public NavMeshBuilder GenerateNavmesh(BBox3 bbox)
{
float[] vertices;
int[] indices;
AreaId[] areas;
GetRawData(out vertices, out indices, out areas);
var settings = WoWSettings;
var hf = new Heightfield(bbox, settings);
hf.RasterizeTrianglesWithAreas(vertices, areas);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentWidth);
chf.BuildDistanceField();
chf.BuildRegions((int)(settings.AgentWidth / settings.CellSize) + 8, settings.MinRegionSize, settings.MergedRegionSize);
var cset = new ContourSet(chf, settings);
var pmesh = new PolyMesh(cset, settings);
var dmesh = new PolyMeshDetail(pmesh, chf, settings);
var buildData = new NavMeshBuilder(pmesh, dmesh, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
return(buildData);
}
/// <summary>
/// Constructor
/// </summary>
/// <remarks>
/// <para>
/// A 'no result' object will be created if the <paramref name="polyMesh"/> parameter
/// is null or has a polygon count of zero.
/// </para>
/// </remarks>
/// <param name="tx">The x-index of the tile within the tile grid. (tx, tz)</param>
/// <param name="tz">The z-index of the tile within the tile grid. (tx, tz)</param>
/// <param name="polyMesh">The polymesh.</param>
/// <param name="detailMesh">The detail mesh.</param>
/// <param name="heightfield">The heightfield.</param>
/// <param name="compactField">The compact field.</param>
/// <param name="contours">The contour set.</param>
public NMGenAssets(int tx, int tz
, PolyMesh polyMesh
, PolyMeshDetail detailMesh
, Heightfield heightfield
, CompactHeightfield compactField
, ContourSet contours)
{
mTileX = tx;
mTileZ = tz;
if (polyMesh == null || polyMesh.PolyCount == 0)
{
mPolyMesh = null;
mDetailMesh = null;
mHeightfield = null;
mCompactField = null;
mContours = null;
}
else
{
mPolyMesh = polyMesh;
mDetailMesh = detailMesh; // OK to be null.
mHeightfield = heightfield;
mCompactField = compactField;
mContours = contours;
}
}
public void DistanceField_Simple_Success()
{
//Build a 3x3 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f / 3.0f), 0.02f);
for (int i = 0; i < 9; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
//make sure connections are set
Assert.AreEqual(chf.Spans[0 * 2].ConnectionCount, 2); //corner
Assert.AreEqual(chf.Spans[1 * 2].ConnectionCount, 3); //edge
Assert.AreEqual(chf.Spans[2 * 2].ConnectionCount, 2); //corner
Assert.AreEqual(chf.Spans[3 * 2].ConnectionCount, 3); //edge
Assert.AreEqual(chf.Spans[4 * 2].ConnectionCount, 4); //center
chf.BuildDistanceField();
//check distance field values
Assert.AreEqual(chf.MaxDistance, 2);
//1st row
Assert.AreEqual(chf.Distances[0 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[1 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[2 * 2], 0); //boundary
//2nd row
Assert.AreEqual(chf.Distances[3 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[4 * 2], 2); //center span
Assert.AreEqual(chf.Distances[5 * 2], 0); //boundary
}
public void Test()
{
var bounds = RecastBuilder.GetBoundsFromGameObject(gameObject);
//bounds.Expand(2.0f);
bounds = RecastBuilder.AlignBounds(bounds);
bounds.Expand(new Vector3(0, 1.6f, 0));
voxel = RecastBuilder.Creat(bounds, Size);
RecastBuilder.AddGameObject(voxel, gameObject);
Vector3 min = voxel.Bounds.min;
heightfield = RecastBuilder.VoxelToHeightfield(voxel);
var bitMask = RecastBuilder.VoxelizationWalkableFilter(voxel);
if (ValidPoint)
{
var pos = Vector3Int.CeilToInt((ValidPoint.position - min) / voxel.CellSize);
Vector2Int pt = new Vector2Int(pos.x, pos.z);
Vector2Int size = new Vector2Int(voxel.Size.x, voxel.Size.z);
var validMask = RecastBuilder.CalcClosePoint(bitMask, size, pt);
gridData = new RecastGridData
{
OriginPoint = new Vector3(min.x, min.z),
Width = voxel.Size.x,
Length = voxel.Size.z,
Mask = new SerializBitArray(validMask)
};
}
else
{
gridData = RecastBuilder.VoxelizationToGrid(voxel);
}
}
public void BuildRegions_Success()
{
//Build a 3x3 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f / 3.0f), 0.02f);
for (int i = 0; i < 9; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
chf.BuildRegions(1, 2, 3);
//Most spans do not have a region id because those spans are part of the border
//Most region ids won't be assigned to any span
//Total number of regions right now
Assert.AreEqual(chf.MaxRegions, 7);
//Center spans should have region id
Assert.AreEqual((int)chf.Spans[4 * 2 + 0].Region, 5);
Assert.AreEqual((int)chf.Spans[4 * 2 + 1].Region, 6);
//Check that the rest of the region ids are not assigned to a span
for (int i = 0; i < chf.Spans.Length; i++)
{
for (int j = 0; j <= 4; j++)
{
Assert.AreNotEqual((int)chf.Spans[i].Region, j);
}
}
}
/// <summary>
/// Sets the context as having produced no result.
/// </summary>
public void SetAsNoResult()
{
mHeightfield = null;
mCompactField = null;
mContours = null;
mPolyMesh = null;
mDetailMesh = null;
mNoResult = true;
}
public void Filter_LowHangingWalkable_Fail()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(1, 2, Area.Default);
var span2 = new Span(10, 20, Area.Null);
hf[2].AddSpan(span);
hf[2].AddSpan(span2);
//walkable step cannot cover the gap (difference between span2 maximum and span 1 maximum) so fail
hf.FilterLowHangingWalkableObstacles(10);
Assert.AreNotEqual(hf[0, 1].Spans[0].Area, hf[0, 1].Spans[1].Area);
}
public void Filter_LowHangingWalkable_Success()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(10, 15, Area.Default);
var span2 = new Span(16, 20, Area.Null);
hf[0].AddSpan(span);
hf[0].AddSpan(span2);
hf.FilterLowHangingWalkableObstacles(20);
Assert.AreEqual(hf[0].Spans[0].Area, hf[0].Spans[1].Area);
}
private bool PostHeightfieldCheck()
{
Heightfield hf = mBuildContext.Heightfield;
if (hf == null || hf.IsDisposed)
{
FinalizeAbort("Custom processors destroyed the heightfield. (" + mState + " Post)");
return(false);
}
else if (hf.GetSpanCount() < 1)
{
FinalizeNoResult("Complete at heightfield build. No spans. (" + mState + " Post)");
return(false);
}
return(true);
}
private void BuildCompactField()
{
Heightfield hf = mBuildContext.Heightfield;
CompactHeightfield chf = CompactHeightfield.Build(mBuildContext
, hf
, mConfig.WalkableHeight
, mConfig.WalkableStep);
if (CanDispose(NMGenAssetFlag.Heightfield))
{
hf.RequestDisposal();
mBuildContext.Heightfield = null;
}
if (chf == null)
{
FinalizeAbort("Aborted at compact heightfield build.");
return;
}
if (chf.SpanCount < 1)
{
FinalizeNoResult("Complete at compact heightfield build. No spans.");
return;
}
mBuildContext.CompactField = chf;
// Note: Post process is done before eroding the walkable area
// so that the processors can stamp additional obstructions into
// the heightfield.
if (PostProcess() && PostCompactFieldCheck())
{
if (mConfig.WalkableRadius > 0)
{
chf = mBuildContext.CompactField;
chf.ErodeWalkableArea(mBuildContext, mConfig.WalkableRadius);
mBuildContext.Log("Eroded walkable area by radius: " + mConfig.walkableRadius
, this);
}
mBuildContext.Log("Built compact heightfield. Spans: " + chf.SpanCount, this);
mState = NMGenState.RegionBuild;
}
}
//private void GenerateNavMesh()
//{
// Console.WriteLine("Generating NavMesh");
// long prevMs = 0;
// try
// {
// var levelTris = level.GetTriangles();
// var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
// BBox3 bounds = triEnumerable.GetBoundingBox();
// settings = NavMeshGenerationSettings.Default;
// heightfield = new Heightfield(bounds, settings);
// heightfield.RasterizeTriangles(levelTris, Area.Default);
// heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
// heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
// heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
// compactHeightfield = new CompactHeightfield(heightfield, settings);
// compactHeightfield.Erode(settings.VoxelAgentRadius);
// compactHeightfield.BuildDistanceField();
// compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
// contourSet = compactHeightfield.BuildContourSet(settings);
// polyMesh = new PolyMesh(contourSet, settings);
// polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
// buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
// tiledNavMesh = new TiledNavMesh(buildData);
// navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
// }
// catch (Exception e)
// {
// //if (!interceptExceptions)
// // throw;
// //else
// // Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
// }
// finally
// {
// //sw.Stop();
// }
//}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
long prevMs = 0;
//try
//{
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
settings = NavMeshGenerationSettings.Default;
heightfield = new Heightfield(bounds, settings);
heightfield.RasterizeTriangles(levelTris, Area.Default);
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
compactHeightfield = new CompactHeightfield(heightfield, settings);
compactHeightfield.Erode(settings.VoxelAgentRadius);
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
contourSet = compactHeightfield.BuildContourSet(settings);
polyMesh = new PolyMesh(contourSet, settings);
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
OutMesh();
//}
//catch (Exception e)
//{
// //if (!interceptExceptions)
// // throw;
// //else
// // Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
//}
//finally
//{
// //sw.Stop();
//}
}
public void ConvertSpans_OneCell()
{
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
hf[0].AddSpan(new Span(10, 20, Area.Default));
hf[0].AddSpan(new Span(25, 30, Area.Default));
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
Assert.AreEqual(chf.Spans.Length, 2);
Assert.AreEqual(chf.Spans[0].Minimum, 20);
Assert.AreEqual(chf.Spans[0].Height, 5);
Assert.AreEqual(chf.Spans[1].Minimum, 30);
Assert.AreEqual(chf.Spans[1].Height, int.MaxValue);
}
public void Filter_WalkableLowHeight_Success()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(10, 20, Area.Default);
var span2 = new Span(25, 30, Area.Default);
hf[0].AddSpan(span);
hf[0].AddSpan(span2);
//too low to walk through. there is only a gap of 5 units to walk through,
//but at least 15 units is needed
hf.FilterWalkableLowHeightSpans(15);
//so one span is unwalkable and the other is fine
Assert.AreEqual(hf[0].Spans[0].Area, Area.Null);
Assert.AreEqual(hf[0].Spans[1].Area, Area.Default);
}
public void ConvertSpans_TwoCells()
{
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, new Vector3(1, 1, 1)), 0.5f, 0.02f);
hf[0].AddSpan(new Span(10, 20, Area.Default));
hf[0].AddSpan(new Span(25, 30, Area.Default));
hf[1].AddSpan(new Span(5, 15, Area.Default));
hf[1].AddSpan(new Span(25, 30, Area.Default));
hf[1].AddSpan(new Span(40, 55, Area.Default));
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
Assert.AreEqual(chf.Cells.Length, 4);
Assert.AreEqual(chf.Cells[0].StartIndex, 0);
Assert.AreEqual(chf.Cells[0].Count, 2);
Assert.AreEqual(chf.Cells[1].StartIndex, 2);
Assert.AreEqual(chf.Cells[1].Count, 3);
}
public void ContourConstructor()
{
//TODO directly build contours now that ContourSet allows it.
//Build a 5x5 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f / 5.0f), 0.02f);
for (int i = 0; i < 5 * 5; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
chf.BuildRegions(1, 1, 1);
ContourSet contourSet = chf.BuildContourSet(1, 5, ContourBuildFlags.None);
Assert.AreEqual(contourSet.Count, 2);
}
public void ContourConstructor()
{
//TODO directly build contours now that ContourSet allows it.
//Build a 5x5 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f / 5.0f), 0.02f);
for (int i = 0; i < 5 * 5; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
chf.BuildRegions(1, 1, 1);
ContourSet contourSet = chf.BuildContourSet(1, 5, ContourBuildFlags.None);
Assert.AreEqual(contourSet.Count, 2);
}
public void SetConnection_TwoCells()
{
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
hf[0].AddSpan(new Span(10, 20, Area.Default));
hf[0].AddSpan(new Span(25, 30, Area.Default));
hf[1].AddSpan(new Span(10, 21, Area.Default));
hf[1].AddSpan(new Span(25, 30, Area.Default));
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
Assert.IsTrue(chf.Spans[0].IsConnected(Direction.East));
Assert.IsTrue(chf.Spans[1].IsConnected(Direction.East));
Assert.IsTrue(chf.Spans[2].IsConnected(Direction.West));
Assert.IsTrue(chf.Spans[3].IsConnected(Direction.West));
Assert.AreEqual(chf.Spans[0].ConnectionEast, 0);
Assert.AreEqual(chf.Spans[1].ConnectionEast, 1);
Assert.AreEqual(chf.Spans[2].ConnectionWest, 0);
Assert.AreEqual(chf.Spans[3].ConnectionWest, 1);
}
public void Test()
{
var bounds = RecastBuilder.GetBoundsFromGameObject(gameObject);
//bounds.Expand(2.0f);
bounds = RecastBuilder.AlignBounds(bounds);
bounds.Expand(new Vector3(0, 1.6f, 0));
voxel = RecastBuilder.Creat(bounds, Size);
RecastBuilder.AddGameObject(voxel, gameObject);
Vector3 min = voxel.Bounds.min;
heightfield = RecastBuilder.VoxelToHeightfield(voxel);
gridData = RecastBuilder.HeightfieldToPlaneGrid(heightfield, 0, 2);
//var bitMask = RecastBuilder.VoxelizationWalkableFilter(voxel);
if (ValidPoint)
{
var pos = Vector3Int.CeilToInt((ValidPoint.position - min) / voxel.CellSize);
Vector2Int pt = new Vector2Int(pos.x, pos.z);
Vector2Int size = new Vector2Int(voxel.Size.x, voxel.Size.z);
gridData.Mask = RecastBuilder.CalcClosePoint(gridData.Mask, size, pt);
}
}
private void BuildHeightfield()
{
int width;
int depth;
NMGen.DeriveSizeOfCellGrid(mTileConfig.BoundsMin
, mTileConfig.BoundsMax
, mConfig.XZCellSize
, out width
, out depth);
Heightfield hf = Heightfield.Create(width, depth
, mTileConfig.BoundsMin, mTileConfig.BoundsMax
, mConfig.XZCellSize, mConfig.YCellSize);
hf.AddTriangles(mBuildContext
, mGeometry.Mesh
, mTileConfig.boundsMin
, mTileConfig.boundsMax
, mConfig.WalkableStep); // Merge for any spans less than step.
if (hf.GetSpanCount() < 1)
{
FinalizeNoResult("Complete at heightfield build. No spans.");
return;
}
mBuildContext.Heightfield = hf;
if (PostProcess() && PostHeightfieldCheck())
{
mBuildContext.Log("Voxelized triangles. Span count: " + hf.GetSpanCount(), this);
mState = NMGenState.CompactFieldBuild;
}
}
public NavMeshBuilder Build()
{
// Generate tile data
LoadTileData();
// Extract raw data from geometry
float[] vertices;
int[] indices;
s_Geometry.GetRawData(out vertices, out indices /*, out areas*/);
var hf = new Heightfield(Bounds, NavmeshSettings);
hf.RasterizeTriangles(vertices, Area.Default);
hf.FilterLedgeSpans(NavmeshSettings.VoxelAgentHeight, NavmeshSettings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(NavmeshSettings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(NavmeshSettings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, NavmeshSettings);
chf.Erode(NavmeshSettings.VoxelAgentRadius);
chf.BuildDistanceField();
chf.BuildRegions((int)(NavmeshSettings.AgentRadius / NavmeshSettings.CellSize) + 8, NavmeshSettings.MinRegionSize, NavmeshSettings.MergedRegionSize);
var cset = chf.BuildContourSet(NavmeshSettings);
var pmesh = new PolyMesh(cset, NavmeshSettings);
var dmesh = new PolyMeshDetail(pmesh, chf, NavmeshSettings);
var buildData = new NavMeshBuilder(pmesh, dmesh, new SharpNav.Pathfinding.OffMeshConnection[0], NavmeshSettings);
Console.WriteLine("Rasterized " + vertices.Length / 9 + " triangles.");
Console.WriteLine("Generated " + cset.Count + " regions.");
Console.WriteLine("PolyMesh contains " + pmesh.VertCount + " vertices in " + pmesh.PolyCount + " polys.");
Console.WriteLine("PolyMeshDetail contains " + dmesh.VertCount + " vertices and " + dmesh.TrisCount + " tris in " + dmesh.MeshCount + " meshes.");
return(buildData);
}
public void DistanceField_Medium_Success()
{
//Build a 5x5 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.2f, 0.02f);
for (int i = 0; i < 25; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
//Before box blur, MaxDistance is 4
//After box blur, MaxDistance is 2
Assert.AreEqual(chf.MaxDistance, 2);
//1st row
Assert.AreEqual(chf.Distances[0 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[4 * 2], 0); //boundary
//2nd row
Assert.AreEqual(chf.Distances[5 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[6 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[7 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[8 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[9 * 2], 0); //boundary
//3rd row
Assert.AreEqual(chf.Distances[10 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[11 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[12 * 2], 2); //center (box blurred distance is (2*8 + 5)/9)
Assert.AreEqual(chf.Distances[13 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[14 * 2], 0); //boundary
}
private void GenerateNavMesh()
{
//Debug.Log("Generating NavMesh");
Stopwatch sw = new Stopwatch();
sw.Start();
long prevMs = 0;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
//Debug.Log("Heightfield");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
/*Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
* .MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
* .MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
* .MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
* .ToArray();
* heightfield.RasterizeTrianglesWithAreas(levelTris, areas);*/
heightfield.RasterizeTriangles(levelTris, Area.Default);
//Debug.Log(" + Rasterization\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
//Debug.Log(" + Filtering");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
//Debug.Log(" + Ledge Spans\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
//Debug.Log(" + Low Hanging Obstacles\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
//Debug.Log(" + Low Height Spans\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield = new CompactHeightfield(heightfield, settings);
//Debug.Log("CompactHeightfield");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.Erode(settings.VoxelAgentRadius);
//Debug.Log(" + Erosion\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildDistanceField();
//Debug.Log(" + Distance Field\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
//Debug.Log(" + Regions\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
contourSet = compactHeightfield.BuildContourSet(settings);
//Debug.Log("ContourSet");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMesh = new PolyMesh(contourSet, settings);
//Debug.Log("PolyMesh");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
//Debug.Log("PolyMeshDetail");
//Debug.Log(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
hasGenerated = true;
}
catch (Exception e)
{
if (!interceptExceptions)
{
throw;
}
else
{
//Debug.Log("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
}
}
finally
{
sw.Stop();
}
if (hasGenerated)
{
try
{
GeneratePathfinding();
//Pathfinding with multiple units
//GenerateCrowd();
}
catch (Exception e)
{
//Debug.Log("Pathfinding generation failed with exception" + Environment.NewLine + e.ToString());
hasGenerated = false;
}
//Label l = (Label)statusBar.FindChildByName("GenTime");
//l.Text = "Generation Time: " + sw.ElapsedMilliseconds + "ms";
//Debug.Log("Navmesh generated successfully in " + sw.ElapsedMilliseconds + "ms.");
//Debug.Log("Rasterized " + level.GetTriangles().Length + " triangles.");
//Debug.Log("Generated " + contourSet.Count + " regions.");
//Debug.Log("PolyMesh contains " + polyMesh.VertCount + " vertices in " + polyMesh.PolyCount + " polys.");
//Debug.Log("PolyMeshDetail contains " + polyMeshDetail.VertCount + " vertices and " + polyMeshDetail.TrisCount + " tris in " + polyMeshDetail.MeshCount + " meshes.");
}
}
public void GenNavMesh()
{
// MeshCollider
List <Triangle3> colliderTringles = new List <Triangle3>();
Collider[] colliders = GameObject.FindObjectsOfType <Collider>();
List <GameObject> destroyGos = new List <GameObject>();
foreach (Collider collider in colliders)
{
Mesh mesh = null;
Matrix4x4 localToWorldMatrix = Matrix4x4.identity;
if (collider is MeshCollider)
{
MeshCollider mc = collider as MeshCollider;
mesh = mc.sharedMesh;
localToWorldMatrix = mc.transform.localToWorldMatrix;
}
if (collider is BoxCollider)
{
BoxCollider bc = collider as BoxCollider;
GameObject go = GameObject.CreatePrimitive(PrimitiveType.Cube);
mesh = go.GetComponent <MeshFilter>().sharedMesh;
go.transform.parent = collider.transform;
go.transform.localRotation = Quaternion.identity;
go.transform.localPosition = bc.center;
go.transform.localScale = bc.size;
localToWorldMatrix = go.transform.localToWorldMatrix;
destroyGos.Add(go);
}
if (null != mesh)
{
UnityEngine.Vector3[] vertices = mesh.vertices;
for (int i = 0; i < mesh.subMeshCount; ++i)
{
var subMesh = mesh.GetIndices(i);
for (int j = 0; j < subMesh.Length; j += 3)
{
UnityEngine.Vector3 a = localToWorldMatrix.MultiplyPoint(vertices[subMesh[j]]);
UnityEngine.Vector3 b = localToWorldMatrix.MultiplyPoint(vertices[subMesh[j + 1]]);
UnityEngine.Vector3 c = localToWorldMatrix.MultiplyPoint(vertices[subMesh[j + 2]]);
colliderTringles.Add(new Triangle3(ConvertVector3(a), ConvertVector3(b), ConvertVector3(c)));
}
}
}
}
foreach (var go in destroyGos)
{
GameObject.DestroyImmediate(go);
}
destroyGos.Clear();
Triangle3[] levelTris = colliderTringles.ToArray();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
heightfield.RasterizeTriangles(levelTris, Area.Default);
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
compactHeightfield = new CompactHeightfield(heightfield, settings);
compactHeightfield.Erode(settings.VoxelAgentRadius);
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
contourSet = compactHeightfield.BuildContourSet(settings);
polyMesh = new PolyMesh(contourSet, settings);
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
{
System.Random r = new System.Random();
regionColors = new Color[compactHeightfield.MaxRegions];
regionColors[0] = Color.black;
for (int i = 1; i < regionColors.Length; i++)
{
regionColors[i] = new Color((byte)r.Next(0, 255), (byte)r.Next(0, 255), (byte)r.Next(0, 255), 255);
}
}
this.GenDrawMesh();
Debug.Log("GenNavMesh Done!");
}
public void Indexer_Valid_ReturnsCell()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.5f);
Assert.IsNotNull(hf[0, 1]);
}
public void Indexer_CellOutOfRange_Throws()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.5f);
Assert.Throws <ArgumentOutOfRangeException>(() => { var c = hf[5]; });
}
public bool BuildNavMesh( out string error )
{
DestroyNavMesh();
if( !EnabledInHierarchy )
{
error = "Is not enabled.";
return false;
}
//get geometry data
var collector = GetAllGeometriesForNavigationMesh();
Vector3[] vertices = collector.resultVertices;
int[] indices = collector.resultIndices;
int vertexCount = collector.resultVertexCount;
int indexCount = collector.resultIndexCount;
if( vertexCount == 0 )
{
error = "No vertices were gathered from collision objects.";
return false;
}
//get settings
var settings = new NavMeshGenerationSettings();
settings.CellSize = (float)CellSize;
settings.CellHeight = (float)CellHeight;
settings.MaxClimb = (float)AgentMaxClimb;
settings.AgentHeight = (float)AgentHeight;
settings.AgentRadius = (float)AgentRadius;
settings.MinRegionSize = MinRegionSize;
settings.MergedRegionSize = MergedRegionSize;
settings.MaxEdgeLength = MaxEdgeLength;
settings.MaxEdgeError = (float)MaxEdgeError;
settings.VertsPerPoly = MaxVerticesPerPolygon;
settings.SampleDistance = DetailSampleDistance;
settings.MaxSampleError = DetailMaxSampleError;
settings.BuildBoundingVolumeTree = true;
TiledNavMesh newTiledNavMesh;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var bounds = Bounds.Cleared;
bounds.Add( vertices );
var heightfield = new Heightfield( ToSharpNav( bounds ), settings );
var vertices2 = new SharpNav.Geometry.Vector3[ indexCount ];
for( int index = 0; index < indexCount; index++ )
vertices2[ index ] = ToSharpNav( vertices[ indices[ index ] ] );
//Area[] areas = AreaGenerator.From( vertices2, Area.Default )
// .MarkBelowSlope( (float)AgentMaxSlope.Value.InRadians(), Area.Null )
// .ToArray();
//Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
// .MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
// .MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
// .MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
// .ToArray();
//heightfield.RasterizeTrianglesWithAreas( vertices2, areas );
heightfield.RasterizeTriangles( vertices2, Area.Default );
heightfield.FilterLedgeSpans( settings.VoxelAgentHeight, settings.VoxelMaxClimb );
heightfield.FilterLowHangingWalkableObstacles( settings.VoxelMaxClimb );
heightfield.FilterWalkableLowHeightSpans( settings.VoxelAgentHeight );
var compactHeightfield = new CompactHeightfield( heightfield, settings );
compactHeightfield.Erode( settings.VoxelAgentRadius );
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions( 0, settings.MinRegionSize, settings.MergedRegionSize );
//!!!!
System.Random r = new System.Random();
var regionColors = new ColorByte[ compactHeightfield.MaxRegions ];
regionColors[ 0 ] = new ColorByte( 0, 0, 0 );
for( int i = 1; i < regionColors.Length; i++ )
regionColors[ i ] = new ColorByte( (byte)r.Next( 0, 255 ), (byte)r.Next( 0, 255 ), (byte)r.Next( 0, 255 ), (byte)255 );
var contourSet = compactHeightfield.BuildContourSet( settings );
var polyMesh = new PolyMesh( contourSet, settings );
var polyMeshDetail = new PolyMeshDetail( polyMesh, compactHeightfield, settings );
var buildData = new NavMeshBuilder( polyMesh, polyMeshDetail, new OffMeshConnection[ 0 ], settings );
newTiledNavMesh = new TiledNavMesh( buildData );
//!!!!
////Pathfinding with multiple units
//GenerateCrowd();
}
catch( Exception e )
{
DestroyNavMesh();
error = e.Message;
return false;
}
int dataLength;
byte[] data;
using( var memoryStream = new MemoryStream() )
{
var serializer = new NavMeshBinarySerializer();
serializer.Serialize( memoryStream, newTiledNavMesh );
dataLength = (int)memoryStream.Length;
data = memoryStream.GetBuffer();
}
//generate nav mesh data
var writer = new ArrayDataWriter();
writer.Write( navMeshDataVersion );
writer.Write( dataLength );
writer.Write( data, 0, dataLength );
//set NavMeshData and init
var newNavMeshData = new byte[ writer.BitLength / 8 ];
Buffer.BlockCopy( writer.Data, 0, newNavMeshData, 0, newNavMeshData.Length );
NavMeshData = newNavMeshData;
error = "";
return true;
}