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 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);
}
}
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));
}
}
/// <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_query()
{
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);
var navMeshQuery = ctx.CreateNavMeshQuery(navMesh);
Assert.IsNotNull(navMeshQuery);
}
}
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);
}
}
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();
}