/// <summary>
/// Voxelizes the triangles from the provided <see cref="ChunkyTriMesh"/> into the
/// heightfield.
/// </summary>
/// <remarks>
/// <para>
/// The chunks that are voxelized is controled by the bounds parameters.
/// </para>
/// </remarks>
/// <param name="context">The build context.</param>
/// <param name="mesh">The mesh.</param>
/// <param name="boundsMin">The minimum bounds for the mesh query.</param>
/// <param name="boundsMax">The maximum bounds for the mesh query.</param>
/// <param name="flagMergeThreshold">
/// The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Normal: 1]
/// </param>
/// <returns>True if the operation was successful.</returns>
public bool AddTriangles(BuildContext context, ChunkyTriMesh mesh
, Vector3 boundsMin, Vector3 boundsMax
, int flagMergeThreshold)
{
if (IsDisposed || mesh == null || mesh.IsDisposed)
{
return(false);
}
List <ChunkyTriMeshNode> nodeList = new List <ChunkyTriMeshNode>();
int triCount = mesh.GetChunks(boundsMin.x, boundsMin.z
, boundsMax.x, boundsMax.z
, nodeList);
if (triCount == 0)
{
return(true);
}
return(HeightfieldEx.nmhfRasterizeNodes(context.root
, mesh.verts
, mesh.tris
, mesh.areas
, nodeList.ToArray()
, nodeList.Count
, root
, flagMergeThreshold));
}
/// <summary>
/// Creates a new heightfield object.
/// </summary>
/// <param name="width">The width of the field. [Limit: >= 1] [Units: Cells]</param>
/// <param name="depth">The depth of the field. [Limit: >= 1] [Units: Cells]</param>
/// <param name="boundsMin">The minimum bounds of the field's AABB. [Units: World]</param>
/// <param name="boundsMax">The maximum bounds of the field's AABB. [Units: World]</param>
/// <param name="xzCellSize">
/// The xz-plane cell size. [Limit:>= <see cref="NMGen.MinCellSize"/>] [Units: World]
/// </param>
/// <param name="yCellSize">
/// The y-axis span increments. [Limit:>= <see cref="NMGen.MinCellSize"/>] [Units: World]
/// </param>
/// <returns>The heightfield, or null on error.</returns>
public static Heightfield Create(int width, int depth
, Vector3 boundsMin, Vector3 boundsMax
, float xzCellSize, float yCellSize)
{
if (width < 1 || depth < 1 ||
!TriangleMesh.IsBoundsValid(boundsMin, boundsMax) ||
xzCellSize < NMGen.MinCellSize ||
yCellSize < NMGen.MinCellSize)
{
return(null);
}
IntPtr root = HeightfieldEx.nmhfAllocField(width, depth
, ref boundsMin, ref boundsMax, xzCellSize, yCellSize);
if (root == IntPtr.Zero)
{
return(null);
}
return(new Heightfield(root
, width, depth
, boundsMin, boundsMax
, xzCellSize, yCellSize));
}
private static float[] GetVector(Vector3 vector, float[] buffer)
{
buffer[0] = vector.x;
buffer[1] = vector.y;
buffer[2] = vector.z;
return(buffer);
}
private AreaBoxMarker(string name, int priority, byte area
, Vector3 boundsMin, Vector3 boundsMax)
: base(name, priority, area)
{
mBoundsMin = boundsMin;
mBoundsMax = boundsMax;
}
/// <summary>
/// Moves over an off-mesh connection.
/// </summary>
/// <remarks>
/// <para>
/// This method is minimally tested and documented.
/// </para>
/// </remarks>
/// <param name="connectionRef">The connection polygon reference.</param>
/// <param name="endpointRefs">Polygon endpoint references. [Length: 2]</param>
/// <param name="startPosition">The start position.</param>
/// <param name="endPosition">The end position.</param>
/// <returns>True if the operation succeeded.</returns>
public bool MoveOverConnection(uint connectionRef, uint[] endpointRefs
, Vector3 startPosition, Vector3 endPosition)
{
return(PathCorridorEx.dtpcMoveOverOffmeshConnection(mRoot
, connectionRef, endpointRefs, ref startPosition, ref endPosition, ref mPosition
, mQuery.root));
}
public static extern NavStatus dtqQueryPolygons(IntPtr query
, ref Vector3 position
, ref Vector3 extents
, IntPtr filter
, [In, Out] uint[] resultPolyRefs
, ref int resultCount
, int maxResult);
/// <summary>
/// Tests that vector interop behaves as expected.
/// </summary>
/// <remarks>
/// <para>
/// If the test is successful the input and return vectors will be equal in value.
/// </para>
/// <para>
/// This method is used to validate that builds using custom vectors behaves correctly
/// with interop. (I.e. The custom vector is data compatible.)
/// </para>
/// </remarks>
/// <param name="v">The input vector.</param>
/// <returns>
/// A vector equal to the input vector if interop is functioning as expected.
/// </returns>
public static Vector3 TestVector(Vector3 v)
{
Vector3 result = new Vector3();
rcn.InteropUtil.dtvlVectorTest(ref v, ref result);
return(result);
}
public static extern bool dtpcMoveOverOffmeshConnection(IntPtr corridor
, uint offMeshConRef
, [In, Out] uint[] refs // size 2
, ref Vector3 startPos
, ref Vector3 endPos
, ref NavmeshPoint resultPos
, IntPtr navquery);
public static extern NavStatus dtqQueryPolygons(IntPtr query
, ref Vector3 position
, ref Vector3 extents
, IntPtr filter
, [In, Out] uint[] resultPolyRefs
, ref int resultCount
, int maxResult);
/// <summary>
/// Creates a new tile set.
/// </summary>
/// <remarks>
/// <para>
/// The bounds is normally based on the desired origin of the navigation mesh
/// and the maximum bounds of the input geometry.
/// </para>
/// </remarks>
/// <param name="boundsMin">The minimum AABB bounds of the set.</param>
/// <param name="boundsMax">The maximum AABB counds of the set.</param>
/// <param name="config">The shared NMGen configuration.</param>
/// <param name="geom">The input geometry.</param>
/// <returns>A new tile set, or null on error.</returns>
public static TileSetDefinition Create(Vector3 boundsMin, Vector3 boundsMax
, NMGenParams config
, InputGeometry geom)
{
if (config == null || !config.IsValid() ||
!TriangleMesh.IsBoundsValid(boundsMin, boundsMax) ||
geom == null ||
config.tileSize <= 0)
{
return(null);
}
int w;
int d;
NMGen.DeriveSizeOfTileGrid(boundsMin, boundsMax
, config.XZCellSize
, config.tileSize
, out w, out d);
if (w < 1 || d < 1)
{
return(null);
}
return(new TileSetDefinition(w, d, boundsMin, boundsMax, config, geom));
}
private AreaBoxMarker(string name, int priority, byte area
, Vector3 boundsMin, Vector3 boundsMax)
: base(name, priority, area)
{
mBoundsMin = boundsMin;
mBoundsMax = boundsMax;
}
public static extern NavStatus dtqFindDistanceToWall(IntPtr query
, NavmeshPoint position
, float searchRadius
, IntPtr filter
, ref float distance
, ref Vector3 closestPoint
, ref Vector3 normal);
/// <summary>
/// Normalizes the specified vector such that its length is equal to one. (Costly method!)
/// </summary>
/// <param name="v">The vector.</param>
/// <returns>A normalized vector.</returns>
public static Vector3 Normalize(Vector3 v)
{
float m = (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
if (m < MathUtil.Tolerance)
{
m = 1;
}
v.x /= m;
v.y /= m;
v.z /= m;
if (Math.Abs(v.x) < MathUtil.Tolerance)
{
v.x = 0;
}
if (Math.Abs(v.y) < MathUtil.Tolerance)
{
v.y = 0;
}
if (Math.Abs(v.z) < MathUtil.Tolerance)
{
v.z = 0;
}
return(v);
}
/// <summary>
/// Derive the width and depth of a cell grid based on the provided parameters.
/// </summary>
/// <remarks>
/// <para>
/// This method does not validate the parameters.
/// </para>
/// </remarks>
/// <param name="boundsMin">The minimum bounds.</param>
/// <param name="boundsMax">The maximum bounds.</param>
/// <param name="xzCellSize">
/// The cell size on the xz-plane. (<see cref="NMGenParams.XZCellSize"/>)
/// </param>
/// <param name="width">The number of cells along the x-axis.</param>
/// <param name="depth">The number of cells along the z-axis.</param>
public static void DeriveSizeOfCellGrid(Vector3 boundsMin, Vector3 boundsMax
, float xzCellSize
, out int width, out int depth)
{
width = (int)((boundsMax.x - boundsMin.x) / xzCellSize + 0.5f);
depth = (int)((boundsMax.z - boundsMin.z) / xzCellSize + 0.5f);
}
/// <summary>
/// Gets the distance between the specified points on the xz-plane. (Ignores y-axis.)
/// </summary>
/// <param name="u">Vector u.</param>
/// <param name="v">Vector v.</param>
/// <returns>The distance between the specified points on the xz-plane.</returns>
public static float GetDistance2D(Vector3 u, Vector3 v)
{
float dx = v.x - u.x;
float dz = v.z - u.z;
return((float)Math.Sqrt(dx * dx + dz * dz));
}
/// <summary>
/// Determines whether or not the two points are within range of each other based on a
/// xz-plane radius and a y-axis height.
/// </summary>
/// <remarks>
/// <para>
/// Essentially, one point defines the centroid of the cylinder and the other is
/// tested for inclusion. The height test is <c>(Math.Abs(deltaY) < height)</c>
/// </para>
/// </remarks>
/// <param name="a">Point A.</param>
/// <param name="b">Point B.</param>
/// <param name="radius">The allowed radius on the xz-plane.</param>
/// <param name="height">The allowed y-axis delta.</param>
/// <returns>
/// True if the two vectors are within the xz-radius and y-height of each other.
/// </returns>
public static bool IsInRange(Vector3 a, Vector3 b, float radius, float height)
{
Vector3 d = b - a;
return((d.x * d.x + d.z * d.z) < radius * radius &&
Math.Abs(d.y) < height);
}
/// <summary>
/// Moves the position and target from their curent locations to the desired locations.
/// </summary>
/// <remarks>
/// <para>
/// Performs an aggregrate operation in the following order:
/// </para>
/// <ol>
/// <li><see cref="MoveTarget"/></li>
/// <li><see cref="MovePosition"/></li>
/// </ol>
/// <para>
/// See the documentation of the related functions for details on behavior.
/// </para>
/// <para>
/// This method is more efficient than calling the other methods individually.
/// </para>
/// </remarks>
/// <param name="desiredPosition">The desired position.</param>
/// <param name="desiredTarget">The desired target.</param>
public void Move(Vector3 desiredPosition, Vector3 desiredTarget)
{
mCorners.cornerCount = PathCorridorEx.dtpcMove(mRoot
, ref desiredPosition, ref desiredTarget, ref mPosition, ref mTarget
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
}
/// <summary>
/// Adds an agent to the manager.
/// </summary>
/// <param name="position">
/// The current position of the agent within the navigation mesh.
/// </param>
/// <param name="agentParams">The agent configuration.</param>
/// <returns>
/// A reference to the agent object created by the manager, or null on error.
/// </returns>
public CrowdAgent AddAgent(Vector3 position
, CrowdAgentParams agentParams)
{
if (IsDisposed)
{
return(null);
}
IntPtr ptr = IntPtr.Zero;
CrowdAgentCoreState initialState = new CrowdAgentCoreState();
int index = CrowdManagerEx.dtcAddAgent(root
, ref position
, ref agentParams
, ref ptr
, ref initialState);
if (index == -1)
{
return(null);
}
mAgents[index] = new CrowdAgent(this, ptr, index);
agentStates[index] = initialState;
return(mAgents[index]);
}
/// <summary>
/// Derives the tile grid location based on the provided world space position.
/// </summary>
/// <param name="position">Position</param>
/// <param name="x">The tile's grid x-location.</param>
/// <param name="z">The tiles's grid z-location.</param>
public void DeriveTileLocation(Vector3 position
, out int x
, out int z)
{
x = 0;
z = 0;
NavmeshEx.dtnmCalcTileLoc(root, ref position, ref x, ref z);
}
public static extern NavStatus dtqFindPathExt(IntPtr query
, ref NavmeshPoint startPosition
, ref NavmeshPoint endPosition
, [In] ref Vector3 extents
, IntPtr filter
, [In, Out] uint[] resultPath
, ref int pathCount
, int maxPath);
/// <summary>
/// Constructor.
/// </summary>
/// <param name="tx">The x-index of the tile within the tile grid. [Limit: >= 0]</param>
/// <param name="tz">The z-index of the tile within the tile grid. [Limit: >= 0]</param>
/// <param name="boundsMin">The minimum bounds of the tile.</param>
/// <param name="boundsMax">The maximum bounds of the tile.</param>
public NMGenTileParams(int tx, int tz, Vector3 boundsMin, Vector3 boundsMax)
{
// Note: Use properties for auto-clamping.
TileX = tx;
TileZ = tz;
BoundsMin = boundsMin;
BoundsMax = boundsMax;
}
private AreaCylinderMarker(string name, int priority, byte area
, Vector3 centerBase, float radius, float height)
: base(name, priority, area)
{
mCenterBase = centerBase;
mRadius = Math.Max(0, radius);
mHeight = Math.Max(0, height);
}
public static extern NavStatus dtqMoveAlongSurface(IntPtr query
, NavmeshPoint startPosition
, [In] ref Vector3 endPosition
, IntPtr filter
, ref Vector3 resultPosition
, [In, Out] uint[] visitedPolyRefs
, ref int visitedCount
, int maxVisited);
/// <summary>
/// Returns the normal for the triangle. (Costly method!)
/// </summary>
/// <remarks>
/// <para>
/// The normal of a triangle is the vector perpendicular to the triangle's plane
/// with the direction determined by the
/// <a href="http://en.wikipedia.org/wiki/Right-hand_rule" target="_blank">
/// right-handed rule</a>.
/// </para>
/// </remarks>
/// <param name="a">Vertex A of triangle ABC.</param>
/// <param name="b">Vertex B of triangle ABC.</param>
/// <param name="c">Vertex C of triangle ABC.</param>
/// <returns>The normal of the triangle.</returns>
public static Vector3 GetNormal(Vector3 a, Vector3 b, Vector3 c)
{
// Reference:
// http://en.wikipedia.org/wiki/Surface_normal#Calculating_a_surface_normal
// N = (B - A) x (C - A) with the final result normalized.
return(Vector3Util.Normalize(Vector3Util.Cross(b - a, c - a)));
}
private AreaCylinderMarker(string name, int priority, byte area
, Vector3 centerBase, float radius, float height)
: base(name, priority, area)
{
mCenterBase = centerBase;
mRadius = Math.Max(0, radius);
mHeight = Math.Max(0, height);
}
public static extern int dtpcMoveTargetPosition(IntPtr corridor
, [In] ref Vector3 npos
, ref NavmeshPoint pos
, [In, Out] Vector3[] cornerVerts
, [In, Out] WaypointFlag[] cornerFlags
, [In, Out] uint[] cornerPolys
, int maxCorners
, IntPtr navquery
, IntPtr filter);
public static extern int dtpcOptimizePathVisibilityExt(IntPtr corridor
, [In] ref Vector3 next
, float pathOptimizationRange
, [In, Out] Vector3[] cornerVerts
, [In, Out] WaypointFlag[] cornerFlags
, [In, Out] uint[] cornerPolys
, int maxCorners
, IntPtr navquery
, IntPtr filter);
/// <summary>
/// Moves the target from its curent location to the desired location, adjusting the
/// corridor as needed to reflect the change.
/// </summary>
/// <remarks>
/// <para>
/// Behavior:
/// </para>
/// <ul>
/// <li>The movement is constrained to the surface of the navigation mesh.</li>
/// <li>The corridor is automatically adjusted (shorted or lengthened) and
/// <see cref="Corners"/> updated in order to remain valid.</li>
/// <li>The new position will be located in the adjusted corridor's last polygon.</li>
/// </ul>
/// <para>
/// The expected use case: The desired target will be 'near' the corridor. What is
/// considered 'near' depends on local polygon density, query search extents, etc.
/// </para>
/// <para>
/// The resulting target will differ from the desired target if the desired target is
/// not on the navigation mesh, or it can't be reached using a local search.
/// </para>
/// </remarks>
/// <param name="desiredTarget">The desired target.</param>
/// <returns>The result of the move.</returns>
public NavmeshPoint MoveTarget(Vector3 desiredTarget)
{
mCorners.cornerCount = PathCorridorEx.dtpcMoveTargetPosition(mRoot
, ref desiredTarget, ref mTarget
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
return(mTarget);
}
/// <summary>
/// Loads a new path and target into the corridor.
/// </summary>
/// <remarks>
/// <para>
/// The current position is expected to be within the first
/// polygon in the path. The target is expected to be in the last
/// polygon.
/// </para>
/// </remarks>
/// <param name="target">The target location within the last polygon of the path.</param>
/// <param name="path">
/// The path corridor. [(polyRef) * <paramref name="pathCount"/>]
/// </param>
/// <param name="pathCount">
/// The number of polygons in the path.
/// [Limits: 0 <= value <= <see cref="MaxPathSize"/>]
/// </param>
public void SetCorridor(Vector3 target
, uint[] path
, int pathCount)
{
mCorners.cornerCount = PathCorridorEx.dtpcSetCorridor(mRoot
, ref target, path, pathCount, ref mTarget
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
}
public static extern NavStatus dtqRaycast(IntPtr query
, NavmeshPoint startPosition
, [In] ref Vector3 endPosition
, IntPtr filter
, ref float hitParameter
, ref Vector3 hitNormal
, [In, Out] uint[] path
, ref int pathCount
, int maxPath);
public static extern NavStatus dtqFindLocalNeighbourhood(IntPtr query
, uint startPolyRef
, [In] ref Vector3 position
, float radius
, IntPtr filter
, [In, Out] uint[] resultPolyRefs
, [In, Out] uint[] resultParentRefs
, ref int resultCount
, int maxResult);
private ConnectionSet(Vector3[] verts, float[] radii
, byte[] dirs, byte[] areas, ushort[] flags, uint[] userIds)
{
this.verts = verts;
this.radii = radii;
this.dirs = dirs;
this.areas = areas;
this.flags = flags;
this.userIds = userIds;
}
private InputGeometryBuilder(ChunkyTriMeshBuilder builder
, Vector3 boundsMin
, Vector3 boundsMax
, bool isThreadSafe)
{
mBuilder = builder;
mBoundsMin = boundsMin;
mBoundsMax = boundsMax;
mIsThreadSafe = isThreadSafe;
}
/// <summary>
/// Constructs and initializes the structure.
/// </summary>
/// <param name="origin">The tile space origin.</param>
/// <param name="tileWidth">The width of each tile. (Along the x-axis.)</param>
/// <param name="tileDepth">The depth of each tile. (Along the z-axis.)</param>
/// <param name="maxTiles">
/// The maximum number of tiles the navigation mesh can contain.
/// </param>
/// <param name="maxPolysPerTile">
/// The maximum number of polygons each tile can contain.
/// </param>
public NavmeshParams(Vector3 origin
, float tileWidth, float tileDepth
, int maxTiles, int maxPolysPerTile)
{
this.origin = origin;
this.tileWidth = Math.Max(MinTileSize, tileWidth);
this.tileDepth = Math.Max(MinTileSize, tileDepth);
this.maxTiles = Math.Max(1, maxTiles);
this.maxPolysPerTile = Math.Max(1, maxPolysPerTile);
}
private InputGeometryBuilder(ChunkyTriMeshBuilder builder
, Vector3 boundsMin
, Vector3 boundsMax
, bool isThreadSafe)
{
mBuilder = builder;
mBoundsMin = boundsMin;
mBoundsMax = boundsMax;
mIsThreadSafe = isThreadSafe;
}
private AreaConvexMarker(string name
, int priority
, byte area
, Vector3[] verts
, float ymin
, float ymax)
: base(name, priority, area)
{
this.verts = verts;
this.ymin = ymin;
this.ymax = ymax;
}
public void Reset()
{
contourCount = 0;
contours = IntPtr.Zero;
boundsMax = Vector3Util.Zero;
boundsMin = Vector3Util.Zero;
xzCellSize = 0;
yCellSize = 0;
width = 0;
depth = 0;
borderSize = 0;
}
/// <summary>
/// Adds a single triangle.
/// </summary>
/// <param name="vertA">Vertex A of triangle ABC.</param>
/// <param name="vertB">Vertex B of triangle ABC.</param>
/// <param name="vertC">Vertex C of triangle ABC.</param>
/// <param name="area">The triangle area.</param>
public void AddTriangle(Vector3 vertA, Vector3 vertB, Vector3 vertC, byte area)
{
mTris.Add(mVerts.Count);
mVerts.Add(vertA);
mTris.Add(mVerts.Count);
mVerts.Add(vertB);
mTris.Add(mVerts.Count);
mVerts.Add(vertC);
mAreas.Add(area);
}
private TileSetDefinition(int width, int depth
, Vector3 boundsMin, Vector3 boundsMax
, NMGenParams config
, InputGeometry geom)
{
// Note: The constructor is private, which is why
// the references are being stored.
mBaseConfig = config.Clone();
mGeometry = geom;
mWidth = width;
mDepth = depth;
mBoundsMin = boundsMin;
mBoundsMax = boundsMax;
}
/// <summary>
/// Returns a value suitable for comparing the relative area of two triangles. (E.g.
/// Is triangle A larger than triangle B.)
/// </summary>
/// <remarks>
/// <para>
/// The value returned by this method can be converted to an area as follows:
/// <c>Area = Math.sqrt(value) / 2</c>
/// </para>
/// <para>
/// Useful for cheaply comparing the size of triangles.
/// </para>
/// </remarks>
/// <param name="a">Vertex A of triangle ABC.</param>
/// <param name="b">Vertex B of triangle ABC.</param>
/// <param name="c">Vertex C of triangle ABC.</param>
/// <returns>A value suitable for comparing the relative area of two triangles.</returns>
public static float GetAreaComp(Vector3 a, Vector3 b, Vector3 c)
{
// References:
// http://softsurfer.com/Archive/algorithm_0101/algorithm_0101.htm#Modern%20Triangles
// Get directional vectors.
Vector3 u = b - a; // A -> B
Vector3 v = c - a; // A -> C
// Cross product.
Vector3 n = new Vector3(u.y * v.z - u.z * v.y
, -u.x * v.z + u.z * v.x
, u.x * v.y - u.y * v.x);
return Vector3Util.GetLengthSq(n);
}
/// <summary>
/// Returns the <a href="http://en.wikipedia.org/wiki/Centroid" target="_blank">
/// centroid</a> of a convex polygon.
/// </summary>
/// <remarks>
/// <para>
/// Behavior is undefined if the polygon is not convex.
/// </para>
/// <para>
/// Behavior is undefined if the vector being overwritten in the out array is a vertex
/// in the polygon. (Can only happen if the vertices and result arrays are the same object.)
/// </para>
/// </remarks>
/// <param name="vertices">
/// An array of vertices that contains a representation of a polygon with an arbitrary
/// number of sides. Wrap direction does not matter.
/// </param>
/// <param name="startVert">The index of the first vertex in the polygon.</param>
/// <param name="vertCount">The number of vertices in the polygon.</param>
/// <param name="result">The array to store the result in.</param>
/// <param name="resultVert">The index in the result array to store the result.</param>
/// <returns>A reference to the result argument.</returns>
public static Vector3[] GetCentroid(Vector3[] vertices
, int startVert
, int vertCount
, Vector3[] result
, int resultVert)
{
// Reference:
// http://en.wikipedia.org/wiki/Centroid#Of_a_finite_set_of_points
result[resultVert] = new Vector3(0, 0, 0);
int length = (startVert+vertCount);
for (int i = startVert; i < length; i++)
{
result[resultVert] += vertices[i];
}
result[resultVert].x /= vertCount;
result[resultVert].y /= vertCount;
result[resultVert].z /= vertCount;
return result;
}
/// <summary>
/// Loads a new path and target into the corridor.
/// </summary>
/// <remarks>
/// <para>
/// The current position is expected to be within the first
/// polygon in the path. The target is expected to be in the last
/// polygon.
/// </para>
/// </remarks>
/// <param name="target">The target location within the last polygon of the path.</param>
/// <param name="path">
/// The path corridor. [(polyRef) * <paramref name="pathCount"/>]
/// </param>
/// <param name="pathCount">
/// The number of polygons in the path.
/// [Limits: 0 <= value <= <see cref="MaxPathSize"/>]
/// </param>
public void SetCorridor(Vector3 target
, uint[] path
, int pathCount)
{
mCorners.cornerCount = PathCorridorEx.dtpcSetCorridor(mRoot
, ref target, path, pathCount, ref mTarget
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
}
/// <summary>
/// Moves the position and target from their curent locations to the desired locations.
/// </summary>
/// <remarks>
/// <para>
/// Performs an aggregrate operation in the following order:
/// </para>
/// <ol>
/// <li><see cref="MoveTarget"/></li>
/// <li><see cref="MovePosition"/></li>
/// </ol>
/// <para>
/// See the documentation of the related functions for details on behavior.
/// </para>
/// <para>
/// This method is more efficient than calling the other methods individually.
/// </para>
/// </remarks>
/// <param name="desiredPosition">The desired position.</param>
/// <param name="desiredTarget">The desired target.</param>
public void Move(Vector3 desiredPosition, Vector3 desiredTarget)
{
mCorners.cornerCount = PathCorridorEx.dtpcMove(mRoot
, ref desiredPosition, ref desiredTarget, ref mPosition, ref mTarget
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
}
/// <summary>
/// Moves the target from its curent location to the desired location, adjusting the
/// corridor as needed to reflect the change.
/// </summary>
/// <remarks>
/// <para>
/// Behavior:
/// </para>
/// <ul>
/// <li>The movement is constrained to the surface of the navigation mesh.</li>
/// <li>The corridor is automatically adjusted (shorted or lengthened) and
/// <see cref="Corners"/> updated in order to remain valid.</li>
/// <li>The new position will be located in the adjusted corridor's last polygon.</li>
/// </ul>
/// <para>
/// The expected use case: The desired target will be 'near' the corridor. What is
/// considered 'near' depends on local polygon density, query search extents, etc.
/// </para>
/// <para>
/// The resulting target will differ from the desired target if the desired target is
/// not on the navigation mesh, or it can't be reached using a local search.
/// </para>
/// </remarks>
/// <param name="desiredTarget">The desired target.</param>
/// <returns>The result of the move.</returns>
public NavmeshPoint MoveTarget(Vector3 desiredTarget)
{
mCorners.cornerCount = PathCorridorEx.dtpcMoveTargetPosition(mRoot
, ref desiredTarget, ref mTarget
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
return mTarget;
}
/// <summary>
/// Moves over an off-mesh connection.
/// </summary>
/// <remarks>
/// <para>
/// This method is minimally tested and documented.
/// </para>
/// </remarks>
/// <param name="connectionRef">The connection polygon reference.</param>
/// <param name="endpointRefs">Polygon endpoint references. [Length: 2]</param>
/// <param name="startPosition">The start position.</param>
/// <param name="endPosition">The end position.</param>
/// <returns>True if the operation succeeded.</returns>
public bool MoveOverConnection(uint connectionRef, uint[] endpointRefs
, Vector3 startPosition, Vector3 endPosition)
{
return PathCorridorEx.dtpcMoveOverOffmeshConnection(mRoot
, connectionRef, endpointRefs, ref startPosition, ref endPosition, ref mPosition
, mQuery.root);
}
/// <summary>
/// Attempts to optimize the path if the specified point is visible from the current
/// position.
/// </summary>
/// <remarks>
/// <para>
/// Improves pathfinding appearance when using meshes that contain non-border.
/// vertices. (E.g. Tiled meshes and meshes constructed using multiple areas.)
/// </para>
/// <para>
/// The only time <paramref name="updateCorners"/> should be set to false is if a move
/// or other optimization method is to be called next. Otherwise the corner data may
/// become invalid.
/// </para>
/// <para>
/// Inaccurate locomotion or dynamic obstacle avoidance can force the agent position
/// significantly outside the original corridor. Over time this can result in the
/// formation of a non-optimal corridor. A non-optimal corridor can also form near
/// non-border vertices. (I.e. At tile corners or area transitions.)
/// </para>
/// <para>
/// This function uses an efficient local visibility search to try to optimize the corridor
/// between the current position and <paramref name="next"/>.
/// </para>
/// <para>
/// The corridor will change only if <paramref name="next"/> is visible from the
/// current position and moving directly toward the point is better than following the
/// existing path.
/// </para>
/// <para>
/// The more inaccurate the client movement, the more beneficial this method becomes.
/// Simply adjust the frequency of the call to match the needs to the client.
/// </para>
/// <para>
/// This method is not suitable for long distance searches.
/// </para>
/// </remarks>
/// <param name="next">The point to search toward.</param>
/// <param name="optimizationRange">The maximum range to search. [Limit: > 0]</param>
/// <param name="updateCorners">True if the corners data should be refreshed.</param>
public void OptimizePathVisibility(Vector3 next, float optimizationRange
, bool updateCorners)
{
if (updateCorners)
{
mCorners.cornerCount = PathCorridorEx.dtpcOptimizePathVisibilityExt(mRoot
, ref next, optimizationRange
, mCorners.verts, mCorners.flags, mCorners.polyRefs, mCorners.polyRefs.Length
, mQuery.root, mFilter.root);
}
else
{
PathCorridorEx.dtpcOptimizePathVisibility(
mRoot, ref next, optimizationRange, mQuery.root, mFilter.root);
}
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="polyRef">
/// The reference of the polygon that contains the point. (Or zero if not known.)
/// </param>
/// <param name="point">The location of the point.</param>
public NavmeshPoint(uint polyRef, Vector3 point)
{
this.polyRef = polyRef;
this.point = point;
}
/// <summary>
/// Validates the structure and, optionally, the content of the mesh.
/// </summary>
/// <remarks>
/// <para>
/// The basic structural validation includes null checks, array size checks, etc.
/// </para>
/// <para>
/// The optional content validation checks that the indices refer to valid vertices
/// and that triangles do not contain duplicate vertices.
/// </para>
/// </remarks>
/// <param name="verts">The mesh vertices.</param>
/// <param name="vertCount">The vertex count.</param>
/// <param name="tris">The triangle indices.</param>
/// <param name="triCount">The triangle count.</param>
/// <param name="includeContent">
/// If true, the content will be checked. Otherwise only the structure will be checked.
/// </param>
/// <returns>True if the validation tests pass.</returns>
public static bool IsValid(Vector3[] verts, int vertCount
, int[] tris, int triCount
, bool includeContent)
{
if (tris == null || verts == null
|| triCount * 3 > tris.Length
|| vertCount > verts.Length
|| triCount < 0 || vertCount < 0)
{
return false;
}
if (includeContent)
{
int length = triCount * 3;
for (int p = 0; p < length; p += 3)
{
int a = tris[p + 0];
int b = tris[p + 1];
int c = tris[p + 2];
if (a < 0 || a >= vertCount
|| b < 0 || b >= vertCount
|| c < 0 || c >= vertCount
|| a == b || b == c || c == a)
{
return false;
}
}
}
return true;
}
/// <summary>
/// Add a connection.
/// </summary>
/// <remarks>
/// <para>
/// All values are auto-clamped to valid values.
/// </para>
/// </remarks>
/// <param name="start">The connection start point.</param>
/// <param name="end">The connection end point.</param>
/// <param name="radius">The radius of the connection vertices.</param>
/// <param name="isBidirectional">True if the connection can be traversed in both
/// directions. (Start to end, end to start.)</param>
/// <param name="area">The connection area id.</param>
/// <param name="flags">The connection flags.</param>
/// <param name="userId">The connection user id.</param>
public void Add(Vector3 start, Vector3 end, float radius
, bool isBidirectional, byte area, ushort flags, uint userId)
{
mVerts.Add(start);
mVerts.Add(end);
mRadii.Add(System.Math.Max(MathUtil.Epsilon, radius));
mDirs.Add((byte)(isBidirectional ? 1 : 0));
mAreas.Add(NMGen.ClampArea(area));
mFlags.Add(flags);
mUserIds.Add(userId);
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="start">The start point.</param>
/// <param name="end">The end point.</param>
/// <param name="radius">The radius of the start and end points. [Limit: >0]</param>
/// <param name="isBidDrectional">True if the connection is bi-directional.</param>
/// <param name="area">The area. [Limit: <= <see cref="Navmesh.MaxArea"/>].</param>
/// <param name="flags">The connection flags.</param>
/// <param name="userId">The id of the off-mesh connection. (User defined.)</param>
public OffMeshConnection(Vector3 start, Vector3 end
,float radius, bool isBidDrectional, byte area, ushort flags, uint userId)
{
this.start = start;
this.end = end;
this.radius = MathUtil.ClampToPositiveNonZero(radius);
direction = (byte)(isBidDrectional ? 1 : 0);
this.area = NavUtil.ClampArea(area);
this.flags = flags;
this.userId = userId;
}
/// <summary>
/// Creates a connection set.
/// </summary>
/// <remarks>
/// <para>
/// Connection sets created using this method are not guarenteed to be valid or
/// safe for threaded builds.
/// </para>
/// <para>
/// The generated connection set will directly reference the construction
/// parameters.
/// </para>
/// </remarks>
/// <param name="verts">The connection vertices. [(start, end) * connCount]</param>
/// <param name="radii">The connection radii. [Length: connCount]</param>
/// <param name="dirs">The connection direction flags. [Length: connCount]</param>
/// <param name="areas">The connection areas. [Length: connCount]</param>
/// <param name="flags">The connection flags. [Length: connCount]</param>
/// <param name="userIds">The connection user ids. [Length: connCount]</param>
/// <returns>An unsafe connection set.</returns>
public static ConnectionSet UnsafeCreate(Vector3[] verts, float[] radii
, byte[] dirs, byte[] areas, ushort[] flags, uint[] userIds)
{
return new ConnectionSet(verts
, radii
, dirs
, areas
, flags
, userIds);
}
/// <summary>
/// Gets a copy of the vertex buffer.
/// </summary>
/// <param name="buffer">
/// The buffer to load the results into.
/// [Length: >= <see cref="NavmeshTileHeader.vertCount"/>]
/// </param>
/// <returns>The number of vertices returned.</returns>
public int GetVerts(Vector3[] buffer)
{
if (mOwner.IsDisposed || buffer == null)
return 0;
return NavmeshTileEx.dtnmGetTileVerts(mTile
, buffer
, buffer.Length);
}
internal InputGeometry(ChunkyTriMesh mesh, Vector3 boundsMin, Vector3 boundsMax)
{
mBoundsMin = boundsMin;
mBoundsMax = boundsMax;
mMesh = mesh;
}
/// <summary>
/// Gets the connections whose start vertex is within the specified bounds.
/// </summary>
/// <remarks>
/// <para>
/// The out parameters will be null if the return result is zero.
/// </para>
/// </remarks>
/// <param name="xmin">The minimum x-axis bounds.</param>
/// <param name="zmin">The minimum z-axis bounds.</param>
/// <param name="xmax">The maximum x-axis bounds.</param>
/// <param name="zmax">The maximum z-axis bounds.</param>
/// <param name="rverts">The connection vertices. [(start, end) * connCount]</param>
/// <param name="rradii">The connection radii. [Length: connCount]</param>
/// <param name="rdirs">The connection direction flags. [Length: connCount]</param>
/// <param name="rareas">The connection areas. [Length: connCount]</param>
/// <param name="rflags">The connection flags. [Length: connCount]</param>
/// <param name="ruserIds">The connection user ids. [Length: connCount]</param>
/// <returns>The number of connection returned.</returns>
public int GetConnections(float xmin, float zmin, float xmax, float zmax
, out Vector3[] rverts, out float[] rradii
, out byte[] rdirs, out byte[] rareas, out ushort[] rflags, out uint[] ruserIds)
{
rverts = null;
rradii = null;
rdirs = null;
rareas = null;
rflags = null;
ruserIds = null;
if (radii.Length == 0)
return 0;
List<Vector3> rlverts = new List<Vector3>();
List<float> rlradii = new List<float>();
List<byte> rldirs = new List<byte>();
List<byte> rlareas = new List<byte>();
List<ushort> rlflags = new List<ushort>();
List<uint> rluserIds = new List<uint>();
for (int i = 0; i < radii.Length; i++)
{
Vector3 v = verts[i * 2 + 0];
if (Rectangle2.Contains(xmin, zmin, xmax, zmax, v.x, v.z))
{
rlverts.Add(v);
rlverts.Add(verts[i * 2 + 1]);
rlradii.Add(radii[i]);
rldirs.Add(dirs[i]);
rlareas.Add(areas[i]);
rlflags.Add(flags[i]);
rluserIds.Add(userIds[i]);
}
}
if (rlradii.Count == 0)
return 0;
rverts = rlverts.ToArray();
rradii = rlradii.ToArray();
rdirs = rldirs.ToArray();
rareas = rlareas.ToArray();
rflags = rlflags.ToArray();
ruserIds = rluserIds.ToArray();
return rradii.Length;
}
/// <summary>
/// Adds an arbitrary group of triangles.
/// </summary>
/// <remarks>
/// <para>
/// All triangles will default to <see cref="NMGen.MaxArea"/> if the
/// <paramref name="areas"/> parameter is null.
/// </para>
/// </remarks>
/// <param name="verts">
/// The triangle vertices. [Length: >= <paramref name="vertCount"/>]
/// </param>
/// <param name="vertCount">The number of vertices. [Length: >= 3]</param>
/// <param name="tris">
/// The triangles. [(vertAIndex, vertBIndex, vertCIndex) * triCount]
/// [Length: >= 3 * <paramref name="triCount"/>]
/// </param>
/// <param name="areas">
/// The triangle areas. (Optional) [Length: >= <paramref name="triCount"/>]
/// </param>
/// <param name="triCount">The number of triangles. [Limit: > 0]</param>
/// <returns>True if the triangles were successfully added.</returns>
public bool AddTriangles(Vector3[] verts, int vertCount
, int[] tris, byte[] areas, int triCount)
{
if (triCount < 1 || vertCount < 3
|| verts == null || verts.Length < vertCount
|| tris == null || tris.Length < triCount * 3
|| areas != null && areas.Length < triCount)
{
return false;
}
if (areas == null)
areas = NMGen.CreateDefaultAreaBuffer(triCount);
int iVertOffset = mVerts.Count;
if (vertCount == verts.Length)
mVerts.AddRange(verts);
else
{
mVerts.Capacity += vertCount;
for (int p = 0; p < vertCount; p++)
{
mVerts.Add(verts[p]);
}
}
int length = triCount * 3;
mTris.Capacity += length;
for (int p = 0; p < length; p++)
{
mTris.Add(tris[p] + iVertOffset);
}
if (areas.Length == triCount)
mAreas.AddRange(areas);
else
{
mAreas.Capacity += triCount;
for (int i = 0; i < triCount; i++)
{
mAreas.Add(areas[i]);
}
}
return true;
}
/// <summary>
/// Constructor.
/// </summary>
/// <remarks>
/// <para>
/// This constructor assigns the provided arrays to the object. (No copying.)
/// </para>
/// </remarks>
/// <param name="verts">
/// The vertices. [Length: >= <typeparamref name="vertCount"/>]
/// </param>
/// <param name="vertCount">The number of vertices.</param>
/// <param name="tris">
/// The triangles. [(vertAIndex, vertBIndex, vertCIndex) * triCount]
/// [Length: >= (<typeparamref name="triCount"/>) * 3]
/// </param>
/// <param name="triCount">The number of triangles.</param>
public TriangleMesh(Vector3[] verts, int vertCount, int[] tris, int triCount)
{
this.verts = verts;
this.vertCount = vertCount;
this.tris = tris;
this.triCount = triCount;
}
/// <summary>
/// True if the minimum bounds is less than the maximum bounds on all axes.
/// </summary>
/// <param name="boundsMin">The minimum AABB bounds.</param>
/// <param name="boundsMax">The maximum AABB bounds.</param>
/// <returns>
/// True if the minimum bounds is less than the maximum bounds on all axes.
/// </returns>
public static bool IsBoundsValid(Vector3 boundsMin, Vector3 boundsMax)
{
return !(boundsMax.x < boundsMin.x
|| boundsMax.y < boundsMin.y
|| boundsMax.z < boundsMin.z);
}
private void Resize()
{
vertCount = 0;
polyCount = 0;
maxVertsPerPoly = 0;
boundsMin = Vector3Util.Zero;
boundsMax = Vector3Util.Zero;
xzCellSize = 0;
yCellSize = 0;
borderSize = 0;
walkableHeight = 0;
walkableStep = 0;
walkableRadius = 0;
polys = null;
verts = null;
areas = null;
flags = null;
regions = null;
}
/// <summary>
/// Gets the AABB bounds of the mesh.
/// </summary>
/// <remarks>
/// <para>
/// Do not call this method on an uninitialized mesh.
/// </para>
/// </remarks>
/// <param name="boundsMin">The minimum bounds of the mesh.</param>
/// <param name="boundsMax">The maximum bounds of the mesh.</param>
public void GetBounds(out Vector3 boundsMin, out Vector3 boundsMax)
{
boundsMin = verts[tris[0]];
boundsMax = verts[tris[0]];
for (int i = 1; i < triCount * 3; i++)
{
Vector3 v = verts[tris[i]];
boundsMin.x = Math.Min(boundsMin.x, v.x);
boundsMin.y = Math.Min(boundsMin.y, v.y);
boundsMin.z = Math.Min(boundsMin.z, v.z);
boundsMax.x = Math.Max(boundsMax.x, v.x);
boundsMax.y = Math.Max(boundsMax.y, v.y);
boundsMax.z = Math.Max(boundsMax.z, v.z);
}
}
/// <summary>
/// Creates an array of vectors from the provided navmesh points.
/// </summary>
/// <remarks>
/// <para>
/// A new array will be created if the <paramref name="target"/> array is null.
/// </para>
/// </remarks>
/// <param name="source">The source array.</param>
/// <param name="sourceIndex">The start of the copy in the source.</param>
/// <param name="target">The target of the copy. (Optional)</param>
/// <param name="targetIndex">The start copy location within the target.</param>
/// <param name="count">The number of vectors to copy.</param>
/// <returns>
/// An array containing the copied vectors. (A reference to <paramref name="target"/>
/// if it was non-null.)
/// </returns>
public static Vector3[] GetPoints(NavmeshPoint[] source, int sourceIndex
, Vector3[] target, int targetIndex
, int count)
{
if (target == null)
target = new Vector3[source.Length + targetIndex];
for (int i = 0; i < count; i++)
{
target[targetIndex + i] = source[sourceIndex + i].point;
}
return target;
}
