/** Updates shortcuts to the first graph of different types.
* Hard coding references to some graph types is not really a good thing imo. I want to keep it dynamic and flexible.
* But these references ease the use of the system, so I decided to keep them. It is the only reference to specific graph types in the pathfinding core.\n
*/
public void UpdateShortcuts () {
navmesh = (NavMeshGraph)FindGraphOfType (typeof(NavMeshGraph));
#if !ASTAR_NO_GRID_GRAPH
gridGraph = (GridGraph)FindGraphOfType (typeof(GridGraph));
#endif
#if !ASTAR_NO_POINT_GRAPH
pointGraph = (PointGraph)FindGraphOfType (typeof(PointGraph));
#endif
recastGraph = (RecastGraph)FindGraphOfType (typeof(RecastGraph));
}
/** Updates shortcuts to the first graph of different types.
* Hard coding references to some graph types is not really a good thing imo. I want to keep it dynamic and flexible.
* But these references ease the use of the system, so I decided to keep them. It is the only reference to specific graph types in the pathfinding core.\n
*/
public void UpdateShortcuts () {
navmesh = (NavMeshGraph)FindGraphOfType (typeof(NavMeshGraph));
gridGraph = (GridGraph)FindGraphOfType (typeof(GridGraph));
pointGraph = (PointGraph)FindGraphOfType (typeof(PointGraph));
recastGraph = (RecastGraph)FindGraphOfType (typeof(RecastGraph));
}
/** Creates an outline of the navmesh for use in OnDrawGizmos in the editor */
static Mesh CreateNavmeshOutlineVisualization (RecastGraph.NavmeshTile tile) {
var sharedEdges = new bool[3];
var mesh = new Mesh();
mesh.hideFlags = HideFlags.DontSave;
var colorList = ListPool<Color32>.Claim();
var edgeList = ListPool<Int3>.Claim();
for (int j = 0; j < tile.nodes.Length; j++) {
sharedEdges[0] = sharedEdges[1] = sharedEdges[2] = false;
var node = tile.nodes[j];
for (int c = 0; c < node.connections.Length; c++) {
var other = node.connections[c] as TriangleMeshNode;
// Loop throgh neighbours to figure
// out which edges are shared
if (other != null && other.GraphIndex == node.GraphIndex) {
for (int v = 0; v < 3; v++) {
for (int v2 = 0; v2 < 3; v2++) {
if (node.GetVertexIndex(v) == other.GetVertexIndex((v2+1)%3) && node.GetVertexIndex((v+1)%3) == other.GetVertexIndex(v2)) {
// Found a shared edge with the other node
sharedEdges[v] = true;
v = 3;
break;
}
}
}
}
}
for (int v = 0; v < 3; v++) {
if (!sharedEdges[v]) {
edgeList.Add(node.GetVertex(v));
edgeList.Add(node.GetVertex((v+1)%3));
var color = (Color32)AstarColor.GetAreaColor(node.Area);
colorList.Add(color);
colorList.Add(color);
}
}
}
// Use pooled lists to avoid excessive allocations
var vertices = ListPool<Vector3>.Claim(edgeList.Count*2);
var colors = ListPool<Color32>.Claim(edgeList.Count*2);
var normals = ListPool<Vector3>.Claim(edgeList.Count*2);
var tris = ListPool<int>.Claim(edgeList.Count*3);
// Loop through each endpoint of the lines
// and add 2 vertices for each
for (int j = 0; j < edgeList.Count; j++) {
var vertex = (Vector3)edgeList[j];
vertices.Add(vertex);
vertices.Add(vertex);
// Encode the side of the line
// in the alpha component
var color = colorList[j];
colors.Add(new Color32(color.r, color.g, color.b, 0));
colors.Add(new Color32(color.r, color.g, color.b, 255));
}
// Loop through each line and add
// one normal for each vertex
for (int j = 0; j < edgeList.Count; j += 2) {
var lineDir = (Vector3)(edgeList[j+1] - edgeList[j]);
lineDir.Normalize();
// Store the line direction in the normals
// A line consists of 4 vertices
// The line direction will be used to
// offset the vertices to create a
// line with a fixed pixel thickness
normals.Add(lineDir);
normals.Add(lineDir);
normals.Add(lineDir);
normals.Add(lineDir);
}
// Setup triangle indices
// A triangle consists of 3 indices
// A line (4 vertices) consists of 2 triangles, so 6 triangle indices
for (int j = 0, v = 0; j < edgeList.Count*3; j += 6, v += 4) {
// First triangle
tris.Add(v+0);
tris.Add(v+1);
tris.Add(v+2);
// Second triangle
tris.Add(v+1);
tris.Add(v+3);
tris.Add(v+2);
}
// Set all data on the mesh
mesh.SetVertices(vertices);
mesh.SetTriangles(tris, 0);
mesh.SetColors(colors);
mesh.SetNormals(normals);
// Upload all data and mark the mesh as unreadable
mesh.UploadMeshData(true);
// Release the lists back to the pool
ListPool<Color32>.Release(colorList);
ListPool<Int3>.Release(edgeList);
ListPool<Vector3>.Release(vertices);
ListPool<Color32>.Release(colors);
ListPool<Vector3>.Release(normals);
ListPool<int>.Release(tris);
return mesh;
}
/** Exports the INavmesh graph to a .obj file */
public static void ExportToFile (RecastGraph target) {
//INavmesh graph = (INavmesh)target;
if (target == null) return;
RecastGraph.NavmeshTile[] tiles = target.GetTiles();
if (tiles == null) {
if (EditorUtility.DisplayDialog("Scan graph before exporting?", "The graph does not contain any mesh data. Do you want to scan it?", "Ok", "Cancel")) {
AstarPathEditor.MenuScan();
tiles = target.GetTiles();
if (tiles == null) return;
} else {
return;
}
}
string path = EditorUtility.SaveFilePanel("Export .obj", "", "navmesh.obj", "obj");
if (path == "") return;
//Generate .obj
var sb = new System.Text.StringBuilder();
string name = System.IO.Path.GetFileNameWithoutExtension(path);
sb.Append("g ").Append(name).AppendLine();
//Vertices start from 1
int vCount = 1;
//Define single texture coordinate to zero
sb.Append("vt 0 0\n");
for (int t = 0; t < tiles.Length; t++) {
RecastGraph.NavmeshTile tile = tiles[t];
if (tile == null) continue;
Int3[] vertices = tile.verts;
//Write vertices
for (int i = 0; i < vertices.Length; i++) {
var v = (Vector3)vertices[i];
sb.Append(string.Format("v {0} {1} {2}\n", -v.x, v.y, v.z));
}
//Write triangles
TriangleMeshNode[] nodes = tile.nodes;
for (int i = 0; i < nodes.Length; i++) {
TriangleMeshNode node = nodes[i];
if (node == null) {
Debug.LogError("Node was null or no TriangleMeshNode. Critical error. Graph type " + target.GetType().Name);
return;
}
if (node.GetVertexArrayIndex(0) < 0 || node.GetVertexArrayIndex(0) >= vertices.Length) throw new System.Exception("ERR");
sb.Append(string.Format("f {0}/1 {1}/1 {2}/1\n", (node.GetVertexArrayIndex(0) + vCount), (node.GetVertexArrayIndex(1) + vCount), (node.GetVertexArrayIndex(2) + vCount)));
}
vCount += vertices.Length;
}
string obj = sb.ToString();
using (var sw = new System.IO.StreamWriter(path))
{
sw.Write(obj);
}
}
/** Creates a mesh of the surfaces of the navmesh for use in OnDrawGizmos in the editor */
Mesh CreateNavmeshSurfaceVisualization (RecastGraph.NavmeshTile tile) {
var mesh = new Mesh();
mesh.hideFlags = HideFlags.DontSave;
var vertices = ListPool<Vector3>.Claim(tile.verts.Length);
var colors = ListPool<Color32>.Claim(tile.verts.Length);
for (int j = 0; j < tile.verts.Length; j++) {
vertices.Add((Vector3)tile.verts[j]);
colors.Add(new Color32());
}
// TODO: Uses AstarPath.active
var debugPathData = AstarPath.active.debugPathData;
for (int j = 0; j < tile.nodes.Length; j++) {
var node = tile.nodes[j];
for (int v = 0; v < 3; v++) {
var color = target.NodeColor(node, debugPathData);
colors[node.GetVertexArrayIndex(v)] = (Color32)color;//(Color32)AstarColor.GetAreaColor(node.Area);
}
}
mesh.SetVertices(vertices);
mesh.SetTriangles(tile.tris, 0);
mesh.SetColors(colors);
// Upload all data and mark the mesh as unreadable
mesh.UploadMeshData(true);
// Return lists to the pool
ListPool<Vector3>.Release(vertices);
ListPool<Color32>.Release(colors);
return mesh;
}
public void RemoveConnectionsFromTo(RecastGraph.NavmeshTile a, RecastGraph.NavmeshTile b)
{
if (a == null || b == null)
{
return;
}
if (a == b)
{
return;
}
int num = b.x + b.z * this.tileXCount;
for (int i = 0; i < a.nodes.Length; i++)
{
TriangleMeshNode triangleMeshNode = a.nodes[i];
if (triangleMeshNode.connections != null)
{
for (int j = 0; j < triangleMeshNode.connections.Length; j++)
{
TriangleMeshNode triangleMeshNode2 = triangleMeshNode.connections[j] as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
int num2 = triangleMeshNode2.GetVertexIndex(0);
num2 = (num2 >> 12 & 524287);
if (num2 == num)
{
triangleMeshNode.RemoveConnection(triangleMeshNode.connections[j]);
j--;
}
}
}
}
}
}
public void RemoveConnectionsFromTile(RecastGraph.NavmeshTile tile)
{
if (tile.x > 0)
{
int num = tile.x - 1;
for (int i = tile.z; i < tile.z + tile.d; i++)
{
this.RemoveConnectionsFromTo(this.tiles[num + i * this.tileXCount], tile);
}
}
if (tile.x + tile.w < this.tileXCount)
{
int num2 = tile.x + tile.w;
for (int j = tile.z; j < tile.z + tile.d; j++)
{
this.RemoveConnectionsFromTo(this.tiles[num2 + j * this.tileXCount], tile);
}
}
if (tile.z > 0)
{
int num3 = tile.z - 1;
for (int k = tile.x; k < tile.x + tile.w; k++)
{
this.RemoveConnectionsFromTo(this.tiles[k + num3 * this.tileXCount], tile);
}
}
if (tile.z + tile.d < this.tileZCount)
{
int num4 = tile.z + tile.d;
for (int l = tile.x; l < tile.x + tile.w; l++)
{
this.RemoveConnectionsFromTo(this.tiles[l + num4 * this.tileXCount], tile);
}
}
}
public void ConnectTileWithNeighbours(RecastGraph.NavmeshTile tile)
{
if (tile.x > 0)
{
int num = tile.x - 1;
for (int i = tile.z; i < tile.z + tile.d; i++)
{
this.ConnectTiles(this.tiles[num + i * this.tileXCount], tile);
}
}
if (tile.x + tile.w < this.tileXCount)
{
int num2 = tile.x + tile.w;
for (int j = tile.z; j < tile.z + tile.d; j++)
{
this.ConnectTiles(this.tiles[num2 + j * this.tileXCount], tile);
}
}
if (tile.z > 0)
{
int num3 = tile.z - 1;
for (int k = tile.x; k < tile.x + tile.w; k++)
{
this.ConnectTiles(this.tiles[k + num3 * this.tileXCount], tile);
}
}
if (tile.z + tile.d < this.tileZCount)
{
int num4 = tile.z + tile.d;
for (int l = tile.x; l < tile.x + tile.w; l++)
{
this.ConnectTiles(this.tiles[l + num4 * this.tileXCount], tile);
}
}
}
private void ConnectTiles(RecastGraph.NavmeshTile tile1, RecastGraph.NavmeshTile tile2)
{
if (tile1 == null)
{
return;
}
if (tile2 == null)
{
return;
}
if (tile1.nodes == null)
{
throw new ArgumentException("tile1 does not contain any nodes");
}
if (tile2.nodes == null)
{
throw new ArgumentException("tile2 does not contain any nodes");
}
int num = Mathf.Clamp(tile2.x, tile1.x, tile1.x + tile1.w - 1);
int num2 = Mathf.Clamp(tile1.x, tile2.x, tile2.x + tile2.w - 1);
int num3 = Mathf.Clamp(tile2.z, tile1.z, tile1.z + tile1.d - 1);
int num4 = Mathf.Clamp(tile1.z, tile2.z, tile2.z + tile2.d - 1);
int num5;
int i;
int num6;
int num7;
float num8;
if (num == num2)
{
num5 = 2;
i = 0;
num6 = num3;
num7 = num4;
num8 = (float)this.tileSizeZ * this.cellSize;
}
else
{
if (num3 != num4)
{
throw new ArgumentException("Tiles are not adjacent (neither x or z coordinates match)");
}
num5 = 0;
i = 2;
num6 = num;
num7 = num2;
num8 = (float)this.tileSizeX * this.cellSize;
}
if (Math.Abs(num6 - num7) != 1)
{
UnityEngine.Debug.Log(string.Concat(new object[]
{
tile1.x,
" ",
tile1.z,
" ",
tile1.w,
" ",
tile1.d,
"\n",
tile2.x,
" ",
tile2.z,
" ",
tile2.w,
" ",
tile2.d,
"\n",
num,
" ",
num3,
" ",
num2,
" ",
num4
}));
throw new ArgumentException(string.Concat(new object[]
{
"Tiles are not adjacent (tile coordinates must differ by exactly 1. Got '",
num6,
"' and '",
num7,
"')"
}));
}
int num9 = (int)Math.Round((double)(((float)Math.Max(num6, num7) * num8 + this.forcedBounds.min[num5]) * 1000f));
TriangleMeshNode[] nodes = tile1.nodes;
TriangleMeshNode[] nodes2 = tile2.nodes;
for (int j = 0; j < nodes.Length; j++)
{
TriangleMeshNode triangleMeshNode = nodes[j];
int vertexCount = triangleMeshNode.GetVertexCount();
for (int k = 0; k < vertexCount; k++)
{
Int3 vertex = triangleMeshNode.GetVertex(k);
Int3 vertex2 = triangleMeshNode.GetVertex((k + 1) % vertexCount);
if (Math.Abs(vertex[num5] - num9) < 2 && Math.Abs(vertex2[num5] - num9) < 2)
{
int num10 = Math.Min(vertex[i], vertex2[i]);
int num11 = Math.Max(vertex[i], vertex2[i]);
if (num10 != num11)
{
for (int l = 0; l < nodes2.Length; l++)
{
TriangleMeshNode triangleMeshNode2 = nodes2[l];
int vertexCount2 = triangleMeshNode2.GetVertexCount();
for (int m = 0; m < vertexCount2; m++)
{
Int3 vertex3 = triangleMeshNode2.GetVertex(m);
Int3 vertex4 = triangleMeshNode2.GetVertex((m + 1) % vertexCount);
if (Math.Abs(vertex3[num5] - num9) < 2 && Math.Abs(vertex4[num5] - num9) < 2)
{
int num12 = Math.Min(vertex3[i], vertex4[i]);
int num13 = Math.Max(vertex3[i], vertex4[i]);
if (num12 != num13)
{
if (num11 > num12 && num10 < num13 && ((vertex == vertex3 && vertex2 == vertex4) || (vertex == vertex4 && vertex2 == vertex3) || Polygon.DistanceSegmentSegment3D((Vector3)vertex, (Vector3)vertex2, (Vector3)vertex3, (Vector3)vertex4) < this.walkableClimb * this.walkableClimb))
{
uint costMagnitude = (uint)(triangleMeshNode.position - triangleMeshNode2.position).costMagnitude;
triangleMeshNode.AddConnection(triangleMeshNode2, costMagnitude);
triangleMeshNode2.AddConnection(triangleMeshNode, costMagnitude);
}
}
}
}
}
}
}
}
}
}
