public CompiledNavMesh FindSubgraphUnderPoint(float x, float y, float z, float maxFall = 20f)
{
CompiledNavMesh bestGraph = null;
float bestDistance = maxFall;
foreach (var sg in Subgraphs)
{
if (!sg.BoundsContainsXY(x, y))
{
continue;
}
var node = sg.FindFloorUnderPoint(x, y, z, maxFall);
if (node.blockIndex != -1)
{
float hitZ = NavMeshUtil.DecodeHeight(sg.Z1, sg.Z2, node.encZ);
if (hitZ <= z)
{
float d = z - hitZ;
if (d < bestDistance)
{
bestDistance = d;
bestGraph = sg;
}
}
}
}
return(bestGraph);
}
public static CompiledNavMeshSet Load(Stream s)
{
var br = new BinaryReader(s);
if (br.ReadInt32() != 0x30344C41)
{
throw new InvalidOperationException("invalid file format - expected CompiledNavMesh header");
}
int count = br.ReadInt32();
var list = new List <CompiledNavMesh>(count);
for (int i = 0; i < count; i++)
{
list.Add(CompiledNavMesh.Load(s));
}
return(new CompiledNavMeshSet(list));
}
/*
* height grid:
* each entry:
* 0xFF000000 - number of heights (if <= 1, inline. else index to list).
* 0x00FFFFFF - index to heights, or 3 byte single height. max distinct = 16 million (4096^2).
*
* height format (3 bytes):
* 0xFF - 8 directions, from top cw, top TR R BR bot BL left TL.
* 0xFFFF - encoded height = (height_value - z1) * 0xFFFF / (z2-z1).
*
* if 8dir = 0xFF, space is impassable. impassable should always be inline (no index) with floor count 0.
*
* each node edge is implied by neighbor having a close height that is not blocked in that direction.
*/
public CompiledNavMesh Build(HashSet <EdgeVertex> subgraph,
int startBX, int startBY, int newBlockWidth, int newBlockHeight,
float x1, float y1, // world XY of the lower bound of the mesh bounding box.
int z1, int z2) // min and max z values, range is used for encoding height
{
if (startBX < 0 || startBY < 0 || newBlockWidth <= 0 || newBlockHeight <= 0 ||
startBX + newBlockWidth > m_blockWidth || startBY + newBlockHeight > m_blockHeight)
{
throw new ArgumentOutOfRangeException();
}
if (z1 < 0 || z2 <= z1)
{
throw new ArgumentOutOfRangeException();
}
int endBX = startBX + newBlockWidth;
int endBY = startBY + newBlockHeight;
uint[] grid = new uint[newBlockWidth * newBlockHeight];
var multiheights = new List <byte>(newBlockWidth * newBlockHeight); // arbitrary capacity
var bytes = new List <byte>(); // temp storage per cell
int iSub = 0; // index to new grid for subgraph
for (int y = startBY; y < endBY; y++)
{
int iAll = y * m_blockWidth + startBX; // index to floor cell
for (int x = startBX; x < endBX; x++, iAll++, iSub++)
{
bytes.Clear();
if (m_floorData[iAll] != null)
{
foreach (var floor in m_floorData[iAll])
{
ushort encHeight = NavMeshUtil.EncodeHeight(z1, z2, floor.Z100i / 100.0f);
var flags = floor.DirectionFlags;
if (flags == 0xFF)
{
continue;
}
// exclude vertices that are not part of the subgraph.
if (!subgraph.Contains(new EdgeVertex {
BX = (ushort)x, BY = (ushort)y, Z100i = floor.Z100i
}))
{
continue;
}
bytes.Add(flags);
bytes.Add((byte)(encHeight));
bytes.Add((byte)(encHeight >> 8));
}
}
if (bytes.Count == 3)
{
grid[iSub] = (1 << 24) | // count 1
((uint)bytes[0] << 16) | // flags
((uint)bytes[2] << 8) | // encoded height
bytes[1];
}
else if (bytes.Count > 3)
{
if (bytes.Count > 255 * 3)
{
throw new InvalidOperationException("too many heights");
}
int index = StoreBytesInMultiFloorSet(multiheights, bytes);
grid[iSub] = (uint)((bytes.Count / 3) << 24) | (uint)index;
}
else
{
grid[iSub] = 0x00FF0000;
}
}
}
if (multiheights.Count > 0xFFFFFF)
{
throw new InvalidOperationException("height limit exceeded");
}
Debug.WriteLine($"Compiled NavMesh {newBlockWidth}x{newBlockHeight}x{z2-z1} bytes: grid:{grid.Length*4}, Zs:{multiheights.Count}");
var compiledNavMesh = new CompiledNavMesh(newBlockWidth, newBlockHeight, m_step, m_maxZStep, x1, y1, z1, z2, grid, multiheights.ToArray());
compiledNavMesh.Validate();
return(compiledNavMesh);
}