bool Mesh2Obstacle()
{
if (mesh.vertexCount == 0 || mesh.triangles.Length == 0)
{
LogMgr.LogError("Convert Error");
return(false);
}
BeginSample("Mesh2Obstacle");
//old
Vector3[] vectorVertices = mesh.vertices;
int[] triangles = mesh.triangles;
//create new
KInt3[] vertices = new KInt3[mesh.vertexCount];
Dictionary <KInt3, int> hashedVerts = new Dictionary <KInt3, int> (mesh.vertexCount);
int[] newVertices = new int[vertices.Length];
//从模型坐标系转换到世界坐标系
for (int i = 0; i < vertices.Length; i++)
{
vertices [i] = (KInt3)MeshMatrix.MultiplyPoint3x4(vectorVertices [i]);
ShowProgress("从模型坐标系转换到世界坐标系", (float)i / vertices.Length);
}
//旧顶点在新顶点中的索引
int newVerIdx = 0;
for (int i = 0; i < vertices.Length; i++)
{
//当hash 顶点集合不包含这个顶点的时候，把这个点加入进去,去除共点
if (!hashedVerts.ContainsKey(vertices [i]))
{
newVertices [newVerIdx] = i;
hashedVerts.Add(vertices [i], newVerIdx);
newVerIdx++;
}
ShowProgress("构建映射", (float)i / vertices.Length);
}
for (int x = 0; x < triangles.Length; x++)
{
//把老的顶点索引映射到新的顶点索引上
KInt3 vertex = vertices [triangles [x]];
triangles [x] = hashedVerts [vertex];
ShowProgress("三角映射", (float)x / triangles.Length);
}
KInt3[] totalIntVertices = vertices;
vertices = new KInt3[newVerIdx];
for (int i = 0; i < newVerIdx; i++)
{
vertices [i] = totalIntVertices [newVertices [i]];
ShowProgress("顶点索引转换", (float)i / newVerIdx);
}
//顶点创建结束
#if UNITY_EDITOR
this.ObsVertices = vertices;
#endif
if (triangles.Length % 3 != 0)
{
LogMgr.LogErrorFormat("triangle lenth error :{0}", triangles.Length);
}
//创建三角
ObsTriangles = new NavmeshTriangle[triangles.Length / 3];
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle tri = new NavmeshTriangle();
ObsTriangles [i] = tri;
#if UNITY_EDITOR
//init
tri.uid = i;
#endif
//
tri.v0 = triangles [i * 3];
tri.v1 = triangles [i * 3 + 1];
tri.v2 = triangles [i * 3 + 2];
if (RVOMath.IsClockwiseXZ(vertices [tri.v0], vertices [tri.v1], vertices [tri.v2]) == false)
{
int tmp = tri.v0;
tri.v0 = tri.v2;
tri.v2 = tmp;
}
//finish position
tri.v03 = vertices [tri.v0];
tri.v13 = vertices [tri.v1];
tri.v23 = vertices [tri.v2];
tri.v03xz = new KInt2(tri.v03.x, tri.v03.z);
tri.v13xz = new KInt2(tri.v13.x, tri.v13.z);
tri.v23xz = new KInt2(tri.v23.x, tri.v23.z);
tri.averagePos = (tri.v03 + tri.v13 + tri.v23) / 3;
if (this.ExactMode >= ExactType.TWO)
{
tri.xzPos = new KInt2(tri.averagePos.x, tri.averagePos.z);
if (point2triangle.ContainsKey(tri.xzPos))
{
point2triangle [tri.xzPos].Add(tri);
}
else
{
point2triangle [tri.xzPos] = new List <NavmeshTriangle> ();
point2triangle [tri.xzPos].Add(tri);
}
}
ShowProgress("构建三角形", (float)i / ObsTriangles.Length);
}
Dictionary <KInt2, NavmeshTriangle> sides = new Dictionary <KInt2, NavmeshTriangle> (triangles.Length * 3);
//创建三角形的边
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
sides [KInt2.ToInt2(triangles [i + 0], triangles [i + 1])] = ObsTriangles [j];
sides [KInt2.ToInt2(triangles [i + 1], triangles [i + 2])] = ObsTriangles [j];
sides [KInt2.ToInt2(triangles [i + 2], triangles [i + 0])] = ObsTriangles [j];
}
HashSet <NavmeshTriangle> connections = new HashSet <NavmeshTriangle> ();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
connections.Clear();
NavmeshTriangle node = ObsTriangles [j];
for (int q = 0; q < 3; q++)
{
NavmeshTriangle other;
//如果是mesh中的边，则加入
if (sides.TryGetValue(KInt2.ToInt2(triangles [i + ((q + 1) % 3)], triangles [i + q]), out other))
{
connections.Add(other);
}
}
//拷贝当前的一份连接点，而不是赋值引用过去
node.connections = new List <NavmeshTriangle> ();
node.connections.AddRange(connections);
node.CreateSharedInfo();
ShowProgress("构建连接点", (float)i / (triangles.Length / 3));
}
ClearProgressBar();
EndSample();
return(true);
}
void OnDrawGizmos()
{
if (ObsTriangles == null || !DrawGizmos)
{
return;
}
bool show = !Drawsegments && !DrawRmovelist && !DrawNearstTriangles && DrawGizmos;
if (DrawRmovelist)
{
for (int i = 0; i < willremoveList.Count; ++i)
{
Gizmos.color = Color.red;
Segment seg = willremoveList [i];
KInt3 start = new KInt3(seg.start.x, 0, seg.start.y);
KInt3 end = new KInt3(seg.end.x, 0, seg.end.y);
Gizmos.DrawLine(start, end);
UnityEditor.Handles.Label((start + end) / 2, "序号 [" + seg.uid + "]");
}
}
if (Drawsegments)
{
for (int i = 0; i < segments.Count; ++i)
{
Gizmos.color = (i % 2 == 0) ? Color.green : Color.blue;
Segment seg = segments [i];
KInt3 start = new KInt3(seg.start.x, 0, seg.start.y);
KInt3 end = new KInt3(seg.end.x, 0, seg.end.y);
Gizmos.DrawLine(start, end);
UnityEditor.Handles.Label((start + end) / 2, "序号 [" + seg.uid + "]");
}
}
if (DrawNearstTriangles)
{
if (tree != null && lastpoint != targetPoint)
{
if (SeekedTriangleList == null)
{
SeekedTriangleList = new List <NavmeshTriangle> ();
}
SeekedTriangleList.Clear();
List <KInt2> startidxs = ListPool.TrySpawn <List <KInt2> > ();
tree.ball_queryPoints((KInt2)targetPoint, Seekrange, startidxs);
for (int k = 0; k < startidxs.Count; ++k)
{
var trianglelist = point2triangle [startidxs [k]];
for (int v = 0; v < trianglelist.Count; ++v)
{
SeekedTriangleList.Add(trianglelist [v]);
}
}
ListPool.TryDespawn(startidxs);
lastpoint = targetPoint;
}
Gizmos.DrawWireCube(new Vector3(targetPoint.x, 0, targetPoint.y), Vector3.one);
if (SeekedTriangleList != null)
{
for (int i = 0; i < SeekedTriangleList.Count; i++)
{
NavmeshTriangle node = SeekedTriangleList [i];
Gizmos.color = Color.cyan;
for (int q = 0; q < node.connections.Count; q++)
{
Gizmos.DrawLine(node.averagePos, Vector3.Lerp(node.averagePos, node.connections [q].averagePos, 0.45f));
}
Gizmos.color = Color.black;
Gizmos.DrawLine(ObsVertices [node.v0], ObsVertices [node.v1]);
Gizmos.DrawLine(ObsVertices [node.v1], ObsVertices [node.v2]);
Gizmos.DrawLine(ObsVertices [node.v2], ObsVertices [node.v0]);
UnityEditor.Handles.Label(node.averagePos, "序号 [" + node.uid + "]");
}
}
}
if (show)
{
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle node = ObsTriangles [i];
Gizmos.color = Color.cyan;
for (int q = 0; q < node.connections.Count; q++)
{
Gizmos.DrawLine(node.averagePos, Vector3.Lerp(node.averagePos, node.connections [q].averagePos, 0.45f));
}
Gizmos.color = Color.black;
Gizmos.DrawLine(ObsVertices [node.v0], ObsVertices [node.v1]);
Gizmos.DrawLine(ObsVertices [node.v1], ObsVertices [node.v2]);
Gizmos.DrawLine(ObsVertices [node.v2], ObsVertices [node.v0]);
}
}
}