public bool Raycast(Point3d start, Point3d end, out float t)
{
NavRef startNavRef = ComputeNavRefAtPoint(start);
NavRef endNavRef = ComputeNavRefAtPoint(end);
return(Raycast(start, startNavRef, end, endNavRef, out t));
}
public NavRef ComputeNavRefAtPoint(Point2d point)
{
NavRef navRef = null;
if (m_boundingBox.ContainsPoint2d(point))
{
if (m_navCells.Length > 0)
{
float cellSize = GameConstants.NAV_MESH_WORLD_UNITS_SIZE;
uint colomnIndex = (uint)((point.x - m_boundingBox.Min.x) / cellSize);
uint rowIndex = (uint)((m_boundingBox.Max.y - point.y) / cellSize);
uint cellIndex = GetNavCellIndex(rowIndex, colomnIndex);
if (m_navCells[cellIndex].connectivityId != EMPTY_NAV_CELL)
{
navRef = new NavRef((int)cellIndex, m_roomKey);
}
else
{
navRef = new NavRef();
}
}
else
{
// The whole nav mesh is one big nav cell
navRef = new NavRef(0, m_roomKey);
}
}
else
{
navRef = new NavRef();
}
return(navRef);
}
private void ComputeSmoothedPath()
{
// Convert the raw path steps into a proper path step sequence
// Always add the first step
m_finalPath.Add(new PathStep(m_startNavRef, m_startPosition));
// Add a step at the midpoint between each neighboring nav-cell in the path
for (uint rawStepIndex = 1; rawStepIndex < m_rawPath.Count; rawStepIndex++)
{
NavRef previousNavRef = m_rawPath[(int)rawStepIndex - 1];
NavRef currentNavRef = m_rawPath[(int)rawStepIndex];
Point3d portalLeft, portalRight;
if (m_navMesh.ComputePortalPoints(
previousNavRef,
currentNavRef,
out portalLeft,
out portalRight))
{
Point3d portalMidpoint = Point3d.Interpolate(portalLeft, portalRight, 0.5F);
m_finalPath.Add(new PathStep(currentNavRef, portalMidpoint));
}
}
// Always add the lest step
m_finalPath.Add(new PathStep(m_endNavRef, m_endPosition));
// TODO: Remove the extraneous path steps using funnel algorithm + ray casting
m_state = eState.complete;
}
public bool PointCanSeeOtherPoint(Point3d a, Point3d b)
{
NavRef navRefA = ComputeNavRefAtPoint(a);
NavRef navRefB = ComputeNavRefAtPoint(b);
return(NavRefCanSeeOtherNavRef(navRefA, navRefB));
}
public ContextOverlayView(ContextOverlayController contextOverlayController)
{
m_contextOverlayController = contextOverlayController;
m_hotspotWidgets = new List<HotspotWidget>();
m_currentNavRef = new NavRef(-1, null);
CurrentHotspot = null;
m_style= contextOverlayController.ParentController.contextOverlayStyle;
}
// Helper Functions
private void ResetRequest()
{
m_navMesh = null;
m_roomKey = null;
m_startPosition = new Point3d();
m_endPosition = new Point3d();
m_startNavRef = null;
m_endNavRef = null;
}
public int GetNavRefConnectivityID(NavRef navRef)
{
int connectivityID = EMPTY_NAV_CELL;
if (navRef.IsValid)
{
connectivityID = GetNavCellConnectivityID((uint)navRef.NavCellIndex);
}
return(connectivityID);
}
public bool AreNavRefsConnected(NavRef navRefA, NavRef navRefB)
{
bool areConnected = false;
if (navRefA.IsValid && navRefB.IsValid)
{
areConnected = navRefA.NavRoomKey.Equals(navRefB.NavRoomKey) &&
((navRefA.NavCellIndex == navRefB.NavCellIndex) ||
(m_navCells[navRefA.NavCellIndex].connectivityId == m_navCells[navRefB.NavCellIndex].connectivityId));
}
return(areConnected);
}
private void BuildNavCellPotentiallyVisibleSet()
{
if (m_nonEmptyNavCellCount > 0)
{
// Only need PVS information on non-empty nav cells
m_pvs = new PotentiallyVisibleSet(m_nonEmptyNavCellCount);
// Raycast from each non-empty nav cell...
for (int startNavCellIndex = 0; startNavCellIndex < m_navCells.Length; ++startNavCellIndex)
{
NavRef startNavRef = new NavRef(startNavCellIndex, m_roomKey);
NavCell startNavCell = m_navCells[startNavCellIndex];
if (startNavCell.connectivityId != EMPTY_NAV_CELL)
{
// ... to every other non-empty nav cell
for (int endNavCellIndex = 0; endNavCellIndex < m_navCells.Length; ++endNavCellIndex)
{
NavCell endNavCell = m_navCells[endNavCellIndex];
if (startNavCellIndex != endNavCellIndex &&
endNavCell.connectivityId != EMPTY_NAV_CELL)
{
NavRef endNavRef = new NavRef(endNavCellIndex, m_roomKey);
Point3d start = ComputeNavCellCenter((uint)startNavCellIndex);
Point3d end = ComputeNavCellCenter((uint)endNavCellIndex);
float t;
bool hit = Raycast(start, startNavRef, end, endNavRef, out t);
// Mark visibility in the PVS where the raycast succeeds
if (!hit)
{
m_pvs.SetCellCanSeeOtherCell((uint)startNavCell.pvsCellIndex, (uint)endNavCell.pvsCellIndex);
}
}
}
}
}
}
}
private void ComputeEndpoints()
{
m_startNavRef = m_navMesh.ComputeNavRefAtPoint(m_startPosition);
m_endNavRef = m_navMesh.ComputeNavRefAtPoint(m_endPosition);
if (m_startNavRef.IsValid)
{
if (m_endNavRef.IsValid)
{
if (m_navMesh.AreNavRefsConnected(m_startNavRef, m_endNavRef))
{
if (m_startNavRef.Equals(m_endNavRef))
{
// We can head directly to the destination
m_finalPath.Add(new PathStep(m_startNavRef, m_startPosition));
m_finalPath.Add(new PathStep(m_endNavRef, m_endPosition));
m_state = eState.complete;
}
else
{
// We have to do the expensive query
m_state = eState.setup_raw_path;
}
}
else
{
m_state = eState.complete;
m_resultCode = eResult.failed_start_off_nav_mesh;
}
}
else
{
m_state = eState.complete;
m_resultCode = eResult.failed_end_off_nav_mesh;
}
}
else
{
m_state = eState.complete;
m_resultCode = eResult.failed_start_off_nav_mesh;
}
}
public uint[] ComputeNavCellsInRadius(Point3d center, float radius, bool include_center)
{
List <uint> navCells = new List <uint>();
NavRef centerRef = ComputeNavRefAtPoint(center);
float radius_squared = radius * radius;
if (centerRef.NavCellIndex != EMPTY_NAV_CELL)
{
uint centerCellIndex = (uint)centerRef.NavCellIndex;
uint centerColomn = GetNavCellColomn(centerCellIndex);
uint centerRow = GetNavCellRow(centerCellIndex);
uint radiusInCells = (uint)Math.Ceiling(radius / GameConstants.NAV_MESH_WORLD_UNITS_SIZE);
uint minColomnIndex = (centerColomn >= radiusInCells) ? centerColomn - radiusInCells : 0;
uint maxColomnIndex = Math.Min(centerColomn + radiusInCells, m_colomnCount - 1);
uint minRowIndex = (centerRow >= radiusInCells) ? centerRow - radiusInCells : 0;
uint maxRowIndex = Math.Min(centerRow + radiusInCells, m_rowCount - 1);
for (uint row = minRowIndex; row <= maxRowIndex; ++row)
{
for (uint colomn = minColomnIndex; colomn <= maxColomnIndex; ++colomn)
{
uint cellIndex = GetNavCellIndex(row, colomn);
if ((cellIndex != centerCellIndex || include_center) &&
m_navCells[cellIndex].connectivityId == m_navCells[centerCellIndex].connectivityId)
{
Point3d cellCenter = ComputeNavCellCenter(cellIndex);
if (Point3d.DistanceSquared(cellCenter, center) <= radius_squared)
{
navCells.Add(cellIndex);
}
}
}
}
}
return(navCells.ToArray());
}
public bool NavRefCanSeeOtherNavRef(NavRef navRefA, NavRef navRefB)
{
bool canSee = false;
if (navRefA.IsValid && navRefB.IsValid)
{
canSee = true;
if (m_pvs != null)
{
NavCell navCellA = m_navCells[navRefA.NavCellIndex];
NavCell navCellB = m_navCells[navRefB.NavCellIndex];
canSee =
m_pvs.CanCellSeeOtherCell(
(uint)navCellA.pvsCellIndex,
(uint)navCellB.pvsCellIndex);
}
}
return(canSee);
}
public bool NavRefCanSeeOtherNavRef(NavRef navRefA, NavRef navRefB)
{
bool canSee = false;
if (navRefA.IsValid && navRefB.IsValid)
{
canSee = true;
if (m_pvs != null)
{
NavCell navCellA = m_navCells[navRefA.NavCellIndex];
NavCell navCellB = m_navCells[navRefB.NavCellIndex];
canSee =
m_pvs.CanCellSeeOtherCell(
(uint)navCellA.pvsCellIndex,
(uint)navCellB.pvsCellIndex);
}
}
return canSee;
}
// Helper Functions
private void ResetRequest()
{
m_navMesh = null;
m_roomKey = null;
m_startPosition = new Point3d();
m_endPosition = new Point3d();
m_startNavRef = null;
m_endNavRef = null;
}
private void ComputeEndpoints()
{
m_startNavRef = m_navMesh.ComputeNavRefAtPoint(m_startPosition);
m_endNavRef = m_navMesh.ComputeNavRefAtPoint(m_endPosition);
if (m_startNavRef.IsValid)
{
if (m_endNavRef.IsValid)
{
if (m_navMesh.AreNavRefsConnected(m_startNavRef, m_endNavRef))
{
if (m_startNavRef.Equals(m_endNavRef))
{
// We can head directly to the destination
m_finalPath.Add(new PathStep(m_startNavRef, m_startPosition));
m_finalPath.Add(new PathStep(m_endNavRef, m_endPosition));
m_state = eState.complete;
}
else
{
// We have to do the expensive query
m_state = eState.setup_raw_path;
}
}
else
{
m_state = eState.complete;
m_resultCode = eResult.failed_start_off_nav_mesh;
}
}
else
{
m_state = eState.complete;
m_resultCode = eResult.failed_end_off_nav_mesh;
}
}
else
{
m_state = eState.complete;
m_resultCode = eResult.failed_start_off_nav_mesh;
}
}
public int GetNavRefConnectivityID(NavRef navRef)
{
int connectivityID = EMPTY_NAV_CELL;
if (navRef.IsValid)
{
connectivityID = GetNavCellConnectivityID((uint)navRef.NavCellIndex);
}
return connectivityID;
}
private void UpdateCurrentNavRef()
{
SessionData sessionData = SessionData.GetInstance();
GameData gameData = sessionData.CurrentGameData;
RoomData roomData = gameData.GetCachedRoomData(gameData.CurrentRoomKey);
if (roomData != null)
{
AsyncRPGSharedLib.Navigation.NavMesh navMesh = roomData.StaticRoomData.NavMesh;
Point2d pixelPoint = WidgetEventDispatcher.GetMousePosition();
Point3d roomPoint = GameConstants.ConvertPixelPositionToRoomPosition(pixelPoint);
m_currentNavRef = navMesh.ComputeNavRefAtPoint(roomPoint);
}
}
public PathStep(NavRef navRef, Point3d point)
{
m_navRef = new NavRef(navRef.NavCellIndex, navRef.NavRoomKey);
m_point = new Point3d(point);
}
public bool Raycast(
Point3d start,
NavRef startNavRef,
Point3d end,
NavRef endNavRef,
out float t)
{
bool hit = false;
if (!startNavRef.IsValid || !endNavRef.IsValid)
{
hit = true;
t = 0.0f;
}
else if (startNavRef.Equals(endNavRef))
{
hit = false;
t = 1.0f;
}
else
{
uint maxRaycastIteration = m_rowCount + m_colomnCount;
uint iterationCount = 0;
NavRef currentNavRef = startNavRef;
AABB2d currentNavCellBounds = ComputeNavCellBounds2d((uint)currentNavRef.NavCellIndex);
Point2d start2d = start.ToPoint2d();
Vector2d rayDirection = (end - start).ToVector2d();
float tEpsilon = MathConstants.POSITIONAL_EPSILON / rayDirection.Magnitude();
t = 0.0f;
while (t < 1.0f && !hit)
{
float clipMinT = 0.0f;
float clipMaxT = 0.0f;
// Compute where the ray exists the bounding box of the cell
if (!currentNavCellBounds.ClipRay(
start2d,
rayDirection,
out clipMinT,
out clipMaxT))
{
// If we failed to clip against the bounds that we were suppose to be inside of,
// just use the current t and rely on the positional epsilon advancement to get
// us back on track
Debug.Assert(false, "Raycast didn't clip against box it was suppose to intersect");
clipMinT = t;
clipMaxT = t;
}
if (clipMaxT < 1.0f)
{
// If we haven't gotten to the end of the ray yet, try to advance to the next nav cell
Point2d newTestPoint = start2d + rayDirection * (clipMaxT + tEpsilon);
// Find the adjacent neighboring cell, if any
currentNavRef = ComputeNavRefAtPoint(newTestPoint);
if (currentNavRef.IsValid)
{
currentNavCellBounds = ComputeNavCellBounds2d((uint)currentNavRef.NavCellIndex);
if (currentNavRef.Equals(endNavRef))
{
t = 1.0f;
hit = false;
}
else
{
t = Math.Min(clipMaxT + tEpsilon, 1.0f);
hit = false;
}
}
else
{
t = clipMaxT;
hit = true;
}
}
else
{
// Made it all the way to the end without hitting anything
t = 1.0f;
hit = false;
}
// Safety iteration max to prevent infinite loops
iterationCount++;
if (iterationCount > maxRaycastIteration)
{
// Something funky happened. Just assume we can see to the end
Debug.Assert(false, "Raycast hit iteration limit");
t = 1.0f;
hit = false;
break;
}
}
}
return(hit);
}
public bool Raycast(
Point3d start,
NavRef startNavRef,
Point3d end,
NavRef endNavRef,
out float t)
{
bool hit = false;
if (!startNavRef.IsValid || !endNavRef.IsValid)
{
hit = true;
t = 0.0f;
}
else if (startNavRef.Equals(endNavRef))
{
hit = false;
t = 1.0f;
}
else
{
uint maxRaycastIteration = m_rowCount + m_colomnCount;
uint iterationCount = 0;
NavRef currentNavRef = startNavRef;
AABB2d currentNavCellBounds = ComputeNavCellBounds2d((uint)currentNavRef.NavCellIndex);
Point2d start2d = start.ToPoint2d();
Vector2d rayDirection = (end - start).ToVector2d();
float tEpsilon = MathConstants.POSITIONAL_EPSILON / rayDirection.Magnitude();
t = 0.0f;
while (t < 1.0f && !hit)
{
float clipMinT = 0.0f;
float clipMaxT = 0.0f;
// Compute where the ray exists the bounding box of the cell
if (!currentNavCellBounds.ClipRay(
start2d,
rayDirection,
out clipMinT,
out clipMaxT))
{
// If we failed to clip against the bounds that we were suppose to be inside of,
// just use the current t and rely on the positional epsilon advancement to get
// us back on track
Debug.Assert(false, "Raycast didn't clip against box it was suppose to intersect");
clipMinT = t;
clipMaxT = t;
}
if (clipMaxT < 1.0f)
{
// If we haven't gotten to the end of the ray yet, try to advance to the next nav cell
Point2d newTestPoint = start2d + rayDirection * (clipMaxT + tEpsilon);
// Find the adjacent neighboring cell, if any
currentNavRef = ComputeNavRefAtPoint(newTestPoint);
if (currentNavRef.IsValid)
{
currentNavCellBounds = ComputeNavCellBounds2d((uint)currentNavRef.NavCellIndex);
if (currentNavRef.Equals(endNavRef))
{
t = 1.0f;
hit = false;
}
else
{
t = Math.Min(clipMaxT + tEpsilon, 1.0f);
hit = false;
}
}
else
{
t = clipMaxT;
hit = true;
}
}
else
{
// Made it all the way to the end without hitting anything
t = 1.0f;
hit = false;
}
// Safety iteration max to prevent infinite loops
iterationCount++;
if (iterationCount > maxRaycastIteration)
{
// Something funky happened. Just assume we can see to the end
Debug.Assert(false, "Raycast hit iteration limit");
t = 1.0f;
hit = false;
break;
}
}
}
return hit;
}
public bool ComputePortalPoints(NavRef fromNavRef, NavRef toNavRef, out Point3d portalLeft, out Point3d portalRight)
{
bool validPortal = false;
if (fromNavRef.IsValid && toNavRef.IsValid &&
fromNavRef.NavRoomKey.Equals(toNavRef.NavRoomKey))
{
uint fromColomn = GetNavCellColomn((uint)fromNavRef.NavCellIndex);
uint fromRow = GetNavCellRow((uint)fromNavRef.NavCellIndex);
uint toColomn = GetNavCellColomn((uint)toNavRef.NavCellIndex);
uint toRow = GetNavCellRow((uint)toNavRef.NavCellIndex);
// toNavRef is to the right of the fromNavRef (+X)
if (toColomn == fromColomn + 1 && toRow == fromRow)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.right,
out portalLeft,
out portalRight);
}
// toNavRef is to the left of the fromNavRef (-X)
else if (toColomn == fromColomn - 1 && toRow == fromRow)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.left,
out portalLeft,
out portalRight);
}
// toNavRef is below fromNavRef (-Y)
else if (toRow == fromRow + 1 && toColomn == fromColomn)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.down,
out portalLeft,
out portalRight);
}
// toNavRef is above fromNavRef (+Y)
else if (toRow == fromRow - 1 && toColomn == fromColomn)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.up,
out portalLeft,
out portalRight);
}
else
{
portalLeft = new Point3d();
portalRight = new Point3d();
}
}
else
{
portalLeft = new Point3d();
portalRight = new Point3d();
}
return validPortal;
}
public NavRef ComputeNavRefAtPoint(Point2d point)
{
NavRef navRef = null;
if (m_boundingBox.ContainsPoint2d(point))
{
if (m_navCells.Length > 0)
{
float cellSize = GameConstants.NAV_MESH_WORLD_UNITS_SIZE;
uint colomnIndex = (uint)((point.x - m_boundingBox.Min.x) / cellSize);
uint rowIndex = (uint)((m_boundingBox.Max.y - point.y) / cellSize);
uint cellIndex = GetNavCellIndex(rowIndex, colomnIndex);
if (m_navCells[cellIndex].connectivityId != EMPTY_NAV_CELL)
{
navRef = new NavRef((int)cellIndex, m_roomKey);
}
else
{
navRef = new NavRef();
}
}
else
{
// The whole nav mesh is one big nav cell
navRef = new NavRef(0, m_roomKey);
}
}
else
{
navRef = new NavRef();
}
return navRef;
}
public bool ComputePortalPoints(NavRef fromNavRef, NavRef toNavRef, out Point3d portalLeft, out Point3d portalRight)
{
bool validPortal = false;
if (fromNavRef.IsValid && toNavRef.IsValid &&
fromNavRef.NavRoomKey.Equals(toNavRef.NavRoomKey))
{
uint fromColomn = GetNavCellColomn((uint)fromNavRef.NavCellIndex);
uint fromRow = GetNavCellRow((uint)fromNavRef.NavCellIndex);
uint toColomn = GetNavCellColomn((uint)toNavRef.NavCellIndex);
uint toRow = GetNavCellRow((uint)toNavRef.NavCellIndex);
// toNavRef is to the right of the fromNavRef (+X)
if (toColomn == fromColomn + 1 && toRow == fromRow)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.right,
out portalLeft,
out portalRight);
}
// toNavRef is to the left of the fromNavRef (-X)
else if (toColomn == fromColomn - 1 && toRow == fromRow)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.left,
out portalLeft,
out portalRight);
}
// toNavRef is below fromNavRef (-Y)
else if (toRow == fromRow + 1 && toColomn == fromColomn)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.down,
out portalLeft,
out portalRight);
}
// toNavRef is above fromNavRef (+Y)
else if (toRow == fromRow - 1 && toColomn == fromColomn)
{
validPortal =
ComputePointsOnNavCellSide(
(uint)fromNavRef.NavCellIndex,
MathConstants.eDirection.up,
out portalLeft,
out portalRight);
}
else
{
portalLeft = new Point3d();
portalRight = new Point3d();
}
}
else
{
portalLeft = new Point3d();
portalRight = new Point3d();
}
return(validPortal);
}
public bool AreNavRefsConnected(NavRef navRefA, NavRef navRefB)
{
bool areConnected = false;
if (navRefA.IsValid && navRefB.IsValid)
{
areConnected = navRefA.NavRoomKey.Equals(navRefB.NavRoomKey) &&
((navRefA.NavCellIndex == navRefB.NavCellIndex) ||
(m_navCells[navRefA.NavCellIndex].connectivityId == m_navCells[navRefB.NavCellIndex].connectivityId));
}
return areConnected;
}
private void BuildNavCellPotentiallyVisibleSet()
{
if (m_nonEmptyNavCellCount > 0)
{
// Only need PVS information on non-empty nav cells
m_pvs = new PotentiallyVisibleSet(m_nonEmptyNavCellCount);
// Raycast from each non-empty nav cell...
for (int startNavCellIndex = 0; startNavCellIndex < m_navCells.Length; ++startNavCellIndex)
{
NavRef startNavRef = new NavRef(startNavCellIndex, m_roomKey);
NavCell startNavCell = m_navCells[startNavCellIndex];
if (startNavCell.connectivityId != EMPTY_NAV_CELL)
{
// ... to every other non-empty nav cell
for (int endNavCellIndex = 0; endNavCellIndex < m_navCells.Length; ++endNavCellIndex)
{
NavCell endNavCell = m_navCells[endNavCellIndex];
if (startNavCellIndex != endNavCellIndex &&
endNavCell.connectivityId != EMPTY_NAV_CELL)
{
NavRef endNavRef = new NavRef(endNavCellIndex, m_roomKey);
Point3d start = ComputeNavCellCenter((uint)startNavCellIndex);
Point3d end = ComputeNavCellCenter((uint)endNavCellIndex);
float t;
bool hit = Raycast(start, startNavRef, end, endNavRef, out t);
// Mark visibility in the PVS where the raycast succeeds
if (!hit)
{
m_pvs.SetCellCanSeeOtherCell((uint)startNavCell.pvsCellIndex, (uint)endNavCell.pvsCellIndex);
}
}
}
}
}
}
}