public void Process(ref NavMeshCreateParams param, NavMeshTileBuildContext bc)
{
// Update poly flags from areas.
for (int i = 0; i < param.polyCount; ++i)
{
if ((int)bc.LMesh.Areas[i] == (int)TileCacheAreas.RC_WALKABLE_AREA)
{
bc.LMesh.Areas[i] = SamplePolyAreas.SAMPLE_POLYAREA_GROUND;
}
if (bc.LMesh.Areas[i] == SamplePolyAreas.SAMPLE_POLYAREA_GROUND ||
bc.LMesh.Areas[i] == SamplePolyAreas.SAMPLE_POLYAREA_GRASS ||
bc.LMesh.Areas[i] == SamplePolyAreas.SAMPLE_POLYAREA_ROAD)
{
bc.LMesh.Flags[i] = SamplePolyFlagTypes.SAMPLE_POLYFLAGS_WALK;
}
else if (bc.LMesh.Areas[i] == SamplePolyAreas.SAMPLE_POLYAREA_WATER)
{
bc.LMesh.Flags[i] = SamplePolyFlagTypes.SAMPLE_POLYFLAGS_SWIM;
}
else if (bc.LMesh.Areas[i] == SamplePolyAreas.SAMPLE_POLYAREA_DOOR)
{
bc.LMesh.Flags[i] = SamplePolyFlagTypes.SAMPLE_POLYFLAGS_WALK | SamplePolyFlagTypes.SAMPLE_POLYFLAGS_DOOR;
}
}
// Pass in off-mesh connections.
if (m_geom != null)
{
param.offMeshCon = m_geom.GetConnections().ToArray();
param.offMeshConCount = m_geom.GetConnectionCount();
}
}
public bool BuildNavMeshTile(CompressedTile tile, NavMesh navmesh)
{
NavMeshTileBuildContext bc = new NavMeshTileBuildContext();
int walkableClimbVx = (int)(m_params.WalkableClimb / m_params.CellHeight);
// Decompress tile layer data.
if (!DetourTileCache.DecompressTileCacheLayer(tile.Header, tile.Data, 0, out var layer))
{
return(false);
}
bc.Layer = layer;
// Rasterize obstacles.
for (int i = 0; i < m_params.MaxObstacles; ++i)
{
var ob = m_obstacles[i];
if (ob.State == ObstacleState.DT_OBSTACLE_EMPTY || ob.State == ObstacleState.DT_OBSTACLE_REMOVING)
{
continue;
}
if (DetourTileCache.Contains(ob.Touched, ob.NTouched, tile))
{
if (ob.Type == ObstacleType.DT_OBSTACLE_CYLINDER)
{
DetourTileCache.MarkCylinderArea(bc,
tile.Header.BBox.Minimum, m_params.CellSize, m_params.CellHeight,
ob.Cylinder.Pos, ob.Cylinder.Radius, ob.Cylinder.Height, 0);
}
else if (ob.Type == ObstacleType.DT_OBSTACLE_BOX)
{
DetourTileCache.MarkBoxArea(bc,
tile.Header.BBox.Minimum, m_params.CellSize, m_params.CellHeight,
ob.Box.BMin, ob.Box.BMax, 0);
}
else if (ob.Type == ObstacleType.DT_OBSTACLE_ORIENTED_BOX)
{
DetourTileCache.MarkBoxArea(bc,
tile.Header.BBox.Minimum, m_params.CellSize, m_params.CellHeight,
ob.OrientedBox.Center, ob.OrientedBox.HalfExtents, ob.OrientedBox.RotAux, 0);
}
}
}
// Build navmesh
if (!DetourTileCache.BuildTileCacheRegions(bc, walkableClimbVx))
{
return(false);
}
if (!DetourTileCache.BuildTileCacheContours(bc, walkableClimbVx, m_params.MaxSimplificationError))
{
return(false);
}
if (!DetourTileCache.BuildTileCachePolyMesh(bc))
{
return(false);
}
// Early out if the mesh tile is empty.
if (bc.LMesh.NPolys == 0)
{
// Remove existing tile.
navmesh.RemoveTile(navmesh.GetTileRefAt(tile.Header.TX, tile.Header.TY, tile.Header.TLayer), null, 0);
return(true);
}
var param = new NavMeshCreateParams
{
Verts = bc.LMesh.Verts,
VertCount = bc.LMesh.NVerts,
Polys = bc.LMesh.Polys,
PolyAreas = bc.LMesh.Areas,
PolyFlags = bc.LMesh.Flags,
polyCount = bc.LMesh.NPolys,
nvp = Detour.DT_VERTS_PER_POLYGON,
walkableHeight = m_params.WalkableHeight,
walkableRadius = m_params.WalkableRadius,
walkableClimb = m_params.WalkableClimb,
tileX = tile.Header.TX,
tileY = tile.Header.TY,
tileLayer = tile.Header.TLayer,
cs = m_params.CellSize,
ch = m_params.CellHeight,
buildBvTree = false,
bmin = tile.Header.BBox.Minimum,
bmax = tile.Header.BBox.Maximum,
};
if (m_tmproc != null)
{
m_tmproc.Process(ref param, bc);
}
if (!Detour.CreateNavMeshData(param, out MeshData navData))
{
return(false);
}
// Remove existing tile.
navmesh.RemoveTile(navmesh.GetTileRefAt(tile.Header.TX, tile.Header.TY, tile.Header.TLayer), null, 0);
// Add new tile, or leave the location empty.
if (navData != null && !navmesh.AddTile(navData, TileFlagTypes.DT_TILE_FREE_DATA, 0, out int result))
{
// Let the navmesh own the data.
navData = null;
return(false);
}
return(true);
}
public static bool CreateNavMeshData(NavMeshCreateParams param, out MeshData outData)
{
outData = null;
if (param.nvp > DT_VERTS_PER_POLYGON)
{
return(false);
}
if (param.VertCount >= 0xffff)
{
return(false);
}
if (param.VertCount == 0 || param.Verts == null)
{
return(false);
}
if (param.polyCount == 0 || param.Polys == null)
{
return(false);
}
int nvp = param.nvp;
// Classify off-mesh connection points. We store only the connections
// whose start point is inside the tile.
int[] offMeshConClass = null;
int storedOffMeshConCount = 0;
int offMeshConLinkCount = 0;
if (param.offMeshConCount > 0)
{
offMeshConClass = new int[param.offMeshConCount * 2];
// Find tight heigh bounds, used for culling out off-mesh start locations.
float hmin = float.MaxValue;
float hmax = float.MinValue;
if (param.detailVerts != null && param.detailVertsCount > 0)
{
for (int i = 0; i < param.detailVertsCount; ++i)
{
var h = param.detailVerts[i].Y;
hmin = Math.Min(hmin, h);
hmax = Math.Max(hmax, h);
}
}
else
{
for (int i = 0; i < param.VertCount; ++i)
{
var iv = param.Verts[i];
float h = param.bmin.Y + iv.Y * param.ch;
hmin = Math.Min(hmin, h);
hmax = Math.Max(hmax, h);
}
}
hmin -= param.walkableClimb;
hmax += param.walkableClimb;
Vector3 bmin = param.bmin;
Vector3 bmax = param.bmax;
bmin.Y = hmin;
bmax.Y = hmax;
for (int i = 0; i < param.offMeshConCount; ++i)
{
var p0 = param.offMeshCon[i].Start;
var p1 = param.offMeshCon[i].End;
offMeshConClass[i + 0] = ClassifyOffMeshPoint(p0, bmin, bmax);
offMeshConClass[i + 1] = ClassifyOffMeshPoint(p1, bmin, bmax);
// Zero out off-mesh start positions which are not even potentially touching the mesh.
if (offMeshConClass[i * 2] == 0xff && (p0.Y <bmin.Y || p0.Y> bmax.Y))
{
offMeshConClass[i * 2] = 0;
}
// Count how many links should be allocated for off-mesh connections.
if (offMeshConClass[i * 2] == 0xff)
{
offMeshConLinkCount++;
}
if (offMeshConClass[(i * 2) + 1] == 0xff)
{
offMeshConLinkCount++;
}
if (offMeshConClass[i * 2] == 0xff)
{
storedOffMeshConCount++;
}
}
}
// Off-mesh connectionss are stored as polygons, adjust values.
int totPolyCount = param.polyCount + storedOffMeshConCount;
int totVertCount = param.VertCount + storedOffMeshConCount * 2;
// Find portal edges which are at tile borders.
int edgeCount = 0;
int portalCount = 0;
for (int i = 0; i < param.polyCount; ++i)
{
var p = param.Polys[i];
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX)
{
break;
}
edgeCount++;
if ((p[nvp + j] & 0x8000) != 0)
{
var dir = p[nvp + j] & 0xf;
if (dir != 0xf)
{
portalCount++;
}
}
}
}
int maxLinkCount = edgeCount + portalCount * 2 + offMeshConLinkCount * 2;
// Find unique detail vertices.
int uniqueDetailVertCount = 0;
int detailTriCount = 0;
if (param.detailMeshes != null)
{
// Has detail mesh, count unique detail vertex count and use input detail tri count.
detailTriCount = param.detailTriCount;
for (int i = 0; i < param.polyCount; ++i)
{
var p = param.Polys[i];
var ndv = param.detailMeshes[i].Y;
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX)
{
break;
}
nv++;
}
ndv -= nv;
uniqueDetailVertCount += ndv;
}
}
else
{
// No input detail mesh, build detail mesh from nav polys.
uniqueDetailVertCount = 0; // No extra detail verts.
detailTriCount = 0;
for (int i = 0; i < param.polyCount; ++i)
{
var p = param.Polys[i];
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX)
{
break;
}
nv++;
}
detailTriCount += nv - 2;
}
}
MeshData data = new MeshData
{
// Store header
Header = new MeshHeader
{
Magic = DT_NAVMESH_MAGIC,
Version = DT_NAVMESH_VERSION,
X = param.tileX,
Y = param.tileY,
Layer = param.tileLayer,
UserId = param.userId,
PolyCount = totPolyCount,
VertCount = totVertCount,
MaxLinkCount = maxLinkCount,
BMin = param.bmin,
BMax = param.bmax,
DetailMeshCount = param.polyCount,
DetailVertCount = uniqueDetailVertCount,
DetailTriCount = detailTriCount,
BvQuantFactor = 1.0f / param.cs,
OffMeshBase = param.polyCount,
WalkableHeight = param.walkableHeight,
WalkableRadius = param.walkableRadius,
WalkableClimb = param.walkableClimb,
OffMeshConCount = storedOffMeshConCount,
BvNodeCount = param.buildBvTree ? param.polyCount * 2 : 0
}
};
int offMeshVertsBase = param.VertCount;
int offMeshPolyBase = param.polyCount;
// Store vertices
// Mesh vertices
for (int i = 0; i < param.VertCount; ++i)
{
var iv = param.Verts[i];
var v = new Vector3
{
X = param.bmin.X + iv.X * param.cs,
Y = param.bmin.Y + iv.Y * param.ch,
Z = param.bmin.Z + iv.Z * param.cs
};
data.NavVerts.Add(v);
}
// Off-mesh link vertices.
int n = 0;
for (int i = 0; i < param.offMeshConCount; ++i)
{
// Only store connections which start from this tile.
if (offMeshConClass[i * 2] == 0xff)
{
var linkv = param.offMeshCon[i];
data.NavVerts.Add(linkv.Start);
data.NavVerts.Add(linkv.End);
n++;
}
}
// Store polygons
// Mesh polys
int srcIndex = 0;
for (int i = 0; i < param.polyCount; ++i)
{
var src = param.Polys[srcIndex];
Poly p = new Poly
{
VertCount = 0,
Flags = param.PolyFlags[i],
Area = param.PolyAreas[i],
Type = PolyTypes.DT_POLYTYPE_GROUND,
};
for (int j = 0; j < nvp; ++j)
{
if (src[j] == MESH_NULL_IDX)
{
break;
}
p.Verts[j] = src[j];
if ((src[nvp + j] & 0x8000) != 0)
{
// Border or portal edge.
var dir = src[nvp + j] & 0xf;
if (dir == 0xf) // Border
{
p.Neis[j] = 0;
}
else if (dir == 0) // Portal x-
{
p.Neis[j] = DT_EXT_LINK | 4;
}
else if (dir == 1) // Portal z+
{
p.Neis[j] = DT_EXT_LINK | 2;
}
else if (dir == 2) // Portal x+
{
p.Neis[j] = DT_EXT_LINK;
}
else if (dir == 3) // Portal z-
{
p.Neis[j] = DT_EXT_LINK | 6;
}
}
else
{
// Normal connection
p.Neis[j] = src[nvp + j] + 1;
}
p.VertCount++;
}
data.NavPolys.Add(p);
srcIndex++;
}
// Off-mesh connection vertices.
n = 0;
for (int i = 0; i < param.offMeshConCount; ++i)
{
// Only store connections which start from this tile.
if (offMeshConClass[i * 2] == 0xff)
{
Poly p = new Poly
{
Flags = (SamplePolyFlagTypes)param.offMeshCon[i].FlagTypes,
Area = (SamplePolyAreas)param.offMeshCon[i].AreaType,
Type = PolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION
};
p.Verts[0] = (offMeshVertsBase + (n * 2) + 0);
p.Verts[1] = (offMeshVertsBase + (n * 2) + 1);
p.VertCount = 2;
data.NavPolys.Add(p);
n++;
}
}
// Store detail meshes and vertices.
// The nav polygon vertices are stored as the first vertices on each mesh.
// We compress the mesh data by skipping them and using the navmesh coordinates.
if (param.detailMeshes != null)
{
for (int i = 0; i < param.polyCount; ++i)
{
int vb = param.detailMeshes[i][0];
int ndv = param.detailMeshes[i][1];
int nv = data.NavPolys[i].VertCount;
PolyDetail dtl = new PolyDetail
{
VertBase = data.NavDVerts.Count,
VertCount = (ndv - nv),
TriBase = param.detailMeshes[i][2],
TriCount = param.detailMeshes[i][3]
};
// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
if (ndv - nv != 0)
{
var verts = param.detailVerts.Skip(vb + nv).Take(ndv - nv);
data.NavDVerts.AddRange(verts);
}
data.NavDMeshes.Add(dtl);
}
// Store triangles.
data.NavDTris.AddRange(param.detailTris);
}
else
{
// Create dummy detail mesh by triangulating polys.
int tbase = 0;
for (int i = 0; i < param.polyCount; ++i)
{
int nv = data.NavPolys[i].VertCount;
PolyDetail dtl = new PolyDetail
{
VertBase = 0,
VertCount = 0,
TriBase = tbase,
TriCount = (nv - 2)
};
// Triangulate polygon (local indices).
for (int j = 2; j < nv; ++j)
{
var t = new Int4
{
X = 0,
Y = (j - 1),
Z = j,
// Bit for each edge that belongs to poly boundary.
W = (1 << 2)
};
if (j == 2)
{
t.W |= (1 << 0);
}
if (j == nv - 1)
{
t.W |= (1 << 4);
}
tbase++;
data.NavDTris.Add(t);
}
data.NavDMeshes.Add(dtl);
}
}
// Store and create BVtree.
if (param.buildBvTree)
{
CreateBVTree(param, out var nodes);
data.NavBvtree.AddRange(nodes);
}
// Store Off-Mesh connections.
n = 0;
for (int i = 0; i < param.offMeshConCount; ++i)
{
// Only store connections which start from this tile.
if (offMeshConClass[i * 2] == 0xff)
{
// Copy connection end-points.
var endPts1 = param.offMeshCon[i].Start;
var endPts2 = param.offMeshCon[i].End;
var con = new OffMeshConnection
{
poly = offMeshPolyBase + n,
rad = param.offMeshCon[i].Radius,
flags = param.offMeshCon[i].Direction != 0 ? DT_OFFMESH_CON_BIDIR : 0,
side = offMeshConClass[i * 2 + 1],
start = endPts1,
end = endPts2,
userId = param.offMeshCon[i].Id,
};
data.OffMeshCons.Add(con);
n++;
}
}
outData = data;
return(true);
}
public static int CreateBVTree(NavMeshCreateParams param, out List <BVNode> nodes)
{
nodes = new List <BVNode>();
// Build tree
float quantFactor = 1 / param.cs;
BVItem[] items = new BVItem[param.polyCount];
for (int i = 0; i < param.polyCount; i++)
{
var it = items[i];
it.I = i;
// Calc polygon bounds. Use detail meshes if available.
if (param.detailMeshes != null)
{
int vb = param.detailMeshes[i][0];
int ndv = param.detailMeshes[i][1];
var bmin = param.detailVerts[vb];
var bmax = param.detailVerts[vb];
for (int j = 1; j < ndv; j++)
{
bmin = Vector3.Min(bmin, param.detailVerts[vb + j]);
bmax = Vector3.Max(bmax, param.detailVerts[vb + j]);
}
// BV-tree uses cs for all dimensions
it.BMin = new Int3
{
X = MathUtil.Clamp((int)((bmin.X - param.bmin.X) * quantFactor), 0, 0xffff),
Y = MathUtil.Clamp((int)((bmin.Y - param.bmin.Y) * quantFactor), 0, 0xffff),
Z = MathUtil.Clamp((int)((bmin.Z - param.bmin.Z) * quantFactor), 0, 0xffff)
};
it.BMax = new Int3
{
X = MathUtil.Clamp((int)((bmax.X - param.bmin.X) * quantFactor), 0, 0xffff),
Y = MathUtil.Clamp((int)((bmax.Y - param.bmin.Y) * quantFactor), 0, 0xffff),
Z = MathUtil.Clamp((int)((bmax.Z - param.bmin.Z) * quantFactor), 0, 0xffff)
};
}
else
{
var p = param.Polys[i];
var itBMin = param.Verts[p[0]];
var itBMax = param.Verts[p[0]];
for (int j = 1; j < param.nvp; ++j)
{
if (p[j] == MESH_NULL_IDX)
{
break;
}
var x = param.Verts[p[j]].X;
var y = param.Verts[p[j]].Y;
var z = param.Verts[p[j]].Z;
if (x < it.BMin.X)
{
itBMin.X = x;
}
if (y < it.BMin.Y)
{
itBMin.Y = y;
}
if (z < it.BMin.Z)
{
itBMin.Z = z;
}
if (x > it.BMax.X)
{
itBMax.X = x;
}
if (y > it.BMax.Y)
{
itBMax.Y = y;
}
if (z > it.BMax.Z)
{
itBMax.Z = z;
}
}
// Remap y
itBMin.Y = (int)Math.Floor(it.BMin.Y * param.ch / param.cs);
itBMax.Y = (int)Math.Ceiling(it.BMax.Y * param.ch / param.cs);
it.BMin = itBMin;
it.BMax = itBMax;
}
items[i] = it;
}
int curNode = 0;
Subdivide(items, param.polyCount, 0, param.polyCount, ref curNode, ref nodes);
return(curNode);
}