void OnDrawGizmos(int boxi, int depth)
{
BBTreeBox box = arr[boxi];
var min = (Vector3) new Int3(box.rect.xmin, 0, box.rect.ymin);
var max = (Vector3) new Int3(box.rect.xmax, 0, box.rect.ymax);
Vector3 center = (min + max) * 0.5F;
Vector3 size = (max - center) * 2;
size = new Vector3(size.x, 1, size.z);
center.y += depth * 2;
Gizmos.color = AstarMath.IntToColor(depth, 1f); //new Color (0,0,0,0.2F);
Gizmos.DrawCube(center, size);
if (box.node != null)
{
}
else
{
OnDrawGizmos(box.left, depth + 1);
OnDrawGizmos(box.right, depth + 1);
}
}
/** Generates a terrain chunk mesh */
RasterizationMesh GenerateHeightmapChunk(float[, ] heights, Vector3 sampleSize, Vector3 offset, int x0, int z0, int width, int depth, int stride)
{
// Downsample to a smaller mesh (full resolution will take a long time to rasterize)
// Round up the width to the nearest multiple of terrainSampleSize and then add 1
// (off by one because there are vertices at the edge of the mesh)
int resultWidth = CeilDivision(width, terrainSampleSize) + 1;
int resultDepth = CeilDivision(depth, terrainSampleSize) + 1;
var heightmapWidth = heights.GetLength(0);
var heightmapDepth = heights.GetLength(1);
// Create a mesh from the heightmap
var terrainVertices = new Vector3[resultWidth * resultDepth];
// Create lots of vertices
for (int z = 0; z < resultDepth; z++)
{
for (int x = 0; x < resultWidth; x++)
{
int sampleX = Math.Min(x0 + x * stride, heightmapWidth - 1);
int sampleZ = Math.Min(z0 + z * stride, heightmapDepth - 1);
terrainVertices[z * resultWidth + x] = new Vector3(sampleZ * sampleSize.x, heights[sampleX, sampleZ] * sampleSize.y, sampleX * sampleSize.z) + offset;
}
}
// Create the mesh by creating triangles in a grid like pattern
var tris = new int[(resultWidth - 1) * (resultDepth - 1) * 2 * 3];
int triangleIndex = 0;
for (int z = 0; z < resultDepth - 1; z++)
{
for (int x = 0; x < resultWidth - 1; x++)
{
tris[triangleIndex] = z * resultWidth + x;
tris[triangleIndex + 1] = z * resultWidth + x + 1;
tris[triangleIndex + 2] = (z + 1) * resultWidth + x + 1;
triangleIndex += 3;
tris[triangleIndex] = z * resultWidth + x;
tris[triangleIndex + 1] = (z + 1) * resultWidth + x + 1;
tris[triangleIndex + 2] = (z + 1) * resultWidth + x;
triangleIndex += 3;
}
}
#if ASTARDEBUG
var color = AstarMath.IntToColor(x0 + 7 * z0, 0.7f);
for (int i = 0; i < tris.Length; i += 3)
{
Debug.DrawLine(terrainVertices[tris[i]], terrainVertices[tris[i + 1]], color, 40);
Debug.DrawLine(terrainVertices[tris[i + 1]], terrainVertices[tris[i + 2]], color, 40);
Debug.DrawLine(terrainVertices[tris[i + 2]], terrainVertices[tris[i]], color, 40);
}
#endif
var mesh = new RasterizationMesh(terrainVertices, tris, new Bounds());
// Could probably calculate these bounds in a faster way
mesh.RecalculateBounds();
return(mesh);
}
private void OnDrawGizmos()
{
List <Vector3>[] paths = drawPaths;
for (int i = 0; i < paths.Length; i++)
{
List <Vector3> pt = paths[i];
if (pt == null)
{
Debug.LogWarning("Path Number " + i + " cound not be found");
continue;
}
for (int j = 0; j < pt.Count - 1; j++)
{
Debug.DrawLine(pt[j], pt[j + 1], AstarMath.IntToColor(i, 0.5f));
}
}
}
public void OnPathComplete(Path p)
{
Debug.Log("Got Callback");
if (p.error)
{
Debug.Log("Ouch, the path returned an error");
Debug.LogError(p.errorLog);
return;
}
List <Vector3> path = p.vectorPath;
for (int j = 0; j < path.Count - 1; j++)
{
// Plot segment j to j+1 with a nice color got from Pathfinding.AstarMath.IntToColor
Debug.DrawLine(path[j], path[j + 1], AstarMath.IntToColor(1, 0.5F), 1);
}
}
public void BuildContours(float maxError, int maxEdgeLength, VoxelContourSet cset, int buildFlags)
{
AstarProfiler.StartProfile("Build Contours");
AstarProfiler.StartProfile("- Init");
int w = voxelArea.width;
int d = voxelArea.depth;
int wd = w * d;
//cset.bounds = voxelArea.bounds;
int maxContours = Mathf.Max(8 /*Max Regions*/, 8);
//cset.conts = new VoxelContour[maxContours];
List <VoxelContour> contours = new List <VoxelContour>(maxContours);
AstarProfiler.EndProfile("- Init");
AstarProfiler.StartProfile("- Mark Boundaries");
//cset.nconts = 0;
//NOTE: This array may contain any data, but since we explicitly set all data in it before we use it, it's OK.
ushort[] flags = voxelArea.tmpUShortArr;
if (flags.Length < voxelArea.compactSpanCount)
{
flags = voxelArea.tmpUShortArr = new ushort[voxelArea.compactSpanCount];
}
// Mark boundaries. (@?)
for (int z = 0; z < wd; z += voxelArea.width)
{
for (int x = 0; x < voxelArea.width; x++)
{
CompactVoxelCell c = voxelArea.compactCells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
ushort res = 0;
CompactVoxelSpan s = voxelArea.compactSpans[i];
if (s.reg == 0 || (s.reg & BorderReg) == BorderReg)
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; dir++)
{
int r = 0;
if (s.GetConnection(dir) != NotConnected)
{
int nx = x + voxelArea.DirectionX[dir];
int nz = z + voxelArea.DirectionZ[dir];
int ni = (int)voxelArea.compactCells[nx + nz].index + s.GetConnection(dir);
r = voxelArea.compactSpans[ni].reg;
}
//@TODO - Why isn't this inside the previous IF
if (r == s.reg)
{
res |= (ushort)(1 << dir);
}
}
//Inverse, mark non connected edges.
flags[i] = (ushort)(res ^ 0xf);
}
}
}
AstarProfiler.EndProfile("- Mark Boundaries");
AstarProfiler.StartProfile("- Simplify Contours");
List <int> verts = Pathfinding.Util.ListPool <int> .Claim(256); //new List<int> (256);
List <int> simplified = Pathfinding.Util.ListPool <int> .Claim(64); //new List<int> (64);
for (int z = 0; z < wd; z += voxelArea.width)
{
for (int x = 0; x < voxelArea.width; x++)
{
CompactVoxelCell c = voxelArea.compactCells[x + z];
for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++)
{
//CompactVoxelSpan s = voxelArea.compactSpans[i];
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
int reg = voxelArea.compactSpans[i].reg;
if (reg == 0 || (reg & BorderReg) == BorderReg)
{
continue;
}
int area = voxelArea.areaTypes[i];
verts.Clear();
simplified.Clear();
WalkContour(x, z, i, flags, verts);
SimplifyContour(verts, simplified, maxError, maxEdgeLength, buildFlags);
RemoveDegenerateSegments(simplified);
VoxelContour contour = new VoxelContour();
contour.verts = Pathfinding.Util.ArrayPool <int> .Claim(simplified.Count); //simplified.ToArray ();
for (int j = 0; j < simplified.Count; j++)
{
contour.verts[j] = simplified[j];
}
#if ASTAR_RECAST_INCLUDE_RAW_VERTEX_CONTOUR
//Not used at the moment, just debug stuff
contour.rverts = ClaimIntArr(verts.Count);
for (int j = 0; j < verts.Count; j++)
{
contour.rverts[j] = verts[j];
}
#endif
contour.nverts = simplified.Count / 4;
contour.reg = reg;
contour.area = area;
contours.Add(contour);
#if ASTARDEBUG
for (int q = 0, j = (simplified.Count / 4) - 1; q < (simplified.Count / 4); j = q, q++)
{
int i4 = q * 4;
int j4 = j * 4;
Vector3 p1 = Vector3.Scale(
new Vector3(
simplified[i4 + 0],
simplified[i4 + 1],
(simplified[i4 + 2] / (float)voxelArea.width)
),
cellScale)
+ voxelOffset;
Vector3 p2 = Vector3.Scale(
new Vector3(
simplified[j4 + 0],
simplified[j4 + 1],
(simplified[j4 + 2] / (float)voxelArea.width)
)
, cellScale)
+ voxelOffset;
if (CalcAreaOfPolygon2D(contour.verts, contour.nverts) > 0)
{
Debug.DrawLine(p1, p2, AstarMath.IntToColor(reg, 0.5F));
}
else
{
Debug.DrawLine(p1, p2, Color.red);
}
}
#endif
}
}
}
Pathfinding.Util.ListPool <int> .Release(ref verts);
Pathfinding.Util.ListPool <int> .Release(ref simplified);
AstarProfiler.EndProfile("- Simplify Contours");
AstarProfiler.StartProfile("- Fix Contours");
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
for (int i = 0; i < contours.Count; i++)
{
VoxelContour cont = contours[i];
// Check if the contour is would backwards.
if (CalcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < contours.Count; j++)
{
if (i == j)
{
continue;
}
if (contours[j].nverts > 0 && contours[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (CalcAreaOfPolygon2D(contours[j].verts, contours[j].nverts) > 0)
{
mergeIdx = j;
break;
}
}
}
if (mergeIdx == -1)
{
Debug.LogError("rcBuildContours: Could not find merge target for bad contour " + i + ".");
}
else
{
// Debugging
// Debug.LogWarning ("Fixing contour");
VoxelContour mcont = contours[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
GetClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ref ia, ref ib);
if (ia == -1 || ib == -1)
{
Debug.LogWarning("rcBuildContours: Failed to find merge points for " + i + " and " + mergeIdx + ".");
continue;
}
#if ASTARDEBUG
int p4 = ia * 4;
int p42 = ib * 4;
Vector3 p12 = Vector3.Scale(
new Vector3(
mcont.verts[p4 + 0],
mcont.verts[p4 + 1],
(mcont.verts[p4 + 2] / (float)voxelArea.width)
),
cellScale)
+ voxelOffset;
Vector3 p22 = Vector3.Scale(
new Vector3(
cont.verts[p42 + 0],
cont.verts[p42 + 1],
(cont.verts[p42 + 2] / (float)voxelArea.width)
)
, cellScale)
+ voxelOffset;
Debug.DrawLine(p12, p22, Color.green);
#endif
if (!MergeContours(ref mcont, ref cont, ia, ib))
{
Debug.LogWarning("rcBuildContours: Failed to merge contours " + i + " and " + mergeIdx + ".");
continue;
}
contours[mergeIdx] = mcont;
contours[i] = cont;
#if ASTARDEBUG
Debug.Log(mcont.nverts);
for (int q = 0, j = (mcont.nverts) - 1; q < (mcont.nverts); j = q, q++)
{
int i4 = q * 4;
int j4 = j * 4;
Vector3 p1 = Vector3.Scale(
new Vector3(
mcont.verts[i4 + 0],
mcont.verts[i4 + 1],
(mcont.verts[i4 + 2] / (float)voxelArea.width)
),
cellScale)
+ voxelOffset;
Vector3 p2 = Vector3.Scale(
new Vector3(
mcont.verts[j4 + 0],
mcont.verts[j4 + 1],
(mcont.verts[j4 + 2] / (float)voxelArea.width)
)
, cellScale)
+ voxelOffset;
Debug.DrawLine(p1, p2, Color.red);
//}
}
#endif
}
}
}
cset.conts = contours;
AstarProfiler.EndProfile("- Fix Contours");
AstarProfiler.EndProfile("Build Contours");
}
