public void handle_partial_result()
{
using (var ctx = new RecastContext())
{
var navMesh = LoadNavMeshBinFile(ctx);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
var stopwatch = Stopwatch.StartNew();
var pointA = new PolyPointResult
{
status = 1073741824,
point = new[] { -373.413f, 107.4798f, -271.1656f },
polyRef = 281474994536448
};
var pointB = new PolyPointResult
{
status = 1073741824,
point = new[] { -370.4435f, 100.7469f, -221.2217f },
polyRef = 281475063742464
};
var result = FindPathSafer(pointA, pointB, ctx, navMeshQuery, stopwatch);
var smoothResult = ctx.FindSmoothPath(navMeshQuery, navMesh, result, pointA, pointB);
Assert.AreEqual(5, result.pathCount);
Assert.True(PartialResult(result.status));
Assert.AreEqual(3, smoothResult.pathCount);
}
}
private InputGeom GetInputGeom(RecastContext ctx)
{
var mesh = ctx.LoadInputGeom(TestUtils.ResolveResource("./Resources/Tile_+007_+006_L21.obj"), true);
ctx.CalcGridSize(ref _config, mesh);
return(mesh);
}
private float be_fast_work(RecastContext ctx, NavMesh navMesh)
{
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
const int N = 10000;
var NRan = 0;
var stopwatch = Stopwatch.StartNew();
stopwatch.Stop();
for (var i = 0; i < N; i++)
{
var pointA = FindRandomPointSafer(ctx, navMeshQuery);
var pointB = FindRandomPointSafer(ctx, navMeshQuery);
var result = FindPathSafer(pointA, pointB, ctx, navMeshQuery, stopwatch);
if (Success(result.status))
{
var smoothResult = ctx.FindSmoothPath(navMeshQuery, navMesh, result, pointA, pointB);
if (!PartialResult(result.status))
{
Assert.GreaterOrEqual(smoothResult.pathCount, result.pathCount,
$"smoothResult.pathCount [{smoothResult.pathCount}] < result.pathCount [{result.pathCount}]. PointA = {pointA}, PointB={pointB}");
}
}
NRan++;
}
float avg = (float)stopwatch.ElapsedMilliseconds / NRan;
Console.WriteLine($"\nAverage time (ms) for {NRan} run(s): {avg}");
return(avg);
}
public void create_a_context()
{
using (var ctx = new RecastContext())
{
Assert.IsNotNull(ctx);
}
}
public void load_nav_mesh_tiled_bin_file()
{
using (var ctx = new RecastContext())
{
NavMesh navMesh = LoadNavMeshBinFile(ctx);
Assert.IsNotNull(navMesh);
}
}
private NavMesh LoadNavMeshBinFile(RecastContext ctx)
{
var navMesh =
ctx.LoadTiledNavMeshBinFile(TestUtils.ResolveResource("./Resources/Tile_+007_+006_L21.obj.tiled.bin64"));
Assert.IsNotNull(navMesh);
return(navMesh);
}
public void load_a_mesh()
{
using (var ctx = new RecastContext())
{
var mesh = GetInputGeom(ctx);
Assert.IsNotNull(mesh);
}
}
public void be_fast_from_obj()
{
using (var ctx = new RecastContext())
{
var navMesh = CreateNavMesh(ctx);
var avg = be_fast_work(ctx, navMesh);
Assert.LessOrEqual(avg, 0.1);
}
}
public void create_compact_heightfield()
{
using (var ctx = new RecastContext())
{
var mesh = GetInputGeom(ctx);
var chf = ctx.CreateCompactHeightfield(_config, mesh);
Assert.IsNotNull(chf);
}
}
public void be_fast_from_bin()
{
using (var ctx = new RecastContext())
{
var navMesh = LoadNavMeshBinFile(ctx);
var avg = be_fast_work(ctx, navMesh);
Assert.LessOrEqual(avg, 0.1);
}
}
public void create_polymesh_detail()
{
using (var ctx = new RecastContext())
{
var mesh = GetInputGeom(ctx);
var chf = ctx.CreateCompactHeightfield(_config, mesh);
var polyMesh = ctx.CreatePolyMesh(_config, chf);
var polyMeshDetail = ctx.CreatePolyMeshDetail(_config, polyMesh, chf);
}
}
public void find_random_point()
{
using (var ctx = new RecastContext())
{
var navMesh = CreateNavMesh(ctx);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
var result = ctx.FindRandomPoint(navMeshQuery);
Assert.IsTrue(Success(result.status));
Assert.AreEqual(result.point.Length, 3);
}
}
public void find_path()
{
using (var ctx = new RecastContext())
{
var navMesh = CreateNavMesh(ctx);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
var pointA = FindRandomPointSafer(ctx, navMeshQuery);
var pointB = FindRandomPointSafer(ctx, navMeshQuery);
var result = FindPathSafer(pointA, pointB, ctx, navMeshQuery);
Assert.IsTrue(Success(result.status));
}
}
private PolyPointResult FindRandomPointSafer(RecastContext ctx, NavMeshQuery navMeshQuery)
{
int retries = 10;
PolyPointResult result;
do
{
result = ctx.FindRandomPoint(navMeshQuery);
retries--;
} while ((!Success(result.status)) && (0 < retries));
return(result);
}
/// <summary>
/// Initialize a new DefaultMeshNavigator given a mesh file and halfExtents parameters.
/// </summary>
/// <param name="navMeshFile">Mesh file</param>
/// <param name="halfExtents">Half extents</param>
/// <exception cref="Exception">Throws an exception if the mesh file cannot be loaded.</exception>
public DefaultMeshNavigator(string navMeshFile, float[] halfExtents)
{
_ctx = new RecastContext();
_navMesh = _ctx.LoadTiledNavMeshBinFile(navMeshFile);
if (_navMesh.IsInvalid)
{
throw new Exception("Failed to load nav mesh");
}
_navMeshQuery = _ctx.CreateNavMeshQuery(_navMesh);
_halfExtents = halfExtents;
}
public void find_nearest_poly()
{
using (var ctx = new RecastContext()) {
var navMesh = CreateNavMesh(ctx);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
var point = new float[] { -575f, -69.1874f, 54f };
var halfExtents = new float[] { 10.0f, 10.0f, 10.0f };
var result = ctx.FindNearestPoly(navMeshQuery, point, halfExtents);
Assert.AreEqual(result.polyRef, 281474976711211L);
}
}
public void create_navmesh()
{
using (var ctx = new RecastContext())
{
var mesh = GetInputGeom(ctx);
var chf = ctx.CreateCompactHeightfield(_config, mesh);
var polyMesh = ctx.CreatePolyMesh(_config, chf);
var polyMeshDetail = ctx.CreatePolyMeshDetail(_config, polyMesh, chf);
var navMeshData = ctx.CreateNavMeshData(_config, polyMeshDetail, polyMesh, mesh, 0, 0,
BuildSettings.agentHeight, BuildSettings.agentRadius, BuildSettings.agentMaxClimb);
var navMesh = ctx.CreateNavMesh(navMeshData);
Assert.IsNotNull(navMesh);
}
}
private NavMesh CreateNavMesh(RecastContext ctx)
{
var mesh = ctx.LoadInputGeom(TestUtils.ResolveResource("Resources/Tile_+007_+006_L21.obj"), true);
Assert.IsNotNull(mesh);
ctx.CalcGridSize(ref _config, mesh);
var chf = ctx.CreateCompactHeightfield(_config, mesh);
var polyMesh = ctx.CreatePolyMesh(_config, chf);
var polyMeshDetail = ctx.CreatePolyMeshDetail(_config, polyMesh, chf);
var navMeshData = ctx.CreateNavMeshData(_config, polyMeshDetail, polyMesh, mesh, 0, 0,
BuildSettings.agentHeight, BuildSettings.agentRadius,
BuildSettings.agentMaxClimb);
return(ctx.CreateNavMesh(navMeshData));
}
public void create_navmesh_data()
{
using (var ctx = new RecastContext())
{
var mesh = GetInputGeom(ctx);
var chf = ctx.CreateCompactHeightfield(_config, mesh);
var polyMesh = ctx.CreatePolyMesh(_config, chf);
var polyMeshDetail = ctx.CreatePolyMeshDetail(_config, polyMesh, chf);
var navMeshData = ctx.CreateNavMeshData(_config, polyMeshDetail, polyMesh, mesh, 0, 0,
BuildSettings.agentHeight, BuildSettings.agentRadius, BuildSettings.agentMaxClimb);
// TODO: This is different to Java!!
Assert.AreEqual(114764, navMeshData.size);
var bytes = navMeshData.GetData();
Assert.AreEqual(bytes.Length, navMeshData.size);
}
}
public void find_nearest_poly_fail()
{
using (var ctx = new RecastContext())
{
var navMesh = CreateNavMesh(ctx);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
var point = new float[] { -5750.0f, -6900.1874f, 5400.0f };
var halfExtents = new float[] { 10.0f, 10.0f, 10.0f };
var result = ctx.FindNearestPoly(navMeshQuery, point, halfExtents);
Assert.IsFalse(Success(result.status));
Assert.AreEqual(result.polyRef, 0);
Assert.AreEqual(result.point[0], 0);
Assert.AreEqual(result.point[1], 0);
Assert.AreEqual(result.point[2], 0);
}
}
public void find_smooth_path()
{
using (var ctx = new RecastContext())
{
var navMesh = CreateNavMesh(ctx);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
var pointA = FindRandomPointSafer(ctx, navMeshQuery);
var pointB = FindRandomPointSafer(ctx, navMeshQuery);
var result = FindPathSafer(pointA, pointB, ctx, navMeshQuery);
Assert.IsTrue(Success(result.status));
var smoothResult = ctx.FindSmoothPath(navMeshQuery, navMesh, result, pointA, pointB);
Assert.IsNotNull(smoothResult);
Assert.GreaterOrEqual(smoothResult.pathCount, result.pathCount);
Assert.AreEqual(3 * Constants.MaxSmoothPathLength, smoothResult.path.Length);
Assert.IsTrue(smoothResult.pathCount < Constants.MaxSmoothPathLength * 3);
Assert.AreEqual(smoothResult.path[0], pointA.point[0], 0.00001);
Assert.AreEqual(smoothResult.path[1], pointA.point[1], 0.00001);
Assert.AreEqual(smoothResult.path[2], pointA.point[2], 0.00001);
}
}
private FindPathResult FindPathSafer(PolyPointResult pointA, PolyPointResult pointB,
RecastContext ctx, NavMeshQuery navMeshQuery,
Stopwatch stopwatch = null)
{
Assert.IsTrue(Success(pointA.status), "Point A not a success.");
Assert.IsTrue(Success(pointB.status), "Point A not a success.");
if (null != stopwatch)
{
stopwatch.Start();
}
int retries = 10;
FindPathResult result;
do
{
result = ctx.FindPath(navMeshQuery, pointA, pointB);
retries--;
} while ((!Success(result.status)) && (0 < retries));
if (null != stopwatch)
{
stopwatch.Stop();
}
if (Success(result.status))
{
Assert.IsNotNull(result, "result NULL");
Assert.AreEqual(Constants.MaxPathLength, result.path.Length, $"Constants.MaxPathLength != result.path.Length [{Constants.MaxPathLength} != {result.path.Length}]");
Assert.GreaterOrEqual(result.pathCount, 1, $"result.pathCount [{result.pathCount}] < 1");
Assert.AreEqual(pointA.polyRef, result.path[0], $"point A polyref does not match [{pointA.polyRef} != {result.path[0]}]");
if (!PartialResult(result.status))
{
Assert.AreEqual(pointB.polyRef, result.path[result.pathCount - 1],
$"point B polyref does not match [{pointA.polyRef} != {result.path[result.pathCount - 1]}] (status={result.status} [{Convert.ToString(result.status, 2)}])");
}
}
return(result);
}
public void disposes_work()
{
var ctx = new RecastContext();
var mesh = GetInputGeom(ctx);
var chf = ctx.CreateCompactHeightfield(_config, mesh);
var polyMesh = ctx.CreatePolyMesh(_config, chf);
var polyMeshDetail = ctx.CreatePolyMeshDetail(_config, polyMesh, chf);
var navMeshData = ctx.CreateNavMeshData(_config, polyMeshDetail, polyMesh, mesh, 0, 0,
BuildSettings.agentHeight, BuildSettings.agentRadius, BuildSettings.agentMaxClimb);
var navMesh = ctx.CreateNavMesh(navMeshData);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
Assert.IsNotNull(navMeshQuery);
navMeshQuery.Dispose();
navMesh.Dispose();
polyMeshDetail.Dispose();
polyMesh.Dispose();
chf.Dispose();
mesh.Dispose();
ctx.Dispose();
}
public byte[] Build()
{
Geometry = new Geometry.Geometry {Transform = true };
{
var main = new ADT(World, X, Y);
main.Read();
// main.Generate();
Geometry.AddADT(main);
}
if (Geometry.Vertices.Count == 0 && Geometry.Indices.Count == 0)
throw new InvalidOperationException("Can't build tile with empty geometry");
float[] bbMin, bbMax;
CalculateTileBounds(out bbMin, out bbMax);
Geometry.CalculateMinMaxHeight(out bbMin[1], out bbMax[1]);
// again, we load everything - wasteful but who cares
/* for (int ty = Y - 1; ty <= Y + 1; ty++)
{
for (int tx = X - 1; tx <= X + 1; tx++)
{
try
{
// don't load main tile again
if (tx == X && ty == Y)
continue;
var adt = new ADT(World, tx, ty);
adt.Read();
Geometry.AddADT(adt);
}
catch (FileNotFoundException)
{
// don't care - no file means no geometry
}
}
}*/
Context = new RecastContext();
// Context.SetContextHandler(Log);
// get raw geometry - lots of slowness here
float[] vertices;
int[] triangles;
byte[] areas;
Geometry.GetRawData(out vertices, out triangles, out areas);
Geometry.SaveWavefrontObject($"{World}_{X}_{Y}.obj");
Geometry.Indices.Clear();
Geometry.Vertices.Clear();
// add border
bbMin[0] -= Config.BorderSize * Config.CellSize;
bbMin[2] -= Config.BorderSize * Config.CellSize;
bbMax[0] += Config.BorderSize * Config.CellSize;
bbMax[2] += Config.BorderSize * Config.CellSize;
Heightfield hf;
int width = Config.TileWidth + (Config.BorderSize * 2);
if (!Context.CreateHeightfield(out hf, width, width, bbMin, bbMax, Config.CellSize, Config.CellHeight))
throw new OutOfMemoryException("CreateHeightfield ran out of memory");
Context.MarkWalkableTriangles(Config.WalkableSlopeAngle, ref vertices, ref triangles,out areas);
// Context.ClearUnwalkableTriangles(Config.WalkableSlopeAngle, ref vertices, ref triangles, areas);
Context.RasterizeTriangles(ref vertices, ref triangles, ref areas, hf, Config.WalkableClimb);
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Context.FilterLowHangingWalkableObstacles(Config.WalkableClimb, hf);
Context.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb, hf);
Context.FilterWalkableLowHeightSpans(Config.WalkableHeight, hf);
// Compact the heightfield so that it is faster to handle from now on.
// This will result in more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
CompactHeightfield chf;
if (!Context.BuildCompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, hf, out chf))
throw new OutOfMemoryException("BuildCompactHeightfield ran out of memory");
hf.Delete();
// Erode the walkable area by agent radius.
if (!Context.ErodeWalkableArea(Config.WalkableRadius, chf))
throw new OutOfMemoryException("ErodeWalkableArea ran out of memory");
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Context.BuildDistanceField(chf))
throw new OutOfMemoryException("BuildDistanceField ran out of memory");
// Partition the walkable surface into simple regions without holes.
if (!Context.BuildRegions(chf, Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea))
throw new OutOfMemoryException("BuildRegionsMonotone ran out of memory");
// Create contours.
ContourSet cset;
if (!Context.BuildContours(chf, Config.MaxSimplificationError, Config.MaxEdgeLength, out cset))
throw new OutOfMemoryException("BuildContours ran out of memory");
// Build polygon navmesh from the contours.
PolyMesh pmesh;
if (!Context.BuildPolyMesh(cset, Config.MaxVertsPerPoly, out pmesh))
throw new OutOfMemoryException("BuildPolyMesh ran out of memory");
// Build detail mesh.
PolyMeshDetail dmesh;
if (
!Context.BuildPolyMeshDetail(pmesh, chf, Config.DetailSampleDistance, Config.DetailSampleMaxError,
out dmesh))
throw new OutOfMemoryException("BuildPolyMeshDetail ran out of memory");
chf.Delete();
cset.Delete();
// Remove padding from the polymesh data. (Remove this odditity)
pmesh.RemovePadding(Config.BorderSize);
// Set flags according to area types (e.g. Swim for Water)
pmesh.MarkAll();
// get original bounds
float[] tilebMin, tilebMax;
CalculateTileBounds(out tilebMin, out tilebMax);
tilebMin[1] = bbMin[1];
tilebMax[1] = bbMax[1];
// build off mesh connections for flightmasters
// bMax and bMin are switched here because of the coordinate system transformation
var connections = new List<OffMeshConnection>();
byte[] tileData;
if (!Detour.CreateNavMeshData(out tileData, pmesh, dmesh,
X, Y, tilebMin, tilebMax,
Config.WorldWalkableHeight, Config.WorldWalkableRadius,
Config.WorldWalkableClimb, Config.CellSize,
Config.CellHeight, Config.TileWidth,
connections.ToArray()))
{
pmesh.Delete();
dmesh.Delete();
return null;
}
pmesh.Delete();
dmesh.Delete();
GC.Collect();
return tileData;
}
public void PrepareData(BaseLog log)
{
if (log == null)
{
throw new ArgumentNullException("log");
}
Log = log;
Cache.Clear();
Geometry = new Geometry {
Transform = true
};
//List<ADT> adtList = new List<ADT>();
bool hasHandle = false;
try
{
try
{
hasHandle = _mutex.WaitOne(Timeout.Infinite, false);
if (hasHandle == false)
{
throw new TimeoutException("Timeout waiting for exclusive access");
}
}
catch (AbandonedMutexException)
{
// The mutex was abandoned in another process, it will still get aquired
hasHandle = true;
}
// Do the work which require this mutex locking (useless with CACS)
//{
ADT main = GetAdt(World, X, Y);
Geometry.AddAdt(main);
InsertAllGameobjectGeometry(X, Y, MapId);
// Geometry.CreateDemoDump("X:\\Meshes\\" + MapId + "_" + X + "_" + Y + ".obj");
//}
if (Geometry.Vertices.Count == 0 && Geometry.Triangles.Count == 0)
{
throw new InvalidOperationException("Can't build tile with empty geometry");
}
// again, we load everything - wasteful but who cares
for (int ty = Y - 1; ty <= Y + 1; ty++)
{
for (int tx = X - 1; tx <= X + 1; tx++)
{
// don't load main tile again
if (tx == X && ty == Y)
{
continue;
}
ADT adt = GetAdt(World, tx, ty);
if (adt.HasObjectData)
{
//Console.WriteLine("-> " + World + "_" + tx + "_" + ty);
Geometry.AddAdt(adt);
InsertAllGameobjectGeometry(tx, ty, MapId);
}
else
{
string parentMap = PhaseHelper.GetParentMap(World);
if (parentMap != string.Empty)
{
ADT adtParent = GetAdt(parentMap, tx, ty);
if (adtParent.HasObjectData)
{
Console.WriteLine("-> " + parentMap + "_" + tx + "_" + ty);
Geometry.AddAdt(adtParent);
InsertAllGameobjectGeometry(tx, ty, PhaseHelper.GetMapIdByName(parentMap));
}
}
}
}
}
}
finally
{
if (hasHandle)
{
_mutex.ReleaseMutex();
}
}
Context = new RecastContext();
Context.SetContextHandler(Log);
}
public byte[] Build(BaseLog log)
{
Log = log;
Geometry = new Geometry {
Transform = true
};
{
var main = GetAdt(World, X, Y);
Geometry.AddAdt(main);
}
if (Geometry.Vertices.Count == 0 && Geometry.Triangles.Count == 0)
{
throw new InvalidOperationException("Can't build tile with empty geometry");
}
float[] bbMin, bbMax;
CalculateTileBounds(out bbMin, out bbMax);
Geometry.CalculateMinMaxHeight(out bbMin[1], out bbMax[1]);
// again, we load everything - wasteful but who cares
for (int ty = Y - 1; ty <= Y + 1; ty++)
{
for (int tx = X - 1; tx <= X + 1; tx++)
{
try
{
// don't load main tile again
if (tx == X && ty == Y)
{
continue;
}
var adt = GetAdt(World, tx, ty);
Geometry.AddAdt(adt);
}
catch (FileNotFoundException)
{
// don't care - no file means no geometry
}
}
}
Context = new RecastContext();
Context.SetContextHandler(Log);
// get raw geometry - lots of slowness here
float[] vertices;
int[] triangles;
byte[] areas;
Geometry.GetRawData(out vertices, out triangles, out areas);
Geometry.Triangles.Clear();
Geometry.Vertices.Clear();
// add border
bbMin[0] -= Config.BorderSize * Config.CellSize;
bbMin[2] -= Config.BorderSize * Config.CellSize;
bbMax[0] += Config.BorderSize * Config.CellSize;
bbMax[2] += Config.BorderSize * Config.CellSize;
Heightfield hf;
int width = Config.TileWidth + (Config.BorderSize * 2);
if (!Context.CreateHeightfield(out hf, width, width, bbMin, bbMax, Config.CellSize, Config.CellHeight))
{
throw new OutOfMemoryException("CreateHeightfield ran out of memory");
}
Context.ClearUnwalkableTriangles(Config.WalkableSlopeAngle, ref vertices, ref triangles, areas);
Context.RasterizeTriangles(ref vertices, ref triangles, ref areas, hf, Config.WalkableClimb);
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Context.FilterLowHangingWalkableObstacles(Config.WalkableClimb, hf);
Context.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb, hf);
Context.FilterWalkableLowHeightSpans(Config.WalkableHeight, hf);
// Compact the heightfield so that it is faster to handle from now on.
// This will result in more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
CompactHeightfield chf;
if (!Context.BuildCompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, hf, out chf))
{
throw new OutOfMemoryException("BuildCompactHeightfield ran out of memory");
}
hf.Delete();
// Erode the walkable area by agent radius.
if (!Context.ErodeWalkableArea(Config.WalkableRadius, chf))
{
throw new OutOfMemoryException("ErodeWalkableArea ran out of memory");
}
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Context.BuildDistanceField(chf))
{
throw new OutOfMemoryException("BuildDistanceField ran out of memory");
}
// Partition the walkable surface into simple regions without holes.
if (!Context.BuildRegions(chf, Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea))
{
throw new OutOfMemoryException("BuildRegionsMonotone ran out of memory");
}
// Create contours.
ContourSet cset;
if (!Context.BuildContours(chf, Config.MaxSimplificationError, Config.MaxEdgeLength, out cset))
{
throw new OutOfMemoryException("BuildContours ran out of memory");
}
// Build polygon navmesh from the contours.
PolyMesh pmesh;
if (!Context.BuildPolyMesh(cset, Config.MaxVertsPerPoly, out pmesh))
{
throw new OutOfMemoryException("BuildPolyMesh ran out of memory");
}
// Build detail mesh.
PolyMeshDetail dmesh;
if (
!Context.BuildPolyMeshDetail(pmesh, chf, Config.DetailSampleDistance, Config.DetailSampleMaxError,
out dmesh))
{
throw new OutOfMemoryException("BuildPolyMeshDetail ran out of memory");
}
chf.Delete();
cset.Delete();
// Remove padding from the polymesh data. (Remove this odditity)
pmesh.RemovePadding(Config.BorderSize);
// Set flags according to area types (e.g. Swim for Water)
pmesh.MarkAll();
// get original bounds
float[] tilebMin, tilebMax;
CalculateTileBounds(out tilebMin, out tilebMax);
tilebMin[1] = bbMin[1];
tilebMax[1] = bbMax[1];
// build off mesh connections for flightmasters
// bMax and bMin are switched here because of the coordinate system transformation
/// This is not needed for our particular use.
var connections = new List <OffMeshConnection>();
/*var taxis = TaxiHelper.GetNodesInBBox(MapId, tilebMax.ToWoW(), tilebMin.ToWoW());
* foreach (var taxi in taxis)
* {
* Log.Log(LogCategory.Warning,
* "Flightmaster \"" + taxi.Name + "\", Id: " + taxi.Id + " Horde: " + taxi.IsHorde + " Alliance: " +
* taxi.IsAlliance);
*
* var data = TaxiHelper.GetTaxiData(taxi);
* var from = taxi.Location.ToRecast().ToFloatArray();
* connections.AddRange(data.To.Select(to => new OffMeshConnection
* {
* AreaId = PolyArea.Road,
* Flags = PolyFlag.FlightMaster,
* From = from,
* To = to.Value.Location.ToRecast().ToFloatArray(),
* Radius = Config.WorldWalkableRadius,
* Type = ConnectionType.OneWay,
* UserID = (uint) to.Key
* }));
*
* foreach (var target in data.To)
* Log.Log(LogCategory.Warning,
* "\tPath to: \"" + target.Value.Name + "\" Id: " + target.Value.Id + " Path Id: " +
* target.Key);
* }*/
byte[] tileData;
if (!Detour.CreateNavMeshData(out tileData, pmesh, dmesh,
X, Y, tilebMin, tilebMax,
Config.WorldWalkableHeight, Config.WorldWalkableRadius,
Config.WorldWalkableClimb, Config.CellSize,
Config.CellHeight, Config.TileWidth,
connections.ToArray()))
{
pmesh.Delete();
dmesh.Delete();
return(null);
}
pmesh.Delete();
dmesh.Delete();
Cache.Clear();
GC.Collect();
return(tileData);
}
public byte[] Build(BaseLog log)
{
var wdt = new WDT("World\\maps\\" + Dungeon + "\\" + Dungeon + ".wdt");
if (!wdt.IsGlobalModel || !wdt.IsValid)
return null;
InitializeProgress(12);
Geometry = new Geometry {Transform = true};
var model = new WorldModelRoot(wdt.ModelFile);
Geometry.AddDungeon(model, wdt.ModelDefinition);
CompleteWorkUnit();
if (Geometry.Vertices.Count == 0 && Geometry.Triangles.Count == 0)
throw new InvalidOperationException("Can't build mesh with empty geometry");
Log = log;
Context = new RecastContext();
Context.SetContextHandler(Log);
// get raw geometry - lots of slowness here
float[] vertices;
int[] triangles;
byte[] areas;
Geometry.GetRawData(out vertices, out triangles, out areas);
Geometry.Triangles.Clear();
float[] bmin, bmax;
Geometry.CalculateBoundingBox(out bmin, out bmax);
Geometry.Vertices.Clear();
// Allocate voxel heightfield where we rasterize our input data to.
Heightfield hf;
int width, height;
Recast.CalcGridSize(bmin, bmax, Config.CellSize, out width, out height);
if (!Context.CreateHeightfield(out hf, width, height, bmin, bmax, Config.CellSize, Config.CellHeight))
throw new OutOfMemoryException("CreateHeightfield ran out of memory");
CompleteWorkUnit();
// Find triangles which are walkable based on their slope and rasterize them.
Context.ClearUnwalkableTriangles(Config.WalkableSlopeAngle, ref vertices, ref triangles, areas);
Context.RasterizeTriangles(ref vertices, ref triangles, ref areas, hf, Config.WalkableClimb);
CompleteWorkUnit();
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Context.FilterLowHangingWalkableObstacles(Config.WalkableClimb, hf);
Context.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb, hf);
Context.FilterWalkableLowHeightSpans(Config.WalkableHeight, hf);
CompleteWorkUnit();
// Compact the heightfield so that it is faster to handle from now on.
// This will result in more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
CompactHeightfield chf;
if (!Context.BuildCompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, hf, out chf))
throw new OutOfMemoryException("BuildCompactHeightfield ran out of memory");
CompleteWorkUnit();
hf.Delete();
// Erode the walkable area by agent radius.
if (!Context.ErodeWalkableArea(Config.WalkableRadius, chf))
throw new OutOfMemoryException("ErodeWalkableArea ran out of memory");
CompleteWorkUnit();
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Context.BuildDistanceField(chf))
throw new OutOfMemoryException("BuildDistanceField ran out of memory");
CompleteWorkUnit();
// Partition the walkable surface into simple regions without holes.
if (!Context.BuildRegions(chf, Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea))
throw new OutOfMemoryException("BuildRegions ran out of memory");
CompleteWorkUnit();
// Create contours.
ContourSet cset;
if (!Context.BuildContours(chf, Config.MaxSimplificationError, Config.MaxEdgeLength, out cset))
throw new OutOfMemoryException("BuildContours ran out of memory");
CompleteWorkUnit();
// Build polygon navmesh from the contours.
PolyMesh pmesh;
if (!Context.BuildPolyMesh(cset, Config.MaxVertsPerPoly, out pmesh))
throw new OutOfMemoryException("BuildPolyMesh ran out of memory");
CompleteWorkUnit();
// Build detail mesh.
PolyMeshDetail dmesh;
if (!Context.BuildPolyMeshDetail(pmesh, chf, Config.DetailSampleDistance, Config.DetailSampleMaxError, out dmesh))
throw new OutOfMemoryException("BuildPolyMeshDetail ran out of memory");
CompleteWorkUnit();
chf.Delete();
cset.Delete();
// Set flags according to area types (e.g. Swim for Water)
pmesh.MarkAll();
byte[] meshData;
if (!Detour.CreateNavMeshData(out meshData, pmesh, dmesh, 0, 0, bmin, bmax, Config.WorldWalkableHeight, Config.WorldWalkableRadius, Config.WorldWalkableClimb, Config.CellSize, Config.CellHeight, Config.TileWidth, null))
{
pmesh.Delete();
dmesh.Delete();
return null;
}
CompleteWorkUnit();
pmesh.Delete();
dmesh.Delete();
return meshData;
}
public byte[] Build(BaseLog log)
{
Log = log;
Geometry = new Geometry {Transform = true};
{
var main = new ADT(GetAdtPath(World, X, Y));
main.Read();
Geometry.AddAdt(main);
}
if (Geometry.Vertices.Count == 0 && Geometry.Triangles.Count == 0)
throw new InvalidOperationException("Can't build tile with empty geometry");
float[] bbMin, bbMax;
CalculateTileBounds(out bbMin, out bbMax);
Geometry.CalculateMinMaxHeight(out bbMin[1], out bbMax[1]);
// again, we load everything - wasteful but who cares
for (int ty = Y - 1; ty <= Y + 1; ty++)
{
for (int tx = X - 1; tx <= X + 1; tx++)
{
try
{
// don't load main tile again
if (tx == X && ty == Y)
continue;
var adt = new ADT(GetAdtPath(World, tx, ty));
adt.Read();
Geometry.AddAdt(adt);
}
catch (FileNotFoundException)
{
// don't care - no file means no geometry
}
}
}
Context = new RecastContext();
Context.SetContextHandler(Log);
// get raw geometry - lots of slowness here
float[] vertices;
int[] triangles;
byte[] areas;
Geometry.GetRawData(out vertices, out triangles, out areas);
Geometry.Triangles.Clear();
Geometry.Vertices.Clear();
// add border
bbMin[0] -= Config.BorderSize*Config.CellSize;
bbMin[2] -= Config.BorderSize*Config.CellSize;
bbMax[0] += Config.BorderSize*Config.CellSize;
bbMax[2] += Config.BorderSize*Config.CellSize;
Heightfield hf;
int width = Config.TileWidth + (Config.BorderSize*2);
if (!Context.CreateHeightfield(out hf, width, width, bbMin, bbMax, Config.CellSize, Config.CellHeight))
throw new OutOfMemoryException("CreateHeightfield ran out of memory");
Context.ClearUnwalkableTriangles(Config.WalkableSlopeAngle, ref vertices, ref triangles, areas);
Context.RasterizeTriangles(ref vertices, ref triangles, ref areas, hf, Config.WalkableClimb);
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Context.FilterLowHangingWalkableObstacles(Config.WalkableClimb, hf);
Context.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb, hf);
Context.FilterWalkableLowHeightSpans(Config.WalkableHeight, hf);
// Compact the heightfield so that it is faster to handle from now on.
// This will result in more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
CompactHeightfield chf;
if (!Context.BuildCompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, hf, out chf))
throw new OutOfMemoryException("BuildCompactHeightfield ran out of memory");
hf.Delete();
// Erode the walkable area by agent radius.
if (!Context.ErodeWalkableArea(Config.WalkableRadius, chf))
throw new OutOfMemoryException("ErodeWalkableArea ran out of memory");
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Context.BuildDistanceField(chf))
throw new OutOfMemoryException("BuildDistanceField ran out of memory");
// Partition the walkable surface into simple regions without holes.
if (!Context.BuildRegions(chf, Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea))
throw new OutOfMemoryException("BuildRegionsMonotone ran out of memory");
// Create contours.
ContourSet cset;
if (!Context.BuildContours(chf, Config.MaxSimplificationError, Config.MaxEdgeLength, out cset))
throw new OutOfMemoryException("BuildContours ran out of memory");
// Build polygon navmesh from the contours.
PolyMesh pmesh;
if (!Context.BuildPolyMesh(cset, Config.MaxVertsPerPoly, out pmesh))
throw new OutOfMemoryException("BuildPolyMesh ran out of memory");
// Build detail mesh.
PolyMeshDetail dmesh;
if (
!Context.BuildPolyMeshDetail(pmesh, chf, Config.DetailSampleDistance, Config.DetailSampleMaxError,
out dmesh))
throw new OutOfMemoryException("BuildPolyMeshDetail ran out of memory");
chf.Delete();
cset.Delete();
// Remove padding from the polymesh data. (Remove this odditity)
pmesh.RemovePadding(Config.BorderSize);
// Set flags according to area types (e.g. Swim for Water)
pmesh.MarkAll();
// get original bounds
float[] tilebMin, tilebMax;
CalculateTileBounds(out tilebMin, out tilebMax);
tilebMin[1] = bbMin[1];
tilebMax[1] = bbMax[1];
// build off mesh connections for flightmasters
// bMax and bMin are switched here because of the coordinate system transformation
var taxis = TaxiHelper.GetNodesInBBox(MapId, tilebMax.ToWoW(), tilebMin.ToWoW());
var connections = new List<OffMeshConnection>();
foreach (var taxi in taxis)
{
Log.Log(LogCategory.Warning,
"Flightmaster \"" + taxi.Name + "\", Id: " + taxi.Id + " Horde: " + taxi.IsHorde + " Alliance: " +
taxi.IsAlliance);
var data = TaxiHelper.GetTaxiData(taxi);
var from = taxi.Location.ToRecast().ToFloatArray();
connections.AddRange(data.To.Select(to => new OffMeshConnection
{
AreaId = PolyArea.Road,
Flags = PolyFlag.FlightMaster,
From = from,
To = to.Value.Location.ToRecast().ToFloatArray(),
Radius = Config.WorldWalkableRadius,
Type = ConnectionType.OneWay,
UserID = (uint) to.Key
}));
foreach (var target in data.To)
Log.Log(LogCategory.Warning,
"\tPath to: \"" + target.Value.Name + "\" Id: " + target.Value.Id + " Path Id: " +
target.Key);
}
byte[] tileData;
if (!Detour.CreateNavMeshData(out tileData, pmesh, dmesh,
X, Y, tilebMin, tilebMax,
Config.WorldWalkableHeight, Config.WorldWalkableRadius,
Config.WorldWalkableClimb, Config.CellSize,
Config.CellHeight, Config.TileWidth,
connections.ToArray()))
{
pmesh.Delete();
dmesh.Delete();
return null;
}
pmesh.Delete();
dmesh.Delete();
Cache.Clear();
GC.Collect();
return tileData;
}
public byte[] Build(BaseLog log)
{
var wdt = new WDT("World\\maps\\" + Dungeon + "\\" + Dungeon + ".wdt");
if (!wdt.IsGlobalModel || !wdt.IsValid)
{
return(null);
}
InitializeProgress(12);
Geometry = new Geometry {
Transform = true
};
var model = new WorldModelRoot(wdt.ModelFile);
Geometry.AddDungeon(model, wdt.ModelDefinition);
CompleteWorkUnit();
if (Geometry.Vertices.Count == 0 && Geometry.Triangles.Count == 0)
{
throw new InvalidOperationException("Can't build mesh with empty geometry");
}
Log = log;
Context = new RecastContext();
Context.SetContextHandler(Log);
// get raw geometry - lots of slowness here
float[] vertices;
int[] triangles;
byte[] areas;
Geometry.GetRawData(out vertices, out triangles, out areas);
Geometry.Triangles.Clear();
float[] bmin, bmax;
Geometry.CalculateBoundingBox(out bmin, out bmax);
Geometry.Vertices.Clear();
// Allocate voxel heightfield where we rasterize our input data to.
Heightfield hf;
int width, height;
Recast.CalcGridSize(bmin, bmax, Config.CellSize, out width, out height);
if (!Context.CreateHeightfield(out hf, width, height, bmin, bmax, Config.CellSize, Config.CellHeight))
{
throw new OutOfMemoryException("CreateHeightfield ran out of memory");
}
CompleteWorkUnit();
// Find triangles which are walkable based on their slope and rasterize them.
Context.ClearUnwalkableTriangles(Config.WalkableSlopeAngle, ref vertices, ref triangles, areas);
Context.RasterizeTriangles(ref vertices, ref triangles, ref areas, hf, Config.WalkableClimb);
CompleteWorkUnit();
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
Context.FilterLowHangingWalkableObstacles(Config.WalkableClimb, hf);
Context.FilterLedgeSpans(Config.WalkableHeight, Config.WalkableClimb, hf);
Context.FilterWalkableLowHeightSpans(Config.WalkableHeight, hf);
CompleteWorkUnit();
// Compact the heightfield so that it is faster to handle from now on.
// This will result in more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
CompactHeightfield chf;
if (!Context.BuildCompactHeightfield(Config.WalkableHeight, Config.WalkableClimb, hf, out chf))
{
throw new OutOfMemoryException("BuildCompactHeightfield ran out of memory");
}
CompleteWorkUnit();
hf.Delete();
// Erode the walkable area by agent radius.
if (!Context.ErodeWalkableArea(Config.WalkableRadius, chf))
{
throw new OutOfMemoryException("ErodeWalkableArea ran out of memory");
}
CompleteWorkUnit();
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!Context.BuildDistanceField(chf))
{
throw new OutOfMemoryException("BuildDistanceField ran out of memory");
}
CompleteWorkUnit();
// Partition the walkable surface into simple regions without holes.
if (!Context.BuildRegions(chf, Config.BorderSize, Config.MinRegionArea, Config.MergeRegionArea))
{
throw new OutOfMemoryException("BuildRegions ran out of memory");
}
CompleteWorkUnit();
// Create contours.
ContourSet cset;
if (!Context.BuildContours(chf, Config.MaxSimplificationError, Config.MaxEdgeLength, out cset))
{
throw new OutOfMemoryException("BuildContours ran out of memory");
}
CompleteWorkUnit();
// Build polygon navmesh from the contours.
PolyMesh pmesh;
if (!Context.BuildPolyMesh(cset, Config.MaxVertsPerPoly, out pmesh))
{
throw new OutOfMemoryException("BuildPolyMesh ran out of memory");
}
CompleteWorkUnit();
// Build detail mesh.
PolyMeshDetail dmesh;
if (!Context.BuildPolyMeshDetail(pmesh, chf, Config.DetailSampleDistance, Config.DetailSampleMaxError, out dmesh))
{
throw new OutOfMemoryException("BuildPolyMeshDetail ran out of memory");
}
CompleteWorkUnit();
chf.Delete();
cset.Delete();
// Set flags according to area types (e.g. Swim for Water)
pmesh.MarkAll();
byte[] meshData;
if (!Detour.CreateNavMeshData(out meshData, pmesh, dmesh, 0, 0, bmin, bmax, Config.WorldWalkableHeight, Config.WorldWalkableRadius, Config.WorldWalkableClimb, Config.CellSize, Config.CellHeight, Config.TileWidth, null))
{
pmesh.Delete();
dmesh.Delete();
return(null);
}
CompleteWorkUnit();
pmesh.Delete();
dmesh.Delete();
return(meshData);
}
public void use_64bit_polyref()
{
Assert.IsTrue(RecastContext.IsUsing64BitPolyRefs());
}