public static void CalcExtends(BVItem[] items, int nitems, int imin, int imax, out Int3 bmin, out Int3 bmax)
{
bmin.X = items[imin].BMin.X;
bmin.Y = items[imin].BMin.Y;
bmin.Z = items[imin].BMin.Z;
bmax.X = items[imin].BMax.X;
bmax.Y = items[imin].BMax.Y;
bmax.Z = items[imin].BMax.Z;
for (int i = imin + 1; i < imax; ++i)
{
BVItem it = items[i];
if (it.BMin.X < bmin.X)
{
bmin.X = it.BMin.X;
}
if (it.BMin.Y < bmin.Y)
{
bmin.Y = it.BMin.Y;
}
if (it.BMin.Z < bmin.Z)
{
bmin.Z = it.BMin.Z;
}
if (it.BMax.X > bmax.X)
{
bmax.X = it.BMax.X;
}
if (it.BMax.Y > bmax.Y)
{
bmax.Y = it.BMax.Y;
}
if (it.BMax.Z > bmax.Z)
{
bmax.Z = it.BMax.Z;
}
}
}
public static int CreateBVTree(NavMeshCreateParams param, out List <BVNode> nodes)
{
nodes = new List <BVNode>();
// Build tree
float quantFactor = 1 / param.cs;
BVItem[] items = new BVItem[param.polyCount];
for (int i = 0; i < param.polyCount; i++)
{
var it = items[i];
it.I = i;
// Calc polygon bounds. Use detail meshes if available.
if (param.detailMeshes != null)
{
int vb = param.detailMeshes[i][0];
int ndv = param.detailMeshes[i][1];
var bmin = param.detailVerts[vb];
var bmax = param.detailVerts[vb];
for (int j = 1; j < ndv; j++)
{
bmin = Vector3.Min(bmin, param.detailVerts[vb + j]);
bmax = Vector3.Max(bmax, param.detailVerts[vb + j]);
}
// BV-tree uses cs for all dimensions
it.BMin = new Int3
{
X = MathUtil.Clamp((int)((bmin.X - param.bmin.X) * quantFactor), 0, 0xffff),
Y = MathUtil.Clamp((int)((bmin.Y - param.bmin.Y) * quantFactor), 0, 0xffff),
Z = MathUtil.Clamp((int)((bmin.Z - param.bmin.Z) * quantFactor), 0, 0xffff)
};
it.BMax = new Int3
{
X = MathUtil.Clamp((int)((bmax.X - param.bmin.X) * quantFactor), 0, 0xffff),
Y = MathUtil.Clamp((int)((bmax.Y - param.bmin.Y) * quantFactor), 0, 0xffff),
Z = MathUtil.Clamp((int)((bmax.Z - param.bmin.Z) * quantFactor), 0, 0xffff)
};
}
else
{
var p = param.Polys[i];
var itBMin = param.Verts[p[0]];
var itBMax = param.Verts[p[0]];
for (int j = 1; j < param.nvp; ++j)
{
if (p[j] == MESH_NULL_IDX)
{
break;
}
var x = param.Verts[p[j]].X;
var y = param.Verts[p[j]].Y;
var z = param.Verts[p[j]].Z;
if (x < it.BMin.X)
{
itBMin.X = x;
}
if (y < it.BMin.Y)
{
itBMin.Y = y;
}
if (z < it.BMin.Z)
{
itBMin.Z = z;
}
if (x > it.BMax.X)
{
itBMax.X = x;
}
if (y > it.BMax.Y)
{
itBMax.Y = y;
}
if (z > it.BMax.Z)
{
itBMax.Z = z;
}
}
// Remap y
itBMin.Y = (int)Math.Floor(it.BMin.Y * param.ch / param.cs);
itBMax.Y = (int)Math.Ceiling(it.BMax.Y * param.ch / param.cs);
it.BMin = itBMin;
it.BMax = itBMax;
}
items[i] = it;
}
int curNode = 0;
Subdivide(items, param.polyCount, 0, param.polyCount, ref curNode, ref nodes);
return(curNode);
}