public static List <NavMeshCell> CalculateNavMeshCells(Grid grid)
{
NavMeshCell.ResetMeshIDs();
Grid = grid;
for (int col = 0; col < Grid.Cols; col++)
{
for (int row = 0; row < Grid.Rows; row++)
{
Grid[col, row].MeshID = Cell.NOT_PART_OF_MESH;
}
}
startAt = new Point(Grid.Cols / 2, Grid.Rows / 2);
Grid[startAt].Passable = true;
//startAt = new Point(0, 0);
finishedCalculating = false;
blockedEast = false;
blockedSouth = false;
blockedWest = false;
blockedNorth = false;
navCells = new List <NavMeshCell>();
curCell = new NavMeshCell(Grid[startAt].Pos, Grid.CellSize, Grid.CellSize);
frontier = new List <Cell>();
while (!finishedCalculating)
{
// If cell is becoming long and skinny, restrict expansion on that axis.
// Restrict East / West expansion
if (curCell.Width >= curCell.Height * 3)
{
blockedEast = true;
blockedWest = true;
}
// Restrict North / South expansion
if (curCell.Height >= curCell.Width * 3)
{
blockedNorth = true;
blockedSouth = true;
}
// Try to expand east.
if (!blockedEast)
{
blockedEast = DoNewCellsBlock(GetNextEastCol(curCell));
// Expansion is valid.
if (!blockedEast)
{
// Increase size of current cell.
curCell.Width += Grid.CellSize;
}
}
// Try to expand south.
if (!blockedSouth)
{
blockedSouth = DoNewCellsBlock(GetNextSouthRow(curCell));
// Expansion is valid
if (!blockedSouth)
{
// Increase size of current cell.
curCell.Height += Grid.CellSize;
}
}
// Try to expand west.
if (!blockedWest)
{
blockedWest = DoNewCellsBlock(GetNextWestCol(curCell));
// Expansion is valid
if (!blockedWest)
{
// Increase size of current cell.
curCell.Width += Grid.CellSize;
curCell.Pos.X -= Grid.CellSize;
}
}
// Try to expand north.
if (!blockedNorth)
{
blockedNorth = DoNewCellsBlock(GetNextNorthRow(curCell));
// Expansion is valid.
if (!blockedNorth)
{
// Increase size of current cell.
curCell.Height += Grid.CellSize;
curCell.Pos.Y -= Grid.CellSize;
}
}
// Blocked on both dimensinos, finalise this nav mesh cell.
if (BlockedOnAllSides)
{
// Finish making this cell and start making a new one.
// Probably calculate neighbours here too.
uint nextMeshID = NavMeshCell.NextMeshID;
curCell.NavMeshID = nextMeshID;
AddNavCell(curCell);
// Assign each cell in the area as part of the new Nav Mesh Cell.
foreach (Cell c in Grid.CellsInRect(curCell.CollisionRect.GetInflated(-1, -1)))
{
c.MeshID = nextMeshID;
}
// Update frontier to remove any cells now part of the mesh
for (int i = frontier.Count - 1; i >= 0; i--)
{
if (frontier[i].MeshID != Cell.NOT_PART_OF_MESH)
{
frontier.RemoveAt(i);
}
}
// Get surrounding cells.
var newCells = GetNextBorder(curCell);
foreach (Cell c in newCells)
{
// Add to frontier if valid
if (c.Passable && c.MeshID == Cell.NOT_PART_OF_MESH)
{
frontier.Add(c);
}
}
if (frontier.Count == 0)
{
finishedCalculating = true;
}
if (!finishedCalculating)
{
startAt = Grid.IndexAt(frontier[0].Mid);
curCell = new NavMeshCell(Grid[startAt].Pos, Grid.CellSize, Grid.CellSize);
blockedEast = false;
blockedSouth = false;
blockedNorth = false;
blockedWest = false;
}
}
}
CalculateNeighbours();
return(navCells);
}
