public void UpdateAreaInit (GraphUpdateObject o) {
if (!o.updatePhysics) {
return;
}
if (!dynamic) {
throw new System.Exception ("Recast graph must be marked as dynamic to enable graph updates");
}
AstarProfiler.Reset ();
AstarProfiler.StartProfile ("UpdateAreaInit");
AstarProfiler.StartProfile ("CollectMeshes");
RelevantGraphSurface.UpdateAllPositions ();
List<ExtraMesh> extraMeshes;
Bounds b = o.bounds;
b.center -= forcedBounds.min;
//Calculate world bounds of all affected tiles
IntRect r = new IntRect (Mathf.FloorToInt (b.min.x / (tileSizeX*cellSize)), Mathf.FloorToInt (b.min.z / (tileSizeZ*cellSize)), Mathf.FloorToInt (b.max.x / (tileSizeX*cellSize)), Mathf.FloorToInt (b.max.z / (tileSizeZ*cellSize)));
//Clamp to bounds
r = IntRect.Intersection (r, new IntRect (0,0,tileXCount-1,tileZCount-1));
Bounds tileBounds = new Bounds();
Vector3 forcedBoundsMin = forcedBounds.min;
Vector3 forcedBoundsMax = forcedBounds.max;
float tcsx = tileSizeX*cellSize;
float tcsz = tileSizeZ*cellSize;
tileBounds.SetMinMax(new Vector3 (r.xmin*tcsx, 0, r.ymin*tcsz) + forcedBoundsMin,
new Vector3 ((r.xmax+1)*tcsx + forcedBoundsMin.x, forcedBoundsMax.y, (r.ymax+1)*tcsz + forcedBoundsMin.z)
);
int voxelCharacterRadius = Mathf.CeilToInt (characterRadius/cellSize);
int borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
tileBounds.Expand (new Vector3 (borderSize,0,borderSize)*cellSize*2);
Debug.DrawLine (tileBounds.min, tileBounds.max);
//Debug.Break ();
if (!CollectMeshes (out extraMeshes, tileBounds)) {
//return;
}
Voxelize vox = globalVox;
if (vox == null) {
//Create the voxelizer and set all settings
vox = new Voxelize (cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.maxEdgeLength = maxEdgeLength;
if (dynamic) globalVox = vox;
}
vox.inputExtraMeshes = extraMeshes;
AstarProfiler.EndProfile ("CollectMeshes");
AstarProfiler.EndProfile ("UpdateAreaInit");
}
protected void BuildTileMesh (Voxelize vox, int x, int z) {
AstarProfiler.StartProfile ("Build Tile");
AstarProfiler.StartProfile ("Init");
//World size of tile
float tcsx = tileSizeX*cellSize;
float tcsz = tileSizeZ*cellSize;
int voxelCharacterRadius = Mathf.CeilToInt (characterRadius/cellSize);
Vector3 forcedBoundsMin = forcedBounds.min;
Vector3 forcedBoundsMax = forcedBounds.max;
Bounds bounds = new Bounds ();
bounds.SetMinMax(new Vector3 (x*tcsx, 0, z*tcsz) + forcedBoundsMin,
new Vector3 ((x+1)*tcsx + forcedBoundsMin.x, forcedBoundsMax.y, (z+1)*tcsz + forcedBoundsMin.z)
);
vox.borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
bounds.Expand (new Vector3 (vox.borderSize,0,vox.borderSize)*cellSize*2);
vox.forcedBounds = bounds;
vox.width = tileSizeX + vox.borderSize*2;
vox.depth = tileSizeZ + vox.borderSize*2;
if (!useTiles && relevantGraphSurfaceMode == RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile) {
// This best reflects what the user would actually want
vox.relevantGraphSurfaceMode = RelevantGraphSurfaceMode.RequireForAll;
} else {
vox.relevantGraphSurfaceMode = relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(minRegionSize / (cellSize*cellSize));
#if ASTARDEBUG
Debug.Log ("Building Tile " + x+","+z);
Console.WriteLine ("Recast Graph -- Voxelizing");
#endif
AstarProfiler.EndProfile ("Init");
//Init voxelizer
vox.Init ();
vox.CollectMeshes ();
vox.VoxelizeInput ();
AstarProfiler.StartProfile ("Filter Ledges");
if (importMode) {
if (System.IO.File.Exists(Application.dataPath+"/tile."+x+"."+z)) {
System.IO.FileStream fs = System.IO.File.OpenRead (Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = new byte[fs.Length];
fs.Read (bytes,0,(int)fs.Length);
VoxelArea tmpVox = new VoxelArea(vox.width,vox.depth);
Pathfinding.Voxels.VoxelSerializeUtility.DeserializeVoxelAreaData (bytes,tmpVox);
Pathfinding.Voxels.VoxelSerializeUtility.MergeVoxelAreaData(tmpVox,vox.voxelArea,vox.voxelWalkableClimb);
}
}
if (exportMode) {
System.IO.FileStream fs = System.IO.File.Create(Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = Pathfinding.Voxels.VoxelSerializeUtility.SerializeVoxelAreaData(vox.voxelArea);
fs.Write(bytes,0,bytes.Length);
fs.Close();
}
vox.FilterLedges (vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile ("Filter Ledges");
AstarProfiler.StartProfile ("Filter Low Height Spans");
vox.FilterLowHeightSpans (vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile ("Filter Low Height Spans");
vox.BuildCompactField ();
vox.BuildVoxelConnections ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Eroding");
#endif
vox.ErodeWalkableArea (voxelCharacterRadius);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Distance Field");
#endif
vox.BuildDistanceField ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Regions");
#endif
vox.BuildRegions ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Contours");
#endif
VoxelContourSet cset = new VoxelContourSet ();
vox.BuildContours (contourMaxError,1,cset,Voxelize.RC_CONTOUR_TESS_WALL_EDGES);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Poly Mesh");
#endif
VoxelMesh mesh;
vox.BuildPolyMesh (cset,3,out mesh);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Nodes");
#endif
//Vector3[] vertices = new Vector3[mesh.verts.Length];
AstarProfiler.StartProfile ("Build Nodes");
//matrix = Matrix4x4.TRS (vox.voxelOffset,Quaternion.identity,Int3.Precision*vox.cellScale);
//Position the vertices correctly in the world
for (int i=0;i<mesh.verts.Length;i++) {
//Note the multiplication is Scalar multiplication of vectors
mesh.verts[i] = ((mesh.verts[i]*Int3.Precision) * vox.cellScale) + (Int3)vox.voxelOffset;
//Debug.DrawRay (matrix.MultiplyPoint3x4(vertices[i]),Vector3.up,Color.red);
}
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Generating Nodes");
#endif
//NavMeshGraph.GenerateNodes (this,vertices,mesh.tris, out _vectorVertices, out _vertices);
/*NavmeshTile prevTile = tiles[x + z*tileXCount];
if (prevTile != null) {
for (int i=0;i<prevTile.nodes.Length;i++) {
prevTile.nodes[i].v0 = -1;
prevTile.nodes[i].v1 = -1;
prevTile.nodes[i].v2 = -1;
}
}*/
NavmeshTile tile = CreateTile (vox, mesh, x,z);
tiles[tile.x + tile.z*tileXCount] = tile;
AstarProfiler.EndProfile ("Build Nodes");
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Done");
#endif
AstarProfiler.EndProfile ("Build Tile");
}
/** Create a tile at tile index \a x , \a z from the mesh.
* \warning This implementation is not thread safe. It uses cached variables to improve performance
*/
NavmeshTile CreateTile (Voxelize vox, VoxelMesh mesh, int x, int z) {
if (mesh.tris == null) throw new System.ArgumentNullException ("The mesh must be valid. tris is null.");
if (mesh.verts == null) throw new System.ArgumentNullException ("The mesh must be valid. verts is null.");
//Create a new navmesh tile and assign its settings
NavmeshTile tile = new NavmeshTile();
tile.x = x;
tile.z = z;
tile.w = 1;
tile.d = 1;
tile.tris = mesh.tris;
tile.verts = mesh.verts;
tile.bbTree = new BBTree(tile);
if (tile.tris.Length % 3 != 0) throw new System.ArgumentException ("Indices array's length must be a multiple of 3 (mesh.tris)");
if (tile.verts.Length >= VertexIndexMask) throw new System.ArgumentException ("Too many vertices per tile (more than "+VertexIndexMask+")." +
"\nTry enabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* Inspector");
//Dictionary<Int3, int> firstVerts = new Dictionary<Int3, int> ();
Dictionary<Int3, int> firstVerts = cachedInt3_int_dict;
firstVerts.Clear();
int[] compressedPointers = new int[tile.verts.Length];
int count = 0;
for (int i=0;i<tile.verts.Length;i++) {
try {
firstVerts.Add (tile.verts[i], count);
compressedPointers[i] = count;
tile.verts[count] = tile.verts[i];
count++;
} catch {
//There are some cases, rare but still there, that vertices are identical
compressedPointers[i] = firstVerts[tile.verts[i]];
}
}
for (int i=0;i<tile.tris.Length;i++) {
tile.tris[i] = compressedPointers[tile.tris[i]];
}
Int3[] compressed = new Int3[count];
for (int i=0;i<count;i++) compressed[i] = tile.verts[i];
tile.verts = compressed;
TriangleMeshNode[] nodes = new TriangleMeshNode[tile.tris.Length/3];
tile.nodes = nodes;
//Here we are faking a new graph
//The tile is not added to any graphs yet, but to get the position querys from the nodes
//to work correctly (not throw exceptions because the tile is not calculated) we fake a new graph
//and direct the position queries directly to the tile
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder (graphIndex, tile);
//This index will be ORed to the triangle indices
int tileIndex = x + z*tileXCount;
tileIndex <<= TileIndexOffset;
//Create nodes and assign triangle indices
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = new TriangleMeshNode(active);
nodes[i] = node;
node.GraphIndex = (uint)graphIndex;
node.v0 = tile.tris[i*3+0] | tileIndex;
node.v1 = tile.tris[i*3+1] | tileIndex;
node.v2 = tile.tris[i*3+2] | tileIndex;
//Degenerate triangles might ocurr, but they will not cause any large troubles anymore
//if (Polygon.IsColinear (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
// Debug.Log ("COLINEAR!!!!!!");
//}
//Make sure the triangle is clockwise
if (!Polygon.IsClockwise (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
node.Walkable = true;
node.Penalty = initialPenalty;
node.UpdatePositionFromVertices();
tile.bbTree.Insert (node);
}
CreateNodeConnections (tile.nodes);
//Remove the fake graph
TriangleMeshNode.SetNavmeshHolder (graphIndex, null);
return tile;
}
public void UpdateAreaInit (GraphUpdateObject o) {
if (!o.updatePhysics) {
return;
}
if (!dynamic) {
throw new System.Exception ("Recast graph must be marked as dynamic to enable graph updates");
}
AstarProfiler.Reset ();
AstarProfiler.StartProfile ("UpdateAreaInit");
AstarProfiler.StartProfile ("CollectMeshes");
RelevantGraphSurface.UpdateAllPositions ();
//Calculate world bounds of all affected tiles
IntRect touchingTiles = GetTouchingTiles ( o.bounds );
Bounds tileBounds = GetTileBounds (touchingTiles);
int voxelCharacterRadius = Mathf.CeilToInt (characterRadius/cellSize);
int borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
tileBounds.Expand (new Vector3 (borderSize,0,borderSize)*cellSize*2);
List<ExtraMesh> extraMeshes;
CollectMeshes (out extraMeshes, tileBounds);
Voxelize vox = globalVox;
if (vox == null) {
//Create the voxelizer and set all settings
vox = new Voxelize (cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.maxEdgeLength = maxEdgeLength;
if (dynamic) globalVox = vox;
}
vox.inputExtraMeshes = extraMeshes;
AstarProfiler.EndProfile ("CollectMeshes");
AstarProfiler.EndProfile ("UpdateAreaInit");
}
protected void ScanAllTiles (OnScanStatus statusCallback) {
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Collecting Meshes");
#endif
AstarProfiler.StartProfile ("Finding Meshes");
List<ExtraMesh> extraMeshes;
System.Console.WriteLine ("Collecting Meshes");
CollectMeshes (out extraMeshes, forcedBounds);
AstarProfiler.EndProfile ("Finding Meshes");
//----
//Voxel grid size
int gw = (int)(forcedBounds.size.x/cellSize + 0.5f);
int gd = (int)(forcedBounds.size.z/cellSize + 0.5f);
if (!useTiles) {
tileSizeX = gw;
tileSizeZ = gd;
} else {
tileSizeX = editorTileSize;
tileSizeZ = editorTileSize;
}
//Number of tiles
int tw = (gw + tileSizeX-1) / tileSizeX;
int td = (gd + tileSizeZ-1) / tileSizeZ;
tileXCount = tw;
tileZCount = td;
if (tileXCount * tileZCount > TileIndexMask+1) {
throw new System.Exception ("Too many tiles ("+(tileXCount * tileZCount)+") maximum is "+(TileIndexMask+1)+
"\nTry disabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* inspector.");
}
tiles = new NavmeshTile[tileXCount*tileZCount];
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Creating Voxel Base");
#endif
//Create the voxelizer and set all settings
Voxelize vox = new Voxelize (cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.inputExtraMeshes = extraMeshes;
vox.maxEdgeLength = maxEdgeLength;
int lastUp = -1;
System.Diagnostics.Stopwatch watch = new System.Diagnostics.Stopwatch();
watch.Start();
//Generate all tiles
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
int tileNum = z*tileXCount + x;
System.Console.WriteLine ("Generating Tile #"+(tileNum) + " of " + td*tw);
//Call statusCallback only 10 times since it is very slow in the editor
if ((tileNum*10/tiles.Length > lastUp || watch.ElapsedMilliseconds > 2000) && statusCallback != null) {
lastUp = tileNum*10/tiles.Length;
watch.Reset();
watch.Start();
statusCallback (new Progress (AstarMath.MapToRange (0.1f, 0.9f, tileNum/(float)tiles.Length), "Building Tile " + tileNum + "/" + tiles.Length));
}
BuildTileMesh (vox, x,z);
}
}
System.Console.WriteLine ("Assigning Graph Indices");
if (statusCallback != null) statusCallback (new Progress (0.9f, "Connecting tiles"));
//Assign graph index to nodes
uint graphIndex = (uint)AstarPath.active.astarData.GetGraphIndex (this);
GraphNodeDelegateCancelable del = delegate (GraphNode n) {
n.GraphIndex = graphIndex;
return true;
};
GetNodes (del);
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
System.Console.WriteLine ("Connecing Tile #"+(z*tileXCount + x) + " of " + td*tw);
if (x < tw-1) ConnectTiles (tiles[x + z*tileXCount], tiles[x+1 + z*tileXCount]);
if (z < td-1) ConnectTiles (tiles[x + z*tileXCount], tiles[x + (z+1)*tileXCount]);
}
}
AstarProfiler.PrintResults ();
}
private RecastGraph.NavmeshTile CreateTile(Voxelize vox, VoxelMesh mesh, int x, int z)
{
if (mesh.tris == null)
{
throw new ArgumentNullException("mesh.tris");
}
if (mesh.verts == null)
{
throw new ArgumentNullException("mesh.verts");
}
RecastGraph.NavmeshTile navmeshTile = new RecastGraph.NavmeshTile();
navmeshTile.x = x;
navmeshTile.z = z;
navmeshTile.w = 1;
navmeshTile.d = 1;
navmeshTile.tris = mesh.tris;
navmeshTile.verts = mesh.verts;
navmeshTile.bbTree = new BBTree();
if (navmeshTile.tris.Length % 3 != 0)
{
throw new ArgumentException("Indices array's length must be a multiple of 3 (mesh.tris)");
}
if (navmeshTile.verts.Length >= 4095)
{
throw new ArgumentException("Too many vertices per tile (more than " + 4095 + ").\nTry enabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* Inspector");
}
Dictionary<Int3, int> dictionary = this.cachedInt3_int_dict;
dictionary.Clear();
int[] array = new int[navmeshTile.verts.Length];
int num = 0;
for (int i = 0; i < navmeshTile.verts.Length; i++)
{
if (!dictionary.ContainsKey(navmeshTile.verts[i]))
{
dictionary.Add(navmeshTile.verts[i], num);
array[i] = num;
navmeshTile.verts[num] = navmeshTile.verts[i];
num++;
}
else
{
array[i] = dictionary[navmeshTile.verts[i]];
}
}
for (int j = 0; j < navmeshTile.tris.Length; j++)
{
navmeshTile.tris[j] = array[navmeshTile.tris[j]];
}
Int3[] array2 = new Int3[num];
for (int k = 0; k < num; k++)
{
array2[k] = navmeshTile.verts[k];
}
navmeshTile.verts = array2;
TriangleMeshNode[] array3 = new TriangleMeshNode[navmeshTile.tris.Length / 3];
navmeshTile.nodes = array3;
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder(graphIndex, navmeshTile);
int num2 = x + z * this.tileXCount;
num2 <<= 12;
for (int l = 0; l < array3.Length; l++)
{
TriangleMeshNode triangleMeshNode = new TriangleMeshNode(this.active);
array3[l] = triangleMeshNode;
triangleMeshNode.GraphIndex = (uint)graphIndex;
triangleMeshNode.v0 = (navmeshTile.tris[l * 3] | num2);
triangleMeshNode.v1 = (navmeshTile.tris[l * 3 + 1] | num2);
triangleMeshNode.v2 = (navmeshTile.tris[l * 3 + 2] | num2);
if (!Polygon.IsClockwise(triangleMeshNode.GetVertex(0), triangleMeshNode.GetVertex(1), triangleMeshNode.GetVertex(2)))
{
int v = triangleMeshNode.v0;
triangleMeshNode.v0 = triangleMeshNode.v2;
triangleMeshNode.v2 = v;
}
triangleMeshNode.Walkable = true;
triangleMeshNode.Penalty = this.initialPenalty;
triangleMeshNode.UpdatePositionFromVertices();
}
navmeshTile.bbTree.RebuildFrom(array3);
this.CreateNodeConnections(navmeshTile.nodes);
TriangleMeshNode.SetNavmeshHolder(graphIndex, null);
return navmeshTile;
}
protected void ScanAllTiles (OnScanStatus statusCallback) {
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Collecting Meshes");
#endif
//----
//Voxel grid size
int gw = (int)(forcedBounds.size.x/cellSize + 0.5f);
int gd = (int)(forcedBounds.size.z/cellSize + 0.5f);
if (!useTiles) {
tileSizeX = gw;
tileSizeZ = gd;
} else {
tileSizeX = editorTileSize;
tileSizeZ = editorTileSize;
}
//Number of tiles
int tw = (gw + tileSizeX-1) / tileSizeX;
int td = (gd + tileSizeZ-1) / tileSizeZ;
tileXCount = tw;
tileZCount = td;
if (tileXCount * tileZCount > TileIndexMask+1) {
throw new System.Exception ("Too many tiles ("+(tileXCount * tileZCount)+") maximum is "+(TileIndexMask+1)+
"\nTry disabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* inspector.");
}
tiles = new NavmeshTile[tileXCount*tileZCount];
#if ASTARDEBUG
System.Console.WriteLine ("Recast Graph -- Creating Voxel Base");
#endif
// If this is true, just fill the graph with empty tiles
if ( scanEmptyGraph ) {
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
tiles[z*tileXCount + x] = NewEmptyTile(x,z);
}
}
return;
}
AstarProfiler.StartProfile ("Finding Meshes");
List<ExtraMesh> extraMeshes;
#if !NETFX_CORE || UNITY_EDITOR
System.Console.WriteLine ("Collecting Meshes");
#endif
CollectMeshes (out extraMeshes, forcedBounds);
AstarProfiler.EndProfile ("Finding Meshes");
// A walkableClimb higher than walkableHeight can cause issues when generating the navmesh since then it can in some cases
// Both be valid for a character to walk under an obstacle and climb up on top of it (and that cannot be handled with navmesh without links)
// The editor scripts also enforce this but we enforce it here too just to be sure
walkableClimb = Mathf.Min (walkableClimb, walkableHeight);
//Create the voxelizer and set all settings
var vox = new Voxelize (cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.inputExtraMeshes = extraMeshes;
vox.maxEdgeLength = maxEdgeLength;
int lastInfoCallback = -1;
var watch = System.Diagnostics.Stopwatch.StartNew();
//Generate all tiles
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
int tileNum = z*tileXCount + x;
#if !NETFX_CORE || UNITY_EDITOR
System.Console.WriteLine ("Generating Tile #"+(tileNum) + " of " + td*tw);
#endif
//Call statusCallback only 10 times since it is very slow in the editor
if (statusCallback != null && (tileNum*10/tiles.Length > lastInfoCallback || watch.ElapsedMilliseconds > 2000)) {
lastInfoCallback = tileNum*10/tiles.Length;
watch.Reset();
watch.Start();
statusCallback (new Progress (AstarMath.MapToRange (0.1f, 0.9f, tileNum/(float)tiles.Length), "Building Tile " + tileNum + "/" + tiles.Length));
}
BuildTileMesh (vox, x,z);
}
}
#if !NETFX_CORE
System.Console.WriteLine ("Assigning Graph Indices");
#endif
if (statusCallback != null) statusCallback (new Progress (0.9f, "Connecting tiles"));
//Assign graph index to nodes
uint graphIndex = (uint)AstarPath.active.astarData.GetGraphIndex (this);
GraphNodeDelegateCancelable del = delegate (GraphNode n) {
n.GraphIndex = graphIndex;
return true;
};
GetNodes (del);
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
#if !NETFX_CORE
System.Console.WriteLine ("Connecing Tile #"+(z*tileXCount + x) + " of " + td*tw);
#endif
if (x < tw-1) ConnectTiles (tiles[x + z*tileXCount], tiles[x+1 + z*tileXCount]);
if (z < td-1) ConnectTiles (tiles[x + z*tileXCount], tiles[x + (z+1)*tileXCount]);
}
}
AstarProfiler.PrintResults ();
}
protected void ScanAllTiles(OnScanStatus statusCallback)
{
int num = (int)(this.forcedBounds.size.x / this.cellSize + 0.5f);
int num2 = (int)(this.forcedBounds.size.z / this.cellSize + 0.5f);
if (!this.useTiles)
{
this.tileSizeX = num;
this.tileSizeZ = num2;
}
else
{
this.tileSizeX = this.editorTileSize;
this.tileSizeZ = this.editorTileSize;
}
int num3 = (num + this.tileSizeX - 1) / this.tileSizeX;
int num4 = (num2 + this.tileSizeZ - 1) / this.tileSizeZ;
this.tileXCount = num3;
this.tileZCount = num4;
if (this.tileXCount * this.tileZCount > 524288)
{
throw new Exception(string.Concat(new object[]
{
"Too many tiles (",
this.tileXCount * this.tileZCount,
") maximum is ",
524288,
"\nTry disabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* inspector."
}));
}
this.tiles = new RecastGraph.NavmeshTile[this.tileXCount * this.tileZCount];
if (this.scanEmptyGraph)
{
for (int i = 0; i < num4; i++)
{
for (int j = 0; j < num3; j++)
{
this.tiles[i * this.tileXCount + j] = RecastGraph.NewEmptyTile(j, i);
}
}
return;
}
Console.WriteLine("Collecting Meshes");
List<ExtraMesh> inputExtraMeshes;
this.CollectMeshes(out inputExtraMeshes, this.forcedBounds);
this.walkableClimb = Mathf.Min(this.walkableClimb, this.walkableHeight);
Voxelize voxelize = new Voxelize(this.cellHeight, this.cellSize, this.walkableClimb, this.walkableHeight, this.maxSlope);
voxelize.inputExtraMeshes = inputExtraMeshes;
voxelize.maxEdgeLength = this.maxEdgeLength;
int num5 = -1;
Stopwatch stopwatch = Stopwatch.StartNew();
for (int k = 0; k < num4; k++)
{
for (int l = 0; l < num3; l++)
{
int num6 = k * this.tileXCount + l;
Console.WriteLine(string.Concat(new object[]
{
"Generating Tile #",
num6,
" of ",
num4 * num3
}));
if (statusCallback != null && (num6 * 10 / this.tiles.Length > num5 || stopwatch.ElapsedMilliseconds > 2000L))
{
num5 = num6 * 10 / this.tiles.Length;
stopwatch.Reset();
stopwatch.Start();
statusCallback(new Progress(AstarMath.MapToRange(0.1f, 0.9f, (float)num6 / (float)this.tiles.Length), string.Concat(new object[]
{
"Building Tile ",
num6,
"/",
this.tiles.Length
})));
}
this.BuildTileMesh(voxelize, l, k);
}
}
Console.WriteLine("Assigning Graph Indices");
if (statusCallback != null)
{
statusCallback(new Progress(0.9f, "Connecting tiles"));
}
uint graphIndex = (uint)AstarPath.active.astarData.GetGraphIndex(this);
GraphNodeDelegateCancelable del = delegate(GraphNode n)
{
n.GraphIndex = graphIndex;
return true;
};
this.GetNodes(del);
for (int m = 0; m < num4; m++)
{
for (int n2 = 0; n2 < num3; n2++)
{
Console.WriteLine(string.Concat(new object[]
{
"Connecing Tile #",
m * this.tileXCount + n2,
" of ",
num4 * num3
}));
if (n2 < num3 - 1)
{
this.ConnectTiles(this.tiles[n2 + m * this.tileXCount], this.tiles[n2 + 1 + m * this.tileXCount]);
}
if (m < num4 - 1)
{
this.ConnectTiles(this.tiles[n2 + m * this.tileXCount], this.tiles[n2 + (m + 1) * this.tileXCount]);
}
}
}
}
protected void BuildTileMesh(Voxelize vox, int x, int z)
{
float num = (float)this.tileSizeX * this.cellSize;
float num2 = (float)this.tileSizeZ * this.cellSize;
int num3 = Mathf.CeilToInt(this.characterRadius / this.cellSize);
Vector3 min = this.forcedBounds.min;
Vector3 max = this.forcedBounds.max;
Bounds forcedBounds = default(Bounds);
forcedBounds.SetMinMax(new Vector3((float)x * num, 0f, (float)z * num2) + min, new Vector3((float)(x + 1) * num + min.x, max.y, (float)(z + 1) * num2 + min.z));
vox.borderSize = num3 + 3;
forcedBounds.Expand(new Vector3((float)vox.borderSize, 0f, (float)vox.borderSize) * this.cellSize * 2f);
vox.forcedBounds = forcedBounds;
vox.width = this.tileSizeX + vox.borderSize * 2;
vox.depth = this.tileSizeZ + vox.borderSize * 2;
if (!this.useTiles && this.relevantGraphSurfaceMode == RecastGraph.RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile)
{
vox.relevantGraphSurfaceMode = RecastGraph.RelevantGraphSurfaceMode.RequireForAll;
}
else
{
vox.relevantGraphSurfaceMode = this.relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(this.minRegionSize / (this.cellSize * this.cellSize));
vox.Init();
vox.CollectMeshes();
vox.VoxelizeInput();
vox.FilterLedges(vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
vox.FilterLowHeightSpans(vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
vox.BuildCompactField();
vox.BuildVoxelConnections();
vox.ErodeWalkableArea(num3);
vox.BuildDistanceField();
vox.BuildRegions();
VoxelContourSet cset = new VoxelContourSet();
vox.BuildContours(this.contourMaxError, 1, cset, 1);
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
for (int i = 0; i < mesh.verts.Length; i++)
{
mesh.verts[i] = mesh.verts[i] * 1000 * vox.cellScale + (Int3)vox.voxelOffset;
}
RecastGraph.NavmeshTile navmeshTile = this.CreateTile(vox, mesh, x, z);
this.tiles[navmeshTile.x + navmeshTile.z * this.tileXCount] = navmeshTile;
}
public void UpdateAreaInit(GraphUpdateObject o)
{
if (!o.updatePhysics)
{
return;
}
if (!this.dynamic)
{
throw new Exception("Recast graph must be marked as dynamic to enable graph updates");
}
RelevantGraphSurface.UpdateAllPositions();
IntRect touchingTiles = this.GetTouchingTiles(o.bounds);
Bounds tileBounds = this.GetTileBounds(touchingTiles);
int num = Mathf.CeilToInt(this.characterRadius / this.cellSize);
int num2 = num + 3;
tileBounds.Expand(new Vector3((float)num2, 0f, (float)num2) * this.cellSize * 2f);
List<ExtraMesh> inputExtraMeshes;
this.CollectMeshes(out inputExtraMeshes, tileBounds);
Voxelize voxelize = this.globalVox;
if (voxelize == null)
{
voxelize = new Voxelize(this.cellHeight, this.cellSize, this.walkableClimb, this.walkableHeight, this.maxSlope);
voxelize.maxEdgeLength = this.maxEdgeLength;
if (this.dynamic)
{
this.globalVox = voxelize;
}
}
voxelize.inputExtraMeshes = inputExtraMeshes;
}
protected void BuildTileMesh (Voxelize vox, int x, int z) {
AstarProfiler.StartProfile("Build Tile");
AstarProfiler.StartProfile("Init");
//World size of tile
float tcsx = tileSizeX*cellSize;
float tcsz = tileSizeZ*cellSize;
int voxelCharacterRadius = Mathf.CeilToInt(characterRadius/cellSize);
Vector3 forcedBoundsMin = forcedBounds.min;
Vector3 forcedBoundsMax = forcedBounds.max;
var bounds = new Bounds();
bounds.SetMinMax(new Vector3(x*tcsx, 0, z*tcsz) + forcedBoundsMin,
new Vector3((x+1)*tcsx + forcedBoundsMin.x, forcedBoundsMax.y, (z+1)*tcsz + forcedBoundsMin.z)
);
vox.borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
bounds.Expand(new Vector3(vox.borderSize, 0, vox.borderSize)*cellSize*2);
vox.forcedBounds = bounds;
vox.width = tileSizeX + vox.borderSize*2;
vox.depth = tileSizeZ + vox.borderSize*2;
if (!useTiles && relevantGraphSurfaceMode == RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile) {
// This best reflects what the user would actually want
vox.relevantGraphSurfaceMode = RelevantGraphSurfaceMode.RequireForAll;
} else {
vox.relevantGraphSurfaceMode = relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(minRegionSize / (cellSize*cellSize));
#if ASTARDEBUG
Debug.Log("Building Tile " + x+","+z);
System.Console.WriteLine("Recast Graph -- Voxelizing");
#endif
AstarProfiler.EndProfile("Init");
//Init voxelizer
vox.Init();
vox.CollectMeshes();
vox.VoxelizeInput();
AstarProfiler.StartProfile("Filter Ledges");
vox.FilterLedges(vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile("Filter Ledges");
AstarProfiler.StartProfile("Filter Low Height Spans");
vox.FilterLowHeightSpans(vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile("Filter Low Height Spans");
vox.BuildCompactField();
vox.BuildVoxelConnections();
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Eroding");
#endif
vox.ErodeWalkableArea(voxelCharacterRadius);
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Distance Field");
#endif
vox.BuildDistanceField();
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Regions");
#endif
vox.BuildRegions();
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Contours");
#endif
var cset = new VoxelContourSet();
vox.BuildContours(contourMaxError, 1, cset, Voxelize.RC_CONTOUR_TESS_WALL_EDGES);
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Poly Mesh");
#endif
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Nodes");
#endif
//Vector3[] vertices = new Vector3[mesh.verts.Length];
AstarProfiler.StartProfile("Build Nodes");
// Debug code
//matrix = Matrix4x4.TRS (vox.voxelOffset,Quaternion.identity,Int3.Precision*vox.cellScale);
//Position the vertices correctly in the world
for (int i = 0; i < mesh.verts.Length; i++) {
//Note the multiplication is Scalar multiplication of vectors
mesh.verts[i] = ((mesh.verts[i]*Int3.Precision) * vox.cellScale) + (Int3)vox.voxelOffset;
// Debug code
//Debug.DrawRay (matrix.MultiplyPoint3x4(vertices[i]),Vector3.up,Color.red);
}
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Generating Nodes");
#endif
NavmeshTile tile = CreateTile(vox, mesh, x, z);
tiles[tile.x + tile.z*tileXCount] = tile;
AstarProfiler.EndProfile("Build Nodes");
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Done");
#endif
AstarProfiler.EndProfile("Build Tile");
}
protected IEnumerable<Progress> ScanAllTiles () {
// Voxel grid size
int gw = (int)(forcedBounds.size.x/cellSize + 0.5f);
int gd = (int)(forcedBounds.size.z/cellSize + 0.5f);
if (!useTiles) {
tileSizeX = gw;
tileSizeZ = gd;
} else {
tileSizeX = editorTileSize;
tileSizeZ = editorTileSize;
}
// Number of tiles
int tw = (gw + tileSizeX-1) / tileSizeX;
int td = (gd + tileSizeZ-1) / tileSizeZ;
tileXCount = tw;
tileZCount = td;
if (tileXCount * tileZCount > TileIndexMask+1) {
throw new System.Exception ("Too many tiles ("+(tileXCount * tileZCount)+") maximum is "+(TileIndexMask+1)+
"\nTry disabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* inspector.");
}
tiles = new NavmeshTile[tileXCount*tileZCount];
// If this is true, just fill the graph with empty tiles
if (scanEmptyGraph) {
FillWithEmptyTiles();
yield break;
}
yield return new Progress(0, "Finding Meshes");
List<ExtraMesh> extraMeshes;
CollectMeshes (out extraMeshes, forcedBounds);
// A walkableClimb higher than walkableHeight can cause issues when generating the navmesh since then it can in some cases
// Both be valid for a character to walk under an obstacle and climb up on top of it (and that cannot be handled with navmesh without links)
// The editor scripts also enforce this but we enforce it here too just to be sure
walkableClimb = Mathf.Min (walkableClimb, walkableHeight);
// Create the voxelizer and set all settings
var vox = new Voxelize (cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.inputExtraMeshes = extraMeshes;
vox.maxEdgeLength = maxEdgeLength;
// Generate all tiles
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
int tileNum = z*tileXCount + x;
yield return new Progress(Mathf.Lerp(0.1f, 0.9f, tileNum/(float)tiles.Length), "Generating Tile " + tileNum + "/" + tiles.Length);
BuildTileMesh (vox, x,z);
}
}
yield return new Progress(0.9f, "Assigning Graph Indices");
// Assign graph index to nodes
uint graphIndex = (uint)AstarPath.active.astarData.GetGraphIndex (this);
GetNodes (node => {
node.GraphIndex = graphIndex;
return true;
});
for (int z=0;z<td;z++) {
for (int x=0;x<tw;x++) {
yield return new Progress(Mathf.Lerp(0.9f, 1.0f, (z*tileXCount+x)/(float)tiles.Length), "Connecting Tile #"+(z*tileXCount + x) + "/" + tiles.Length);
// Connect with tile at (x+1,z) and (x,z+1)
if (x < tw-1) ConnectTiles (tiles[x + z*tileXCount], tiles[x+1 + z*tileXCount]);
if (z < td-1) ConnectTiles (tiles[x + z*tileXCount], tiles[x + (z+1)*tileXCount]);
}
}
}
