc.
Recast.rcVcopy(m_cfg.bmin, m_bmin);
Recast.rcVcopy(m_cfg.bmax, m_bmax);
Recast.rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, out m_cfg.width, out m_cfg.height);
// Reset build times gathering.
m_ctx.resetTimers();
// Start the build process.
m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, "Building navigation:");
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_cfg.width + " x " + m_cfg.height + " cells");
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, " - " + m_vertCount / 1000.0f + "K verts, " + m_triCount / 1000.0f + "K tris");
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = new Recast.rcHeightfield();
if (m_solid == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return false;
}
if (!Recast.rcCreateHeightfield(m_ctx, m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
return false;
}
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
m_triareas = new byte[m_triCount];
if (m_triareas == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (" + m_triCount + ").");
return false;
}
// Find triangles which are walkable based on their slope and rasterize them.
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
//memset(m_triareas, 0, ntris*sizeof(byte));
Recast.rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, m_verts, m_vertCount, m_tris, m_triCount, m_triareas);
Recast.rcRasterizeTriangles(m_ctx, m_verts, m_vertCount, m_tris, m_triareas, m_triCount, m_solid, m_cfg.walkableClimb);
if (!m_keepInterResults) {
m_triareas = null;
}
//
// Step 3. Filter walkables surfaces.
//
// Once all geoemtry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Recast.rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, m_solid);
Recast.rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid);
Recast.rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, m_solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
m_chf = new Recast.rcCompactHeightfield();
if (m_chf == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return false;
}
if (!Recast.rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, m_solid, m_chf)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return false;
}
if (!m_keepInterResults) {
m_solid = null;
}
// Erode the walkable area by agent radius.
if (!Recast.rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, m_chf)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not erode.");
return false;
}
/*
// (Optional) Mark areas.
ConvexVolume[] vols = m_geom.getConvexVolumes();
for (int i = 0; i < m_geom.getConvexVolumeCount(); ++i)
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (byte)vols[i].area, *m_chf);
*/
if (m_RecastMeshParams.m_monotonePartitioning) {
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
if (!Recast.rcBuildRegionsMonotone(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return false;
}
} else {
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Recast.rcBuildDistanceField(m_ctx, m_chf)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
return false;
}
// Partition the walkable surface into simple regions without holes.
if (!Recast.rcBuildRegions(m_ctx, m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return false;
}
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = new Recast.rcContourSet();
if (m_cset == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return false;
}
if (!Recast.rcBuildContours(m_ctx, m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, m_cset, -1)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not create contours.");
return false;
}
//m_cset.dumpToTxt("Data/CSET_dump.txt");
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_pmesh = new Recast.rcPolyMesh();
if (m_pmesh == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return false;
}
if (!Recast.rcBuildPolyMesh(m_ctx, m_cset, m_cfg.maxVertsPerPoly, m_pmesh)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return false;
}
//m_pmesh.dumpToObj("Data/navmesh.obj");
//m_pmesh.dumpToText("Data/navmesh.txt");
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
m_dmesh = new Recast.rcPolyMeshDetail();//rcAllocPolyMeshDetail();
if (m_dmesh == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
return false;
}
if (!Recast.rcBuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, m_dmesh)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
return false;
}
//m_dmesh.dumpToText("Data/polymeshdetail_cs.txt");
//m_dmesh.dumpToObj("Data/polymeshdetail_cs.obj");
if (!m_keepInterResults) {
m_chf = null;
m_cset = null;
}
// At this point the navigation mesh data is ready, you can access it from m_pmesh.
// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
//
// (Optional) Step 8. Create Detour data from Recast poly mesh.
//
// The GUI may allow more max points per polygon than Detour can handle.
// Only build the detour navmesh if we do not exceed the limit.
if (m_cfg.maxVertsPerPoly <= Detour.DT_VERTS_PER_POLYGON) {
//unsigned char* navData = 0;
Detour.dtRawTileData navData = null;
//int navDataSize = 0;
// Update poly flags from areas.
for (int i = 0; i < m_pmesh.npolys; ++i) {
if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA)
m_pmesh.areas[i] = (byte)SamplePolyAreas.GROUND;
if (m_pmesh.areas[i] == (byte)SamplePolyAreas.GROUND) {
m_pmesh.flags[i] = (ushort)SamplePolyFlags.WALK;
}
/*
if (m_pmesh.areas[i] == Recast.RC_WALKABLE_AREA)
m_pmesh.areas[i] = SAMPLE_POLYAREA_GROUND;
if (m_pmesh.areas[i] == SAMPLE_POLYAREA_GROUND ||
m_pmesh.areas[i] == SAMPLE_POLYAREA_GRASS ||
m_pmesh.areas[i] == SAMPLE_POLYAREA_ROAD)
{
m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK;
}
else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_WATER)
{
m_pmesh.flags[i] = SAMPLE_POLYFLAGS_SWIM;
}
else if (m_pmesh.areas[i] == SAMPLE_POLYAREA_DOOR)
{
m_pmesh.flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
}*/
}
Detour.dtNavMeshCreateParams navMeshCreateParams = new Detour.dtNavMeshCreateParams();
navMeshCreateParams.verts = m_pmesh.verts;
navMeshCreateParams.vertCount = m_pmesh.nverts;
navMeshCreateParams.polys = m_pmesh.polys;
navMeshCreateParams.polyAreas = m_pmesh.areas;
navMeshCreateParams.polyFlags = m_pmesh.flags;
navMeshCreateParams.polyCount = m_pmesh.npolys;
navMeshCreateParams.nvp = m_pmesh.nvp;
navMeshCreateParams.detailMeshes = m_dmesh.meshes;
navMeshCreateParams.detailVerts = m_dmesh.verts;
navMeshCreateParams.detailVertsCount = m_dmesh.nverts;
navMeshCreateParams.detailTris = m_dmesh.tris;
navMeshCreateParams.detailTriCount = m_dmesh.ntris;
navMeshCreateParams.offMeshConVerts = null;//m_geom.getOffMeshConnectionVerts();
navMeshCreateParams.offMeshConRad = null;//m_geom.getOffMeshConnectionRads();
navMeshCreateParams.offMeshConDir = null;//m_geom.getOffMeshConnectionDirs();
navMeshCreateParams.offMeshConAreas = null;//m_geom.getOffMeshConnectionAreas();
navMeshCreateParams.offMeshConFlags = null;//m_geom.getOffMeshConnectionFlags();
navMeshCreateParams.offMeshConUserID = null;//m_geom.getOffMeshConnectionId();
navMeshCreateParams.offMeshConCount = 0;//m_geom.getOffMeshConnectionCount();
navMeshCreateParams.walkableHeight = m_RecastMeshParams.m_agentHeight;
navMeshCreateParams.walkableRadius = m_RecastMeshParams.m_agentRadius;
navMeshCreateParams.walkableClimb = m_RecastMeshParams.m_agentMaxClimb;
Recast.rcVcopy(navMeshCreateParams.bmin, m_pmesh.bmin);
Recast.rcVcopy(navMeshCreateParams.bmax, m_pmesh.bmax);
navMeshCreateParams.cs = m_cfg.cs;
navMeshCreateParams.ch = m_cfg.ch;
navMeshCreateParams.buildBvTree = true;
if (!Detour.dtCreateNavMeshData(navMeshCreateParams, out navData)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not build Detour navmesh.");
return false;
}
m_navMesh = new Detour.dtNavMesh();
if (m_navMesh == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh");
return false;
}
dtStatus status;
status = m_navMesh.init(navData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA);
if (Detour.dtStatusFailed(status)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
m_navQuery = new Detour.dtNavMeshQuery();
status = m_navQuery.init(m_navMesh, 2048);
if (Detour.dtStatusFailed(status)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;
}
m_rawTileData = navData;
} else {
m_ctx.log(Recast.rcLogCategory.RC_LOG_WARNING, "Detour does not support more than " + Detour.DT_VERTS_PER_POLYGON + " verts per polygon. A navmesh has not been generated.");
}
m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
// Show performance stats.
m_ctx.logBuildTimes();
m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons");
m_totalBuildTimeMs = (float) m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL);
return true;
}
public bool ComputeSystem(byte[] tileRawData, int start)
{
m_ctx.enableLog(true);
m_ctx.resetTimers();
// Start the build process.
m_ctx.startTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
m_rawTileData = new Detour.dtRawTileData();
m_rawTileData.FromBytes(tileRawData, start);
m_navMesh = new Detour.dtNavMesh();
if (m_navMesh == null) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not create Detour navmesh");
return false;
}
dtStatus status;
status = m_navMesh.init(m_rawTileData, (int)Detour.dtTileFlags.DT_TILE_FREE_DATA);
if (Detour.dtStatusFailed(status)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
m_navQuery = new Detour.dtNavMeshQuery();
status = m_navQuery.init(m_navMesh, 2048);
if (Detour.dtStatusFailed(status)) {
m_ctx.log(Recast.rcLogCategory.RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;
}
m_ctx.stopTimer(Recast.rcTimerLabel.RC_TIMER_TOTAL);
//m_ctx.log(Recast.rcLogCategory.RC_LOG_PROGRESS, ">> Polymesh: " + m_pmesh.nverts + " vertices " + m_pmesh.npolys + " polygons");
m_totalBuildTimeMs = (float) m_ctx.getAccumulatedTime(Recast.rcTimerLabel.RC_TIMER_TOTAL);
return true;
}
public Queue <Position> FindPathBetween(Position start, Position end, bool useStraightPath = false)
{
var path = new Queue <Position>();
if (dtNavMesh == null)
{
EasyFarm.ViewModels.LogViewModel.Write("FindPathBetween: Unable to path due to lacking navigation mesh for zone " + _zone.ToString());
return(path);
}
var startDetourPosition = start.ToDetourPosition();
var endDetourPosition = end.ToDetourPosition();
var queryFilter = new Detour.dtQueryFilter();
var navMeshQuery = new Detour.dtNavMeshQuery();
var status = navMeshQuery.init(dtNavMesh, 256);
if (Detour.dtStatusFailed(status))
{
return(path);
}
queryFilter.setIncludeFlags(0xffff);
queryFilter.setExcludeFlags(0x0);
uint startRef = 0;
uint endRef = 0;
float[] startNearest = new float[3];
float[] endNearest = new float[3];
float[] extents = new float[] { 10.0F, (float)EasyFarm.UserSettings.Config.Instance.HeightThreshold, 10.0F };
status = navMeshQuery.findNearestPoly(startDetourPosition, extents, queryFilter, ref startRef, ref startNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
status = navMeshQuery.findNearestPoly(endDetourPosition, extents, queryFilter, ref endRef, ref endNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
if (!dtNavMesh.isValidPolyRef(startRef) || !dtNavMesh.isValidPolyRef(endRef))
{
return(path);
}
uint[] pathPolys = new uint[256];
int pathCount = 0;
status = navMeshQuery.findPath(startRef, endRef, startNearest, endNearest, queryFilter, pathPolys, ref pathCount, 256);
if (Detour.dtStatusFailed(status))
{
return(path);
}
if (path.Count < 1)
{
float[] straightPath = new float[256 * 3];
byte[] straightPathFlags = new byte[256];
uint[] straightPathPolys = new uint[256];
int straightPathCount = 256 * 3;
status = navMeshQuery.findStraightPath(
startNearest,
endNearest,
pathPolys,
pathCount,
straightPath,
straightPathFlags,
straightPathPolys,
ref straightPathCount,
256,
0
);
if (straightPathCount > 1)
{
if (Detour.dtStatusFailed(status))
{
return(path);
}
path.Clear();
// i starts at 3 so the start position is ignored
for (int i = 3; i < straightPathCount * 3;)
{
float[] pathPos = new float[3];
pathPos[0] = straightPath[i++];
pathPos[1] = straightPath[i++];
pathPos[2] = straightPath[i++];
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
}
else
{
// i starts at 3 so the start position is ignored
for (int i = 1; i < pathCount; i++)
{
float[] pathPos = new float[3];
bool posOverPoly = false;
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPoly(pathPolys[i], startDetourPosition, pathPos, ref posOverPoly)))
{
return(path);
}
if (path.Count < 1)
{
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPolyBoundary(pathPolys[i], startDetourPosition, pathPos)))
{
return(path);
}
}
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
return(path);
}