void UpdateLog()
{
int logMessageCount = RecastNavigationDllImports.GetGwNavLogMessageCount();
int msgSize = 0;
string fullLog = "";
for (int msgIdx = 0; msgIdx < logMessageCount; ++msgIdx)
{
IntPtr logMsgPtr = RecastNavigationDllImports.GetGwNavLog(msgIdx, out msgSize);
if (msgSize != 0)
{
string logMsg = Marshal.PtrToStringAnsi(logMsgPtr);
if (logMsg != null && logMsg.Length != 0)
{
fullLog += logMsg;
if (logMsg.EndsWith("\n"))
{
fullLog.Remove(fullLog.Length - 1);
Debug.Log("[RecastNavigation] " + fullLog);
fullLog = "";
}
}
}
}
// No need to flush if no message (save a call to the plugin)
if (logMessageCount > 0)
{
RecastNavigationDllImports.FlushGwNavLog();
}
}
void ConsumeMeshFilter(MeshFilter meshFilter, GameObject gameObject)
{
if (meshFilter.sharedMesh)
{
Vector3[] vertices = meshFilter.sharedMesh.vertices;
int[] triangleVertexIndices = meshFilter.sharedMesh.triangles;
Transform t = gameObject.transform;
//GwNavTag navTag = BuildNavTag(gameObject);
for (int triangleFirstVertexIdx = 0; triangleFirstVertexIdx < triangleVertexIndices.Length; triangleFirstVertexIdx += 3)
{
Vector3 posALocal = vertices[triangleVertexIndices[triangleFirstVertexIdx]];
Vector3 posBLocal = vertices[triangleVertexIndices[triangleFirstVertexIdx + 1]];
Vector3 posCLocal = vertices[triangleVertexIndices[triangleFirstVertexIdx + 2]];
Vector3 posA = t.TransformPoint(posALocal);
Vector3 posB = t.TransformPoint(posBLocal);
Vector3 posC = t.TransformPoint(posCLocal);
if (HasNegativeScaleTransform(t))
{
RecastNavigationDllImports.PushTriangleWithNavTag(posC, posB, posA);
}
else
{
RecastNavigationDllImports.PushTriangleWithNavTag(posA, posB, posC);
}
totalTriangleCount++;
}
}
}
bool UpdateNavDataInDatabase()
{
UnityEngine.Object asset = Resources.Load(resourceFolder + "RecastNavmesh");
RecastNavigationAsset navDataAsset = asset as RecastNavigationAsset;
if (navDataAsset == null)
{
if (m_navMeshRepresentation != null)
{
m_navMeshRepresentation.DoClear();
}
return(false);
}
GCHandle handle = GCHandle.Alloc(navDataAsset.navMeshData, GCHandleType.Pinned);
if (RecastNavigationDllImports.LoadNavDataImmediate(handle.AddrOfPinnedObject()) == false)
{
if (m_navMeshRepresentation != null)
{
m_navMeshRepresentation.DoClear();
}
Debug.Log("Could not load data");
return(false);
}
return(true);
}
protected void NavigationInit()
{
if (RecastNavigationDllImports.NavGeneration_Init() == false)
{
Debug.Log("Error initializing Recast Navigation plugin!");
}
}
void DeInit()
{
// When the window is destroyed, remove the delegate
// so that it will no longer do any drawing.
SceneView.onSceneGUIDelegate -= this.OnSceneGUI;
RecastNavigationDllImports.NavGeneration_DeInit();
// Get last messages and destroy log
UpdateLog();
RecastNavigationDllImports.DestroyLog();
}
public void Move(Vector3 startPos, Vector3 movePos)
{
m_startPos = startPos;
m_movePos = movePos;
pathNum = 0;
RecastNavigationDllImports.PathFind(m_startPos, m_movePos, ref pathNum, ref smoothPath);
if (pathNum == 0)
{
pathNum = 1;
smoothPath[0] = movePos;
}
}
private void LoadNavigationSuccessCallback(string NavAssetName, object NavAsset, float duration, object userData)
{
RecastNavigationAsset navDataAsset = NavAsset as RecastNavigationAsset;
if (navDataAsset == null)
{
return;
}
handle = GCHandle.Alloc(navDataAsset.navMeshData, GCHandleType.Pinned);
if (RecastNavigationDllImports.LoadNavDataImmediate(handle.AddrOfPinnedObject()) == false)
{
Debug.Log("Could not load data");
return;
}
}
void UpdateLog_AllMessagesInOneUnityLog()
{
int logMessageCount = RecastNavigationDllImports.GetGwNavLogMessageCount();
int msgSize = 0;
if (logMessageCount == 0)
{
return;
}
string fullLog = "";
for (int msgIdx = 0; msgIdx < logMessageCount; ++msgIdx)
{
IntPtr logMsgPtr = RecastNavigationDllImports.GetGwNavLog(msgIdx, out msgSize);
if (msgSize != 0)
{
string logMsg = Marshal.PtrToStringAnsi(logMsgPtr);
// Hide the ========
if (logMsg.StartsWith("="))
{
continue;
}
// Dont jump 2 lines, only one
if (logMsg.StartsWith("\n\n"))
{
fullLog += '\n';
continue;
}
if (logMsg != null && logMsg.Length != 0)
{
fullLog += logMsg;
}
}
}
if (fullLog.Length != 0)
{
Debug.Log("[RecastNavigation] " + fullLog);
}
RecastNavigationDllImports.FlushGwNavLog();
}
void Init()
{
RecastNavigationDllImports.CreateLog(4096, 500);
if (RecastNavigationDllImports.NavGeneration_Init() == false)
{
Debug.Log("Error initializing Recast Navigation plugin!");
}
UpdateLog();
m_navMeshRepresentation = new RecastNavigationNavMeshRepresentation();
m_navMeshRepresentation.LoadShadersAndMaterials();
BuildProjectNameAndSceneName();
if (sceneName != null && sceneName.Length != 0)
{
BuildDatabaseMesh();
}
SceneView.onSceneGUIDelegate += this.OnSceneGUI;
}
void Bake()
{
if (IsEmptyScene())
{
return;
}
//hasNavMeshVisualRep = false;
m_generationConfig.m_radius = m_params.radius;
m_generationConfig.m_height = m_params.height;
m_generationConfig.m_maxSlope = m_params.maxSlope;
m_generationConfig.m_stepHeight = m_params.stepHeight;
m_generationConfig.m_minRegionArea = m_params.minRegionArea;
m_generationConfig.m_dropHeight = m_params.DropHeight;
m_generationConfig.m_jumpDistance = m_params.JumpDistance;
m_generationConfig.m_widthInaccuracy = m_params.WidthInaccuracy;
m_generationConfig.m_heightInaccuracy = m_params.HeightInaccuracy;
m_generationConfig.m_heightMesh = m_params.HeightMesh;
RecastNavigationDllImports.InitGenerator();
ConsumeSceneTriangles();
bool generationSucceeded = RecastNavigationDllImports.Generate(m_generationConfig, projectName + "-" + sceneName);
UpdateLog_AllMessagesInOneUnityLog();
if (generationSucceeded)
{
GenerateAsset();
}
else
{
UnityEngine.Debug.Log("Generation failed.");
generationSucceeded = false;
}
if (generationSucceeded)
{
BuildDatabaseMesh();
}
}
void UpdateMeshFromDatabaseTriangles()
{
RecastNavigationDllImports.BuildDatabaseGeometry();
// TODO: understand why sometimes m_navMeshRepresentation becomes null
if (m_navMeshRepresentation == null)
{
Debug.LogWarning("NavMesh representation became null!");
m_navMeshRepresentation = new RecastNavigationNavMeshRepresentation();
m_navMeshRepresentation.LoadShadersAndMaterials();
}
uint triangleCount = RecastNavigationDllImports.GetDatabaseTriangleCount();
m_navMeshRepresentation.Begin(triangleCount);
RecastVisualTriangle triangle;
for (uint i = 0; i < triangleCount; ++i)
{
RecastNavigationDllImports.GetDatabaseTriangle(i, out triangle);
m_navMeshRepresentation.AddTriangle(triangle);
}
m_navMeshRepresentation.End();
int vertexCount = RecastNavigationDllImports.GetPolygonVertexCount();
m_navMeshRepresentation.ReSetLine(vertexCount);
for (int i = 0; i < vertexCount; i++)
{
Vector3 vertex = new Vector3();
Color32 color = new Color32();
RecastNavigationDllImports.GetPolygonVertex((uint)i, out vertex, out color);
m_navMeshRepresentation.AddLineVertex(i, vertex, color);
}
m_navMeshRepresentation.BuildLineMesh();
//hasNavMeshVisualRep = true;
}
void GenerateAsset()
{
IntPtr unmanagedPtr = new IntPtr();
int size = 0;
bool success = RecastNavigationDllImports.GetGeneratedData(ref unmanagedPtr, ref size);
if (success)
{
RecastNavigationAsset navMeshAsset = CreateInstance <RecastNavigationAsset>();
navMeshAsset.AssignData(unmanagedPtr, size);
//int generatedTriangleCount = RecastNavigationDllImports.GetNavMeshTriangleCount();
//if (generatedTriangleCount == 0)
// Debug.LogError("No triangles generated: verify that you have some geometry tagged as NavigationStatic, that your seedpoint is not outside navigable geometry or that your world scale is correct (1 unity unit = 1 meter)");
//navMeshAsset.SetDataInfo(generatedTriangleCount);
System.IO.Directory.CreateDirectory(resourceFolder);
AssetDatabase.CreateAsset(navMeshAsset, resourceFolder + "RecastNavmesh.asset");
Debug.Log(AssetDatabase.GetAssetPath(navMeshAsset));
string binaryPath = resourceFolder + sceneName + ".bin";
System.IO.File.WriteAllBytes(binaryPath, navMeshAsset.navMeshData);
}
}
void BuildDatabaseMesh()
{
RecastNavigationDllImports.RemoveAllNavData();
UpdateNavDataInDatabase();
UpdateMeshFromDatabaseTriangles();
}
void ConsumeTerrainTriangles(TerrainData terrain, GameObject gameObject)
{
Vector3 terrainPos = gameObject.transform.position;
//GwNavTag navTag = BuildNavTag(gameObject);
int vertexCount_x = terrain.heightmapWidth;
int vertexCount_z = terrain.heightmapHeight;
float sampleWidthInMeter = terrain.size.x / (terrain.heightmapWidth - 1);
float sampleHeightInMeter = terrain.size.z / (terrain.heightmapHeight - 1);
for (int z = 0; z < vertexCount_z - 1; ++z)
{
for (int x = 0; x < vertexCount_x - 1; ++x)
{
Vector3 A = GetTerrainVertex(terrain, x, z, sampleWidthInMeter, sampleHeightInMeter) + terrainPos;
Vector3 B = GetTerrainVertex(terrain, x + 1, z, sampleWidthInMeter, sampleHeightInMeter) + terrainPos;
Vector3 C = GetTerrainVertex(terrain, x + 1, z + 1, sampleWidthInMeter, sampleHeightInMeter) + terrainPos;
Vector3 D = GetTerrainVertex(terrain, x, z + 1, sampleWidthInMeter, sampleHeightInMeter) + terrainPos;
// RecastNavigationDllImports.PushTriangleWithNavTag(A, B, C);
// RecastNavigationDllImports.PushTriangleWithNavTag(A, C, D);
RecastNavigationDllImports.PushTriangleWithNavTag(C, B, A);
RecastNavigationDllImports.PushTriangleWithNavTag(D, C, A);
totalTriangleCount += 2;
}
}
float treeRadius = 0.3f;
float treeHeight = 5.0f;
//navTag.m_isExclusive = true;
foreach (TreeInstance tree in terrain.treeInstances)
{
Vector3 center = Vector3.Scale(terrain.size, tree.position) + terrainPos;
Vector3 baseA = new Vector3(center.x - treeRadius, center.y, center.z - treeRadius);
Vector3 baseB = new Vector3(center.x + treeRadius, center.y, center.z - treeRadius);
Vector3 baseC = new Vector3(center.x + treeRadius, center.y, center.z + treeRadius);
Vector3 baseD = new Vector3(center.x - treeRadius, center.y, center.z + treeRadius);
Vector3 topA = baseA + Vector3.up * treeHeight;
Vector3 topB = baseB + Vector3.up * treeHeight;
Vector3 topC = baseC + Vector3.up * treeHeight;
Vector3 topD = baseD + Vector3.up * treeHeight;
/*
* // Push base has non walkable
* RecastNavigationDllImports.PushTriangleWithNavTag(baseA, baseB, baseC, navTag);
* RecastNavigationDllImports.PushTriangleWithNavTag(baseA, baseC, baseD, navTag);
* totalTriangleCount +=2;
*/
// Push trunk as a vertical square based tube
// Front
RecastNavigationDllImports.PushTriangleWithNavTag(baseA, baseB, topB);
RecastNavigationDllImports.PushTriangleWithNavTag(baseA, topB, topA);
// Right
RecastNavigationDllImports.PushTriangleWithNavTag(baseB, baseC, topC);
RecastNavigationDllImports.PushTriangleWithNavTag(baseB, topC, topB);
// Back
RecastNavigationDllImports.PushTriangleWithNavTag(baseC, baseD, topD);
RecastNavigationDllImports.PushTriangleWithNavTag(baseC, topD, topC);
// Left
RecastNavigationDllImports.PushTriangleWithNavTag(baseD, baseA, topA);
RecastNavigationDllImports.PushTriangleWithNavTag(baseD, topA, topD);
totalTriangleCount += 8;
}
}
