private void OnFloorWithDynamicObjectsChanged()
{
FloorWithDynamicObjects.CalculateConstrainedEdges();
NavigationMesh.Initialize(FloorWithDynamicObjects);
Pathfinding = new AStar(NavigationMesh, FloorWithDynamicObjects);
foreach (var unit in AllUnits)
{
unit.OnPathRecalculationNeeded();
}
}
protected override Task <ResultStatus> DoCommandOverride(ICommandContext commandContext)
{
var intermediateDataId = ComputeAssetIntermediateDataId();
// Build cache items to build incrementally
currentBuild = new NavigationMeshCachedBuild();
oldBuild = LoadIntermediateData(intermediateDataId);
// The output object of the compilation
NavigationMesh generatedNavigationMesh = new NavigationMesh();
// No scene specified, result in failure
if (asset.Scene == null)
{
return(Task.FromResult(ResultStatus.Failed));
}
if (asset.AutoGenerateBoundingBox)
{
generateBoundingBox = true;
globalBoundingBox = BoundingBox.Empty;
}
else
{
generateBoundingBox = false;
globalBoundingBox = asset.BoundingBox;
}
// Copy build settings so we can modify them
buildSettings = asset.BuildSettings;
// Check for tile size
if (buildSettings.TileSize <= 0)
{
return(Task.FromResult(ResultStatus.Failed));
}
// Clone scene, obtain hash and load collider shape assets
EnsureClonedSceneAndHash();
if (clonedSceneAsset == null)
{
return(Task.FromResult(ResultStatus.Failed));
}
// This collects all the input geometry, calculates the modified areas and calculates the scene bounds
CollectInputGeometry();
List <BoundingBox> removedAreas = oldBuild?.GetRemovedAreas(sceneEntities);
BoundingBox boundingBox = globalBoundingBox;
// Can't generate when no bounding box or and invalid bounding box is specified
// this means that either the user specified bounding box is wrong or the scene does not contain any colliders
if (boundingBox.Extent.X > 0 && boundingBox.Extent.Y > 0 && boundingBox.Extent.Z > 0)
{
// Turn generated data into arrays
Vector3[] meshVertices = sceneNavigationMeshInputBuilder.Points.ToArray();
int[] meshIndices = sceneNavigationMeshInputBuilder.Indices.ToArray();
// NOTE: Reversed winding order as input to recast
int numSrcTriangles = meshIndices.Length / 3;
for (int i = 0; i < numSrcTriangles; i++)
{
int j = meshIndices[i * 3 + 1];
meshIndices[i * 3 + 1] = meshIndices[i * 3 + 2];
meshIndices[i * 3 + 2] = j;
}
// Check if settings changed to trigger a full rebuild
int currentSettingsHash = asset.GetHashCode();
currentBuild.SettingsHash = currentSettingsHash;
if (oldBuild != null && oldBuild.SettingsHash != currentBuild.SettingsHash)
{
fullRebuild = true;
}
if (oldBuild != null && !fullRebuild)
{
// Perform incremental build on old navigation mesh
generatedNavigationMesh = oldBuild.NavigationMesh;
}
// Initialize navigation mesh for building
generatedNavigationMesh.Initialize(buildSettings, asset.NavigationMeshAgentSettings.ToArray());
// Set the new navigation mesh in the current build
currentBuild.NavigationMesh = generatedNavigationMesh;
// Generate all the layers corresponding to the various agent settings
for (int layer = 0; layer < asset.NavigationMeshAgentSettings.Count; layer++)
{
Stopwatch layerBuildTimer = new Stopwatch();
layerBuildTimer.Start();
var agentSetting = asset.NavigationMeshAgentSettings[layer];
// Flag tiles to build for this specific layer
HashSet <Point> tilesToBuild = new HashSet <Point>();
if (fullRebuild)
{
// For full rebuild just take the root bounding box for selecting tiles to build
List <Point> newTileList = NavigationMeshBuildUtils.GetOverlappingTiles(buildSettings, boundingBox);
foreach (Point p in newTileList)
{
tilesToBuild.Add(p);
}
}
else
{
// Apply an offset so their neighbouring tiles which are affected by the agent radius also get rebuild
Vector3 agentOffset = new Vector3(agentSetting.Radius, 0, agentSetting.Radius);
if (removedAreas != null)
{
updatedAreas.AddRange(removedAreas);
}
foreach (var update in updatedAreas)
{
BoundingBox agentSpecificBoundingBox = new BoundingBox
{
Minimum = update.Minimum - agentOffset,
Maximum = update.Maximum + agentOffset,
};
List <Point> newTileList = NavigationMeshBuildUtils.GetOverlappingTiles(buildSettings, agentSpecificBoundingBox);
foreach (Point p in newTileList)
{
tilesToBuild.Add(p);
}
}
}
// Build tiles
foreach (var tileToBuild in tilesToBuild)
{
BoundingBox tileBoundingBox = NavigationMeshBuildUtils.ClampBoundingBoxToTile(buildSettings, boundingBox, tileToBuild);
// Check if tile bounding box is contained withing the navigation mesh bounding box
if (boundingBox.Contains(ref tileBoundingBox) == ContainmentType.Disjoint)
{
// Remove this tile
generatedNavigationMesh.Layers[layer].RemoveLayerTile(tileToBuild);
continue;
}
// Build the tile for the current layer being processed
generatedNavigationMesh.Layers[layer].BuildTile(meshVertices.ToArray(), meshIndices.ToArray(), tileBoundingBox, tileToBuild);
}
}
}
// Store used bounding box in navigation mesh
generatedNavigationMesh.BoundingBox = boundingBox;
contentManager.Save(assetUrl, generatedNavigationMesh);
SaveIntermediateData(intermediateDataId, currentBuild);
return(Task.FromResult(ResultStatus.Successful));
}
