private MyNavmeshComponents.ClosedCellInfo ConstructComponents()
{
ProfilerShort.Begin("ConstructComponents");
long timeBegin = m_mesh.GetCurrentTimestamp() + 1;
long timeEnd = timeBegin;
m_currentComponentRel = 0;
m_navmeshComponents.OpenCell(m_packedCoord);
m_tmpComponentTriangles.Clear();
foreach (var triIndex in m_triangleList)
{
// The marker is used as a fake component index in triangles to mark visited triangles.
// Negative numbers from -2 down are used to avoid collisions with existing component numbers (0, 1, 2, ...) or the special value -1
m_currentComponentMarker = -2 - m_currentComponentRel;
// Skip already visited triangles
var triangle = m_mesh.GetTriangle(triIndex);
if (m_mesh.VisitedBetween(triangle, timeBegin, timeEnd))
{
continue;
}
m_navmeshComponents.OpenComponent();
// Make sure we have place in m_currentCellConnections
if (m_currentComponentRel >= m_currentCellConnections.Count)
{
m_currentCellConnections.Add(new List <ConnectionInfo>());
}
// Find connected component from an unvisited triangle
ProfilerShort.Begin("Graph traversal");
m_currentHelper = this;
m_navmeshComponents.AddComponentTriangle(triangle, triangle.Center);
triangle.ComponentIndex = m_currentComponentMarker;
m_tmpComponentTriangles.Add(triangle);
m_mesh.PrepareTraversal(triangle, null, m_processTrianglePredicate);
m_mesh.PerformTraversal();
ProfilerShort.End();
m_tmpComponentTriangles.Add(null); // Mark end of component in m_tmpComponentTriangles
m_navmeshComponents.CloseComponent();
timeEnd = m_mesh.GetCurrentTimestamp();
m_currentComponentRel++;
}
MyNavmeshComponents.ClosedCellInfo cellInfo = new MyNavmeshComponents.ClosedCellInfo();
m_navmeshComponents.CloseAndCacheCell(ref cellInfo);
ProfilerShort.End();
return(cellInfo);
}
public MyVoxelNavigationMesh(MyVoxelMap voxelMap, MyNavmeshCoordinator coordinator, Func <long> timestampFunction)
: base(coordinator.Links, 16, timestampFunction)
{
m_voxelMap = voxelMap;
m_cellSize = m_voxelMap.SizeInMetres / m_voxelMap.Storage.Geometry.CellsCount * (1 << NAVMESH_LOD);
m_processedCells = new MyVector3ISet();
m_markedForAddition = new MyVector3ISet();
m_toAdd = new MyBinaryStructHeap <float, Vector3I>(128);
m_connectionHelper = new MyVoxelConnectionHelper();
m_navmeshCoordinator = coordinator;
m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
m_higherLevelHelper = new MyVoxelHighLevelHelper(this);
m_debugCellEdges = new Dictionary <ulong, List <DebugDrawEdge> >();
voxelMap.Storage.RangeChanged += OnStorageChanged;
}
public MyVoxelNavigationMesh(MyVoxelBase voxelMap, MyNavmeshCoordinator coordinator, Func <long> timestampFunction) : base(coordinator.Links, 0x10, timestampFunction)
{
this.LimitAddingWeight = GetWeight(25f);
this.m_voxelMap = voxelMap;
m_staticVoxelMap = this.m_voxelMap;
this.m_processedCells = new MyVector3ISet();
this.m_cellsOnWayCoords = new HashSet <ulong>();
this.m_cellsOnWay = new List <Vector3I>();
this.m_primitivesOnPath = new List <MyHighLevelPrimitive>(0x80);
this.m_toAdd = new MyBinaryHeap <float, CellToAddHeapItem>(0x80);
this.m_heapItemList = new List <CellToAddHeapItem>();
this.m_markedForAddition = new MyVector3ISet();
this.m_cellsToChange = new LinkedList <Vector3I>();
this.m_cellsToChangeSet = new MyVector3ISet();
this.m_connectionHelper = new MyVoxelConnectionHelper();
this.m_navmeshCoordinator = coordinator;
this.m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
this.m_higherLevelHelper = new MyVoxelHighLevelHelper(this);
this.m_debugCellEdges = new Dictionary <ulong, List <DebugDrawEdge> >();
voxelMap.Storage.RangeChanged += new Action <Vector3I, Vector3I, MyStorageDataTypeFlags>(this.OnStorageChanged);
this.m_maxCellCoord = ((Vector3I)(this.m_voxelMap.Size / 8)) - Vector3I.One;
}
private MyNavmeshComponents.ClosedCellInfo ConstructComponents()
{
long start = this.m_mesh.GetCurrentTimestamp() + 1L;
long end = start;
this.m_currentComponentRel = 0;
this.m_navmeshComponents.OpenCell(this.m_packedCoord);
this.m_tmpComponentTriangles.Clear();
MyIntervalList.Enumerator enumerator = this.m_triangleList.GetEnumerator();
while (enumerator.MoveNext())
{
int current = enumerator.Current;
this.m_currentComponentMarker = -2 - this.m_currentComponentRel;
MyNavigationTriangle vertex = this.m_mesh.GetTriangle(current);
if (!this.m_mesh.VisitedBetween(vertex, start, end))
{
this.m_navmeshComponents.OpenComponent();
if (this.m_currentComponentRel >= this.m_currentCellConnections.Count)
{
this.m_currentCellConnections.Add(new List <ConnectionInfo>());
}
m_currentHelper = this;
this.m_navmeshComponents.AddComponentTriangle(vertex, vertex.Center);
vertex.ComponentIndex = this.m_currentComponentMarker;
this.m_tmpComponentTriangles.Add(vertex);
this.m_mesh.PrepareTraversal(vertex, null, this.m_processTrianglePredicate, null);
this.m_mesh.PerformTraversal();
this.m_tmpComponentTriangles.Add(null);
this.m_navmeshComponents.CloseComponent();
end = this.m_mesh.GetCurrentTimestamp();
this.m_currentComponentRel++;
}
}
MyNavmeshComponents.ClosedCellInfo output = new MyNavmeshComponents.ClosedCellInfo();
this.m_navmeshComponents.CloseAndCacheCell(ref output);
return(output);
}
public MyVoxelNavigationMesh(MyVoxelBase voxelMap, MyNavmeshCoordinator coordinator, Func<long> timestampFunction)
: base(coordinator.Links, 16, timestampFunction)
{
m_voxelMap = voxelMap;
m_cellSize = m_voxelMap.SizeInMetres / m_voxelMap.Storage.Geometry.CellsCount * (1 << NAVMESH_LOD);
m_processedCells = new MyVector3ISet();
m_markedForAddition = new MyVector3ISet();
m_toAdd = new MyBinaryStructHeap<float, Vector3I>(128);
m_connectionHelper = new MyVoxelConnectionHelper();
m_navmeshCoordinator = coordinator;
m_higherLevel = new MyHighLevelGroup(this, coordinator.HighLevelLinks, timestampFunction);
m_higherLevelHelper = new MyVoxelHighLevelHelper(this);
m_debugCellEdges = new Dictionary<ulong, List<DebugDrawEdge>>();
voxelMap.Storage.RangeChanged += OnStorageChanged;
}
public void ProcessCellComponents()
{
ProfilerShort.Begin("ProcessCellComponents");
m_triangleLists.Add(m_packedCoord, m_triangleList.GetCopy());
long timeBegin = m_mesh.GetCurrentTimestamp() + 1;
long timeEnd = timeBegin;
m_currentComponentRel = 0;
m_currentComponent = m_navmeshComponents.OpenCell(m_packedCoord);
foreach (var triIndex in m_triangleList)
{
// Skip already visited triangles
var triangle = m_mesh.GetTriangle(triIndex);
if (m_mesh.VisitedBetween(triangle, timeBegin, timeEnd))
{
continue;
}
m_navmeshComponents.OpenComponent();
// Make sure we have place in m_currentCellConnections
if (m_currentComponentRel >= m_currentCellConnections.Count)
{
m_currentCellConnections.Add(new List<ConnectionInfo>());
}
// Find connected component from an unvisited triangle
ProfilerShort.Begin("Graph traversal");
m_currentHelper = this;
m_navmeshComponents.AddComponentTriangle(triangle, triangle.Center);
triangle.ComponentIndex = m_navmeshComponents.OpenComponentIndex;
m_mesh.PrepareTraversal(triangle, null, m_processTrianglePredicate);
var primitiveEnum = m_mesh.GetEnumerator();
while (primitiveEnum.MoveNext());
primitiveEnum.Dispose();
ProfilerShort.End();
m_navmeshComponents.CloseComponent();
timeEnd = m_mesh.GetCurrentTimestamp();
m_currentComponentRel++;
}
MyNavmeshComponents.ClosedCellInfo cellInfo = new MyNavmeshComponents.ClosedCellInfo();
m_navmeshComponents.CloseAndCacheCell(ref cellInfo);
// Add new component primitives
if (cellInfo.NewCell)
{
for (int i = 0; i < cellInfo.ComponentNum; ++i)
{
m_mesh.HighLevelGroup.AddPrimitive(cellInfo.StartingIndex + i, m_navmeshComponents.GetComponentCenter(i));
}
}
// Connect new components with the others in the neighboring cells
for (int i = 0; i < cellInfo.ComponentNum; ++i)
{
foreach (var connectionInfo in m_currentCellConnections[i])
{
if (!cellInfo.ExploredDirections.HasFlag(Base6Directions.GetDirectionFlag(connectionInfo.Direction)))
{
m_mesh.HighLevelGroup.ConnectPrimitives(cellInfo.StartingIndex + i, connectionInfo.ComponentIndex);
}
}
m_currentCellConnections[i].Clear();
}
// Mark explored directions in the navmesh component helper
foreach (var direction in Base6Directions.EnumDirections)
{
var dirFlag = Base6Directions.GetDirectionFlag(direction);
if (cellInfo.ExploredDirections.HasFlag(dirFlag))
{
continue;
}
Vector3I dirVec = Base6Directions.GetIntVector(direction);
MyCellCoord otherCoord = new MyCellCoord();
otherCoord.Lod = MyVoxelNavigationMesh.NAVMESH_LOD;
otherCoord.CoordInLod = m_currentCell + dirVec;
if (otherCoord.CoordInLod.X == -1 || otherCoord.CoordInLod.Y == -1 || otherCoord.CoordInLod.Z == -1)
{
continue;
}
ulong otherPackedCoord = otherCoord.PackId64();
if (m_triangleLists.ContainsKey(otherPackedCoord))
{
m_navmeshComponents.MarkExplored(otherPackedCoord, Base6Directions.GetFlippedDirection(direction));
cellInfo.ExploredDirections |= Base6Directions.GetDirectionFlag(direction);
}
}
m_navmeshComponents.SetExplored(m_packedCoord, cellInfo.ExploredDirections);
// Set all the components as expanded
for (int i = 0; i < cellInfo.ComponentNum; ++i)
{
int componentIndex = cellInfo.StartingIndex + i;
var component = m_mesh.HighLevelGroup.GetPrimitive(componentIndex);
if (component != null)
{
component.IsExpanded = true;
}
}
ProfilerShort.End();
}
private MyNavmeshComponents.ClosedCellInfo ConstructComponents()
{
ProfilerShort.Begin("ConstructComponents");
long timeBegin = m_mesh.GetCurrentTimestamp() + 1;
long timeEnd = timeBegin;
m_currentComponentRel = 0;
m_navmeshComponents.OpenCell(m_packedCoord);
m_tmpComponentTriangles.Clear();
foreach (var triIndex in m_triangleList)
{
// The marker is used as a fake component index in triangles to mark visited triangles.
// Negative numbers from -2 down are used to avoid collisions with existing component numbers (0, 1, 2, ...) or the special value -1
m_currentComponentMarker = -2 - m_currentComponentRel;
// Skip already visited triangles
var triangle = m_mesh.GetTriangle(triIndex);
if (m_mesh.VisitedBetween(triangle, timeBegin, timeEnd))
{
continue;
}
m_navmeshComponents.OpenComponent();
// Make sure we have place in m_currentCellConnections
if (m_currentComponentRel >= m_currentCellConnections.Count)
{
m_currentCellConnections.Add(new List<ConnectionInfo>());
}
// Find connected component from an unvisited triangle
ProfilerShort.Begin("Graph traversal");
m_currentHelper = this;
m_navmeshComponents.AddComponentTriangle(triangle, triangle.Center);
triangle.ComponentIndex = m_currentComponentMarker;
m_tmpComponentTriangles.Add(triangle);
m_mesh.PrepareTraversal(triangle, null, m_processTrianglePredicate);
m_mesh.PerformTraversal();
ProfilerShort.End();
m_tmpComponentTriangles.Add(null); // Mark end of component in m_tmpComponentTriangles
m_navmeshComponents.CloseComponent();
timeEnd = m_mesh.GetCurrentTimestamp();
m_currentComponentRel++;
}
MyNavmeshComponents.ClosedCellInfo cellInfo = new MyNavmeshComponents.ClosedCellInfo();
m_navmeshComponents.CloseAndCacheCell(ref cellInfo);
ProfilerShort.End();
return cellInfo;
}
public void ProcessCellComponents()
{
ProfilerShort.Begin("ProcessCellComponents");
m_triangleLists.Add(m_packedCoord, m_triangleList.GetCopy());
long timeBegin = m_mesh.GetCurrentTimestamp() + 1;
long timeEnd = timeBegin;
m_currentComponentRel = 0;
m_currentComponent = m_navmeshComponents.OpenCell(m_packedCoord);
foreach (var triIndex in m_triangleList)
{
// Skip already visited triangles
var triangle = m_mesh.GetTriangle(triIndex);
if (m_mesh.VisitedBetween(triangle, timeBegin, timeEnd))
{
continue;
}
m_navmeshComponents.OpenComponent();
// Make sure we have place in m_currentCellConnections
if (m_currentComponentRel >= m_currentCellConnections.Count)
{
m_currentCellConnections.Add(new List <ConnectionInfo>());
}
// Find connected component from an unvisited triangle
ProfilerShort.Begin("Graph traversal");
m_currentHelper = this;
m_navmeshComponents.AddComponentTriangle(triangle, triangle.Center);
triangle.ComponentIndex = m_navmeshComponents.OpenComponentIndex;
m_mesh.PrepareTraversal(triangle, null, m_processTrianglePredicate);
var primitiveEnum = m_mesh.GetEnumerator();
while (primitiveEnum.MoveNext())
{
;
}
primitiveEnum.Dispose();
ProfilerShort.End();
m_navmeshComponents.CloseComponent();
timeEnd = m_mesh.GetCurrentTimestamp();
m_currentComponentRel++;
}
MyNavmeshComponents.ClosedCellInfo cellInfo = new MyNavmeshComponents.ClosedCellInfo();
m_navmeshComponents.CloseAndCacheCell(ref cellInfo);
// Add new component primitives
if (cellInfo.NewCell)
{
for (int i = 0; i < cellInfo.ComponentNum; ++i)
{
m_mesh.HighLevelGroup.AddPrimitive(cellInfo.StartingIndex + i, m_navmeshComponents.GetComponentCenter(i));
}
}
// Connect new components with the others in the neighboring cells
for (int i = 0; i < cellInfo.ComponentNum; ++i)
{
foreach (var connectionInfo in m_currentCellConnections[i])
{
if (!cellInfo.ExploredDirections.HasFlag(Base6Directions.GetDirectionFlag(connectionInfo.Direction)))
{
m_mesh.HighLevelGroup.ConnectPrimitives(cellInfo.StartingIndex + i, connectionInfo.ComponentIndex);
}
}
m_currentCellConnections[i].Clear();
}
// Mark explored directions in the navmesh component helper
foreach (var direction in Base6Directions.EnumDirections)
{
var dirFlag = Base6Directions.GetDirectionFlag(direction);
if (cellInfo.ExploredDirections.HasFlag(dirFlag))
{
continue;
}
Vector3I dirVec = Base6Directions.GetIntVector(direction);
MyCellCoord otherCoord = new MyCellCoord();
otherCoord.Lod = MyVoxelNavigationMesh.NAVMESH_LOD;
otherCoord.CoordInLod = m_currentCell + dirVec;
if (otherCoord.CoordInLod.X == -1 || otherCoord.CoordInLod.Y == -1 || otherCoord.CoordInLod.Z == -1)
{
continue;
}
ulong otherPackedCoord = otherCoord.PackId64();
if (m_triangleLists.ContainsKey(otherPackedCoord))
{
m_navmeshComponents.MarkExplored(otherPackedCoord, Base6Directions.GetFlippedDirection(direction));
cellInfo.ExploredDirections |= Base6Directions.GetDirectionFlag(direction);
}
}
m_navmeshComponents.SetExplored(m_packedCoord, cellInfo.ExploredDirections);
// Set all the components as expanded
for (int i = 0; i < cellInfo.ComponentNum; ++i)
{
int componentIndex = cellInfo.StartingIndex + i;
var component = m_mesh.HighLevelGroup.GetPrimitive(componentIndex);
if (component != null)
{
component.IsExpanded = true;
}
}
ProfilerShort.End();
}
