protected NavmeshTile BuildTileMesh(Voxelize vox, int x, int z, int threadIndex = 0)
{
vox.borderSize = this.TileBorderSizeInVoxels;
vox.forcedBounds = this.CalculateTileBoundsWithBorder(x, z);
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.VoxelizeInput(this.transform, this.CalculateTileBoundsWithBorder(x, z));
vox.FilterLedges(vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight);
vox.FilterLowHeightSpans(vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight);
vox.BuildCompactField();
vox.BuildVoxelConnections();
vox.ErodeWalkableArea(this.CharacterRadiusInVoxels);
vox.BuildDistanceField();
vox.BuildRegions();
VoxelContourSet cset = new VoxelContourSet();
vox.BuildContours(this.contourMaxError, 1, cset, 5);
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
for (int i = 0; i < mesh.verts.Length; i++)
{
mesh.verts[i] *= 1000;
}
vox.transformVoxel2Graph.Transform(mesh.verts);
return(this.CreateTile(vox, mesh, x, z, threadIndex));
}
protected NavmeshTile BuildTileMesh(Voxelize vox, int x, int z, int threadIndex = 0)
{
AstarProfiler.StartProfile("Build Tile");
AstarProfiler.StartProfile("Init");
vox.borderSize = TileBorderSizeInVoxels;
vox.forcedBounds = CalculateTileBoundsWithBorder(x, z);
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));
AstarProfiler.EndProfile("Init");
// Init voxelizer
vox.Init();
vox.VoxelizeInput(transform, CalculateTileBoundsWithBorder(x, z));
AstarProfiler.StartProfile("Filter Ledges");
vox.FilterLedges(vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight);
AstarProfiler.EndProfile("Filter Ledges");
AstarProfiler.StartProfile("Filter Low Height Spans");
vox.FilterLowHeightSpans(vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight);
AstarProfiler.EndProfile("Filter Low Height Spans");
vox.BuildCompactField();
vox.BuildVoxelConnections();
vox.ErodeWalkableArea(CharacterRadiusInVoxels);
vox.BuildDistanceField();
vox.BuildRegions();
var cset = new VoxelContourSet();
vox.BuildContours(contourMaxError, 1, cset, Voxelize.RC_CONTOUR_TESS_WALL_EDGES | Voxelize.RC_CONTOUR_TESS_TILE_EDGES);
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
AstarProfiler.StartProfile("Build Nodes");
// Position the vertices correctly in graph space (all tiles are laid out on the xz plane with the (0,0) tile at the origin)
for (int i = 0; i < mesh.verts.Length; i++)
{
mesh.verts[i] *= Int3.Precision;
}
vox.transformVoxel2Graph.Transform(mesh.verts);
NavmeshTile tile = CreateTile(vox, mesh, x, z, threadIndex);
AstarProfiler.EndProfile("Build Nodes");
AstarProfiler.EndProfile("Build Tile");
return(tile);
}
public override void Scan () {
AstarProfiler.Reset ();
//AstarProfiler.StartProfile ("Base Scan");
//base.Scan ();
//AstarProfiler.EndProfile ("Base Scan");
if (useCRecast) {
ScanCRecast ();
} else {
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Collecting Meshes");
#endif
AstarProfiler.StartProfile ("Collecting Meshes");
AstarProfiler.StartProfile ("Collecting Meshes");
MeshFilter[] filters;
ExtraMesh[] extraMeshes;
if (!CollectMeshes (out filters, out extraMeshes)) {
nodes = new Node[0];
return;
}
AstarProfiler.EndProfile ("Collecting Meshes");
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Creating Voxel Base");
#endif
Voxelize vox = new Voxelize (cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.maxEdgeLength = maxEdgeLength;
vox.forcedBounds = forcedBounds;
vox.includeOutOfBounds = includeOutOfBounds;
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Voxelizing");
#endif
AstarProfiler.EndProfile ("Collecting Meshes");
//g.GetComponent<Voxelize>();
vox.VoxelizeMesh (filters, extraMeshes);
/*bool[,] open = new bool[width,depth];
int[,] visited = new int[width+1,depth+1];
for (int z=0;z<depth;z++) {
for (int x = 0;x < width;x++) {
open[x,z] = graphNodes[z*width+x].walkable;
}
}*/
/*for (int i=0;i<depth*width;i++) {
open[i] = graphNodes[i].walkable;
}
int wd = width*depth;
List<int> boundary = new List<int>();
int p = 0;
for (int i=0;i<wd;i++) {
if (!open[i]) {
boundary.Add (i);
p = i;
int backtrack = i-1;
}*/
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Eroding");
#endif
vox.ErodeWalkableArea (Mathf.CeilToInt (2*characterRadius/cellSize));
#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");
for (int i=0;i<vertices.Length;i++) {
vertices[i] = (Vector3)mesh.verts[i];
}
matrix = Matrix4x4.TRS (vox.voxelOffset,Quaternion.identity,Int3.Precision*Voxelize.CellScale);
//Int3.Precision*Voxelize.CellScale+(Int3)vox.voxelOffset
//GenerateNodes (this,vectorVertices,triangles, out originalVertices, out _vertices);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Generating Nodes");
#endif
NavMeshGraph.GenerateNodes (this,vertices,mesh.tris, out _vectorVertices, out _vertices);
AstarProfiler.EndProfile ("Build Nodes");
AstarProfiler.PrintResults ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Done");
#endif
}
}
public override void Scan()
{
AstarProfiler.Reset();
//AstarProfiler.StartProfile ("Base Scan");
//base.Scan ();
//AstarProfiler.EndProfile ("Base Scan");
if (useCRecast)
{
ScanCRecast();
}
else
{
MeshFilter[] filters;
ExtraMesh[] extraMeshes;
if (!CollectMeshes(out filters, out extraMeshes))
{
nodes = new Node[0];
return;
}
Voxelize vox = new Voxelize(cellHeight, cellSize, walkableClimb, walkableHeight, maxSlope);
vox.maxEdgeLength = maxEdgeLength;
vox.forcedBounds = forcedBounds;
vox.includeOutOfBounds = includeOutOfBounds;
//g.GetComponent<Voxelize>();
vox.VoxelizeMesh(filters, extraMeshes);
/*bool[,] open = new bool[width,depth];
* int[,] visited = new int[width+1,depth+1];
*
* for (int z=0;z<depth;z++) {
* for (int x = 0;x < width;x++) {
* open[x,z] = graphNodes[z*width+x].walkable;
* }
* }*/
/*for (int i=0;i<depth*width;i++) {
* open[i] = graphNodes[i].walkable;
* }
*
*
* int wd = width*depth;
*
* List<int> boundary = new List<int>();
*
* int p = 0;
*
* for (int i=0;i<wd;i++) {
* if (!open[i]) {
* boundary.Add (i);
*
* p = i;
*
* int backtrack = i-1;
*
*
* }*/
vox.ErodeWalkableArea(Mathf.CeilToInt(2 * characterRadius / cellSize));
vox.BuildDistanceField();
vox.BuildRegions();
VoxelContourSet cset = new VoxelContourSet();
vox.BuildContours(contourMaxError, 1, cset, Voxelize.RC_CONTOUR_TESS_WALL_EDGES);
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
Vector3[] vertices = new Vector3[mesh.verts.Length];
AstarProfiler.StartProfile("Build Nodes");
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Vector3)mesh.verts[i];
}
matrix = Matrix4x4.TRS(vox.voxelOffset, Quaternion.identity, Int3.Precision * Voxelize.CellScale);
//Int3.Precision*Voxelize.CellScale+(Int3)vox.voxelOffset
//GenerateNodes (this,vectorVertices,triangles, out originalVertices, out _vertices);
NavMeshGraph.GenerateNodes(this, vertices, mesh.tris, out _vectorVertices, out _vertices);
AstarProfiler.EndProfile("Build Nodes");
AstarProfiler.PrintResults();
}
}