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 = ListPool<int>.Claim(256);//new List<int> (256);
List<int> simplified = 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 = ClaimIntArr(simplified.Count,false);//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
}
}
}
ListPool<int>.Release(verts);
ListPool<int>.Release(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");
}
public static bool MergeContours(ref VoxelContour ca, ref VoxelContour cb, int ia, int ib) {
int maxVerts = ca.nverts + cb.nverts + 2;
int[] verts = ClaimIntArr(maxVerts*4,false);//new int[maxVerts*4];
//if (!verts)
// return false;
int nv = 0;
// Copy contour A.
for (int i = 0; i <= ca.nverts; i++)
{
int dst = nv*4;
int src = ((ia+i) % ca.nverts)*4;
verts[dst+0] = ca.verts[src+0];
verts[dst+1] = ca.verts[src+1];
verts[dst+2] = ca.verts[src+2];
verts[dst+3] = ca.verts[src+3];
nv++;
}
// Copy contour B
for (int i = 0; i <= cb.nverts; i++)
{
int dst = nv*4;
int src = ((ib+i) % cb.nverts)*4;
verts[dst+0] = cb.verts[src+0];
verts[dst+1] = cb.verts[src+1];
verts[dst+2] = cb.verts[src+2];
verts[dst+3] = cb.verts[src+3];
nv++;
}
//rcFree(ca.verts);
//rcFree(cb.verts);
ReleaseIntArr(ca.verts);
ReleaseIntArr(cb.verts);
ca.verts = verts;
ca.nverts = nv;
cb.verts = emptyArr;
cb.nverts = 0;
return true;
}