public static void DeserializeVoxelAreaData (byte[] bytes, VoxelArea target) {
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
Ionic.Zip.ZipFile zip = new Ionic.Zip.ZipFile();
System.IO.MemoryStream stream = new System.IO.MemoryStream();
stream.Write(bytes,0,bytes.Length);
stream.Position = 0;
zip = Ionic.Zip.ZipFile.Read(stream);
System.IO.MemoryStream stream2 = new System.IO.MemoryStream();
zip["data"].Extract (stream2);
stream2.Position = 0;
System.IO.BinaryReader reader = new System.IO.BinaryReader(stream2);
int width = reader.ReadInt32();
int depth = reader.ReadInt32();
if (target.width != width) throw new System.ArgumentException ("target VoxelArea has a different width than the data ("+target.width + " != " + width + ")");
if (target.depth != depth) throw new System.ArgumentException ("target VoxelArea has a different depth than the data ("+target.depth + " != " + depth + ")");
LinkedVoxelSpan[] spans = new LinkedVoxelSpan[reader.ReadInt32()];
for (int i=0;i<spans.Length;i++) {
spans[i].area = reader.ReadInt32();
spans[i].bottom = reader.ReadUInt32();
spans[i].next = reader.ReadInt32();
spans[i].top = reader.ReadUInt32();
}
target.linkedSpans = spans;
#else
throw new System.NotImplementedException ("This method only works with !ASTAR_RECAST_CLASS_BASED_LINKED_LIST");
#endif
}
public static byte[] SerializeVoxelAreaData (VoxelArea v) {
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
System.IO.MemoryStream stream = new System.IO.MemoryStream();
System.IO.BinaryWriter writer = new System.IO.BinaryWriter(stream);
writer.Write (v.width);
writer.Write (v.depth);
writer.Write (v.linkedSpans.Length);
for (int i=0;i<v.linkedSpans.Length;i++) {
writer.Write(v.linkedSpans[i].area);
writer.Write(v.linkedSpans[i].bottom);
writer.Write(v.linkedSpans[i].next);
writer.Write(v.linkedSpans[i].top);
}
//writer.Close();
writer.Flush();
Ionic.Zip.ZipFile zip = new Ionic.Zip.ZipFile();
stream.Position = 0;
zip.AddEntry ("data",stream);
System.IO.MemoryStream stream2 = new System.IO.MemoryStream();
zip.Save(stream2);
byte[] bytes = stream2.ToArray();
stream.Close();
stream2.Close();
return bytes;
#else
throw new System.NotImplementedException ("This method only works with !ASTAR_RECAST_CLASS_BASED_LINKED_LIST");
#endif
}
public static byte[] SerializeVoxelAreaCompactData (VoxelArea v) {
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
System.IO.MemoryStream stream = new System.IO.MemoryStream();
System.IO.BinaryWriter writer = new System.IO.BinaryWriter(stream);
writer.Write (v.width);
writer.Write (v.depth);
writer.Write (v.compactCells.Length);
writer.Write(v.compactSpans.Length);
writer.Write(v.areaTypes.Length);
for (int i=0;i<v.compactCells.Length;i++) {
writer.Write(v.compactCells[i].index);
writer.Write(v.compactCells[i].count);
}
for (int i=0;i<v.compactSpans.Length;i++) {
writer.Write(v.compactSpans[i].con);
writer.Write(v.compactSpans[i].h);
writer.Write(v.compactSpans[i].reg);
writer.Write(v.compactSpans[i].y);
}
for (int i=0;i<v.areaTypes.Length;i++) {
//TODO: RLE encoding
writer.Write(v.areaTypes[i]);
}
writer.Close();
return stream.ToArray();
#else
throw new System.NotImplementedException ("This method only works with !ASTAR_RECAST_CLASS_BASED_LINKED_LIST");
#endif
}
public void Init () {
//Initialize the voxel area
if (voxelArea == null || voxelArea.width != width || voxelArea.depth != depth)
voxelArea = new VoxelArea (width, depth);
else voxelArea.Reset ();
}
public static void MergeVoxelAreaData (VoxelArea source, VoxelArea merge, int voxelWalkableClimb) {
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
LinkedVoxelSpan[] spans1 = source.linkedSpans;
int wd = source.width*source.depth;
for (int x=0;x<wd;x++) {
int i = x;
if (spans1[i].bottom == VoxelArea.InvalidSpanValue) continue;
while (i != -1) {
merge.AddLinkedSpan(x,spans1[i].bottom,spans1[i].top,spans1[i].area,voxelWalkableClimb);
i = spans1[i].next;
}
}
#else
throw new System.NotImplementedException ("This method only works with !ASTAR_RECAST_CLASS_BASED_LINKED_LIST");
#endif
}
public static void DeserializeVoxelAreaCompactData (byte[] bytes, VoxelArea target) {
#if !ASTAR_RECAST_CLASS_BASED_LINKED_LIST
System.IO.MemoryStream stream = new System.IO.MemoryStream(bytes);
System.IO.BinaryReader reader = new System.IO.BinaryReader(stream);
int width = reader.ReadInt32();
int depth = reader.ReadInt32();
if (target.width != width) throw new System.ArgumentException ("target VoxelArea has a different width than the data ("+target.width + " != " + width + ")");
if (target.depth != depth) throw new System.ArgumentException ("target VoxelArea has a different depth than the data ("+target.depth + " != " + depth + ")");
CompactVoxelCell[] cells = new CompactVoxelCell[reader.ReadInt32()];
CompactVoxelSpan[] spans = new CompactVoxelSpan[reader.ReadInt32()];
int[] areas = new int[reader.ReadInt32()];
for (int i=0;i<cells.Length;i++) {
cells[i].index = reader.ReadUInt32();
cells[i].count = reader.ReadUInt32();
}
for (int i=0;i<spans.Length;i++) {
spans[i].con = reader.ReadUInt32();
spans[i].h = reader.ReadUInt32();
spans[i].reg = reader.ReadInt32();
spans[i].y = reader.ReadUInt16();
}
for (int i=0;i<areas.Length;i++) {
areas[i] = reader.ReadInt32();
}
target.compactCells = cells;
target.compactSpans = spans;
target.areaTypes = areas;
#else
throw new System.NotImplementedException ("This method only works with !ASTAR_RECAST_CLASS_BASED_LINKED_LIST");
#endif
}
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");
#if ASTAR_RECAST_VOXEL_DEBUG
if (importMode) {
if (File.Exists(Application.dataPath+"/tile."+x+"."+z)) {
FileStream fs = 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) {
FileStream fs = File.Create(Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = Pathfinding.Voxels.VoxelSerializeUtility.SerializeVoxelAreaData(vox.voxelArea);
fs.Write(bytes,0,bytes.Length);
fs.Close();
}
#endif
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");
}
