// This function checks if the path has a small U-turn, that is,
// a polygon further in the path is adjacent to the first polygon
// in the path. If that happens, a shortcut is taken.
// This can happen if the target (T) location is at tile boundary,
// and we're (S) approaching it parallel to the tile edge.
// The choice at the vertex can be arbitrary,
// +---+---+
// |:::|:::|
// +-S-+-T-+
// |:::| | <-- the step can end up in here, resulting U-turn path.
// +---+---+
static int fixupShortcuts(dtPolyRef[] path, int npath, Detour.dtNavMeshQuery navQuery)
{
if (npath < 3)
{
return(npath);
}
// Get connected polygons
const int maxNeis = 16;
dtPolyRef[] neis = new dtPolyRef[maxNeis];
int nneis = 0;
Detour.dtMeshTile tile = null;
Detour.dtPoly poly = null;
if (Detour.dtStatusFailed(navQuery.getAttachedNavMesh().getTileAndPolyByRef(path[0], ref tile, ref poly)))
{
return(npath);
}
for (uint k = poly.firstLink; k != Detour.DT_NULL_LINK; k = tile.links[k].next)
{
Detour.dtLink link = tile.links[k];
if (link.polyRef != 0)
{
if (nneis < maxNeis)
{
neis[nneis++] = link.polyRef;
}
}
}
// If any of the neighbour polygons is within the next few polygons
// in the path, short cut to that polygon directly.
const int maxLookAhead = 6;
int cut = 0;
for (int i = Math.Min(maxLookAhead, npath) - 1; i > 1 && cut == 0; i--)
{
for (int j = 0; j < nneis; j++)
{
if (path[i] == neis[j])
{
cut = i;
break;
}
}
}
if (cut > 1)
{
int offset = cut - 1;
npath -= offset;
for (int i = 1; i < npath; i++)
{
path[i] = path[i + offset];
}
}
return(npath);
}
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();
}
static bool LocCommand(StringArguments args, CommandHandler handler)
{
handler.SendSysMessage("mmap tileloc:");
// grid tile location
Player player = handler.GetPlayer();
int gx = (int)(32 - player.GetPositionX() / MapConst.SizeofGrids);
int gy = (int)(32 - player.GetPositionY() / MapConst.SizeofGrids);
float x, y, z;
player.GetPosition(out x, out y, out z);
handler.SendSysMessage("{0:D4}{1:D2}{2:D2}.mmtile", player.GetMapId(), gy, gx);
handler.SendSysMessage("gridloc [{0}, {1}]", gx, gy);
// calculate navmesh tile location
uint terrainMapId = PhasingHandler.GetTerrainMapId(player.GetPhaseShift(), player.GetMap(), x, y);
Detour.dtNavMesh navmesh = Global.MMapMgr.GetNavMesh(terrainMapId);
Detour.dtNavMeshQuery navmeshquery = Global.MMapMgr.GetNavMeshQuery(terrainMapId, player.GetInstanceId());
if (navmesh == null || navmeshquery == null)
{
handler.SendSysMessage("NavMesh not loaded for current map.");
return(true);
}
float[] min = navmesh.getParams().orig;
float[] location = { y, z, x };
float[] extents = { 3.0f, 5.0f, 3.0f };
int tilex = (int)((y - min[0]) / MapConst.SizeofGrids);
int tiley = (int)((x - min[2]) / MapConst.SizeofGrids);
handler.SendSysMessage("Calc [{0:D2}, {1:D2}]", tilex, tiley);
// navmesh poly . navmesh tile location
Detour.dtQueryFilter filter = new Detour.dtQueryFilter();
float[] nothing = new float[3];
ulong polyRef = 0;
if (Detour.dtStatusFailed(navmeshquery.findNearestPoly(location, extents, filter, ref polyRef, ref nothing)))
{
handler.SendSysMessage("Dt [??,??] (invalid poly, probably no tile loaded)");
return(true);
}
if (polyRef == 0)
{
handler.SendSysMessage("Dt [??, ??] (invalid poly, probably no tile loaded)");
}
else
{
Detour.dtMeshTile tile = new Detour.dtMeshTile();
Detour.dtPoly poly = new Detour.dtPoly();
if (Detour.dtStatusSucceed(navmesh.getTileAndPolyByRef(polyRef, ref tile, ref poly)))
{
if (tile != null)
{
handler.SendSysMessage("Dt [{0:D2},{1:D2}]", tile.header.x, tile.header.y);
return(false);
}
}
handler.SendSysMessage("Dt [??,??] (no tile loaded)");
}
return(true);
}
