public static void Process(PNavMesh pNavMesh) { using (new SProfiler("Finding Islands")) { // find islands List <PNavIsland> islands = new List <PNavIsland>(); int maxX = pNavMesh.columns.GetLength(0) - 1; int maxZ = pNavMesh.columns.GetLength(1) - 1; PNavPoint pointMax = new PNavPoint(maxX, maxZ); int islandIndex = 0; PNavIsland island = new PNavIsland(); for (int x = 0; x < maxX; x++) { for (int z = 0; z < maxZ; z++) { PNavPoint point = new PNavPoint(x, z); bool foundIsland = DetectIsland(pNavMesh.columns, point, pointMax, 1, pNavMesh.verticalDrop, islandIndex, island); if (foundIsland) { islandIndex++; islands.Add(island); PNavMeshHelper.DetectEdgeCorner(pNavMesh.columns, pointMax, island); PNavMeshHelper.ApplyEdgeGap(pNavMesh.columns, pointMax, island, pNavMesh.edgeGap); island = new PNavIsland(); } } } pNavMesh.islands = islands; Debug.Log($"Found {islands.Count} islands"); } }
public static bool AddRight(PNavColumn[,] columns, PNavPoint point, out PNavPoint pOut, PNavPoint pointMax, int verticalDrop, int edgeGap, int islandIndex, PNavIsland island, Queue <PNavPoint> queue) { PNavColumn column = columns[point.x, point.z]; PNavNode node = column.SurfaceNode(); bool valid = GetRightPoint(point, pointMax, 1, out pOut); bool connected = false; bool alreadyAdded = false; if (valid) { PNavColumn c = columns[pOut.x, pOut.z]; PNavNode sn = c.SurfaceNode(); //already checked if (sn != null && sn.islandIndex >= 0) { alreadyAdded = true; } connected = column.IsConnected(c, verticalDrop); if (connected && !alreadyAdded) { sn.islandIndex = islandIndex; island.nodes.Add(sn); //add top to queue PNavPoint pTopOut; bool addedTop = AddTop(columns, pOut, out pTopOut, pointMax, verticalDrop, edgeGap, islandIndex, island); if (addedTop) { queue.Enqueue(pTopOut); } //add bottom to queue PNavPoint pBottomOut; bool addedBottom = AddBottom(columns, pOut, out pBottomOut, pointMax, verticalDrop, edgeGap, islandIndex, island); if (addedBottom) { queue.Enqueue(pBottomOut); } } } if (!connected) { node.type = node.type | (int)ParallelNavIslandNodeType.RightEdge; } return(connected && !alreadyAdded); }
public static void Process(PNavMesh pNavMesh) { using (new SProfiler("Finding Edge Loops")) { int maxX = pNavMesh.columns.GetLength(0); int maxZ = pNavMesh.columns.GetLength(1); PNavPoint pointMax = new PNavPoint(maxX, maxZ); FindEdgeLoops(pNavMesh.columns, pointMax, pNavMesh); } }
public static bool GetBottomPoint(PNavPoint point, PNavPoint pointMax, int nodes, out PNavPoint pointOut) { pointOut = new PNavPoint(point.x, point.z - nodes); if (pointOut.z < 0) { return(false); } else { return(true); } }
public static bool GetTopPoint(PNavPoint point, PNavPoint pointMax, int nodes, out PNavPoint pointOut) { pointOut = new PNavPoint(point.x, point.z + nodes); if (pointOut.z > pointMax.z) { return(false); } else { return(true); } }
public static bool GetLeftPoint(PNavPoint point, PNavPoint pointMax, int nodes, out PNavPoint pointOut) { pointOut = new PNavPoint(point.x - nodes, point.z); if (pointOut.x < 0) { return(false); } else { return(true); } }
public static bool GetRightPoint(PNavPoint point, PNavPoint pointMax, int nodes, out PNavPoint pointOut) { pointOut = new PNavPoint(point.x + nodes, point.z); if (pointOut.x > pointMax.x) { return(false); } else { return(true); } }
public static bool GetPoint(PNavPoint point, PNavPoint pointMax, PNavPoint nodes, out PNavPoint pointOut) { pointOut = new PNavPoint(point.x + nodes.x, point.z + nodes.z); if (pointOut.x > pointMax.x || pointOut.x < 0 || pointOut.z > pointMax.z || pointOut.z < 0) { return(false); } else { return(true); } }
static bool isWalkableNode(PNavPoint self, PNavPoint max, PNavPoint delta, PNavColumn[,] columns) { PNavPoint pOut; bool valid = PNavMeshHelper.GetPoint(self, max, delta, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); valid = (n != null && n.walkable); } return(valid); }
static bool isInnerNode(PNavPoint point, PNavPoint max, PNavPoint delta, int nodes, PNavColumn[,] columns) { PNavPoint pOut; PNavPoint newDelta = new PNavPoint(delta.x * nodes, delta.z * nodes); bool valid = PNavMeshHelper.GetPoint(point, max, newDelta, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); valid = (n != null && n.IsInner); } return(valid); }
static bool isEdgeNode(PNavPoint point, PNavPoint max, PNavPoint delta, PNavColumn[,] columns) { PNavPoint pOut; bool valid = PNavMeshHelper.GetPoint(point, max, delta, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); if (n == null) { return(false); } return(n.IsLeftEdge || n.IsRghtEdge || n.IsBackEdge || n.IsFrontEdge); } return(false); }
static void FindEdgeLoops(PNavColumn[,] columns, PNavPoint pointMax, PNavMesh pNavMesh) { List <PNavIsland> islandsToRemove = new List <PNavIsland>(); foreach (PNavIsland island in pNavMesh.islands) { int edgeLoopIndex = 0; int maxNodeCount = 0; PNavEdgeLoop edgeLoop = new PNavEdgeLoop(); foreach (PNavNode node in island.nodes) { if (node.walkable) { bool foundLoop = DetectEdgeLoop(node, edgeLoop, edgeLoopIndex, columns, pointMax); if (foundLoop) { int nodeCount = edgeLoop.nodes.Count; if (nodeCount > maxNodeCount) { maxNodeCount = nodeCount; island.boundaryEdgeLoopIndex = edgeLoopIndex; } edgeLoopIndex++; island.edgeLoops.Add(edgeLoop); edgeLoop = new PNavEdgeLoop(); } } } if (island.boundaryEdgeLoopIndex < 0) { islandsToRemove.Add(island); } } foreach (PNavIsland island in islandsToRemove) { pNavMesh.islands.Remove(island); } }
public static void DetectEdgeCorner(PNavColumn[,] columns, PNavPoint pointMax, PNavIsland island) { foreach (PNavNode node in island.nodes) { if (node.IsInner) { bool topEdge = isEdgeNode(node.point, pointMax, TOP, columns); bool botEdge = isEdgeNode(node.point, pointMax, BOTTOM, columns); bool leftEdge = isEdgeNode(node.point, pointMax, LEFT, columns); bool rightEdge = isEdgeNode(node.point, pointMax, RIGHT, columns); bool topLeftEdge = isEdgeNode(node.point, pointMax, TOPLEFT, columns); bool topRightEdge = isEdgeNode(node.point, pointMax, TOPRIGHT, columns); bool botLeftEdge = isEdgeNode(node.point, pointMax, BOTTOMLEFT, columns); bool botRightEdge = isEdgeNode(node.point, pointMax, BOTTOMRIGHT, columns); if (topEdge && leftEdge && !topLeftEdge) { node.type = node.type | (int)ParallelNavIslandNodeType.CornerEdge; continue; } if (topEdge && rightEdge && !topRightEdge) { node.type = node.type | (int)ParallelNavIslandNodeType.CornerEdge; continue; } if (botEdge && leftEdge && !botLeftEdge) { node.type = node.type | (int)ParallelNavIslandNodeType.CornerEdge; continue; } if (botEdge && rightEdge && !botRightEdge) { node.type = node.type | (int)ParallelNavIslandNodeType.CornerEdge; continue; } } } }
public static bool AddBottom(PNavColumn[,] columns, PNavPoint point, out PNavPoint pOut, PNavPoint pointMax, int verticalDrop, int edgeGap, int islandIndex, PNavIsland island) { PNavColumn column = columns[point.x, point.z]; PNavNode node = column.SurfaceNode(); bool valid = GetBottomPoint(point, pointMax, edgeGap, out pOut); bool connected = false; bool alreadyAdded = false; if (valid) { PNavColumn c = columns[pOut.x, pOut.z]; PNavNode sn = c.SurfaceNode(); //already checked if (sn != null && sn.islandIndex >= 0) { alreadyAdded = true; } connected = column.IsConnected(c, verticalDrop); if (connected && !alreadyAdded) { sn.islandIndex = islandIndex; island.nodes.Add(sn); } } if (!connected) { node.type = node.type | (int)ParallelNavIslandNodeType.BottomEdge; } return(connected && !alreadyAdded); }
public static void ApplyEdgeGap(PNavColumn[,] columns, PNavPoint pointMax, PNavIsland island, int edgeGap) { foreach (PNavNode node in island.nodes) { if (node.IsInner) { //===remove narrow path // check top and bot bool top2Valid = isInnerNode(node.point, pointMax, TOP, 2, columns); bool top1Valid = isInnerNode(node.point, pointMax, TOP, 1, columns); bool bot1Valid = isInnerNode(node.point, pointMax, BOTTOM, 1, columns); bool bot2Valid = isInnerNode(node.point, pointMax, BOTTOM, 2, columns); if (top2Valid && top1Valid || top1Valid && bot1Valid || bot1Valid && bot2Valid) { // valid } else { node.walkable = false; } // check left and right bool left2Valid = isInnerNode(node.point, pointMax, LEFT, 2, columns); bool left1Valid = isInnerNode(node.point, pointMax, LEFT, 1, columns); bool right1Valid = isInnerNode(node.point, pointMax, RIGHT, 1, columns); bool right2Valid = isInnerNode(node.point, pointMax, RIGHT, 2, columns); if (left2Valid && left1Valid || left1Valid && right1Valid || right1Valid && right2Valid) { // valid } else { node.walkable = false; } // diagonals //bool topLeft2Valid = isInnerNode(node.point, pointMax, TOPLEFT, 2, columns); //bool topLeft1Valid = isInnerNode(node.point, pointMax, TOPLEFT, 1, columns); //bool botRight1Valid = isInnerNode(node.point, pointMax, BOTTOMRIGHT, 1, columns); //bool botRight2Valid = isInnerNode(node.point, pointMax, BOTTOMRIGHT, 2, columns); //if (topLeft2Valid && topLeft1Valid || topLeft1Valid && botRight1Valid || botRight1Valid && botRight2Valid) //{ // // valid //} //else //{ // node.walkable = false; //} //bool topRight2Valid = isInnerNode(node.point, pointMax, TOPRIGHT, 2, columns); //bool topRight1Valid = isInnerNode(node.point, pointMax, TOPRIGHT, 1, columns); //bool botLeft1Valid = isInnerNode(node.point, pointMax, BOTTOMLEFT, 1, columns); //bool botLeft2Valid = isInnerNode(node.point, pointMax, BOTTOMLEFT, 2, columns); //if (topRight2Valid && topRight1Valid || topRight1Valid && botLeft1Valid || botLeft1Valid && botLeft2Valid) //{ // // valid //} //else //{ // node.walkable = false; //} continue; } else { node.walkable = false; // remove edgeGap //left for (int i = 0; i < edgeGap; i++) { //left { PNavPoint pOut; bool valid = GetLeftPoint(node.point, pointMax, i, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); if (n != null) { n.walkable = false; } } } //right { PNavPoint pOut; bool valid = GetRightPoint(node.point, pointMax, i, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); if (n != null) { n.walkable = false; } } } //top { PNavPoint pOut; bool valid = GetTopPoint(node.point, pointMax, i, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); if (n != null) { n.walkable = false; } } } //bottom { PNavPoint pOut; bool valid = GetBottomPoint(node.point, pointMax, i, out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); if (n != null) { n.walkable = false; } } } } } } }
static bool CheckIfNodeIsValidEdge(PNavNode node, PNavColumn[,] columns, PNavPoint pointMax) { node.isEdge = false; node.edgeFlag = 0; bool allSurroundingAreInner = true; for (int i = 0; i < 8; i++) { walkables[i] = false; PNavPoint pOut; bool valid = PNavMeshHelper.GetPoint(node.point, pointMax, points2[i], out pOut); if (valid) { PNavNode n = columns[pOut.x, pOut.z].SurfaceNode(); if (n != null) { if (n.walkable) { walkables[i] = true; node.edgeFlag = (byte)(node.edgeFlag | 1 << i); } if (!n.IsInner) { allSurroundingAreInner = false; } } } } if (!allSurroundingAreInner) { node.isEdge = true; } if (walkables[0] != walkables[4]) //left and right { node.isEdge = true; // if top and bot are not walkable, not valid if (!walkables[2] && !walkables[6]) { node.isEdge = false; } } if (walkables[2] != walkables[6]) // top and bot { node.isEdge = true; // if left and right are not walkable, not valid if (!walkables[0] && !walkables[4]) { node.isEdge = false; } } // if all diagonal nodes are not walkable, not valid if (!walkables[1] && !walkables[3] && !walkables[5] && !walkables[7]) { node.isEdge = false; } return(node.isEdge); }
static bool DetectEdgeLoop(PNavNode node, PNavEdgeLoop edgeLoop, int edgeLoopIndex, PNavColumn[,] columns, PNavPoint pointMax) { bool foundLoop = false; if (node == null || !node.walkable || node.edgeLoopIndex >= 0) { return(false); } bool isEdge = CheckIfNodeIsValidEdge(node, columns, pointMax); if (!isEdge) { return(false); } Stack <PNavNode> stack = new Stack <PNavNode>(); stack.Push(node); while (stack.Count > 0) { PNavNode n = stack.Pop(); //possible to be added more than once if (n.edgeLoopIndex >= 0) { continue; } edgeLoop.nodes.Add(n); n.edgeLoopIndex = edgeLoopIndex; foundLoop = true; for (int i = 0; i < 8; i++) { PNavPoint pOut; bool valid = PNavMeshHelper.GetPoint(n.point, pointMax, points[i], out pOut); if (valid) { PNavNode nPush = columns[pOut.x, pOut.z].SurfaceNode(); if (nPush != null) { if (!nPush.walkable || nPush.edgeLoopIndex >= 0) { continue; } bool isEdge1 = CheckIfNodeIsValidEdge(nPush, columns, pointMax); if (!isEdge1) { continue; } stack.Push(nPush); } } } } return(foundLoop); }
static bool DetectIsland(PNavColumn[,] columns, PNavPoint point, PNavPoint pointMax, int edgeGap, int verticalDrop, int islandIndex, PNavIsland island) { PNavColumn column = columns[point.x, point.z]; if (column.type != ParallelNavColumnType.Walkable) { return(false); } PNavNode surfaceNode = column.SurfaceNode(); if (surfaceNode == null) { return(false); } //already checked if (surfaceNode.islandIndex >= 0) { return(false); } surfaceNode.islandIndex = islandIndex; island.nodes.Add(surfaceNode); Queue <PNavPoint> queue = new Queue <PNavPoint>(); queue.Enqueue(point); while (queue.Count > 0) { PNavPoint p = queue.Dequeue(); PNavColumn c = columns[p.x, p.z]; //check top edge PNavPoint pTopOut; bool addedTop = PNavMeshHelper.AddTop(columns, p, out pTopOut, pointMax, verticalDrop, edgeGap, islandIndex, island); if (addedTop) { queue.Enqueue(pTopOut); } //check bottom edge PNavPoint pBottomOut; bool addedBottom = PNavMeshHelper.AddBottom(columns, p, out pBottomOut, pointMax, verticalDrop, edgeGap, islandIndex, island); if (addedBottom) { queue.Enqueue(pBottomOut); } //search left PNavPoint left = p; while (true) { PNavPoint pLeftOut; bool added = PNavMeshHelper.AddLeft(columns, left, out pLeftOut, pointMax, verticalDrop, edgeGap, islandIndex, island, queue); if (!added) { break; } else { left = pLeftOut; } } //search right PNavPoint right = p; while (true) { PNavPoint pRightOut; bool added = PNavMeshHelper.AddRight(columns, right, out pRightOut, pointMax, verticalDrop, edgeGap, islandIndex, island, queue); if (!added) { break; } else { right = pRightOut; } } } return(true); }