public NavMesh(TerrainTile tile, NavMeshPolygon[] polys, Vector3[] vertices, int[] indices)
{
Tile = tile;
Polygons = polys;
Vertices = vertices;
Indices = indices;
}
/// <summary>
/// Put it all together
/// </summary>
private unsafe void SmashMesh(
int userId,
int vertComponentCount,
int polyCount,
IntPtr vertComponentsPtr,
int totalPolyIndexCount, // count of all vertex indices in all polys
IntPtr pIndexCountsPtr,
IntPtr pIndicesPtr,
IntPtr pNeighborsPtr,
IntPtr pFlagsPtr,
IntPtr polyAreasAndTypesPtr
)
{
//var coords = GetTileCoords(userId);
//var tile = Terrain.GetTile(coords);
//if (tile == null)
//{
// throw new Exception("Invalid tile: " + id);
//}
// read native data
var vertComponents = (float*)vertComponentsPtr;
var pIndexCounts = (byte*)pIndexCountsPtr;
var pIndices = (uint*)pIndicesPtr;
var pNeighbors = (uint*)pNeighborsPtr;
var pFlags = (ushort*)pFlagsPtr;
var polyAreasAndTypes = (byte*)polyAreasAndTypesPtr;
// create vertices array
var indices = new int[totalPolyIndexCount];
var vertCount = vertComponentCount / 3;
List<Vector3> vertexList;
using (LargeObjectPools.Vector3ListPool.Borrow(out vertexList))
{
var min = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
var max = new Vector3(float.MinValue, float.MinValue, float.MinValue);
for (int i = 0, v = 0; i < vertCount; i++, v += 3)
{
var vert = new Vector3(vertComponents[v], vertComponents[v + 1], vertComponents[v + 2]);
RecastUtil.TransformRecastCoordsToWoWCoords(ref vert);
vertexList.Add(vert);
// expand bounding box
min.X = Math.Min(min.X, vert.X);
min.Y = Math.Min(min.Y, vert.Y);
min.Z = Math.Min(min.Z, vert.Z);
max.X = Math.Max(max.X, vert.X);
max.Y = Math.Max(max.Y, vert.Y);
max.Z = Math.Max(max.Z, vert.Z);
}
Min = min;
Max = max;
var vertices = EliminateDoubleVertices(vertexList, pIndices, totalPolyIndexCount);
// polygon first pass -> Create polygons
var polys = new NavMeshPolygon[polyCount];
var polyEdgeIndex = 0;
var p = 0;
for (var i = 0; i < polyCount; i++)
{
var polyIndexCount = pIndexCounts[i];
var poly = polys[i] = new NavMeshPolygon();
poly.Indices = new int[polyIndexCount];
poly.Neighbors = new int[polyIndexCount];
Debug.Assert(3 == polyIndexCount);
for (var j = 0; j < polyIndexCount; j++)
{
var idx = (int)pIndices[polyEdgeIndex + j];
indices[p++] = idx;
poly.Indices[j] = idx;
poly.Neighbors[j] = -1;
Debug.Assert(poly.Indices[j] >= 0 && poly.Indices[j] < vertCount);
}
// switch first and third index because our collision test needs the triangles to go in the other direction
var tmp = poly.Indices[0];
indices[p - 3] = poly.Indices[0] = poly.Indices[2];
indices[p - 1] = poly.Indices[2] = tmp;
polyEdgeIndex += polyIndexCount;
}
// polygon second pass -> Initialize neighbors
polyEdgeIndex = 0;
var undecidedNeighborRelations = new List<Tuple<int, int>>();
for (var i = 0; i < polyCount; i++)
{
var poly = polys[i];
var polyIndexCount = pIndexCounts[i];
var a = poly.Indices[0];
var b = poly.Indices[1];
var c = poly.Indices[2];
for (var j = 0; j < polyIndexCount; j++)
{
var neighbor = (int)pNeighbors[polyEdgeIndex + j];
if (neighbor == -1) continue;
var neighborPoly = polys[neighbor];
// sort the neighbor poly into the array of neighbors, correctly
var a2 = neighborPoly.Indices[0];
var b2 = neighborPoly.Indices[1];
var c2 = neighborPoly.Indices[2];
var nCount = 0;
var mask = 0;
if (a == a2 || a == b2 || a == c2)
{
// some vertex matches the first vertex of the triangle
nCount++;
mask |= TerrainUtil.TrianglePointA;
}
if (b == a2 || b == b2 || b == c2)
{
// some vertex matches the second vertex of the triangle
nCount++;
mask |= TerrainUtil.TrianglePointB;
}
if (c == a2 || c == b2 || c == c2)
{
// some vertex matches the third vertex of the triangle
nCount++;
mask |= TerrainUtil.TrianglePointC;
}
//var va = vertices[a];
//var vb = vertices[b];
//var vc = vertices[c];
//var ua = vertices[a2];
//var ub = vertices[b2];
//var uc = vertices[c2];
//var vs = new List<Vector3>() { va, vb, vc };
//var us = new List<Vector3>() { ua, ub, uc };
//var mc = 0;
//for (var ii = 0; ii < vs.Count; ii++)
//{
// var vv = vs[ii];
// for (var jj = 0; jj < us.Count; jj++)
// {
// var uu = us[jj];
// if (vv.Equals(uu))
// {
// mc++;
// break;
// }
// }
//}
//Debug.Assert(mc == 2);
//Debug.Assert(nCount == 2);
if (nCount < 2)
{
undecidedNeighborRelations.Add(Tuple.Create(i, neighbor));
}
var edge = TerrainUtil.GetEdge(mask);
if (edge != -1)
{
poly.Neighbors[edge] = neighbor;
}
}
polyEdgeIndex += polyIndexCount;
}
// these relations are incorrect for some reason
// the actual neighbor that is to replace the undecided neighbor is also in this set, though
for (var i = 0; i < undecidedNeighborRelations.Count; i++)
{
var rel = undecidedNeighborRelations[i];
var poly = polys[rel.Item1];
var tri = poly.GetTriangle(vertices);
for (var j = 0; j < undecidedNeighborRelations.Count; j++)
{
if (i == j) continue;
var index2 = undecidedNeighborRelations[j].Item1;
var poly2 = polys[index2];
var tri2 = poly2.GetTriangle(vertices);
var sharedMask = tri.GetSharedEdgeMask(tri2);
var edge = TerrainUtil.GetEdge(sharedMask);
if (edge != -1)
{
// the two share an edge
poly.Neighbors[edge] = index2;
break;
}
}
}
// make sure, the neighbor relation is symmetric
for (var i = 0; i < polys.Length; i++)
{
var poly = polys[i];
for (int j = 0; j < poly.Neighbors.Length; j++)
{
var neighbor = poly.Neighbors[j];
if (neighbor == -1) continue;
var neighborPoly = polys[neighbor];
var found = false;
for (var k = 0; k < neighborPoly.Neighbors.Length; k++)
{
var neighneigh = neighborPoly.Neighbors[k];
if (neighneigh == i)
{
found = true;
break;
}
}
if (!found)
{
// neighbor of poly does not have poly as neighor
// find the edge and insert the neighbor
var tri = poly.GetTriangle(vertices);
var tri2 = neighborPoly.GetTriangle(vertices);
var sharedMask = tri2.GetSharedEdgeMask(tri);
var edge = TerrainUtil.GetEdge(sharedMask);
Debug.Assert(neighborPoly.Neighbors[edge] == -1);
neighborPoly.Neighbors[edge] = i;
break;
}
}
}
// create new NavMesh object
Tile.NavMesh = new NavMesh(Tile, polys, vertices, indices);
}
}
/// <summary>
/// Put it all together
/// </summary>
private unsafe void SmashMesh(
int userId,
int vertComponentCount,
int polyCount,
IntPtr vertComponentsPtr,
int totalPolyIndexCount, // count of all vertex indices in all polys
IntPtr pIndexCountsPtr,
IntPtr pIndicesPtr,
IntPtr pNeighborsPtr,
IntPtr pFlagsPtr,
IntPtr polyAreasAndTypesPtr
)
{
//var coords = GetTileCoords(userId);
//var tile = Terrain.GetTile(coords);
//if (tile == null)
//{
// throw new Exception("Invalid tile: " + id);
//}
// read native data
var vertComponents = (float *)vertComponentsPtr;
var pIndexCounts = (byte *)pIndexCountsPtr;
var pIndices = (uint *)pIndicesPtr;
var pNeighbors = (uint *)pNeighborsPtr;
var pFlags = (ushort *)pFlagsPtr;
var polyAreasAndTypes = (byte *)polyAreasAndTypesPtr;
// create vertices array
var indices = new int[totalPolyIndexCount];
var vertCount = vertComponentCount / 3;
List <Vector3> vertexList;
using (LargeObjectPools.Vector3ListPool.Borrow(out vertexList))
{
var min = new Vector3(Single.MaxValue, Single.MaxValue, Single.MaxValue);
var max = new Vector3(Single.MinValue, Single.MinValue, Single.MinValue);
for (int i = 0, v = 0; i < vertCount; i++, v += 3)
{
var vert = new Vector3(vertComponents[v], vertComponents[v + 1], vertComponents[v + 2]);
RecastUtil.TransformRecastCoordsToWoWCoords(ref vert);
vertexList.Add(vert);
// expand bounding box
min.X = Math.Min(min.X, vert.X);
min.Y = Math.Min(min.Y, vert.Y);
min.Z = Math.Min(min.Z, vert.Z);
max.X = Math.Max(max.X, vert.X);
max.Y = Math.Max(max.Y, vert.Y);
max.Z = Math.Max(max.Z, vert.Z);
}
Min = min;
Max = max;
var vertices = EliminateDoubleVertices(vertexList, pIndices, totalPolyIndexCount);
// polygon first pass -> Create polygons
var polys = new NavMeshPolygon[polyCount];
var polyEdgeIndex = 0;
var p = 0;
for (var i = 0; i < polyCount; i++)
{
var polyIndexCount = pIndexCounts[i];
var poly = polys[i] = new NavMeshPolygon();
poly.Indices = new int[polyIndexCount];
poly.Neighbors = new int[polyIndexCount];
Debug.Assert(3 == polyIndexCount);
for (var j = 0; j < polyIndexCount; j++)
{
var idx = (int)pIndices[polyEdgeIndex + j];
indices[p++] = idx;
poly.Indices[j] = idx;
poly.Neighbors[j] = -1;
Debug.Assert(poly.Indices[j] >= 0 && poly.Indices[j] < vertCount);
}
// switch first and third index because our collision test needs the triangles to go in the other direction
var tmp = poly.Indices[0];
indices[p - 3] = poly.Indices[0] = poly.Indices[2];
indices[p - 1] = poly.Indices[2] = tmp;
polyEdgeIndex += polyIndexCount;
}
// polygon second pass -> Initialize neighbors
polyEdgeIndex = 0;
var undecidedNeighborRelations = new List <Tuple <int, int> >();
for (var i = 0; i < polyCount; i++)
{
var poly = polys[i];
var polyIndexCount = pIndexCounts[i];
var a = poly.Indices[0];
var b = poly.Indices[1];
var c = poly.Indices[2];
for (var j = 0; j < polyIndexCount; j++)
{
var neighbor = (int)pNeighbors[polyEdgeIndex + j];
if (neighbor == -1)
{
continue;
}
var neighborPoly = polys[neighbor];
// sort the neighbor poly into the array of neighbors, correctly
var a2 = neighborPoly.Indices[0];
var b2 = neighborPoly.Indices[1];
var c2 = neighborPoly.Indices[2];
var nCount = 0;
var mask = 0;
if (a == a2 || a == b2 || a == c2)
{
// some vertex matches the first vertex of the triangle
nCount++;
mask |= TerrainUtil.TrianglePointA;
}
if (b == a2 || b == b2 || b == c2)
{
// some vertex matches the second vertex of the triangle
nCount++;
mask |= TerrainUtil.TrianglePointB;
}
if (c == a2 || c == b2 || c == c2)
{
// some vertex matches the third vertex of the triangle
nCount++;
mask |= TerrainUtil.TrianglePointC;
}
//var va = vertices[a];
//var vb = vertices[b];
//var vc = vertices[c];
//var ua = vertices[a2];
//var ub = vertices[b2];
//var uc = vertices[c2];
//var vs = new List<Vector3>() { va, vb, vc };
//var us = new List<Vector3>() { ua, ub, uc };
//var mc = 0;
//for (var ii = 0; ii < vs.Count; ii++)
//{
// var vv = vs[ii];
// for (var jj = 0; jj < us.Count; jj++)
// {
// var uu = us[jj];
// if (vv.Equals(uu))
// {
// mc++;
// break;
// }
// }
//}
//Debug.Assert(mc == 2);
//Debug.Assert(nCount == 2);
if (nCount < 2)
{
undecidedNeighborRelations.Add(Tuple.Create(i, neighbor));
}
var edge = TerrainUtil.GetEdge(mask);
if (edge != -1)
{
poly.Neighbors[edge] = neighbor;
}
}
polyEdgeIndex += polyIndexCount;
}
// these relations are incorrect for some reason
// the actual neighbor that is to replace the undecided neighbor is also in this set, though
for (var i = 0; i < undecidedNeighborRelations.Count; i++)
{
var rel = undecidedNeighborRelations[i];
var poly = polys[rel.Item1];
var tri = poly.GetTriangle(vertices);
for (var j = 0; j < undecidedNeighborRelations.Count; j++)
{
if (i == j)
{
continue;
}
var index2 = undecidedNeighborRelations[j].Item1;
var poly2 = polys[index2];
var tri2 = poly2.GetTriangle(vertices);
var sharedMask = tri.GetSharedEdgeMask(tri2);
var edge = TerrainUtil.GetEdge(sharedMask);
if (edge != -1)
{
// the two share an edge
poly.Neighbors[edge] = index2;
break;
}
}
}
// make sure, the neighbor relation is symmetric
for (var i = 0; i < polys.Length; i++)
{
var poly = polys[i];
for (int j = 0; j < poly.Neighbors.Length; j++)
{
var neighbor = poly.Neighbors[j];
if (neighbor == -1)
{
continue;
}
var neighborPoly = polys[neighbor];
var found = false;
for (var k = 0; k < neighborPoly.Neighbors.Length; k++)
{
var neighneigh = neighborPoly.Neighbors[k];
if (neighneigh == i)
{
found = true;
break;
}
}
if (!found)
{
// neighbor of poly does not have poly as neighor
// find the edge and insert the neighbor
var tri = poly.GetTriangle(vertices);
var tri2 = neighborPoly.GetTriangle(vertices);
var sharedMask = tri2.GetSharedEdgeMask(tri);
var edge = TerrainUtil.GetEdge(sharedMask);
Debug.Assert(neighborPoly.Neighbors[edge] == -1);
neighborPoly.Neighbors[edge] = i;
break;
}
}
}
// create new NavMesh object
Tile.NavMesh = new NavMesh(Tile, polys, vertices, indices);
}
}