// scans the geospace and collects points where it finds a floor.
public CompiledNavMeshSet ScanFloor(GeoSpace geoSpace)
{
var timer = DateTime.Now;
// collect the heights at each cell.
Parallel.For(0, m_blockHeight, new ParallelOptions {
MaxDegreeOfParallelism = OPTION_PARALLEL_THREADS
}, (blockY) =>
{
float y = m_y1 + blockY * m_step;
int blockX = 0;
for (float x = m_x1; x < m_x2; x += m_step, blockX++)
{
float curTop = m_z2;
while (curTop > m_z1)
{
var v0 = new Vector3(x, y, curTop);
var ray = new RayX(v0, new Vector3(0, 0, -1), (curTop - m_z1));
float best = (curTop - m_z1);
// descend from top to find vertical hits.
geoSpace.DoActionOnIntersectingMeshes(ray.GetBoundingBox(),
(Vector3[] points) =>
{
for (int i = 0; i < points.Length; i += 3)
{
float d = ray.IntersectsTriangle(points[i], points[i + 1], points[i + 2]);
if (d < best)
{
best = d;
}
}
return(true); // process all
});
// no more hits?
if (best >= (curTop - m_z1))
{
break;
}
float z = curTop - best;
// round-trip the height value
//z = NavMeshUtil.DecodeHeight(m_z1, m_z2, NavMeshUtil.EncodeHeight(m_z1, m_z2, z));
// add the floor if there is enough room above it.
if (!geoSpace.HasCollision(
new RayX(new Vector3(x, y, z + 0.01f), // raise z to avoid colliding with start point
new Vector3(0, 0, 1), // look up
m_requiredSpaceAboveFloor)))
{
AddFloorPoint(x, y, z);
}
curTop -= best + 1; // +1 to move down to skip some solid space
}
}
});
Debug.WriteLine("ScanFloor time: " + (DateTime.Now - timer));
// for each floor in each cell, determine neighbor connections.
timer = DateTime.Now;
ComputeDirectionFlags(geoSpace);
Debug.WriteLine("ComputeDirectionFlags time: " + (DateTime.Now - timer));
// make a temporary map of each vertex to its neighboring vertices.
// this is used for subgraph calculation.
timer = DateTime.Now;
Dictionary <EdgeVertex, List <EdgeVertex> > edges = GatherEdgeVertices();
Debug.WriteLine("GATHER EDGES time: " + (DateTime.Now - timer));
/* // PRINT ALL EDGES
* foreach (var kvp in edges)
* {
* Debug.WriteLine(kvp.Key);
* foreach (var v in kvp.Value)
* {
* Debug.WriteLine(" " + v);
* }
* }*/
// TODO - why the need to remove steep edges? they should have been excluded when
// computing directions already...
// // remove steep edges... modifies edges (and floordata), do this before
// // computing subgraphs.
// //timer = DateTime.Now;
// //RemoveSteepEdges(edges);
// //Debug.WriteLine("RemoveSteepEdges time: " + (DateTime.Now - timer));
// separate the subgraphs
timer = DateTime.Now;
List <HashSet <EdgeVertex> > subgraphs = ComputeSubgraphs(edges);
Debug.WriteLine("ComputeSubgraphs time: " + (DateTime.Now - timer));
// FILTERING
// filter subgraphs by size
if (OPTION_REMOVE_SMALL_GRAPHS)
{
timer = DateTime.Now;
subgraphs = subgraphs.Where(vertices => vertices.Count >= 100).ToList();
Debug.WriteLine("RemoveSmallSubgraphs time: " + (DateTime.Now - timer));
}
else
{
Debug.WriteLine("NOTE: not removing small graphs");
}
// POST FILTERING
// by now, the gathered subgraph edges may not match the original direction flags,
// due to slope checks, height checks, etc...
// so, update the direction flags so they reflect the current gathered subgraphs.
// it is possible this step could hide bugs, but overall is necessary...
timer = DateTime.Now;
FixDirectionFlagsToMatchSubgraphs(edges, subgraphs);
Debug.WriteLine("FIX DIRECTION FLAGS time: " + (DateTime.Now - timer));
// VALIDATION
ValidateAllSubgraphVerticesExistInFloorData(subgraphs);
ValidateEdgesAtBoundsAreBlocked(subgraphs);
timer = DateTime.Now;
var compiledMeshes = new List <CompiledNavMesh>();
foreach (var sg in subgraphs)
{
compiledMeshes.Add(Build(sg));
}
var compiledNavMeshSet = new CompiledNavMeshSet(compiledMeshes);
Debug.WriteLine("Compile time: " + (DateTime.Now - timer));
return(compiledNavMeshSet);
}
private bool IsDirectionBlocked(GeoSpace geoSpace, Vector3 me, int blockX, int blockY, int dx, int dy)
{
if (blockX + dx < 0 || blockX + dx >= m_blockWidth ||
blockY + dy < 0 || blockY + dy >= m_blockHeight)
{
return(true); // leaving bounding box not allowed
}
var heights = GetFloorDescListChecked(blockX + dx, blockY + dy);
if (heights == null)
{
return(true);
}
bool result = true;
foreach (var p in heights)
{
float dz = me.Z - (p.Z100i / 100.0f);
if (Math.Abs(dz) > m_maxZStep)
{
continue;
}
// check for floor below diagonal midpoint
if (dx != 0 && dy != 0)
{
var mid = new Vector3(me.X + dx * m_step / 2, me.Y + dy * m_step / 2, me.Z);
bool diagonalHasVerticalCollision = geoSpace.HasCollision(
new RayX(mid + new Vector3(0, 0, m_maxZStep),
new Vector3(0, 0, -1), 2 * m_maxZStep));
if (!diagonalHasVerticalCollision)
{
continue;
}
}
float length = new Vector3(dx * m_step, dy * m_step, dz).Length();
// offset z from the floor to avoid small bumps.
const float Z_OFFSET = 0.3f;
bool canSeeNeighbor = !geoSpace.HasCollision(new RayX(me + new Vector3(0, 0, Z_OFFSET),
Vector3.Normalize(new Vector3(dx, dy, -dz)), length));
if (!canSeeNeighbor)
{
continue; // view blocked
}
bool neighborSeesMe = !geoSpace.HasCollision(new RayX(me + new Vector3(dx * m_step, dy * m_step, -dz + Z_OFFSET),
Vector3.Normalize(new Vector3(-dx, -dy, dz)), length));
if (!neighborSeesMe)
{
continue; // view blocked
}
// check for a sharp drop. look for a large z diff with midpoint z close to one side.
if (Math.Abs(dz) >= 0.6f)
{
int foundSum = 0;
for (int i = 1; i < 4; i++)
{
float highestZ = dz < 0 ? me.Z - dz : me.Z;
var mid = new Vector3(me.X + dx * m_step * i / 4, me.Y + dy * m_step * i / 4, highestZ);
bool foundStep = geoSpace.HasCollision(
new RayX(mid /*+ new Vector3(0, 0, 2)*/,
new Vector3(0, 0, -1), 0.8f * Math.Abs(dz) /* * m_maxZStep*/));
if (foundStep)
{
foundSum++;
}
}
// found sudden dropoff/wall
if (foundSum == 0)
{
continue;
}
}
// dupes can happen (and fail here) if the XY step size is greater than the required height.
// can optimize by removing this check and just returning the result.
if (!result)
{
throw new InvalidOperationException("multiple candidate steps");
}
result = false;
}
return(result);
}