//takes edges and axis. check if edge exist, if exist add closest point to cell
public void AddPortal(IEnumerable <EdgeAbstract> edges, Vector3 axis)
{
Vector2 axisV2 = new Vector2(axis.x, axis.z);
Dictionary <Cell, Vector3> cellMountPoints = new Dictionary <Cell, Vector3>();
foreach (var abstractEdge in edges)
{
CellContentData data = new CellContentData(abstractEdge);
Vector3 intersection;
SomeMath.ClosestToSegmentTopProjection(data.a, data.b, axisV2, true, out intersection);
foreach (var cell in _cells)
{
if (cell.Contains(data))
{
if (cellMountPoints.ContainsKey(cell))
{
if (SomeMath.SqrDistance(cellMountPoints[cell], axis) > SomeMath.SqrDistance(intersection, axis))
{
cellMountPoints[cell] = intersection;
}
}
else
{
cellMountPoints.Add(cell, intersection);
}
}
}
}
Vector2 normalRaw;
switch (cellMountPoints.Count)
{
case 0:
return;
case 1:
normalRaw = ToV2((cellMountPoints.First().Value - axis)).normalized * -1;
break;
case 2:
normalRaw = (
ToV2(cellMountPoints.First().Value - axis).normalized +
ToV2(cellMountPoints.Last().Value - axis).normalized).normalized * -1;
break;
default:
normalRaw = Vector2.left;
Dictionary <Cell, float> cellAngles = new Dictionary <Cell, float>();
Cell first = cellMountPoints.First().Key;
cellAngles.Add(first, 0f);
Vector3 firstDirV3 = cellMountPoints.First().Value - axis;
Vector2 firstDirV2 = ToV2(firstDirV3);
foreach (var pair in cellMountPoints)
{
if (pair.Key == first)
{
continue;
}
Vector2 curDir = new Vector2(pair.Value.x - axis.x, pair.Value.z - axis.z);
cellAngles.Add(pair.Key, Vector2.Angle(firstDirV2, curDir) * Mathf.Sign(SomeMath.V2Cross(firstDirV2, curDir)));
}
normalRaw = (
ToV2(cellMountPoints[cellAngles.Aggregate((l, r) => l.Value > r.Value ? l : r).Key] - axis).normalized +
ToV2(cellMountPoints[cellAngles.Aggregate((l, r) => l.Value < r.Value ? l : r).Key] - axis).normalized).normalized * -1;
break;
}
portalBases.Add(new JumpPortalBase(cellMountPoints, axis, new Vector3(normalRaw.x, 0, normalRaw.y)));
}
private void DoFunnelIteration(Vector3 startV3, Vector3 endV3, List <CellContentGenericConnection> targetConnections)
{
List <CellContentData> gd = new List <CellContentData>();
for (int i = 0; i < targetConnections.Count; i++)
{
gd.Add(targetConnections[i].cellData);
}
gd.Add(new CellContentData(endV3));
gd.Add(new CellContentData(endV3));
int curCycleEnd = 0, curCycleStart = 0, curIterationGateCount = targetConnections.Count + 1;
Vector2 left, right;
for (int i = 0; i < maxIterations; i++)
{
if (curCycleEnd == curIterationGateCount)
{
break;
}
Vector2 startV2 = funnelPath.lastV2;
for (curCycleStart = curCycleEnd; curCycleStart < curIterationGateCount; curCycleStart++)
{
if (gd[curCycleStart].leftV2 != startV2 & gd[curCycleStart].rightV2 != startV2)
{
break;
}
}
left = gd[curCycleStart].leftV2;
right = gd[curCycleStart].rightV2;
Vector2 lowestLeftDir = left - startV2;
Vector2 lowestRightDir = right - startV2;
float lowestAngle = Vector2.Angle(lowestLeftDir, lowestRightDir);
#region gate iteration
int stuckLeft = curCycleStart;
int stuckRight = curCycleStart;
Vector3?endNode = null;
for (int curGate = curCycleStart; curGate < curIterationGateCount; curGate++)
{
right = gd[curGate].rightV2;
left = gd[curGate].leftV2;
Vector2 curLeftDir = left - startV2;
Vector2 curRightDir = right - startV2;
if (SomeMath.V2Cross(lowestLeftDir, curRightDir) >= 0)
{
float currentAngle = Vector2.Angle(lowestLeftDir, curRightDir);
if (currentAngle < lowestAngle)
{
lowestRightDir = curRightDir;
lowestAngle = currentAngle;
stuckRight = curGate;
}
}
else
{
endNode = gd[stuckLeft].leftV3;
curCycleEnd = stuckLeft;
break;
}
if (SomeMath.V2Cross(curLeftDir, lowestRightDir) >= 0)
{
float currentAngle = Vector2.Angle(curLeftDir, lowestRightDir);
if (currentAngle < lowestAngle)
{
lowestLeftDir = curLeftDir;
lowestAngle = currentAngle;
stuckLeft = curGate;
}
}
else
{
endNode = gd[stuckRight].rightV3;
curCycleEnd = stuckRight;
break;
}
}
#endregion
//flag to reach next point
if (endNode.HasValue)
{
if (curCycleStart != curCycleEnd) //move inside multiple cells
{
AddGate(curCycleStart, curCycleEnd, targetConnections, funnelPath.lastV3, endNode.Value);
}
funnelPath.AddMove(endNode.Value, (MoveState)(int)targetConnections[curCycleEnd].from.passability);
}
}
if (curCycleEnd < gd.Count)
{
AddGate(curCycleEnd, targetConnections.Count, targetConnections, funnelPath.lastV3, endV3);
}
}
/// <summary>
/// return used edges,
/// </summary>
private void MakeCell(TriangulatorEdge target, bool aFirst, List <TriangulatorEdge>[] edgesDictionary, TriangulatorNode[] nodes, out List <int> cellNodes, out List <TriangulatorEdge> cellEdges)
{
cellNodes = new List <int>();
cellEdges = new List <TriangulatorEdge>();
cellEdges.Add(target);
int startNode;
if (aFirst) //a are origin
{
startNode = target.a;
cellNodes.Add(target.a);
cellNodes.Add(target.b);
}
else
{
startNode = target.b;
cellNodes.Add(target.b);
cellNodes.Add(target.a);
}
int limit = 0;
harhar++;
while (true)
{
limit++;
if (limit > 50)
{
#if UNITY_EDITOR
if (Debuger_K.doDebug && Debuger_K.debugOnlyNavMesh == false)
{
for (int i = 0; i < cellNodes.Count - 1; i++)
{
Vector3 a1 = nodes[cellNodes[i]].positionV3 + (Vector3.up * 0.02f * i);
Vector3 a2 = nodes[cellNodes[i + 1]].positionV3 + (Vector3.up * 0.02f * i);
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, a1, a2, Color.red);
//Debuger_K.AddTriangulatorDebugLabel(chunk, properties, SomeMath.MidPoint(a1, a2), i);
}
}
#endif
Debug.LogError("error while making cells " + harhar);
break;
}
int nodeMinus = cellNodes[cellNodes.Count - 2];
int nodeCurrent = cellNodes[cellNodes.Count - 1];
int?nodePlus = null;
TriangulatorEdge?connectionPlus = null;
Vector2 directionToMinus = (nodes[nodeMinus].positionV2 - nodes[nodeCurrent].positionV2).normalized;
float lowestAngle = 180f;
List <TriangulatorEdge> searchConnections = edgesDictionary[nodeCurrent];
foreach (var connection in searchConnections)
{
int potentialNodePlus = connection.GetOtherNode(nodeCurrent);
if (nodeMinus == potentialNodePlus)
{
continue;
}
Vector2 directionToPotentialPlus = (nodes[potentialNodePlus].positionV2 - nodes[nodeCurrent].positionV2).normalized;
float cross = SomeMath.V2Cross(directionToMinus, directionToPotentialPlus);
float currentAngle = Vector2.Angle(directionToMinus, directionToPotentialPlus);
if (cross > 0f & currentAngle != 180)
{
continue;
}
if (currentAngle > lowestAngle)
{
continue;
}
connectionPlus = connection;
nodePlus = potentialNodePlus;
lowestAngle = currentAngle;
}
if (nodePlus == null)
{
#region error
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, nodes[cellNodes[0]].positionV3, nodes[cellNodes[0]].positionV3 + SmallV3(0.3f), Color.green);
for (int i = 0; i < cellNodes.Count - 1; i++)
{
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, nodes[cellNodes[i]].positionV3 + SmallV3(0.1f), nodes[cellNodes[i + 1]].positionV3 + SmallV3(0.1f), Color.red);
}
for (int i = 0; i < cellNodes.Count - 1; i++)
{
Vector3 a1 = nodes[cellNodes[i]].positionV3 + SmallV3(0.02f * i);
Vector3 a2 = nodes[cellNodes[i + 1]].positionV3 + SmallV3(0.02f * i);
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, a1, a2, Color.red);
}
foreach (var connection in searchConnections)
{
int potentialNodePlus = connection.GetOtherNode(nodeCurrent);
if (nodeMinus == potentialNodePlus)
{
continue;
}
Vector2 directionToPotentialPlus = (nodes[potentialNodePlus].positionV2 - nodes[nodeCurrent].positionV2).normalized;
float cross = SomeMath.V2Cross(directionToMinus, directionToPotentialPlus);
Debuger_K.AddLabel(nodes[potentialNodePlus].positionV3, cross);
Debuger_K.AddLabel(nodes[nodeCurrent].positionV3, Vector2.Angle(directionToMinus, directionToPotentialPlus));
//Debuger_K.AddTriangulatorDebugLabel(chunk, properties, nodes[potentialNodePlus].positionV3, cross);
//Debuger_K.AddTriangulatorDebugLabel(chunk, properties, nodes[nodeCurrent].positionV3, Vector2.Angle(directionToMinus, directionToPotentialPlus));
}
}
#endif
#endregion
Debug.LogError("nodePlus == null");
break;
}
cellEdges.Add(connectionPlus.Value);
if (nodePlus == startNode)
{
break;
}
cellNodes.Add(nodePlus.Value);
}
}
//public GraphTriangulator(GraphGenerator generator, NavMeshTemplateCreation template) {
// var volumes = generator.getVolumes;
// var nodes = generator.getNodes;
// //layer, hash
// Dictionary<int, Dictionary<int, List<NodeAbstract>>> dicNodes = new Dictionary<int, Dictionary<int, List<NodeAbstract>>>();
// Dictionary<int, Dictionary<int, List<EdgeAbstract>>> dicEdges = new Dictionary<int, Dictionary<int, List<EdgeAbstract>>>();
// Dictionary<int, Dictionary<int, Dictionary<NodeAbstract, TriangulatorNodeData>>> dicValues = new Dictionary<int, Dictionary<int, Dictionary<NodeAbstract, TriangulatorNodeData>>>();
// foreach (var volume in volumes) {
// dicNodes.Add(volume.id, new Dictionary<int, List<NodeAbstract>>());
// dicEdges.Add(volume.id, new Dictionary<int, List<EdgeAbstract>>());
// dicValues.Add(volume.id, new Dictionary<int, Dictionary<NodeAbstract, TriangulatorNodeData>>());
// //some hardcoded stuff
// foreach (var a in volume.containsAreas) {
// int crouchHash = PathFinder.GetAreaHash(a, Passability.Crouchable);
// int walkHash = PathFinder.GetAreaHash(a, Passability.Walkable);
// dicNodes[volume.id].Add(crouchHash, new List<NodeAbstract>());
// dicEdges[volume.id].Add(crouchHash, new List<EdgeAbstract>());
// dicValues[volume.id].Add(crouchHash, new Dictionary<NodeAbstract, TriangulatorNodeData>());
// dicNodes[volume.id].Add(walkHash, new List<NodeAbstract>());
// dicEdges[volume.id].Add(walkHash, new List<EdgeAbstract>());
// dicValues[volume.id].Add(walkHash, new Dictionary<NodeAbstract, TriangulatorNodeData>());
// }
// }
// foreach (var first in nodes) {
// foreach (var pair in first.getData) {
// int volume = pair.Key.x;
// int hash = pair.Key.y;
// dicNodes[volume][hash].Add(first);
// dicEdges[volume][hash].Add(first[volume, hash]);
// NodeTemp middle = first.GetNode(volume, hash);
// NodeTemp last = middle.GetNode(volume, hash);
// float cross = SomeMath.V2Cross(
// last.x - middle.x, last.z - middle.z,
// first.x - middle.x, first.z - middle.z);
// if (cross < 0) {
// Vector2 directionLast = new Vector2(last.x - middle.x, last.z - middle.z).normalized;
// Vector2 directionFirst = new Vector2(first.x - middle.x, first.z - middle.z).normalized;
// dicValues[volume][hash].Add(middle, new TriangulatorNodeData(cross, Vector2.Angle(directionLast, directionFirst), (directionLast + directionFirst).normalized * -1));
// }
// else
// dicValues[volume][hash].Add(middle, new TriangulatorNodeData(cross, 0, Vector2.zero));
// }
// }
// foreach (var volume in volumes) {
// foreach (var a in volume.containsAreas) {
// int crouchHash = PathFinder.GetAreaHash(a, Passability.Crouchable);
// data.Add(new TriangulatorDataSet(
// template,
// dicNodes[volume.id][crouchHash],
// dicEdges[volume.id][crouchHash],
// dicValues[volume.id][crouchHash],
// volume.id, a, Passability.Crouchable));
// int walkHash = PathFinder.GetAreaHash(a, Passability.Walkable);
// data.Add(new TriangulatorDataSet(
// template,
// dicNodes[volume.id][walkHash],
// dicEdges[volume.id][walkHash],
// dicValues[volume.id][walkHash],
// volume.id, a, Passability.Walkable));
// }
// }
// //data.RemoveAll(x => x.nodes.Count == 0);
//}
public GraphTriangulator(GraphGeneratorNew generator, NavMeshTemplateCreation template)
{
int maxLayers = generator.volumeContainer.layersCount;
//var volumes = generator.dataLayers;
var nodes = generator.getNodes;
//DataLayer[] dataLayers = generator.dataLayers;
//int dataLayersLength = dataLayers.Length;
profiler = template.profiler;
//layer, hash
Dictionary <int, List <NodeAbstract> >[] dicNodes = new Dictionary <int, List <NodeAbstract> > [maxLayers];
Dictionary <int, List <EdgeAbstract> >[] dicEdges = new Dictionary <int, List <EdgeAbstract> > [maxLayers];
Dictionary <int, Dictionary <NodeAbstract, TriangulatorNodeData> >[] dicValues = new Dictionary <int, Dictionary <NodeAbstract, TriangulatorNodeData> > [maxLayers];
for (int id = 0; id < maxLayers; id++)
{
dicNodes[id] = new Dictionary <int, List <NodeAbstract> >();
dicEdges[id] = new Dictionary <int, List <EdgeAbstract> >();
dicValues[id] = new Dictionary <int, Dictionary <NodeAbstract, TriangulatorNodeData> >();
//DataLayer layer = dataLayers[id];
//some hardcoded stuff
//foreach (var hash in layer.allAreaHashes) {
// dicNodes[id].Add(hash, new List<NodeAbstract>());
// dicEdges[id].Add(hash, new List<EdgeAbstract>());
// dicValues[id].Add(hash, new Dictionary<NodeAbstract, TriangulatorNodeData>());
//}
}
if (profiler != null)
{
profiler.AddLog("start preparing data in GraphTriangulator");
}
foreach (var first in nodes)
{
foreach (var pair in first.getData)
{
int layer = pair.Key.x;
int hash = pair.Key.y;
var curDicNodes = dicNodes[layer];
var curDicEdges = dicEdges[layer];
var curDicValues = dicValues[layer];
if (curDicNodes.ContainsKey(hash) == false)
{
curDicNodes.Add(hash, new List <NodeAbstract>());
curDicEdges.Add(hash, new List <EdgeAbstract>());
curDicValues.Add(hash, new Dictionary <NodeAbstract, TriangulatorNodeData>());
}
curDicNodes[hash].Add(first);
curDicEdges[hash].Add(first[layer, hash]);
NodeTemp middle = first.GetNode(layer, hash);
NodeTemp last = middle.GetNode(layer, hash);
float cross = SomeMath.V2Cross(
last.x - middle.x, last.z - middle.z,
first.x - middle.x, first.z - middle.z);
if (cross < 0)
{
Vector2 directionLast = new Vector2(last.x - middle.x, last.z - middle.z).normalized;
Vector2 directionFirst = new Vector2(first.x - middle.x, first.z - middle.z).normalized;
curDicValues[hash].Add(middle, new TriangulatorNodeData(cross, Vector2.Angle(directionLast, directionFirst), (directionLast + directionFirst).normalized * -1));
}
else
{
curDicValues[hash].Add(middle, new TriangulatorNodeData(cross, 0, Vector2.zero));
}
}
}
for (int id = 0; id < maxLayers; id++)
{
foreach (var hash in dicNodes[id].Keys)
{
Area area;
Passability pass;
template.hashData.GetAreaByHash((short)hash, out area, out pass);
data.Add(new TriangulatorDataSet(
template,
dicNodes[id][hash],
dicEdges[id][hash],
dicValues[id][hash],
id, area, pass));
}
}
if (profiler != null)
{
profiler.AddLog("end preparing data in GraphTriangulator");
}
//data.RemoveAll(x => x.nodes.Count == 0);
}
public void MakeConnections(NavMeshTemplateRecast template)
{
if (nodes.Length == 0)
{
return;
}
List <int> nextIterationNodes = new List <int>();
List <T2Helper> helpers = new List <T2Helper>();
//GenerateEdgeMap(10, template);
CreateAngleVisibilityField();
for (int curNodeIndex = 0; curNodeIndex < _nodes.Length; curNodeIndex++)
{
if (data[curNodeIndex].cross >= 0)
{
continue;
}
var curVisible = visibilityField[curNodeIndex];
for (int i = 0; i < curVisible.Length; i++)
{
if (IsVisible(curNodeIndex, curVisible[i]))
{
AddEdge(curNodeIndex, curVisible[i], 0);
goto NEXT;
}
}
nextIterationNodes.Add(curNodeIndex);
NEXT : { continue; }
}
foreach (var nodeIndex in nextIterationNodes)
{
Vector2 nodePos = _nodes[nodeIndex].positionV2;
Vector2 normal = _data[nodeIndex].normal;
float validAngle = 180f - (_data[nodeIndex].angle * 0.5f);
helpers.Clear();
foreach (var targetNode in Array.FindAll(_nodes, x => Vector2.Angle(normal, x.positionV2 - nodePos) < validAngle))
{
if (nodeIndex == targetNode.id)
{
continue;
}
Vector2 targetNodeDirection = (targetNode.positionV2 - nodePos).normalized;
helpers.Add(new T2Helper(targetNode.id, Vector2.Angle(normal, targetNodeDirection) * Mathf.Sign(SomeMath.V2Cross(normal, targetNodeDirection))));
}
helpers.Sort((x, y) => { return((int)Mathf.Sign(Math.Abs(x.angle) - Math.Abs(y.angle))); });
//get first visible node on left
for (int i = 0; i < helpers.Count; i++)
{
if (helpers[i].angle < 0 && IsVisible(nodeIndex, helpers[i].node))
{
AddEdge(nodeIndex, helpers[i].node, 0);
break;
}
}
//get first visible node on right
for (int i = 0; i < helpers.Count; i++)
{
if (helpers[i].angle > 0 && IsVisible(nodeIndex, helpers[i].node))
{
AddEdge(nodeIndex, helpers[i].node, 0);
break;
}
}
}
}
XZPosInt pos;//for debug
public GraphTriangulator(GraphGenerator generator, NavMeshTemplateRecast template)
{
var volumes = generator.getVolumes;
var nodes = generator.getNodes;
//layer, hash
Dictionary <int, Dictionary <int, List <NodeAbstract> > > dicNodes = new Dictionary <int, Dictionary <int, List <NodeAbstract> > >();
Dictionary <int, Dictionary <int, List <EdgeAbstract> > > dicEdges = new Dictionary <int, Dictionary <int, List <EdgeAbstract> > >();
Dictionary <int, Dictionary <int, Dictionary <NodeAbstract, TriangulatorNodeData> > > dicValues = new Dictionary <int, Dictionary <int, Dictionary <NodeAbstract, TriangulatorNodeData> > >();
foreach (var volume in volumes)
{
dicNodes.Add(volume.id, new Dictionary <int, List <NodeAbstract> >());
dicEdges.Add(volume.id, new Dictionary <int, List <EdgeAbstract> >());
dicValues.Add(volume.id, new Dictionary <int, Dictionary <NodeAbstract, TriangulatorNodeData> >());
//some hardcoded stuff
foreach (var a in volume.containsAreas)
{
int crouchHash = PathFinder.GetAreaHash(a, Passability.Crouchable);
int walkHash = PathFinder.GetAreaHash(a, Passability.Walkable);
dicNodes[volume.id].Add(crouchHash, new List <NodeAbstract>());
dicEdges[volume.id].Add(crouchHash, new List <EdgeAbstract>());
dicValues[volume.id].Add(crouchHash, new Dictionary <NodeAbstract, TriangulatorNodeData>());
dicNodes[volume.id].Add(walkHash, new List <NodeAbstract>());
dicEdges[volume.id].Add(walkHash, new List <EdgeAbstract>());
dicValues[volume.id].Add(walkHash, new Dictionary <NodeAbstract, TriangulatorNodeData>());
}
}
foreach (var first in nodes)
{
foreach (var pair in first.getData)
{
int volume = pair.Key.x;
int hash = pair.Key.y;
dicNodes[volume][hash].Add(first);
dicEdges[volume][hash].Add(first[volume, hash]);
NodeTemp middle = first.GetNode(volume, hash);
NodeTemp last = middle.GetNode(volume, hash);
float cross = SomeMath.V2Cross(
last.x - middle.x, last.z - middle.z,
first.x - middle.x, first.z - middle.z);
if (cross < 0)
{
Vector2 directionLast = new Vector2(last.x - middle.x, last.z - middle.z).normalized;
Vector2 directionFirst = new Vector2(first.x - middle.x, first.z - middle.z).normalized;
dicValues[volume][hash].Add(middle, new TriangulatorNodeData(cross, Vector2.Angle(directionLast, directionFirst), (directionLast + directionFirst).normalized * -1));
}
else
{
dicValues[volume][hash].Add(middle, new TriangulatorNodeData(cross, 0, Vector2.zero));
}
}
}
foreach (var volume in volumes)
{
foreach (var a in volume.containsAreas)
{
int crouchHash = PathFinder.GetAreaHash(a, Passability.Crouchable);
data.Add(new TriangulatorDataSet(
template,
dicNodes[volume.id][crouchHash],
dicEdges[volume.id][crouchHash],
dicValues[volume.id][crouchHash],
volume.id, a, Passability.Crouchable));
int walkHash = PathFinder.GetAreaHash(a, Passability.Walkable);
data.Add(new TriangulatorDataSet(
template,
dicNodes[volume.id][walkHash],
dicEdges[volume.id][walkHash],
dicValues[volume.id][walkHash],
volume.id, a, Passability.Walkable));
}
}
//data.RemoveAll(x => x.nodes.Count == 0);
}