|
public static Intersects ( |
||
| a | ||
| b | ||
| a2 | ||
| b2 | ||
| return | bool | |
public int EdgeIntersect(Int3 a, Int3 b, int startEdge, int count)
{
Int3[] staticVerts = TriangleMeshNode._staticVerts;
this.GetPoints(out staticVerts[0], out staticVerts[1], out staticVerts[2]);
for (int i = 0; i < count; i++)
{
int num = (startEdge + i) % 3;
int num2 = (num + 1) % 3;
if (Polygon.Intersects(staticVerts[num], staticVerts[num2], a, b))
{
return(num);
}
}
return(-1);
}
public int EdgeIntersect(VInt3 a, VInt3 b, int startEdge, int count)
{
VInt3[] numArray = _staticVerts;
this.GetPoints(out numArray[0], out numArray[1], out numArray[2]);
for (int i = 0; i < count; i++)
{
int index = (startEdge + i) % 3;
int num3 = (index + 1) % 3;
if (Polygon.Intersects(numArray[index], numArray[num3], a, b))
{
return(index);
}
}
return(-1);
}
private TriangleMeshNode checkObjIntersects(ref int edge, Int3 start, Int3 end, int gridX, int gridY)
{
List <object> objs = this.rasterizer.GetObjs(gridX, gridY);
if (objs == null || objs.Count == 0)
{
return(null);
}
Int3[] array = new Int3[3];
TriangleMeshNode triangleMeshNode = null;
int num = -1;
long num2 = 9223372036854775807L;
for (int i = 0; i < objs.Count; i++)
{
TriangleMeshNode triangleMeshNode2 = objs[i] as TriangleMeshNode;
triangleMeshNode2.GetPoints(out array[0], out array[1], out array[2]);
for (int j = 0; j < 3; j++)
{
int num3 = j;
int num4 = (j + 1) % 3;
if (Polygon.Intersects(array[num3], array[num4], start, end))
{
bool flag;
Int3 vInt = Polygon.IntersectionPoint(ref array[num3], ref array[num4], ref start, ref end, out flag);
long num5 = start.XZSqrMagnitude(ref vInt);
if (num5 < num2)
{
num2 = num5;
triangleMeshNode = triangleMeshNode2;
num = j;
}
}
}
}
if (num != -1 && triangleMeshNode != null)
{
edge = num;
return(triangleMeshNode);
}
return(null);
}
private TriangleMeshNode checkObjIntersects(ref int edge, VInt3 start, VInt3 end, int gridX, int gridY)
{
List <object> objs = this.rasterizer.GetObjs(gridX, gridY);
if ((objs != null) && (objs.Count != 0))
{
VInt3[] numArray = new VInt3[3];
TriangleMeshNode node = null;
int num = -1;
long num2 = 0x7fffffffffffffffL;
for (int i = 0; i < objs.Count; i++)
{
TriangleMeshNode node2 = objs[i] as TriangleMeshNode;
node2.GetPoints(out numArray[0], out numArray[1], out numArray[2]);
for (int j = 0; j < 3; j++)
{
int index = j;
int num6 = (j + 1) % 3;
if (Polygon.Intersects(numArray[index], numArray[num6], start, end))
{
bool flag;
VInt3 rhs = Polygon.IntersectionPoint(ref numArray[index], ref numArray[num6], ref start, ref end, out flag);
DebugHelper.Assert(flag);
long num8 = start.XZSqrMagnitude(ref rhs);
if (num8 < num2)
{
num2 = num8;
node = node2;
num = j;
}
}
}
}
if ((num != -1) && (node != null))
{
edge = num;
return(node);
}
}
return(null);
}
public int EdgeIntersect(VInt3 a, VInt3 b)
{
VInt3 num;
VInt3 num2;
VInt3 num3;
this.GetPoints(out num, out num2, out num3);
if (Polygon.Intersects(num, num2, a, b))
{
return(0);
}
if (Polygon.Intersects(num2, num3, a, b))
{
return(1);
}
if (Polygon.Intersects(num3, num, a, b))
{
return(2);
}
return(-1);
}
public int EdgeIntersect(Int3 a, Int3 b)
{
Int3 vInt;
Int3 vInt2;
Int3 vInt3;
this.GetPoints(out vInt, out vInt2, out vInt3);
if (Polygon.Intersects(vInt, vInt2, a, b))
{
return(0);
}
if (Polygon.Intersects(vInt2, vInt3, a, b))
{
return(1);
}
if (Polygon.Intersects(vInt3, vInt, a, b))
{
return(2);
}
return(-1);
}
public static void UpdateArea(GraphUpdateObject o, INavmesh graph)
{
//System.DateTime startTime = System.DateTime.UtcNow;
Bounds bounds = o.bounds;
Rect r = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
IntRect r2 = new IntRect(
Mathf.FloorToInt(bounds.min.x * Int3.Precision),
Mathf.FloorToInt(bounds.min.z * Int3.Precision),
Mathf.FloorToInt(bounds.max.x * Int3.Precision),
Mathf.FloorToInt(bounds.max.z * Int3.Precision)
);
Int3 a = new Int3(r2.xmin, 0, r2.ymin);
Int3 b = new Int3(r2.xmin, 0, r2.ymax);
Int3 c = new Int3(r2.xmax, 0, r2.ymin);
Int3 d = new Int3(r2.xmax, 0, r2.ymax);
Int3 ia = (Int3)a;
Int3 ib = (Int3)b;
Int3 ic = (Int3)c;
Int3 id = (Int3)d;
//for (int i=0;i<nodes.Length;i++) {
graph.GetNodes(delegate(GraphNode _node) {
TriangleMeshNode node = _node as TriangleMeshNode;
bool inside = false;
int allLeft = 0;
int allRight = 0;
int allTop = 0;
int allBottom = 0;
for (int v = 0; v < 3; v++)
{
Int3 p = node.GetVertex(v);
Vector3 vert = (Vector3)p;
//Vector2 vert2D = new Vector2 (vert.x,vert.z);
if (r2.Contains(p.x, p.z))
{
//Debug.DrawRay (vert,Vector3.up*10,Color.yellow);
inside = true;
break;
}
if (vert.x < r.xMin)
{
allLeft++;
}
if (vert.x > r.xMax)
{
allRight++;
}
if (vert.z < r.yMin)
{
allTop++;
}
if (vert.z > r.yMax)
{
allBottom++;
}
}
if (!inside)
{
if (allLeft == 3 || allRight == 3 || allTop == 3 || allBottom == 3)
{
return(true);
}
}
//Debug.DrawLine ((Vector3)node.GetVertex(0),(Vector3)node.GetVertex(1),Color.yellow);
//Debug.DrawLine ((Vector3)node.GetVertex(1),(Vector3)node.GetVertex(2),Color.yellow);
//Debug.DrawLine ((Vector3)node.GetVertex(2),(Vector3)node.GetVertex(0),Color.yellow);
for (int v = 0; v < 3; v++)
{
int v2 = v > 1 ? 0 : v + 1;
Int3 vert1 = node.GetVertex(v);
Int3 vert2 = node.GetVertex(v2);
if (Polygon.Intersects(a, b, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(a, c, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(c, d, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(d, b, vert1, vert2))
{
inside = true; break;
}
}
if (node.ContainsPoint(ia) || node.ContainsPoint(ib) || node.ContainsPoint(ic) || node.ContainsPoint(id))
{
inside = true;
}
if (!inside)
{
return(true);
}
o.WillUpdateNode(node);
o.Apply(node);
/*Debug.DrawLine ((Vector3)node.GetVertex(0),(Vector3)node.GetVertex(1),Color.blue);
* Debug.DrawLine ((Vector3)node.GetVertex(1),(Vector3)node.GetVertex(2),Color.blue);
* Debug.DrawLine ((Vector3)node.GetVertex(2),(Vector3)node.GetVertex(0),Color.blue);
* Debug.Break ();*/
return(true);
});
//System.DateTime endTime = System.DateTime.UtcNow;
//float theTime = (endTime-startTime).Ticks*0.0001F;
//Debug.Log ("Intersecting bounds with navmesh took "+theTime.ToString ("0.000")+" ms");
}
public static void UpdateArea(GraphUpdateObject o, INavmesh graph)
{
Bounds bounds = o.bounds;
Rect r = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
IntRect r2 = new IntRect(Mathf.FloorToInt(bounds.min.x * 1000f), Mathf.FloorToInt(bounds.min.z * 1000f), Mathf.FloorToInt(bounds.max.x * 1000f), Mathf.FloorToInt(bounds.max.z * 1000f));
Int3 a = new Int3(r2.xmin, 0, r2.ymin);
Int3 b = new Int3(r2.xmin, 0, r2.ymax);
Int3 c = new Int3(r2.xmax, 0, r2.ymin);
Int3 d = new Int3(r2.xmax, 0, r2.ymax);
graph.GetNodes(delegate(GraphNode _node)
{
TriangleMeshNode triangleMeshNode = _node as TriangleMeshNode;
bool flag = false;
int num = 0;
int num2 = 0;
int num3 = 0;
int num4 = 0;
for (int i = 0; i < 3; i++)
{
Int3 vertex = triangleMeshNode.GetVertex(i);
Vector3 vector = (Vector3)vertex;
if (r2.Contains(vertex.x, vertex.z))
{
flag = true;
break;
}
if (vector.x < r.xMin)
{
num++;
}
if (vector.x > r.xMax)
{
num2++;
}
if (vector.z < r.yMin)
{
num3++;
}
if (vector.z > r.yMax)
{
num4++;
}
}
if (!flag && (num == 3 || num2 == 3 || num3 == 3 || num4 == 3))
{
return(true);
}
for (int j = 0; j < 3; j++)
{
int i2 = (j <= 1) ? (j + 1) : 0;
Int3 vertex2 = triangleMeshNode.GetVertex(j);
Int3 vertex3 = triangleMeshNode.GetVertex(i2);
if (Polygon.Intersects(a, b, vertex2, vertex3))
{
flag = true;
break;
}
if (Polygon.Intersects(a, c, vertex2, vertex3))
{
flag = true;
break;
}
if (Polygon.Intersects(c, d, vertex2, vertex3))
{
flag = true;
break;
}
if (Polygon.Intersects(d, b, vertex2, vertex3))
{
flag = true;
break;
}
}
if (triangleMeshNode.ContainsPoint(a) || triangleMeshNode.ContainsPoint(b) || triangleMeshNode.ContainsPoint(c) || triangleMeshNode.ContainsPoint(d))
{
flag = true;
}
if (!flag)
{
return(true);
}
o.WillUpdateNode(triangleMeshNode);
o.Apply(triangleMeshNode);
return(true);
});
}
public static void UpdateArea(GraphUpdateObject o, INavmesh graph)
{
//System.DateTime startTime = System.DateTime.UtcNow;
Bounds bounds = o.bounds;
Rect r = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
var r2 = new IntRect(
Mathf.FloorToInt(bounds.min.x * Int3.Precision),
Mathf.FloorToInt(bounds.min.z * Int3.Precision),
Mathf.FloorToInt(bounds.max.x * Int3.Precision),
Mathf.FloorToInt(bounds.max.z * Int3.Precision)
);
var a = new Int3(r2.xmin, 0, r2.ymin);
var b = new Int3(r2.xmin, 0, r2.ymax);
var c = new Int3(r2.xmax, 0, r2.ymin);
var d = new Int3(r2.xmax, 0, r2.ymax);
graph.GetNodes(_node => {
var node = _node as TriangleMeshNode;
bool inside = false;
int allLeft = 0;
int allRight = 0;
int allTop = 0;
int allBottom = 0;
for (int v = 0; v < 3; v++)
{
Int3 p = node.GetVertex(v);
var vert = (Vector3)p;
if (r2.Contains(p.x, p.z))
{
inside = true;
break;
}
if (vert.x < r.xMin)
{
allLeft++;
}
if (vert.x > r.xMax)
{
allRight++;
}
if (vert.z < r.yMin)
{
allTop++;
}
if (vert.z > r.yMax)
{
allBottom++;
}
}
if (!inside)
{
if (allLeft == 3 || allRight == 3 || allTop == 3 || allBottom == 3)
{
return(true);
}
}
for (int v = 0; v < 3; v++)
{
int v2 = v > 1 ? 0 : v + 1;
Int3 vert1 = node.GetVertex(v);
Int3 vert2 = node.GetVertex(v2);
if (Polygon.Intersects(a, b, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(a, c, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(c, d, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(d, b, vert1, vert2))
{
inside = true; break;
}
}
if (node.ContainsPoint(a) || node.ContainsPoint(b) || node.ContainsPoint(c) || node.ContainsPoint(d))
{
inside = true;
}
if (!inside)
{
return(true);
}
o.WillUpdateNode(node);
o.Apply(node);
return(true);
});
}
public void UpdateArea(GraphUpdateObject o)
{
if (nodes == null || nodes.Length == 0)
{
Debug.LogError("NavGraph hasn't been generated yet or does not contain any nodes");
return; // new NNInfo ();
}
//System.DateTime startTime = System.DateTime.Now;
Bounds bounds = o.bounds;
Rect r = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
Vector3 a = new Vector3(r.xMin, 0, r.yMin); // -1 -1
Vector3 b = new Vector3(r.xMin, 0, r.yMax); // -1 1
Vector3 c = new Vector3(r.xMax, 0, r.yMin); // 1 -1
Vector3 d = new Vector3(r.xMax, 0, r.yMax); // 1 1
for (int i = 0; i < nodes.Length; i++)
{
MeshNode node = nodes[i] as MeshNode;
bool inside = false;
int allLeft = 0;
int allRight = 0;
int allTop = 0;
int allBottom = 0;
for (int v = 0; v < 3; v++)
{
Vector3 vert = (Vector3)vertices[node[v]];
Vector2 vert2D = new Vector2(vert.x, vert.z);
if (r.Contains(vert2D))
{
//Debug.DrawRay (vert,Vector3.up,Color.yellow);
inside = true;
break;
}
if (vert.x < r.xMin)
{
allLeft++;
}
if (vert.x > r.xMax)
{
allRight++;
}
if (vert.z < r.yMin)
{
allTop++;
}
if (vert.z > r.yMax)
{
allBottom++;
}
//if (!bounds.Contains (node[v]) {
// inside = false;
// break;
//}
}
if (!inside)
{
if (allLeft == 3 || allRight == 3 || allTop == 3 || allBottom == 3)
{
continue;
}
}
for (int v = 0; v < 3; v++)
{
int v2 = v > 1 ? 0 : v + 1;
Vector3 vert1 = (Vector3)vertices[node[v]];
Vector3 vert2 = (Vector3)vertices[node[v2]];
if (Polygon.Intersects(a, b, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(a, c, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(c, d, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(d, b, vert1, vert2))
{
inside = true; break;
}
}
if (!inside && ContainsPoint(node, a))
{
inside = true;
} //Debug.DrawRay (a+Vector3.right*0.01F*i,Vector3.up,Color.red); }
if (!inside && ContainsPoint(node, b))
{
inside = true;
} //Debug.DrawRay (b+Vector3.right*0.01F*i,Vector3.up,Color.red); }
if (!inside && ContainsPoint(node, c))
{
inside = true;
} //Debug.DrawRay (c+Vector3.right*0.01F*i,Vector3.up,Color.red); }
if (!inside && ContainsPoint(node, d))
{
inside = true;
} //Debug.DrawRay (d+Vector3.right*0.01F*i,Vector3.up,Color.red); }
if (!inside)
{
continue;
}
o.Apply(node);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.blue);
//Debug.DrawLine (vertices[node.v2],vertices[node.v3],Color.blue);
//Debug.DrawLine (vertices[node.v3],vertices[node.v1],Color.blue);
//Debug.Break ();
}
//System.DateTime endTime = System.DateTime.Now;
//float theTime = (endTime-startTime).Ticks*0.0001F;
//Debug.Log ("Intersecting bounds with navmesh took "+theTime.ToString ("0.000")+" ms");
}
public static void UpdateArea(GraphUpdateObject o, INavmesh graph)
{
Bounds bounds = o.bounds;
// Bounding rectangle with floating point coordinates
Rect r = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
// Bounding rectangle with int coordinates
var r2 = new IntRect(
Mathf.FloorToInt(bounds.min.x * Int3.Precision),
Mathf.FloorToInt(bounds.min.z * Int3.Precision),
Mathf.FloorToInt(bounds.max.x * Int3.Precision),
Mathf.FloorToInt(bounds.max.z * Int3.Precision)
);
// Corners of the bounding rectangle
var a = new Int3(r2.xmin, 0, r2.ymin);
var b = new Int3(r2.xmin, 0, r2.ymax);
var c = new Int3(r2.xmax, 0, r2.ymin);
var d = new Int3(r2.xmax, 0, r2.ymax);
var ymin = ((Int3)bounds.min).y;
var ymax = ((Int3)bounds.max).y;
// Loop through all nodes
graph.GetNodes(_node => {
var node = _node as TriangleMeshNode;
bool inside = false;
int allLeft = 0;
int allRight = 0;
int allTop = 0;
int allBottom = 0;
// Check bounding box rect in XZ plane
for (int v = 0; v < 3; v++)
{
Int3 p = node.GetVertex(v);
var vert = (Vector3)p;
if (r2.Contains(p.x, p.z))
{
inside = true;
break;
}
if (vert.x < r.xMin)
{
allLeft++;
}
if (vert.x > r.xMax)
{
allRight++;
}
if (vert.z < r.yMin)
{
allTop++;
}
if (vert.z > r.yMax)
{
allBottom++;
}
}
if (!inside)
{
if (allLeft == 3 || allRight == 3 || allTop == 3 || allBottom == 3)
{
return(true);
}
}
// Check if the polygon edges intersect the bounding rect
for (int v = 0; v < 3; v++)
{
int v2 = v > 1 ? 0 : v + 1;
Int3 vert1 = node.GetVertex(v);
Int3 vert2 = node.GetVertex(v2);
if (Polygon.Intersects(a, b, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(a, c, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(c, d, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(d, b, vert1, vert2))
{
inside = true; break;
}
}
// Check if the node contains any corner of the bounding rect
if (inside || node.ContainsPoint(a) || node.ContainsPoint(b) || node.ContainsPoint(c) || node.ContainsPoint(d))
{
inside = true;
}
if (!inside)
{
return(true);
}
int allAbove = 0;
int allBelow = 0;
// Check y coordinate
for (int v = 0; v < 3; v++)
{
Int3 p = node.GetVertex(v);
var vert = (Vector3)p;
if (vert.y < ymin)
{
allBelow++;
}
if (vert.y > ymax)
{
allAbove++;
}
}
// Polygon is either completely above the bounding box or completely below it
if (allBelow == 3 || allAbove == 3)
{
return(true);
}
// Triangle is inside the bounding box!
// Update it!
o.WillUpdateNode(node);
o.Apply(node);
return(true);
});
}