static int PrepareCornerVerts(PNavEdgeLoop edgeLoop, PNavIsland island, Fix64Vec2[] verts, int[] indexes)
{
List <PNavNode> corners = new List <PNavNode>();
foreach (PNavNode node in edgeLoop.nodes)
{
if (node.isCorner)
{
corners.Add(node);
}
}
int cornersCount = corners.Count;
for (int i = 0; i < cornersCount; i++)
{
PNavNode node = corners[i];
Fix64Vec3 center = node.Center;
verts[i] = new Fix64Vec2(center.x, center.z);
indexes[i] = island.nodes.IndexOf(node);
}
bool isClockwise = IsClockwise(verts, cornersCount);
if (!isClockwise)
{
InverseVerticesAndIndexes(verts, indexes, cornersCount);
}
return(cornersCount);
}
static void FindEdgeLoops(PNavColumn[,] columns, PNavPoint pointMax, PNavMesh pNavMesh)
{
List <PNavIsland> islandsToRemove = new List <PNavIsland>();
foreach (PNavIsland island in pNavMesh.islands)
{
int edgeLoopIndex = 0;
int maxNodeCount = 0;
PNavEdgeLoop edgeLoop = new PNavEdgeLoop();
foreach (PNavNode node in island.nodes)
{
if (node.walkable)
{
bool foundLoop = DetectEdgeLoop(node, edgeLoop, edgeLoopIndex, columns, pointMax);
if (foundLoop)
{
int nodeCount = edgeLoop.nodes.Count;
if (nodeCount > maxNodeCount)
{
maxNodeCount = nodeCount;
island.boundaryEdgeLoopIndex = edgeLoopIndex;
}
edgeLoopIndex++;
island.edgeLoops.Add(edgeLoop);
edgeLoop = new PNavEdgeLoop();
}
}
}
if (island.boundaryEdgeLoopIndex < 0)
{
islandsToRemove.Add(island);
}
}
foreach (PNavIsland island in islandsToRemove)
{
pNavMesh.islands.Remove(island);
}
}
static bool DetectEdgeLoop(PNavNode node, PNavEdgeLoop edgeLoop, int edgeLoopIndex, PNavColumn[,] columns, PNavPoint pointMax)
{
bool foundLoop = false;
if (node == null || !node.walkable || node.edgeLoopIndex >= 0)
{
return(false);
}
bool isEdge = CheckIfNodeIsValidEdge(node, columns, pointMax);
if (!isEdge)
{
return(false);
}
Stack <PNavNode> stack = new Stack <PNavNode>();
stack.Push(node);
while (stack.Count > 0)
{
PNavNode n = stack.Pop();
//possible to be added more than once
if (n.edgeLoopIndex >= 0)
{
continue;
}
edgeLoop.nodes.Add(n);
n.edgeLoopIndex = edgeLoopIndex;
foundLoop = true;
for (int i = 0; i < 8; i++)
{
PNavPoint pOut;
bool valid = PNavMeshHelper.GetPoint(n.point, pointMax, points[i], out pOut);
if (valid)
{
PNavNode nPush = columns[pOut.x, pOut.z].SurfaceNode();
if (nPush != null)
{
if (!nPush.walkable || nPush.edgeLoopIndex >= 0)
{
continue;
}
bool isEdge1 = CheckIfNodeIsValidEdge(nPush, columns, pointMax);
if (!isEdge1)
{
continue;
}
stack.Push(nPush);
}
}
}
}
return(foundLoop);
}
public static void Process(PNavMesh pNavMesh)
{
const int INDICE_COUNT = 1024;
using (new SProfiler("Triangulation"))
{
int[] indices = new int[INDICE_COUNT];
int[] indiceCounts = new int[INDICE_COUNT];
Fix64Vec2[] verts = new Fix64Vec2[INDICE_COUNT];
int[] indexes = new int[INDICE_COUNT];
int index = 0;
foreach (PNavIsland island in pNavMesh.islands)
{
//build island with island boundary
if (island.boundaryEdgeLoopIndex < 0)
{
continue;
}
Debug.Log($"Generating Polygon graph for island={index}");
index++;
PNavEdgeLoop boundary = island.edgeLoops[island.boundaryEdgeLoopIndex];
int boundaryCornersCount = PrepareCornerVerts(boundary, island, verts, indexes);
PolyIsland polyIsland = Parallel3D.CreatePolyIsland(verts, indexes, boundaryCornersCount);
//add other edgeloops as holes
int edgeLoopIndex = -1;
foreach (PNavEdgeLoop edgeLoop in island.edgeLoops)
{
edgeLoopIndex++;
if (edgeLoopIndex == island.boundaryEdgeLoopIndex)
{
continue;
}
int holeCornersCount = PrepareCornerVerts(edgeLoop, island, verts, indexes);
Parallel3D.AddHolePolyIsland(verts, indexes, holeCornersCount, polyIsland);
}
int polygonCount = 0;
int totalIndicsCount = 0;
bool ok = Parallel3D.TriangulatePolyIsland(indices, indiceCounts, ref polygonCount, ref totalIndicsCount, 2, polyIsland);
int[] indicesCopy = new int[totalIndicsCount];
Array.Copy(indices, 0, indicesCopy, 0, totalIndicsCount);
int[] indiceCountsCopy = new int[polygonCount];
Array.Copy(indiceCounts, 0, indiceCountsCopy, 0, polygonCount);
island.indices = indicesCopy;
island.indiceCountsOfPolygons = indiceCountsCopy;
island.indicsCount = totalIndicsCount;
island.polygonCount = polygonCount;
Parallel3D.DestroyPolyIsland(polyIsland);
}
}
}