public override void CreateNodes (int number) {
TriangleMeshNode[] tmp = new TriangleMeshNode[number];
for (int i=0;i<number;i++) {
tmp[i] = new TriangleMeshNode (active);
tmp[i].Penalty = initialPenalty;
}
}
public override IEnumerable <Progress> ScanInternal()
{
TriangleMeshNode.SetNavmeshHolder(AstarPath.active.data.GetGraphIndex(this), this);
if (!Application.isPlaying)
{
RelevantGraphSurface.FindAllGraphSurfaces();
}
RelevantGraphSurface.UpdateAllPositions();
foreach (Progress progress in this.ScanAllTiles())
{
yield return(progress);
}
IEnumerator <Progress> enumerator = null;
yield break;
yield break;
yield break;
}
public override void ScanInternal(OnScanStatus statusCallback)
{
if (sourceMesh == null)
{
return;
}
GenerateMatrix();
//float startTime = 0;//Time.realtimeSinceStartup;
Vector3[] vectorVertices = sourceMesh.vertices;
triangles = sourceMesh.triangles;
TriangleMeshNode.SetNavmeshHolder(active.astarData.GetGraphIndex(this), this);
GenerateNodes(vectorVertices, triangles, out originalVertices, out _vertices);
}
public bool IsVertex(Int3 p, out int index)
{
INavmeshHolder navmeshHolder = TriangleMeshNode.GetNavmeshHolder(base.GraphIndex);
index = -1;
if (navmeshHolder.GetVertex(this.v0).IsEqualXZ(ref p))
{
index = 0;
}
else if (navmeshHolder.GetVertex(this.v1).IsEqualXZ(ref p))
{
index = 1;
}
else if (navmeshHolder.GetVertex(this.v2).IsEqualXZ(ref p))
{
index = 2;
}
return(index != -1);
}
// Token: 0x060025F4 RID: 9716 RVA: 0x001A3488 File Offset: 0x001A1688
private void SearchBoxClosestXZ(int boxi, Vector3 p, ref float closestSqrDist, NNConstraint constraint, ref NNInfoInternal nnInfo)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
for (int i = 0; i < 4; i++)
{
if (array[bbtreeBox.nodeOffset + i] == null)
{
return;
}
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + i];
if (constraint == null || constraint.Suitable(triangleMeshNode))
{
Vector3 vector = triangleMeshNode.ClosestPointOnNodeXZ(p);
float num = (vector.x - p.x) * (vector.x - p.x) + (vector.z - p.z) * (vector.z - p.z);
if (nnInfo.constrainedNode == null || num < closestSqrDist - 1E-06f || (num <= closestSqrDist + 1E-06f && Mathf.Abs(vector.y - p.y) < Mathf.Abs(nnInfo.constClampedPosition.y - p.y)))
{
nnInfo.constrainedNode = triangleMeshNode;
nnInfo.constClampedPosition = vector;
closestSqrDist = num;
}
}
}
}
else
{
int left = bbtreeBox.left;
int right = bbtreeBox.right;
float num2;
float num3;
this.GetOrderedChildren(ref left, ref right, out num2, out num3, p);
if (num2 <= closestSqrDist)
{
this.SearchBoxClosestXZ(left, p, ref closestSqrDist, constraint, ref nnInfo);
}
if (num3 <= closestSqrDist)
{
this.SearchBoxClosestXZ(right, p, ref closestSqrDist, constraint, ref nnInfo);
}
}
}
private TriangleMeshNode checkObjIntersects(ref int edge, Int3 start, Int3 end, int gridX, int gridY)
{
List <object> objs = this.rasterizer.GetObjs(gridX, gridY);
if (objs == null || objs.Count == 0)
{
return(null);
}
Int3[] array = new Int3[3];
TriangleMeshNode triangleMeshNode = null;
int num = -1;
long num2 = 9223372036854775807L;
for (int i = 0; i < objs.Count; i++)
{
TriangleMeshNode triangleMeshNode2 = objs[i] as TriangleMeshNode;
triangleMeshNode2.GetPoints(out array[0], out array[1], out array[2]);
for (int j = 0; j < 3; j++)
{
int num3 = j;
int num4 = (j + 1) % 3;
if (Polygon.Intersects(array[num3], array[num4], start, end))
{
bool flag;
Int3 vInt = Polygon.IntersectionPoint(ref array[num3], ref array[num4], ref start, ref end, out flag);
long num5 = start.XZSqrMagnitude(ref vInt);
if (num5 < num2)
{
num2 = num5;
triangleMeshNode = triangleMeshNode2;
num = j;
}
}
}
}
if (num != -1 && triangleMeshNode != null)
{
edge = num;
return(triangleMeshNode);
}
return(null);
}
public static void BuildFunnelCorridor(INavmesh graph, List <GraphNode> path, int startIndex, int endIndex, List <Vector3> left, List <Vector3> right)
{
if (graph == null)
{
Debug.LogError("Couldn't cast graph to the appropriate type (graph isn't a Navmesh type graph, it doesn't implement the INavmesh interface)");
return;
}
for (int i = startIndex; i < endIndex; i++)
{
TriangleMeshNode triangleMeshNode = path[i] as TriangleMeshNode;
TriangleMeshNode triangleMeshNode2 = path[i + 1] as TriangleMeshNode;
bool flag = true;
int j;
for (j = 0; j < 3; j++)
{
for (int k = 0; k < 3; k++)
{
if (triangleMeshNode.GetVertexIndex(j) == triangleMeshNode2.GetVertexIndex((k + 1) % 3) && triangleMeshNode.GetVertexIndex((j + 1) % 3) == triangleMeshNode2.GetVertexIndex(k))
{
flag = false;
break;
}
}
if (!flag)
{
break;
}
}
if (j == 3)
{
left.Add((Vector3)triangleMeshNode.position);
right.Add((Vector3)triangleMeshNode.position);
left.Add((Vector3)triangleMeshNode2.position);
right.Add((Vector3)triangleMeshNode2.position);
}
else
{
left.Add((Vector3)triangleMeshNode.GetVertex(j));
right.Add((Vector3)triangleMeshNode.GetVertex((j + 1) % 3));
}
}
}
private TriangleMeshNode SearchBoxInside(int boxi, Vector3 p, NNConstraint constraint)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
int num = 0;
while (num < 4 && array[bbtreeBox.nodeOffset + num] != null)
{
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + num];
if (triangleMeshNode.ContainsPoint((Int3)p))
{
if (constraint == null || constraint.Suitable(triangleMeshNode))
{
return(triangleMeshNode);
}
}
num++;
}
}
else
{
if (this.tree[bbtreeBox.left].Contains(p))
{
TriangleMeshNode triangleMeshNode2 = this.SearchBoxInside(bbtreeBox.left, p, constraint);
if (triangleMeshNode2 != null)
{
return(triangleMeshNode2);
}
}
if (this.tree[bbtreeBox.right].Contains(p))
{
TriangleMeshNode triangleMeshNode3 = this.SearchBoxInside(bbtreeBox.right, p, constraint);
if (triangleMeshNode3 != null)
{
return(triangleMeshNode3);
}
}
}
return(null);
}
private void SearchBoxClosest(int boxi, Vector3 p, ref float closestSqrDist, NNConstraint constraint, ref NNInfoInternal nnInfo)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
int num = 0;
while (num < 4 && array[bbtreeBox.nodeOffset + num] != null)
{
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + num];
Vector3 vector = triangleMeshNode.ClosestPointOnNode(p);
float sqrMagnitude = (vector - p).sqrMagnitude;
if (sqrMagnitude < closestSqrDist)
{
if (constraint == null || constraint.Suitable(triangleMeshNode))
{
nnInfo.constrainedNode = triangleMeshNode;
nnInfo.constClampedPosition = vector;
closestSqrDist = sqrMagnitude;
}
}
num++;
}
}
else
{
int left = bbtreeBox.left;
int right = bbtreeBox.right;
float num2;
float num3;
this.GetOrderedChildren(ref left, ref right, out num2, out num3, p);
if (num2 < closestSqrDist)
{
this.SearchBoxClosest(left, p, ref closestSqrDist, constraint, ref nnInfo);
}
if (num3 < closestSqrDist)
{
this.SearchBoxClosest(right, p, ref closestSqrDist, constraint, ref nnInfo);
}
}
}
private void SearchBoxClosestXZ(int boxi, Vector3 p, ref float closestSqrDist, NNConstraint constraint, ref NNInfoInternal nnInfo)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
int num = 0;
while (num < 4 && array[bbtreeBox.nodeOffset + num] != null)
{
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + num];
if (constraint == null || constraint.Suitable(triangleMeshNode))
{
Vector3 constClampedPosition = triangleMeshNode.ClosestPointOnNodeXZ(p);
float num2 = (constClampedPosition.x - p.x) * (constClampedPosition.x - p.x) + (constClampedPosition.z - p.z) * (constClampedPosition.z - p.z);
if (nnInfo.constrainedNode == null || num2 < closestSqrDist - 1E-06f || (num2 <= closestSqrDist + 1E-06f && Mathf.Abs(constClampedPosition.y - p.y) < Mathf.Abs(nnInfo.constClampedPosition.y - p.y)))
{
nnInfo.constrainedNode = triangleMeshNode;
nnInfo.constClampedPosition = constClampedPosition;
closestSqrDist = num2;
}
}
num++;
}
}
else
{
int left = bbtreeBox.left;
int right = bbtreeBox.right;
float num3;
float num4;
this.GetOrderedChildren(ref left, ref right, out num3, out num4, p);
if (num3 <= closestSqrDist)
{
this.SearchBoxClosestXZ(left, p, ref closestSqrDist, constraint, ref nnInfo);
}
if (num4 <= closestSqrDist)
{
this.SearchBoxClosestXZ(right, p, ref closestSqrDist, constraint, ref nnInfo);
}
}
}
private TriangleMeshNode checkObjIntersects(ref int edge, VInt3 start, VInt3 end, int gridX, int gridY)
{
List <object> objs = this.rasterizer.GetObjs(gridX, gridY);
if ((objs != null) && (objs.Count != 0))
{
VInt3[] numArray = new VInt3[3];
TriangleMeshNode node = null;
int num = -1;
long num2 = 0x7fffffffffffffffL;
for (int i = 0; i < objs.Count; i++)
{
TriangleMeshNode node2 = objs[i] as TriangleMeshNode;
node2.GetPoints(out numArray[0], out numArray[1], out numArray[2]);
for (int j = 0; j < 3; j++)
{
int index = j;
int num6 = (j + 1) % 3;
if (Polygon.Intersects(numArray[index], numArray[num6], start, end))
{
bool flag;
VInt3 rhs = Polygon.IntersectionPoint(ref numArray[index], ref numArray[num6], ref start, ref end, out flag);
DebugHelper.Assert(flag);
long num8 = start.XZSqrMagnitude(ref rhs);
if (num8 < num2)
{
num2 = num8;
node = node2;
num = j;
}
}
}
}
if ((num != -1) && (node != null))
{
edge = num;
return(node);
}
}
return(null);
}
public override IEnumerable <Progress> ScanInternal()
{
this.transform = this.CalculateTransform();
this.tileZCount = (this.tileXCount = 1);
this.tiles = new NavmeshTile[this.tileZCount * this.tileXCount];
TriangleMeshNode.SetNavmeshHolder(AstarPath.active.data.GetGraphIndex(this), this);
if (this.sourceMesh == null)
{
base.FillWithEmptyTiles();
yield break;
}
yield return(new Progress(0f, "Transforming Vertices"));
this.forcedBoundsSize = this.sourceMesh.bounds.size * this.scale;
Vector3[] vertices = this.sourceMesh.vertices;
List <Int3> intVertices = ListPool <Int3> .Claim(vertices.Length);
Matrix4x4 matrix4x = Matrix4x4.TRS(-this.sourceMesh.bounds.min * this.scale, Quaternion.identity, Vector3.one * this.scale);
for (int i = 0; i < vertices.Length; i++)
{
intVertices.Add((Int3)matrix4x.MultiplyPoint3x4(vertices[i]));
}
yield return(new Progress(0.1f, "Compressing Vertices"));
Int3[] compressedVertices = null;
int[] compressedTriangles = null;
Polygon.CompressMesh(intVertices, new List <int>(this.sourceMesh.triangles), out compressedVertices, out compressedTriangles);
ListPool <Int3> .Release(intVertices);
yield return(new Progress(0.2f, "Building Nodes"));
base.ReplaceTile(0, 0, compressedVertices, compressedTriangles);
if (this.OnRecalculatedTiles != null)
{
this.OnRecalculatedTiles(this.tiles.Clone() as NavmeshTile[]);
}
yield break;
yield break;
}
// Token: 0x060025F9 RID: 9721 RVA: 0x001A379C File Offset: 0x001A199C
private TriangleMeshNode SearchBoxInside(int boxi, Vector3 p, NNConstraint constraint)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
for (int i = 0; i < 4; i++)
{
if (array[bbtreeBox.nodeOffset + i] == null)
{
break;
}
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + i];
if (triangleMeshNode.ContainsPoint((Int3)p) && (constraint == null || constraint.Suitable(triangleMeshNode)))
{
return(triangleMeshNode);
}
}
}
else
{
if (this.tree[bbtreeBox.left].Contains(p))
{
TriangleMeshNode triangleMeshNode2 = this.SearchBoxInside(bbtreeBox.left, p, constraint);
if (triangleMeshNode2 != null)
{
return(triangleMeshNode2);
}
}
if (this.tree[bbtreeBox.right].Contains(p))
{
TriangleMeshNode triangleMeshNode3 = this.SearchBoxInside(bbtreeBox.right, p, constraint);
if (triangleMeshNode3 != null)
{
return(triangleMeshNode3);
}
}
}
return(null);
}
public bool CheckSegmentIntersects(Int3 start, Int3 end, int gridX, int gridY, out Int3 outPoint, out TriangleMeshNode nearestNode)
{
List <object> objs = this.rasterizer.GetObjs(gridX, gridY);
outPoint = end;
nearestNode = null;
if (objs == null || objs.Count == 0)
{
return(false);
}
Int3[] array = new Int3[3];
bool result = false;
long num = 9223372036854775807L;
for (int i = 0; i < objs.Count; i++)
{
TriangleMeshNode triangleMeshNode = objs[i] as TriangleMeshNode;
triangleMeshNode.GetPoints(out array[0], out array[1], out array[2]);
for (int j = 0; j < 3; j++)
{
int num2 = j;
int num3 = (j + 1) % 3;
bool flag = false;
Int3 vInt = Polygon.SegmentIntersectionPoint(array[num2], array[num3], start, end, out flag);
if (flag)
{
long num4 = start.XZSqrMagnitude(ref vInt);
if (num4 < num)
{
nearestNode = triangleMeshNode;
num = num4;
outPoint = vInt;
result = true;
}
}
}
}
return(result);
}
protected override IEnumerable <Progress> ScanInternal()
{
TriangleMeshNode.SetNavmeshHolder(AstarPath.active.data.GetGraphIndex(this), this);
if (!Application.isPlaying)
{
RelevantGraphSurface.FindAllGraphSurfaces();
}
RelevantGraphSurface.UpdateAllPositions();
foreach (var progress in ScanAllTiles())
{
yield return(progress);
}
#if DEBUG_REPLAY
DebugReplay.WriteToFile();
#endif
}
public TriangleMeshNode GetNearestByRasterizer(Int3 position, out Int3 clampedPosition)
{
clampedPosition = Int3.zero;
if (this.rasterizer == null)
{
return(null);
}
TriangleMeshNode triangleMeshNode = this.GetLocatedByRasterizer(position);
if (triangleMeshNode != null)
{
clampedPosition = position;
return(triangleMeshNode);
}
triangleMeshNode = this.FindNearestByRasterizer(position, -1);
if (triangleMeshNode == null)
{
return(null);
}
clampedPosition = triangleMeshNode.ClosestPointOnNodeXZ(position);
return(triangleMeshNode);
}
public override void DeserializeExtraInfo(GraphSerializationContext ctx)
{
uint graphIndex = ctx.graphIndex;
TriangleMeshNode.SetNavmeshHolder((int)graphIndex, this);
int nodeCount = ctx.reader.ReadInt32();
int vertexCount = ctx.reader.ReadInt32();
if (nodeCount == -1)
{
nodes = new TriangleMeshNode[0];
_vertices = new Int3[0];
originalVertices = new Vector3[0];
return;
}
nodes = new TriangleMeshNode[nodeCount];
_vertices = new Int3[vertexCount];
originalVertices = new Vector3[vertexCount];
for (int i = 0; i < vertexCount; i++)
{
_vertices[i] = ctx.DeserializeInt3();
originalVertices[i] = ctx.DeserializeVector3();
}
bbTree = new BBTree();
for (int i = 0; i < nodeCount; i++)
{
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];
node.DeserializeNode(ctx);
node.UpdatePositionFromVertices();
}
bbTree.RebuildFrom(nodes);
}
//These functions are for serialization, the static ones are there so other graphs using mesh nodes can serialize them more easily
public static byte[] SerializeMeshNodes(NavMeshGraph graph, GraphNode[] nodes)
{
System.IO.MemoryStream mem = new System.IO.MemoryStream();
System.IO.BinaryWriter stream = new System.IO.BinaryWriter(mem);
for (int i = 0; i < nodes.Length; i++)
{
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
if (node == null)
{
Debug.LogError("Serialization Error : Couldn't cast the node to the appropriate type - NavMeshGenerator. Omitting node data.");
return(null);
}
stream.Write(node.v0);
stream.Write(node.v1);
stream.Write(node.v2);
}
Int3[] vertices = graph.vertices;
if (vertices == null)
{
vertices = new Int3[0];
}
stream.Write(vertices.Length);
for (int i = 0; i < vertices.Length; i++)
{
stream.Write(vertices[i].x);
stream.Write(vertices[i].y);
stream.Write(vertices[i].z);
}
stream.Close();
return(mem.ToArray());
}
private void UpdateFunnelCorridor(int splitIndex, TriangleMeshNode prefix)
{
if (splitIndex > 0)
{
this.nodes.RemoveRange(0, splitIndex - 1);
this.nodes[0] = prefix;
}
else
{
this.nodes.Insert(0, prefix);
}
this.left.Clear();
this.right.Clear();
this.left.Add(this.exactStart);
this.right.Add(this.exactStart);
for (int i = 0; i < this.nodes.Count - 1; i++)
{
this.nodes[i].GetPortal(this.nodes[i + 1], this.left, this.right, false);
}
this.left.Add(this.exactEnd);
this.right.Add(this.exactEnd);
}
public TriangleMeshNode GetNeighborByEdge(int edge, out int otherEdge)
{
otherEdge = -1;
if (edge < 0 || edge > 2 || this.connections == null)
{
return(null);
}
int vertexIndex = this.GetVertexIndex(edge % 3);
int vertexIndex2 = this.GetVertexIndex((edge + 1) % 3);
TriangleMeshNode result = null;
for (int i = 0; i < this.connections.Length; i++)
{
TriangleMeshNode triangleMeshNode = this.connections[i] as TriangleMeshNode;
if (triangleMeshNode != null && triangleMeshNode.GraphIndex == base.GraphIndex)
{
if (triangleMeshNode.v1 == vertexIndex && triangleMeshNode.v0 == vertexIndex2)
{
otherEdge = 0;
}
else if (triangleMeshNode.v2 == vertexIndex && triangleMeshNode.v1 == vertexIndex2)
{
otherEdge = 1;
}
else if (triangleMeshNode.v0 == vertexIndex && triangleMeshNode.v2 == vertexIndex2)
{
otherEdge = 2;
}
if (otherEdge != -1)
{
result = triangleMeshNode;
break;
}
}
}
return(result);
}
public override void DeserializeExtraInfo(GraphSerializationContext ctx)
{
uint graphIndex = (uint)ctx.graphIndex;
TriangleMeshNode.SetNavmeshHolder((int)graphIndex, this);
int c1 = ctx.reader.ReadInt32();
int c2 = ctx.reader.ReadInt32();
if (c1 == -1)
{
nodes = new TriangleMeshNode[0];
_vertices = new Int3[0];
originalVertices = new Vector3[0];
}
nodes = new TriangleMeshNode[c1];
_vertices = new Int3[c2];
originalVertices = new Vector3[c2];
for (int i = 0; i < c2; i++)
{
_vertices[i] = new Int3(ctx.reader.ReadInt32(), ctx.reader.ReadInt32(), ctx.reader.ReadInt32());
originalVertices[i] = new Vector3(ctx.reader.ReadSingle(), ctx.reader.ReadSingle(), ctx.reader.ReadSingle());
}
bbTree = new BBTree(this);
for (int i = 0; i < c1; i++)
{
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];
node.DeserializeNode(ctx);
node.UpdatePositionFromVertices();
bbTree.Insert(node);
}
}
public override void DeserializeExtraInfo(GraphSerializationContext ctx)
{
var graphIndex = (uint)active.astarData.GetGraphIndex(this);
TriangleMeshNode.SetNavmeshHolder((int)graphIndex, this);
var c1 = ctx.reader.ReadInt32();
var c2 = ctx.reader.ReadInt32();
if (c1 == -1)
{
nodes = new TriangleMeshNode[0];
_vertices = new Int3[0];
originalVertices = new Vector3[0];
}
nodes = new TriangleMeshNode[c1];
_vertices = new Int3[c2];
originalVertices = new Vector3[c2];
for (var i = 0; i < c2; i++)
{
_vertices[i] = new Int3(ctx.reader.ReadInt32(), ctx.reader.ReadInt32(), ctx.reader.ReadInt32());
originalVertices[i] = new Vector3(ctx.reader.ReadSingle(), ctx.reader.ReadSingle(), ctx.reader.ReadSingle());
}
for (var i = 0; i < c1; i++)
{
nodes[i] = new TriangleMeshNode(active);
var node = nodes[i];
node.DeserializeNode(ctx);
node.GraphIndex = graphIndex;
node.UpdatePositionFromVertices();
}
}
/** Generates a navmesh. Based on the supplied vertices and triangles */
void GenerateNodes (Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices) {
Profiler.BeginSample ("Init");
if (vectorVertices.Length == 0 || triangles.Length == 0) {
originalVertices = vectorVertices;
vertices = new Int3[0];
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
int c = 0;
for (int i=0;i<vertices.Length;i++) {
vertices[i] = (Int3)matrix.MultiplyPoint3x4 (vectorVertices[i]);
}
var hashedVerts = new Dictionary<Int3,int> ();
var newVertices = new int[vertices.Length];
Profiler.EndSample ();
Profiler.BeginSample ("Hashing");
for (int i=0;i<vertices.Length;i++) {
if (!hashedVerts.ContainsKey (vertices[i])) {
newVertices[c] = i;
hashedVerts.Add (vertices[i], c);
c++;
}
}
for (int x=0;x<triangles.Length;x++) {
Int3 vertex = vertices[triangles[x]];
triangles[x] = hashedVerts[vertex];
}
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i=0;i<c;i++) {
vertices[i] = totalIntVertices[newVertices[i]];
originalVertices[i] = vectorVertices[newVertices[i]];
}
Profiler.EndSample ();
Profiler.BeginSample ("Constructing Nodes");
nodes = new TriangleMeshNode[triangles.Length/3];
int graphIndex = active.astarData.GetGraphIndex(this);
// Does not have to set this, it is set in ScanInternal
//TriangleMeshNode.SetNavmeshHolder ((int)graphIndex,this);
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];//new MeshNode ();
node.GraphIndex = (uint)graphIndex;
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i*3];
node.v1 = triangles[i*3+1];
node.v2 = triangles[i*3+2];
if (!Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (Polygon.IsColinear (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
Profiler.EndSample ();
var sides = new Dictionary<Int2, TriangleMeshNode>();
for (int i=0, j=0;i<triangles.Length; j+=1, i+=3) {
sides[new Int2(triangles[i+0],triangles[i+1])] = nodes[j];
sides[new Int2(triangles[i+1],triangles[i+2])] = nodes[j];
sides[new Int2(triangles[i+2],triangles[i+0])] = nodes[j];
}
Profiler.BeginSample ("Connecting Nodes");
var connections = new List<MeshNode> ();
var connectionCosts = new List<uint> ();
for (int i=0, j = 0; i < triangles.Length; j+=1, i+=3) {
connections.Clear ();
connectionCosts.Clear ();
TriangleMeshNode node = nodes[j];
for ( int q = 0; q < 3; q++ ) {
TriangleMeshNode other;
if (sides.TryGetValue ( new Int2 (triangles[i+((q+1)%3)], triangles[i+q]), out other ) ) {
connections.Add (other);
connectionCosts.Add ((uint)(node.position-other.position).costMagnitude);
}
}
node.connections = connections.ToArray ();
node.connectionCosts = connectionCosts.ToArray ();
}
Profiler.EndSample ();
Profiler.BeginSample ("Rebuilding BBTree");
RebuildBBTree (this);
Profiler.EndSample ();
#if ASTARDEBUG
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
float a1 = Polygon.TriangleArea2 ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],(Vector3)vertices[node.v2]);
long a2 = Polygon.TriangleArea2 (vertices[node.v0],vertices[node.v1],vertices[node.v2]);
if (a1 * a2 < 0) Debug.LogError (a1+ " " + a2);
if (Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.green);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.green);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.green);
} else {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
}
#endif
}
/** Returns if the point is inside the node in XZ space */
public static bool ContainsPoint (TriangleMeshNode node, Vector3 pos, Int3[] vertices) {
if (!Polygon.IsClockwiseMargin ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1], (Vector3)vertices[node.v2])) {
Debug.LogError ("Noes!");
}
if ( Polygon.IsClockwiseMargin ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1], pos)
&& Polygon.IsClockwiseMargin ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2], pos)
&& Polygon.IsClockwiseMargin ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0], pos)) {
return true;
}
return false;
}
/** Generates a navmesh. Based on the supplied vertices and triangles. Memory usage is about O(n) */
public void GenerateNodes (Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices) {
if (vectorVertices.Length == 0 || triangles.Length == 0) {
originalVertices = vectorVertices;
vertices = new Int3[0];
//graph.CreateNodes (0);
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
//Backup the original vertices
//for (int i=0;i<vectorVertices.Length;i++) {
// vectorVertices[i] = graph.matrix.MultiplyPoint (vectorVertices[i]);
//}
int c = 0;
/*int maxX = 0;
int maxZ = 0;
//Almost infinity
int minX = 0xFFFFFFF;
int minZ = 0xFFFFFFF;*/
for (int i=0;i<vertices.Length;i++) {
vertices[i] = (Int3)matrix.MultiplyPoint3x4 (vectorVertices[i]);
/*maxX = Mathfx.Max (vertices[i].x, maxX);
maxZ = Mathfx.Max (vertices[i].z, maxZ);
minX = Mathfx.Min (vertices[i].x, minX);
minZ = Mathfx.Min (vertices[i].z, minZ);*/
}
//maxX = maxX-minX;
//maxZ = maxZ-minZ;
Dictionary<Int3,int> hashedVerts = new Dictionary<Int3,int> ();
int[] newVertices = new int[vertices.Length];
for (int i=0;i<vertices.Length-1;i++) {
//int hash = Mathfx.ComputeVertexHash (vertices[i].x,vertices[i].y,vertices[i].z);
//(vertices[i].x-minX)+(vertices[i].z-minX)*maxX+vertices[i].y*maxX*maxZ;
//if (sortedVertices[i] != sortedVertices[i+1]) {
if (!hashedVerts.ContainsKey (vertices[i])) {
newVertices[c] = i;
hashedVerts.Add (vertices[i], c);
c++;
}// else {
//Debug.Log ("Hash Duplicate "+hash+" "+vertices[i].ToString ());
//}
}
newVertices[c] = vertices.Length-1;
//int hash2 = (newVertices[c].x-minX)+(newVertices[c].z-minX)*maxX+newVertices[c].y*maxX*maxZ;
//int hash2 = Mathfx.ComputeVertexHash (newVertices[c].x,newVertices[c].y,newVertices[c].z);
if (!hashedVerts.ContainsKey (vertices[newVertices[c]])) {
hashedVerts.Add (vertices[newVertices[c]], c);
c++;
}
for (int x=0;x<triangles.Length;x++) {
Int3 vertex = vertices[triangles[x]];
//int hash3 = (vertex.x-minX)+(vertex.z-minX)*maxX+vertex.y*maxX*maxZ;
//int hash3 = Mathfx.ComputeVertexHash (vertex.x,vertex.y,vertex.z);
//for (int y=0;y<newVertices.Length;y++) {
triangles[x] = hashedVerts[vertex];
}
/*for (int i=0;i<triangles.Length;i += 3) {
Vector3 offset = Vector3.forward*i*0.01F;
Debug.DrawLine (newVertices[triangles[i]]+offset,newVertices[triangles[i+1]]+offset,Color.blue);
Debug.DrawLine (newVertices[triangles[i+1]]+offset,newVertices[triangles[i+2]]+offset,Color.blue);
Debug.DrawLine (newVertices[triangles[i+2]]+offset,newVertices[triangles[i]]+offset,Color.blue);
}*/
//Debug.Log ("NavMesh - Old vertice count "+vertices.Length+", new vertice count "+c+" "+maxX+" "+maxZ+" "+maxX*maxZ);
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i=0;i<c;i++) {
vertices[i] = totalIntVertices[newVertices[i]];//(Int3)graph.matrix.MultiplyPoint (vectorVertices[i]);
originalVertices[i] = (Vector3)vectorVertices[newVertices[i]];//vectorVertices[newVertices[i]];
}
//graph.CreateNodes (triangles.Length/3);//new Node[triangles.Length/3];
nodes = new TriangleMeshNode[triangles.Length/3];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];//new MeshNode ();
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i*3];
node.v1 = triangles[i*3+1];
node.v2 = triangles[i*3+2];
if (!Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (Polygon.IsColinear (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
List<MeshNode> connections = new List<MeshNode> ();
List<uint> connectionCosts = new List<uint> ();
int identicalError = 0;
for (int i=0;i<triangles.Length;i+=3) {
connections.Clear ();
connectionCosts.Clear ();
//Int3 indices = new Int3(triangles[i],triangles[i+1],triangles[i+2]);
TriangleMeshNode node = nodes[i/3];
for (int x=0;x<triangles.Length;x+=3) {
if (x == i) {
continue;
}
int count = 0;
if (triangles[x] == triangles[i]) { count++; }
if (triangles[x+1] == triangles[i]) { count++; }
if (triangles[x+2] == triangles[i]) { count++; }
if (triangles[x] == triangles[i+1]) { count++; }
if (triangles[x+1] == triangles[i+1]) { count++; }
if (triangles[x+2] == triangles[i+1]) { count++; }
if (triangles[x] == triangles[i+2]) { count++; }
if (triangles[x+1] == triangles[i+2]) { count++; }
if (triangles[x+2] == triangles[i+2]) { count++; }
if (count >= 3) {
identicalError++;
Debug.DrawLine ((Vector3)vertices[triangles[x]],(Vector3)vertices[triangles[x+1]],Color.red);
Debug.DrawLine ((Vector3)vertices[triangles[x]],(Vector3)vertices[triangles[x+2]],Color.red);
Debug.DrawLine ((Vector3)vertices[triangles[x+2]],(Vector3)vertices[triangles[x+1]],Color.red);
}
if (count == 2) {
GraphNode other = nodes[x/3];
connections.Add (other as MeshNode);
connectionCosts.Add ((uint)(node.position-other.position).costMagnitude);
}
}
node.connections = connections.ToArray ();
node.connectionCosts = connectionCosts.ToArray ();
}
if (identicalError > 0) {
Debug.LogError ("One or more triangles are identical to other triangles, this is not a good thing to have in a navmesh\nIncreasing the scale of the mesh might help\nNumber of triangles with error: "+identicalError+"\n");
}
RebuildBBTree (this);
#if ASTARDEBUG
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
float a1 = Polygon.TriangleArea2 ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],(Vector3)vertices[node.v2]);
long a2 = Polygon.TriangleArea2 (vertices[node.v0],vertices[node.v1],vertices[node.v2]);
if (a1 * a2 < 0) Debug.LogError (a1+ " " + a2);
if (Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.green);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.green);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.green);
} else {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
}
#endif
//Debug.Log ("Graph Generation - NavMesh - Time to compute graph "+((Time.realtimeSinceStartup-startTime)*1000F).ToString ("0")+"ms");
}
/** Returns the closest point of the node */
public static Vector3 ClosestPointOnNode(TriangleMeshNode node, Int3[] vertices, Vector3 pos)
{
return(Polygon.ClosestPointOnTriangle((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], (Vector3)vertices[node.v2], pos));
}
/** Returns if the point is inside the node in XZ space */
public bool ContainsPoint (TriangleMeshNode node, Vector3 pos) {
if ( Polygon.IsClockwise ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1], pos)
&& Polygon.IsClockwise ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2], pos)
&& Polygon.IsClockwise ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0], pos)) {
return true;
}
return false;
}
public bool ContainsPoint(TriangleMeshNode node, Vector3 pos)
{
return Polygon.IsClockwise((Vector3)this.GetVertex(node.v0), (Vector3)this.GetVertex(node.v1), pos) && Polygon.IsClockwise((Vector3)this.GetVertex(node.v1), (Vector3)this.GetVertex(node.v2), pos) && Polygon.IsClockwise((Vector3)this.GetVertex(node.v2), (Vector3)this.GetVertex(node.v0), pos);
}
private RecastGraph.NavmeshTile CreateTile(Voxelize vox, VoxelMesh mesh, int x, int z)
{
if (mesh.tris == null)
{
throw new ArgumentNullException("mesh.tris");
}
if (mesh.verts == null)
{
throw new ArgumentNullException("mesh.verts");
}
RecastGraph.NavmeshTile navmeshTile = new RecastGraph.NavmeshTile();
navmeshTile.x = x;
navmeshTile.z = z;
navmeshTile.w = 1;
navmeshTile.d = 1;
navmeshTile.tris = mesh.tris;
navmeshTile.verts = mesh.verts;
navmeshTile.bbTree = new BBTree();
if (navmeshTile.tris.Length % 3 != 0)
{
throw new ArgumentException("Indices array's length must be a multiple of 3 (mesh.tris)");
}
if (navmeshTile.verts.Length >= 4095)
{
throw new ArgumentException("Too many vertices per tile (more than " + 4095 + ").\nTry enabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* Inspector");
}
Dictionary<Int3, int> dictionary = this.cachedInt3_int_dict;
dictionary.Clear();
int[] array = new int[navmeshTile.verts.Length];
int num = 0;
for (int i = 0; i < navmeshTile.verts.Length; i++)
{
if (!dictionary.ContainsKey(navmeshTile.verts[i]))
{
dictionary.Add(navmeshTile.verts[i], num);
array[i] = num;
navmeshTile.verts[num] = navmeshTile.verts[i];
num++;
}
else
{
array[i] = dictionary[navmeshTile.verts[i]];
}
}
for (int j = 0; j < navmeshTile.tris.Length; j++)
{
navmeshTile.tris[j] = array[navmeshTile.tris[j]];
}
Int3[] array2 = new Int3[num];
for (int k = 0; k < num; k++)
{
array2[k] = navmeshTile.verts[k];
}
navmeshTile.verts = array2;
TriangleMeshNode[] array3 = new TriangleMeshNode[navmeshTile.tris.Length / 3];
navmeshTile.nodes = array3;
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder(graphIndex, navmeshTile);
int num2 = x + z * this.tileXCount;
num2 <<= 12;
for (int l = 0; l < array3.Length; l++)
{
TriangleMeshNode triangleMeshNode = new TriangleMeshNode(this.active);
array3[l] = triangleMeshNode;
triangleMeshNode.GraphIndex = (uint)graphIndex;
triangleMeshNode.v0 = (navmeshTile.tris[l * 3] | num2);
triangleMeshNode.v1 = (navmeshTile.tris[l * 3 + 1] | num2);
triangleMeshNode.v2 = (navmeshTile.tris[l * 3 + 2] | num2);
if (!Polygon.IsClockwise(triangleMeshNode.GetVertex(0), triangleMeshNode.GetVertex(1), triangleMeshNode.GetVertex(2)))
{
int v = triangleMeshNode.v0;
triangleMeshNode.v0 = triangleMeshNode.v2;
triangleMeshNode.v2 = v;
}
triangleMeshNode.Walkable = true;
triangleMeshNode.Penalty = this.initialPenalty;
triangleMeshNode.UpdatePositionFromVertices();
}
navmeshTile.bbTree.RebuildFrom(array3);
this.CreateNodeConnections(navmeshTile.nodes);
TriangleMeshNode.SetNavmeshHolder(graphIndex, null);
return navmeshTile;
}
/** Split funnel at node index \a splitIndex and throw the nodes up to that point away and replace with \a prefix.
* Used when the AI has happened to get sidetracked and entered a node outside the funnel.
*/
public void UpdateFunnelCorridor (int splitIndex, TriangleMeshNode prefix) {
if (splitIndex > 0) {
nodes.RemoveRange(0,splitIndex-1);
//This is a node which should be removed, we replace it with the prefix
nodes[0] = prefix;
} else {
nodes.Insert(0,prefix);
}
left.Clear();
right.Clear();
left.Add(exactStart);
right.Add(exactStart);
for (int i=0;i<nodes.Count-1;i++) {
//NOTE should use return value in future versions
nodes[i].GetPortal (nodes[i+1],left,right,false);
}
left.Add(exactEnd);
right.Add(exactEnd);
}
/** Generates a navmesh. Based on the supplied vertices and triangles. Memory usage is about O(n) */
public void GenerateNodes (Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices) {
Profiler.BeginSample ("Init");
if (vectorVertices.Length == 0 || triangles.Length == 0) {
originalVertices = vectorVertices;
vertices = new Int3[0];
//graph.CreateNodes (0);
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
//Backup the original vertices
//for (int i=0;i<vectorVertices.Length;i++) {
// vectorVertices[i] = graph.matrix.MultiplyPoint (vectorVertices[i]);
//}
int c = 0;
for (int i=0;i<vertices.Length;i++) {
vertices[i] = (Int3)matrix.MultiplyPoint3x4 (vectorVertices[i]);
}
Dictionary<Int3,int> hashedVerts = new Dictionary<Int3,int> ();
int[] newVertices = new int[vertices.Length];
Profiler.EndSample ();
Profiler.BeginSample ("Hashing");
for (int i=0;i<vertices.Length;i++) {
if (!hashedVerts.ContainsKey (vertices[i])) {
newVertices[c] = i;
hashedVerts.Add (vertices[i], c);
c++;
}// else {
//Debug.Log ("Hash Duplicate "+hash+" "+vertices[i].ToString ());
//}
}
/*newVertices[c] = vertices.Length-1;
if (!hashedVerts.ContainsKey (vertices[newVertices[c]])) {
hashedVerts.Add (vertices[newVertices[c]], c);
c++;
}*/
for (int x=0;x<triangles.Length;x++) {
Int3 vertex = vertices[triangles[x]];
triangles[x] = hashedVerts[vertex];
}
/*for (int i=0;i<triangles.Length;i += 3) {
Vector3 offset = Vector3.forward*i*0.01F;
Debug.DrawLine (newVertices[triangles[i]]+offset,newVertices[triangles[i+1]]+offset,Color.blue);
Debug.DrawLine (newVertices[triangles[i+1]]+offset,newVertices[triangles[i+2]]+offset,Color.blue);
Debug.DrawLine (newVertices[triangles[i+2]]+offset,newVertices[triangles[i]]+offset,Color.blue);
}*/
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i=0;i<c;i++) {
vertices[i] = totalIntVertices[newVertices[i]];//(Int3)graph.matrix.MultiplyPoint (vectorVertices[i]);
originalVertices[i] = (Vector3)vectorVertices[newVertices[i]];//vectorVertices[newVertices[i]];
}
Profiler.EndSample ();
Profiler.BeginSample ("Constructing Nodes");
//graph.CreateNodes (triangles.Length/3);//new Node[triangles.Length/3];
nodes = new TriangleMeshNode[triangles.Length/3];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];//new MeshNode ();
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i*3];
node.v1 = triangles[i*3+1];
node.v2 = triangles[i*3+2];
if (!Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (Polygon.IsColinear (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
Profiler.EndSample ();
Dictionary<Int2,TriangleMeshNode> sides = new Dictionary<Int2, TriangleMeshNode>();
for (int i=0, j=0;i<triangles.Length; j+=1, i+=3) {
sides[new Int2(triangles[i+0],triangles[i+1])] = nodes[j];
sides[new Int2(triangles[i+1],triangles[i+2])] = nodes[j];
sides[new Int2(triangles[i+2],triangles[i+0])] = nodes[j];
}
Profiler.BeginSample ("Connecting Nodes");
List<MeshNode> connections = new List<MeshNode> ();
List<uint> connectionCosts = new List<uint> ();
int identicalError = 0;
for (int i=0, j=0;i<triangles.Length; j+=1, i+=3) {
connections.Clear ();
connectionCosts.Clear ();
//Int3 indices = new Int3(triangles[i],triangles[i+1],triangles[i+2]);
TriangleMeshNode node = nodes[j];
for ( int q = 0; q < 3; q++ ) {
TriangleMeshNode other;
if (sides.TryGetValue ( new Int2 (triangles[i+((q+1)%3)], triangles[i+q]), out other ) ) {
connections.Add (other);
connectionCosts.Add ((uint)(node.position-other.position).costMagnitude);
}
}
node.connections = connections.ToArray ();
node.connectionCosts = connectionCosts.ToArray ();
}
if (identicalError > 0) {
Debug.LogError ("One or more triangles are identical to other triangles, this is not a good thing to have in a navmesh\nIncreasing the scale of the mesh might help\nNumber of triangles with error: "+identicalError+"\n");
}
Profiler.EndSample ();
Profiler.BeginSample ("Rebuilding BBTree");
RebuildBBTree (this);
Profiler.EndSample ();
//Debug.Log ("Graph Generation - NavMesh - Time to compute graph "+((Time.realtimeSinceStartup-startTime)*1000F).ToString ("0")+"ms");
}
/** Returns the closest point of the node */
public Vector3 ClosestPointOnNode (TriangleMeshNode node, Vector3 pos) {
return Polygon.ClosestPointOnTriangle ((Vector3)GetVertex(node.v0),(Vector3)GetVertex(node.v1),(Vector3)GetVertex(node.v2),pos);
}
/** Returns if the point is inside the node in XZ space */
public bool ContainsPoint (TriangleMeshNode node, Vector3 pos) {
if ( Polygon.IsClockwise ((Vector3)GetVertex(node.v0),(Vector3)GetVertex(node.v1), pos)
&& Polygon.IsClockwise ((Vector3)GetVertex(node.v1),(Vector3)GetVertex(node.v2), pos)
&& Polygon.IsClockwise ((Vector3)GetVertex(node.v2),(Vector3)GetVertex(node.v0), pos)) {
return true;
}
return false;
}
private void CreateNodeConnections(TriangleMeshNode[] nodes)
{
List<MeshNode> list = ListPool<MeshNode>.Claim();
List<uint> list2 = ListPool<uint>.Claim();
Dictionary<Int2, int> dictionary = this.cachedInt2_int_dict;
dictionary.Clear();
for (int i = 0; i < nodes.Length; i++)
{
TriangleMeshNode triangleMeshNode = nodes[i];
int vertexCount = triangleMeshNode.GetVertexCount();
for (int j = 0; j < vertexCount; j++)
{
Int2 key = new Int2(triangleMeshNode.GetVertexIndex(j), triangleMeshNode.GetVertexIndex((j + 1) % vertexCount));
if (!dictionary.ContainsKey(key))
{
dictionary.Add(key, i);
}
}
}
for (int k = 0; k < nodes.Length; k++)
{
TriangleMeshNode triangleMeshNode2 = nodes[k];
list.Clear();
list2.Clear();
int vertexCount2 = triangleMeshNode2.GetVertexCount();
for (int l = 0; l < vertexCount2; l++)
{
int vertexIndex = triangleMeshNode2.GetVertexIndex(l);
int vertexIndex2 = triangleMeshNode2.GetVertexIndex((l + 1) % vertexCount2);
int num;
if (dictionary.TryGetValue(new Int2(vertexIndex2, vertexIndex), out num))
{
TriangleMeshNode triangleMeshNode3 = nodes[num];
int vertexCount3 = triangleMeshNode3.GetVertexCount();
for (int m = 0; m < vertexCount3; m++)
{
if (triangleMeshNode3.GetVertexIndex(m) == vertexIndex2 && triangleMeshNode3.GetVertexIndex((m + 1) % vertexCount3) == vertexIndex)
{
uint costMagnitude = (uint)(triangleMeshNode2.position - triangleMeshNode3.position).costMagnitude;
list.Add(triangleMeshNode3);
list2.Add(costMagnitude);
break;
}
}
}
}
triangleMeshNode2.connections = list.ToArray();
triangleMeshNode2.connectionCosts = list2.ToArray();
}
ListPool<MeshNode>.Release(list);
ListPool<uint>.Release(list2);
}
public Vector3 Update(Vector3 position, List <Vector3> buffer, int numCorners, out bool lastCorner, out bool requiresRepath)
{
lastCorner = false;
requiresRepath = false;
var i3Pos = (Int3)position;
if (nodes[currentNode].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
// Check if we are in the same node as we were in during the last frame
if (nodes[currentNode].ContainsPoint(i3Pos))
{
// Only check for destroyed nodes every 10 frames
if (checkForDestroyedNodesCounter >= 10)
{
checkForDestroyedNodesCounter = 0;
// Loop through all nodes and check if they are destroyed
// If so, we really need a recalculation of our path quickly
// since there might be an obstacle blocking our path after
// a graph update or something similar
for (int i = 0, t = nodes.Count; i < t; i++)
{
if (nodes[i].Destroyed)
{
requiresRepath = true;
break;
}
}
}
else
{
checkForDestroyedNodesCounter++;
}
}
else
{
// This part of the code is relatively seldom called
// Most of the time we are still on the same node as during the previous frame
// Otherwise check the 2 nodes ahead and 2 nodes back
// If they contain the node in XZ space, then we probably moved into those nodes
bool found = false;
// 2 nodes ahead
for (int i = currentNode + 1, t = System.Math.Min(currentNode + 3, nodes.Count); i < t && !found; i++)
{
// If the node is destroyed, make sure we recalculate a new path quickly
if (nodes[i].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
// We found a node which contains our current position in XZ space
if (nodes[i].ContainsPoint(i3Pos))
{
currentNode = i;
found = true;
}
}
// 2 nodes behind
for (int i = currentNode - 1, t = System.Math.Max(currentNode - 3, 0); i > t && !found; i--)
{
if (nodes[i].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
if (nodes[i].ContainsPoint(i3Pos))
{
currentNode = i;
found = true;
}
}
if (!found)
{
int closestNodeInPath = 0;
int closestIsNeighbourOf = 0;
float closestDist = float.PositiveInfinity;
bool closestIsInPath = false;
TriangleMeshNode closestNode = null;
int containingIndex = nodes.Count - 1;
// If we still couldn't find a good node
// Check all nodes in the whole path
// We are checking for if any node is destroyed in the loop
// So we can reset this counter
checkForDestroyedNodesCounter = 0;
for (int i = 0, t = nodes.Count; i < t; i++)
{
if (nodes[i].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
Vector3 close = nodes[i].ClosestPointOnNode(position);
float d = (close - position).sqrMagnitude;
if (d < closestDist)
{
closestDist = d;
closestNodeInPath = i;
closestNode = nodes[i];
closestIsInPath = true;
}
}
// Loop through all neighbours of all nodes in the path
// and find the closet point on them
// We cannot just look on the ones in the path since it is impossible
// to know if we are outside the navmesh completely or if we have just
// stepped in to an adjacent node
// Need to make a copy here, the JIT will move this variable to the heap
// because it is used inside a delegate, if we didn't make a copy here
// we would *always* allocate 24 bytes (sizeof(position)) on the heap every time
// this method was called
// now we only do it when this IF statement is executed
var posCopy = position;
GraphNodeDelegate del = node => {
// Check so that this neighbour we are processing is neither the node after the current node or the node before the current node in the path
// This is done for optimization, we have already checked those nodes earlier
if (!(containingIndex > 0 && node == nodes[containingIndex - 1]) && !(containingIndex < nodes.Count - 1 && node == nodes[containingIndex + 1]))
{
// Check if the neighbour was a mesh node
var mn = node as TriangleMeshNode;
if (mn != null)
{
// Find the distance to the closest point on it from our current position
var close = mn.ClosestPointOnNode(posCopy);
float d = (close - posCopy).sqrMagnitude;
// Is that distance better than the best distance seen so far
if (d < closestDist)
{
closestDist = d;
closestIsNeighbourOf = containingIndex;
closestNode = mn;
closestIsInPath = false;
}
}
}
};
// Loop through all the nodes in the path in reverse order
// The callback needs to know about the index, so we store it
// in a local variable which it can read
for (; containingIndex >= 0; containingIndex--)
{
// Loop through all neighbours of the node
nodes[containingIndex].GetConnections(del);
}
// Check if the closest node
// was on the path already or if we need to adjust it
if (closestIsInPath)
{
// If we have found a node
// Snap to the closest point in XZ space (keep the Y coordinate)
// If we would have snapped to the closest point in 3D space, the agent
// might slow down when traversing slopes
currentNode = closestNodeInPath;
position = nodes[closestNodeInPath].ClosestPointOnNodeXZ(position);
}
else
{
// Snap to the closest point in XZ space on the node
position = closestNode.ClosestPointOnNodeXZ(position);
// We have found a node containing the position, but it is outside the funnel
// Recalculate the funnel to include this node
exactStart = position;
UpdateFunnelCorridor(closestIsNeighbourOf, closestNode);
// Restart from the first node in the updated path
currentNode = 0;
}
}
}
currentPosition = position;
if (!FindNextCorners(position, currentNode, buffer, numCorners, out lastCorner))
{
Debug.LogError("Oh oh");
buffer.Add(position);
return(position);
}
return(position);
}
/** Generates a navmesh. Based on the supplied vertices and triangles. Memory usage is about O(n) */
void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
{
Profiler.BeginSample("Init");
if (vectorVertices.Length == 0 || triangles.Length == 0)
{
originalVertices = vectorVertices;
vertices = new Int3[0];
//graph.CreateNodes (0);
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
//Backup the original vertices
//for (int i=0;i<vectorVertices.Length;i++) {
// vectorVertices[i] = graph.matrix.MultiplyPoint (vectorVertices[i]);
//}
int c = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Int3)matrix.MultiplyPoint3x4(vectorVertices[i]);
}
Dictionary <Int3, int> hashedVerts = new Dictionary <Int3, int> ();
int[] newVertices = new int[vertices.Length];
Profiler.EndSample();
Profiler.BeginSample("Hashing");
for (int i = 0; i < vertices.Length; i++)
{
if (!hashedVerts.ContainsKey(vertices[i]))
{
newVertices[c] = i;
hashedVerts.Add(vertices[i], c);
c++;
} // else {
//Debug.Log ("Hash Duplicate "+hash+" "+vertices[i].ToString ());
//}
}
/*newVertices[c] = vertices.Length-1;
*
* if (!hashedVerts.ContainsKey (vertices[newVertices[c]])) {
*
* hashedVerts.Add (vertices[newVertices[c]], c);
* c++;
* }*/
for (int x = 0; x < triangles.Length; x++)
{
Int3 vertex = vertices[triangles[x]];
triangles[x] = hashedVerts[vertex];
}
/*for (int i=0;i<triangles.Length;i += 3) {
*
* Vector3 offset = Vector3.forward*i*0.01F;
* Debug.DrawLine (newVertices[triangles[i]]+offset,newVertices[triangles[i+1]]+offset,Color.blue);
* Debug.DrawLine (newVertices[triangles[i+1]]+offset,newVertices[triangles[i+2]]+offset,Color.blue);
* Debug.DrawLine (newVertices[triangles[i+2]]+offset,newVertices[triangles[i]]+offset,Color.blue);
* }*/
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i = 0; i < c; i++)
{
vertices[i] = totalIntVertices[newVertices[i]]; //(Int3)graph.matrix.MultiplyPoint (vectorVertices[i]);
originalVertices[i] = (Vector3)vectorVertices[newVertices[i]]; //vectorVertices[newVertices[i]];
}
Profiler.EndSample();
Profiler.BeginSample("Constructing Nodes");
//graph.CreateNodes (triangles.Length/3);//new Node[triangles.Length/3];
nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = active.astarData.GetGraphIndex(this);
// Does not have to set this, it is set in ScanInternal
//TriangleMeshNode.SetNavmeshHolder ((int)graphIndex,this);
for (int i = 0; i < nodes.Length; i++)
{
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i]; //new MeshNode ();
node.GraphIndex = (uint)graphIndex;
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i * 3];
node.v1 = triangles[i * 3 + 1];
node.v2 = triangles[i * 3 + 2];
if (!Polygon.IsClockwise(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (Polygon.IsColinear(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.red);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.red);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
Profiler.EndSample();
Dictionary <Int2, TriangleMeshNode> sides = new Dictionary <Int2, TriangleMeshNode>();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
sides[new Int2(triangles[i + 0], triangles[i + 1])] = nodes[j];
sides[new Int2(triangles[i + 1], triangles[i + 2])] = nodes[j];
sides[new Int2(triangles[i + 2], triangles[i + 0])] = nodes[j];
}
Profiler.BeginSample("Connecting Nodes");
List <MeshNode> connections = new List <MeshNode> ();
List <uint> connectionCosts = new List <uint> ();
int identicalError = 0;
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
connections.Clear();
connectionCosts.Clear();
//Int3 indices = new Int3(triangles[i],triangles[i+1],triangles[i+2]);
TriangleMeshNode node = nodes[j];
for (int q = 0; q < 3; q++)
{
TriangleMeshNode other;
if (sides.TryGetValue(new Int2(triangles[i + ((q + 1) % 3)], triangles[i + q]), out other))
{
connections.Add(other);
connectionCosts.Add((uint)(node.position - other.position).costMagnitude);
}
}
node.connections = connections.ToArray();
node.connectionCosts = connectionCosts.ToArray();
}
if (identicalError > 0)
{
Debug.LogError("One or more triangles are identical to other triangles, this is not a good thing to have in a navmesh\nIncreasing the scale of the mesh might help\nNumber of triangles with error: " + identicalError + "\n");
}
Profiler.EndSample();
Profiler.BeginSample("Rebuilding BBTree");
RebuildBBTree(this);
Profiler.EndSample();
//Debug.Log ("Graph Generation - NavMesh - Time to compute graph "+((Time.realtimeSinceStartup-startTime)*1000F).ToString ("0")+"ms");
}
public void ReplaceTile(int x, int z, int w, int d, Int3[] verts, int[] tris, bool worldSpace)
{
if (x + w > this.tileXCount || z + d > this.tileZCount || x < 0 || z < 0)
{
throw new ArgumentException(string.Concat(new object[]
{
"Tile is placed at an out of bounds position or extends out of the graph bounds (",
x,
", ",
z,
" [",
w,
", ",
d,
"] ",
this.tileXCount,
" ",
this.tileZCount,
")"
}));
}
if (w < 1 || d < 1)
{
throw new ArgumentException(string.Concat(new object[]
{
"width and depth must be greater or equal to 1. Was ",
w,
", ",
d
}));
}
for (int i = z; i < z + d; i++)
{
for (int j = x; j < x + w; j++)
{
RecastGraph.NavmeshTile navmeshTile = this.tiles[j + i * this.tileXCount];
if (navmeshTile != null)
{
this.RemoveConnectionsFromTile(navmeshTile);
for (int k = 0; k < navmeshTile.nodes.Length; k++)
{
navmeshTile.nodes[k].Destroy();
}
for (int l = navmeshTile.z; l < navmeshTile.z + navmeshTile.d; l++)
{
for (int m = navmeshTile.x; m < navmeshTile.x + navmeshTile.w; m++)
{
RecastGraph.NavmeshTile navmeshTile2 = this.tiles[m + l * this.tileXCount];
if (navmeshTile2 == null || navmeshTile2 != navmeshTile)
{
throw new Exception("This should not happen");
}
if (l < z || l >= z + d || m < x || m >= x + w)
{
this.tiles[m + l * this.tileXCount] = RecastGraph.NewEmptyTile(m, l);
if (this.batchTileUpdate)
{
this.batchUpdatedTiles.Add(m + l * this.tileXCount);
}
}
else
{
this.tiles[m + l * this.tileXCount] = null;
}
}
}
}
}
}
RecastGraph.NavmeshTile navmeshTile3 = new RecastGraph.NavmeshTile();
navmeshTile3.x = x;
navmeshTile3.z = z;
navmeshTile3.w = w;
navmeshTile3.d = d;
navmeshTile3.tris = tris;
navmeshTile3.verts = verts;
navmeshTile3.bbTree = new BBTree();
if (navmeshTile3.tris.Length % 3 != 0)
{
throw new ArgumentException("Triangle array's length must be a multiple of 3 (tris)");
}
if (navmeshTile3.verts.Length > 65535)
{
throw new ArgumentException("Too many vertices per tile (more than 65535)");
}
if (!worldSpace)
{
if (!Mathf.Approximately((float)(x * this.tileSizeX) * this.cellSize * 1000f, (float)Math.Round((double)((float)(x * this.tileSizeX) * this.cellSize * 1000f))))
{
UnityEngine.Debug.LogWarning("Possible numerical imprecision. Consider adjusting tileSize and/or cellSize");
}
if (!Mathf.Approximately((float)(z * this.tileSizeZ) * this.cellSize * 1000f, (float)Math.Round((double)((float)(z * this.tileSizeZ) * this.cellSize * 1000f))))
{
UnityEngine.Debug.LogWarning("Possible numerical imprecision. Consider adjusting tileSize and/or cellSize");
}
Int3 rhs = (Int3)(new Vector3((float)(x * this.tileSizeX) * this.cellSize, 0f, (float)(z * this.tileSizeZ) * this.cellSize) + this.forcedBounds.min);
for (int n = 0; n < verts.Length; n++)
{
verts[n] += rhs;
}
}
TriangleMeshNode[] array = new TriangleMeshNode[navmeshTile3.tris.Length / 3];
navmeshTile3.nodes = array;
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder(graphIndex, navmeshTile3);
int num = x + z * this.tileXCount;
num <<= 12;
for (int num2 = 0; num2 < array.Length; num2++)
{
TriangleMeshNode triangleMeshNode = new TriangleMeshNode(this.active);
array[num2] = triangleMeshNode;
triangleMeshNode.GraphIndex = (uint)graphIndex;
triangleMeshNode.v0 = (navmeshTile3.tris[num2 * 3] | num);
triangleMeshNode.v1 = (navmeshTile3.tris[num2 * 3 + 1] | num);
triangleMeshNode.v2 = (navmeshTile3.tris[num2 * 3 + 2] | num);
if (!Polygon.IsClockwise(triangleMeshNode.GetVertex(0), triangleMeshNode.GetVertex(1), triangleMeshNode.GetVertex(2)))
{
int v = triangleMeshNode.v0;
triangleMeshNode.v0 = triangleMeshNode.v2;
triangleMeshNode.v2 = v;
}
triangleMeshNode.Walkable = true;
triangleMeshNode.Penalty = this.initialPenalty;
triangleMeshNode.UpdatePositionFromVertices();
}
navmeshTile3.bbTree.RebuildFrom(array);
this.CreateNodeConnections(navmeshTile3.nodes);
for (int num3 = z; num3 < z + d; num3++)
{
for (int num4 = x; num4 < x + w; num4++)
{
this.tiles[num4 + num3 * this.tileXCount] = navmeshTile3;
}
}
if (this.batchTileUpdate)
{
this.batchUpdatedTiles.Add(x + z * this.tileXCount);
}
else
{
this.ConnectTileWithNeighbours(navmeshTile3);
}
TriangleMeshNode.SetNavmeshHolder(graphIndex, null);
graphIndex = AstarPath.active.astarData.GetGraphIndex(this);
for (int num5 = 0; num5 < array.Length; num5++)
{
array[num5].GraphIndex = (uint)graphIndex;
}
}
public override void DeserializeExtraInfo (GraphSerializationContext ctx)
{
uint graphIndex = (uint)active.astarData.GetGraphIndex(this);
TriangleMeshNode.SetNavmeshHolder ((int)graphIndex,this);
int c1 = ctx.reader.ReadInt32();
int c2 = ctx.reader.ReadInt32();
if (c1 == -1) {
nodes = new TriangleMeshNode[0];
_vertices = new Int3[0];
originalVertices = new Vector3[0];
}
nodes = new TriangleMeshNode[c1];
_vertices = new Int3[c2];
originalVertices = new Vector3[c2];
for (int i=0;i<c2;i++) {
_vertices[i] = new Int3(ctx.reader.ReadInt32(), ctx.reader.ReadInt32(), ctx.reader.ReadInt32());
originalVertices[i] = new Vector3(ctx.reader.ReadSingle(), ctx.reader.ReadSingle(), ctx.reader.ReadSingle());
}
bbTree = new BBTree(this);
for (int i=0;i<c1;i++) {
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];
node.DeserializeNode(ctx);
node.GraphIndex = graphIndex;
node.UpdatePositionFromVertices();
bbTree.Insert (node);
}
}
public override void DeserializeExtraInfo(GraphSerializationContext ctx)
{
BinaryReader reader = ctx.reader;
this.tileXCount = reader.ReadInt32();
if (this.tileXCount < 0)
{
return;
}
this.tileZCount = reader.ReadInt32();
this.tiles = new RecastGraph.NavmeshTile[this.tileXCount * this.tileZCount];
TriangleMeshNode.SetNavmeshHolder(ctx.graphIndex, this);
for (int i = 0; i < this.tileZCount; i++)
{
for (int j = 0; j < this.tileXCount; j++)
{
int num = j + i * this.tileXCount;
int num2 = reader.ReadInt32();
if (num2 < 0)
{
throw new Exception("Invalid tile coordinates (x < 0)");
}
int num3 = reader.ReadInt32();
if (num3 < 0)
{
throw new Exception("Invalid tile coordinates (z < 0)");
}
if (num2 != j || num3 != i)
{
this.tiles[num] = this.tiles[num3 * this.tileXCount + num2];
}
else
{
RecastGraph.NavmeshTile navmeshTile = new RecastGraph.NavmeshTile();
navmeshTile.x = num2;
navmeshTile.z = num3;
navmeshTile.w = reader.ReadInt32();
navmeshTile.d = reader.ReadInt32();
navmeshTile.bbTree = new BBTree();
this.tiles[num] = navmeshTile;
int num4 = reader.ReadInt32();
if (num4 % 3 != 0)
{
throw new Exception("Corrupt data. Triangle indices count must be divisable by 3. Got " + num4);
}
navmeshTile.tris = new int[num4];
for (int k = 0; k < navmeshTile.tris.Length; k++)
{
navmeshTile.tris[k] = reader.ReadInt32();
}
navmeshTile.verts = new Int3[reader.ReadInt32()];
for (int l = 0; l < navmeshTile.verts.Length; l++)
{
navmeshTile.verts[l] = new Int3(reader.ReadInt32(), reader.ReadInt32(), reader.ReadInt32());
}
int num5 = reader.ReadInt32();
navmeshTile.nodes = new TriangleMeshNode[num5];
num <<= 12;
for (int m = 0; m < navmeshTile.nodes.Length; m++)
{
TriangleMeshNode triangleMeshNode = new TriangleMeshNode(this.active);
navmeshTile.nodes[m] = triangleMeshNode;
triangleMeshNode.DeserializeNode(ctx);
triangleMeshNode.v0 = (navmeshTile.tris[m * 3] | num);
triangleMeshNode.v1 = (navmeshTile.tris[m * 3 + 1] | num);
triangleMeshNode.v2 = (navmeshTile.tris[m * 3 + 2] | num);
triangleMeshNode.UpdatePositionFromVertices();
}
navmeshTile.bbTree.RebuildFrom(navmeshTile.nodes);
}
}
}
}
public override void DeserializeExtraInfo (GraphSerializationContext ctx) {
uint graphIndex = (uint)ctx.graphIndex;
TriangleMeshNode.SetNavmeshHolder ((int)graphIndex,this);
int nodeCount = ctx.reader.ReadInt32();
int vertexCount = ctx.reader.ReadInt32();
if (nodeCount == -1) {
nodes = new TriangleMeshNode[0];
_vertices = new Int3[0];
originalVertices = new Vector3[0];
}
nodes = new TriangleMeshNode[nodeCount];
_vertices = new Int3[vertexCount];
originalVertices = new Vector3[vertexCount];
for (int i=0;i<vertexCount;i++) {
_vertices[i] = new Int3(ctx.reader.ReadInt32(), ctx.reader.ReadInt32(), ctx.reader.ReadInt32());
originalVertices[i] = new Vector3(ctx.reader.ReadSingle(), ctx.reader.ReadSingle(), ctx.reader.ReadSingle());
}
bbTree = new BBTree();
for (int i = 0; i < nodeCount;i++) {
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];
node.DeserializeNode(ctx);
node.UpdatePositionFromVertices();
}
bbTree.RebuildFrom (nodes);
}
public bool ContainsPoint(TriangleMeshNode node, Vector3 pos)
{
return(node.ContainsPoint((Int3)pos));
}
/** Returns the closest point of the node */
public static Vector3 ClosestPointOnNode (TriangleMeshNode node, Int3[] vertices, Vector3 pos) {
return Polygon.ClosestPointOnTriangle ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],(Vector3)vertices[node.v2],pos);
}
/** Create a tile at tile index \a x, \a z from the mesh.
* \version Since version 3.7.6 the implementation is thread safe
*/
NavmeshTile CreateTile(Voxelize vox, VoxelMesh mesh, int x, int z, int threadIndex)
{
if (mesh.tris == null)
{
throw new System.ArgumentNullException("mesh.tris");
}
if (mesh.verts == null)
{
throw new System.ArgumentNullException("mesh.verts");
}
if (mesh.tris.Length % 3 != 0)
{
throw new System.ArgumentException("Indices array's length must be a multiple of 3 (mesh.tris)");
}
if (mesh.verts.Length >= VertexIndexMask)
{
if (tileXCount * tileZCount == 1)
{
throw new System.ArgumentException("Too many vertices per tile (more than " + VertexIndexMask + ")." +
"\n<b>Try enabling tiling in the recast graph settings.</b>\n");
}
else
{
throw new System.ArgumentException("Too many vertices per tile (more than " + VertexIndexMask + ")." +
"\n<b>Try reducing tile size or enabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* Inspector</b>");
}
}
// Create a new navmesh tile and assign its settings
var tile = new NavmeshTile {
x = x,
z = z,
w = 1,
d = 1,
tris = mesh.tris,
bbTree = new BBTree(),
graph = this,
};
tile.vertsInGraphSpace = Utility.RemoveDuplicateVertices(mesh.verts, tile.tris);
tile.verts = (Int3[])tile.vertsInGraphSpace.Clone();
transform.Transform(tile.verts);
// Here we are faking a new graph
// The tile is not added to any graphs yet, but to get the position queries from the nodes
// to work correctly (not throw exceptions because the tile is not calculated) we fake a new graph
// and direct the position queries directly to the tile
// The thread index is added to make sure that if multiple threads are calculating tiles at the same time
// they will not use the same temporary graph index
uint temporaryGraphIndex = (uint)(active.data.graphs.Length + threadIndex);
if (temporaryGraphIndex > GraphNode.MaxGraphIndex)
{
// Multithreaded tile calculations use fake graph indices, see above.
throw new System.Exception("Graph limit reached. Multithreaded recast calculations cannot be done because a few scratch graph indices are required.");
}
TriangleMeshNode.SetNavmeshHolder((int)temporaryGraphIndex, tile);
// We need to lock here because creating nodes is not thread safe
// and we may be doing this from multiple threads at the same time
tile.nodes = new TriangleMeshNode[tile.tris.Length / 3];
lock (active) {
CreateNodes(tile.nodes, tile.tris, x + z * tileXCount, temporaryGraphIndex);
}
tile.bbTree.RebuildFrom(tile.nodes);
CreateNodeConnections(tile.nodes);
// Remove the fake graph
TriangleMeshNode.SetNavmeshHolder((int)temporaryGraphIndex, null);
return(tile);
}
/** This performs a linear search through all polygons returning the closest one.
* This will fill the NNInfo with .node for the closest node not necessarily complying with the NNConstraint, and .constrainedNode with the closest node
* complying with the NNConstraint.
* \see GetNearestForce(Node[],Int3[],Vector3,NNConstraint,bool)
*/
public static NNInfo GetNearestForceBoth(NavGraph graph, INavmeshHolder navmesh, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
{
Int3 pos = (Int3)position;
float minDist = -1;
GraphNode minNode = null;
float minConstDist = -1;
GraphNode minConstNode = null;
float maxDistSqr = constraint.constrainDistance ? AstarPath.active.maxNearestNodeDistanceSqr : float.PositiveInfinity;
GraphNodeDelegateCancelable del = delegate(GraphNode _node) {
TriangleMeshNode node = _node as TriangleMeshNode;
if (accurateNearestNode)
{
Vector3 closest = node.ClosestPointOnNode(position);
float dist = ((Vector3)pos - closest).sqrMagnitude;
if (minNode == null || dist < minDist)
{
minDist = dist;
minNode = node;
}
if (dist < maxDistSqr && constraint.Suitable(node))
{
if (minConstNode == null || dist < minConstDist)
{
minConstDist = dist;
minConstNode = node;
}
}
}
else
{
if (!node.ContainsPoint((Int3)position))
{
float dist = (node.position - pos).sqrMagnitude;
if (minNode == null || dist < minDist)
{
minDist = dist;
minNode = node;
}
if (dist < maxDistSqr && constraint.Suitable(node))
{
if (minConstNode == null || dist < minConstDist)
{
minConstDist = dist;
minConstNode = node;
}
}
}
else
{
int dist = AstarMath.Abs(node.position.y - pos.y);
if (minNode == null || dist < minDist)
{
minDist = dist;
minNode = node;
}
if (dist < maxDistSqr && constraint.Suitable(node))
{
if (minConstNode == null || dist < minConstDist)
{
minConstDist = dist;
minConstNode = node;
}
}
}
}
return(true);
};
graph.GetNodes(del);
NNInfo nninfo = new NNInfo(minNode);
//Find the point closest to the nearest triangle
if (nninfo.node != null)
{
TriangleMeshNode node = nninfo.node as TriangleMeshNode; //minNode2 as MeshNode;
Vector3 clP = node.ClosestPointOnNode(position);
nninfo.clampedPosition = clP;
}
nninfo.constrainedNode = minConstNode;
if (nninfo.constrainedNode != null)
{
TriangleMeshNode node = nninfo.constrainedNode as TriangleMeshNode; //minNode2 as MeshNode;
Vector3 clP = node.ClosestPointOnNode(position);
nninfo.constClampedPosition = clP;
}
return(nninfo);
}
public static void UpdateArea(GraphUpdateObject o, INavmesh graph)
{
//System.DateTime startTime = System.DateTime.UtcNow;
Bounds bounds = o.bounds;
Rect r = Rect.MinMaxRect(bounds.min.x, bounds.min.z, bounds.max.x, bounds.max.z);
IntRect r2 = new IntRect(
Mathf.FloorToInt(bounds.min.x * Int3.Precision),
Mathf.FloorToInt(bounds.min.z * Int3.Precision),
Mathf.FloorToInt(bounds.max.x * Int3.Precision),
Mathf.FloorToInt(bounds.max.z * Int3.Precision)
);
Int3 a = new Int3(r2.xmin, 0, r2.ymin);
Int3 b = new Int3(r2.xmin, 0, r2.ymax);
Int3 c = new Int3(r2.xmax, 0, r2.ymin);
Int3 d = new Int3(r2.xmax, 0, r2.ymax);
Int3 ia = (Int3)a;
Int3 ib = (Int3)b;
Int3 ic = (Int3)c;
Int3 id = (Int3)d;
//for (int i=0;i<nodes.Length;i++) {
graph.GetNodes(delegate(GraphNode _node) {
TriangleMeshNode node = _node as TriangleMeshNode;
bool inside = false;
int allLeft = 0;
int allRight = 0;
int allTop = 0;
int allBottom = 0;
for (int v = 0; v < 3; v++)
{
Int3 p = node.GetVertex(v);
Vector3 vert = (Vector3)p;
//Vector2 vert2D = new Vector2 (vert.x,vert.z);
if (r2.Contains(p.x, p.z))
{
//Debug.DrawRay (vert,Vector3.up*10,Color.yellow);
inside = true;
break;
}
if (vert.x < r.xMin)
{
allLeft++;
}
if (vert.x > r.xMax)
{
allRight++;
}
if (vert.z < r.yMin)
{
allTop++;
}
if (vert.z > r.yMax)
{
allBottom++;
}
}
if (!inside)
{
if (allLeft == 3 || allRight == 3 || allTop == 3 || allBottom == 3)
{
return(true);
}
}
//Debug.DrawLine ((Vector3)node.GetVertex(0),(Vector3)node.GetVertex(1),Color.yellow);
//Debug.DrawLine ((Vector3)node.GetVertex(1),(Vector3)node.GetVertex(2),Color.yellow);
//Debug.DrawLine ((Vector3)node.GetVertex(2),(Vector3)node.GetVertex(0),Color.yellow);
for (int v = 0; v < 3; v++)
{
int v2 = v > 1 ? 0 : v + 1;
Int3 vert1 = node.GetVertex(v);
Int3 vert2 = node.GetVertex(v2);
if (Polygon.Intersects(a, b, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(a, c, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(c, d, vert1, vert2))
{
inside = true; break;
}
if (Polygon.Intersects(d, b, vert1, vert2))
{
inside = true; break;
}
}
if (node.ContainsPoint(ia) || node.ContainsPoint(ib) || node.ContainsPoint(ic) || node.ContainsPoint(id))
{
inside = true;
}
if (!inside)
{
return(true);
}
o.WillUpdateNode(node);
o.Apply(node);
/*Debug.DrawLine ((Vector3)node.GetVertex(0),(Vector3)node.GetVertex(1),Color.blue);
* Debug.DrawLine ((Vector3)node.GetVertex(1),(Vector3)node.GetVertex(2),Color.blue);
* Debug.DrawLine ((Vector3)node.GetVertex(2),(Vector3)node.GetVertex(0),Color.blue);
* Debug.Break ();*/
return(true);
});
//System.DateTime endTime = System.DateTime.UtcNow;
//float theTime = (endTime-startTime).Ticks*0.0001F;
//Debug.Log ("Intersecting bounds with navmesh took "+theTime.ToString ("0.000")+" ms");
}
/** Create a tile at tile index \a x , \a z from the mesh.
* \warning This implementation is not thread safe. It uses cached variables to improve performance
*/
NavmeshTile CreateTile (Voxelize vox, VoxelMesh mesh, int x, int z) {
if (mesh.tris == null) throw new System.ArgumentNullException ("The mesh must be valid. tris is null.");
if (mesh.verts == null) throw new System.ArgumentNullException ("The mesh must be valid. verts is null.");
//Create a new navmesh tile and assign its settings
NavmeshTile tile = new NavmeshTile();
tile.x = x;
tile.z = z;
tile.w = 1;
tile.d = 1;
tile.tris = mesh.tris;
tile.verts = mesh.verts;
tile.bbTree = new BBTree(tile);
if (tile.tris.Length % 3 != 0) throw new System.ArgumentException ("Indices array's length must be a multiple of 3 (mesh.tris)");
if (tile.verts.Length >= VertexIndexMask) throw new System.ArgumentException ("Too many vertices per tile (more than "+VertexIndexMask+")." +
"\nTry enabling ASTAR_RECAST_LARGER_TILES under the 'Optimizations' tab in the A* Inspector");
//Dictionary<Int3, int> firstVerts = new Dictionary<Int3, int> ();
Dictionary<Int3, int> firstVerts = cachedInt3_int_dict;
firstVerts.Clear();
int[] compressedPointers = new int[tile.verts.Length];
int count = 0;
for (int i=0;i<tile.verts.Length;i++) {
try {
firstVerts.Add (tile.verts[i], count);
compressedPointers[i] = count;
tile.verts[count] = tile.verts[i];
count++;
} catch {
//There are some cases, rare but still there, that vertices are identical
compressedPointers[i] = firstVerts[tile.verts[i]];
}
}
for (int i=0;i<tile.tris.Length;i++) {
tile.tris[i] = compressedPointers[tile.tris[i]];
}
Int3[] compressed = new Int3[count];
for (int i=0;i<count;i++) compressed[i] = tile.verts[i];
tile.verts = compressed;
TriangleMeshNode[] nodes = new TriangleMeshNode[tile.tris.Length/3];
tile.nodes = nodes;
//Here we are faking a new graph
//The tile is not added to any graphs yet, but to get the position querys from the nodes
//to work correctly (not throw exceptions because the tile is not calculated) we fake a new graph
//and direct the position queries directly to the tile
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder (graphIndex, tile);
//This index will be ORed to the triangle indices
int tileIndex = x + z*tileXCount;
tileIndex <<= TileIndexOffset;
//Create nodes and assign triangle indices
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = new TriangleMeshNode(active);
nodes[i] = node;
node.GraphIndex = (uint)graphIndex;
node.v0 = tile.tris[i*3+0] | tileIndex;
node.v1 = tile.tris[i*3+1] | tileIndex;
node.v2 = tile.tris[i*3+2] | tileIndex;
//Degenerate triangles might ocurr, but they will not cause any large troubles anymore
//if (Polygon.IsColinear (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
// Debug.Log ("COLINEAR!!!!!!");
//}
//Make sure the triangle is clockwise
if (!Polygon.IsClockwise (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
node.Walkable = true;
node.Penalty = initialPenalty;
node.UpdatePositionFromVertices();
tile.bbTree.Insert (node);
}
CreateNodeConnections (tile.nodes);
//Remove the fake graph
TriangleMeshNode.SetNavmeshHolder (graphIndex, null);
return tile;
}
/** Create connections between all nodes.
* \warning This implementation is not thread safe. It uses cached variables to improve performance
*/
void CreateNodeConnections (TriangleMeshNode[] nodes) {
List<MeshNode> connections = Pathfinding.Util.ListPool<MeshNode>.Claim (); //new List<MeshNode>();
List<uint> connectionCosts = Pathfinding.Util.ListPool<uint>.Claim (); //new List<uint>();
Dictionary<Int2,int> nodeRefs = cachedInt2_int_dict;
nodeRefs.Clear();
//Build node neighbours
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i];
int av = node.GetVertexCount ();
for (int a=0;a<av;a++) {
//Recast can in some very special cases generate degenerate triangles which are simply lines
//In that case, duplicate keys might be added and thus an exception will be thrown
//It is safe to ignore the second edge though... I think (only found one case where this happens)
try {
nodeRefs.Add (new Int2 (node.GetVertexIndex(a), node.GetVertexIndex ((a+1) % av)), i);
} catch (System.Exception) {
}
}
}
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i];
connections.Clear ();
connectionCosts.Clear ();
int av = node.GetVertexCount ();
for (int a=0;a<av;a++) {
int first = node.GetVertexIndex(a);
int second = node.GetVertexIndex((a+1) % av);
int connNode;
if (nodeRefs.TryGetValue (new Int2 (second, first), out connNode)) {
TriangleMeshNode other = nodes[connNode];
int bv = other.GetVertexCount ();
for (int b=0;b<bv;b++) {
/** \todo This will fail on edges which are only partially shared */
if (other.GetVertexIndex (b) == second && other.GetVertexIndex ((b+1) % bv) == first) {
uint cost = (uint)(node.position - other.position).costMagnitude;
connections.Add (other);
connectionCosts.Add (cost);
break;
}
}
}
}
node.connections = connections.ToArray ();
node.connectionCosts = connectionCosts.ToArray ();
}
Pathfinding.Util.ListPool<MeshNode>.Release (connections);
Pathfinding.Util.ListPool<uint>.Release (connectionCosts);
}
public void ReplaceTile (int x, int z, int w, int d, Int3[] verts, int[] tris, bool worldSpace) {
if(x + w > tileXCount || z+d > tileZCount || x < 0 || z < 0) {
throw new System.ArgumentException ("Tile is placed at an out of bounds position or extends out of the graph bounds ("+x+", " + z + " [" + w + ", " + d+ "] " + tileXCount + " " + tileZCount + ")");
}
if (w < 1 || d < 1) throw new System.ArgumentException ("width and depth must be greater or equal to 1");
//Remove previous tiles
for (int cz=z; cz < z+d;cz++) {
for (int cx=x; cx < x+w;cx++) {
NavmeshTile otile = tiles[cx + cz*tileXCount];
if (otile == null) continue;
//Remove old tile connections
RemoveConnectionsFromTile (otile);
for (int i=0;i<otile.nodes.Length;i++) {
otile.nodes[i].Destroy();
}
for (int qz=otile.z; qz < otile.z+otile.d;qz++) {
for (int qx=otile.x; qx < otile.x+otile.w;qx++) {
NavmeshTile qtile = tiles[qx + qz*tileXCount];
if (qtile == null || qtile != otile) throw new System.Exception("This should not happen");
if (qz < z || qz >= z+d || qx < x || qx >= x+w) {
//if out of this tile's bounds, replace with empty tile
tiles[qx + qz*tileXCount] = NewEmptyTile(qx,qz);
if (batchTileUpdate) {
batchUpdatedTiles.Add (qx + qz*tileXCount);
}
} else {
//Will be replaced by the new tile
tiles[qx + qz*tileXCount] = null;
}
}
}
}
}
//Create a new navmesh tile and assign its settings
NavmeshTile tile = new NavmeshTile();
tile.x = x;
tile.z = z;
tile.w = w;
tile.d = d;
tile.tris = tris;
tile.verts = verts;
tile.bbTree = new BBTree(tile);
if (tile.tris.Length % 3 != 0) throw new System.ArgumentException ("Triangle array's length must be a multiple of 3 (tris)");
if (tile.verts.Length > 0xFFFF) throw new System.ArgumentException ("Too many vertices per tile (more than 65535)");
if (!worldSpace) {
if (!Mathf.Approximately (x*tileSizeX*cellSize*Int3.FloatPrecision, (float)System.Math.Round(x*tileSizeX*cellSize*Int3.FloatPrecision))) Debug.LogWarning ("Possible numerical imprecision. Consider adjusting tileSize and/or cellSize");
if (!Mathf.Approximately (z*tileSizeZ*cellSize*Int3.FloatPrecision, (float)System.Math.Round(z*tileSizeZ*cellSize*Int3.FloatPrecision))) Debug.LogWarning ("Possible numerical imprecision. Consider adjusting tileSize and/or cellSize");
Int3 offset = (Int3)(new Vector3((x * tileSizeX * cellSize),0,(z * tileSizeZ * cellSize)) + forcedBounds.min);
for (int i=0;i<verts.Length;i++) {
verts[i] += offset;
}
}
TriangleMeshNode[] nodes = new TriangleMeshNode[tile.tris.Length/3];
tile.nodes = nodes;
//Here we are faking a new graph
//The tile is not added to any graphs yet, but to get the position querys from the nodes
//to work correctly (not throw exceptions because the tile is not calculated) we fake a new graph
//and direct the position queries directly to the tile
int graphIndex = AstarPath.active.astarData.graphs.Length;
TriangleMeshNode.SetNavmeshHolder (graphIndex, tile);
//This index will be ORed to the triangle indices
int tileIndex = x + z*tileXCount;
tileIndex <<= TileIndexOffset;
//Create nodes and assign triangle indices
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = new TriangleMeshNode(active);
nodes[i] = node;
node.GraphIndex = (uint)graphIndex;
node.v0 = tile.tris[i*3+0] | tileIndex;
node.v1 = tile.tris[i*3+1] | tileIndex;
node.v2 = tile.tris[i*3+2] | tileIndex;
//Degenerate triangles might ocurr, but they will not cause any large troubles anymore
//if (Polygon.IsColinear (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
// Debug.Log ("COLINEAR!!!!!!");
//}
//Make sure the triangle is clockwise
if (!Polygon.IsClockwise (node.GetVertex(0), node.GetVertex(1), node.GetVertex(2))) {
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
node.Walkable = true;
node.Penalty = initialPenalty;
node.UpdatePositionFromVertices();
tile.bbTree.Insert (node);
}
CreateNodeConnections (tile.nodes);
//Set tile
for (int cz=z; cz < z+d;cz++) {
for (int cx=x; cx < x+w;cx++) {
tiles[cx + cz*tileXCount] = tile;
}
}
if (batchTileUpdate) {
batchUpdatedTiles.Add (x + z*tileXCount);
} else {
ConnectTileWithNeighbours(tile);
/*if (x > 0) ConnectTiles (tiles[(x-1) + z*tileXCount], tile);
if (z > 0) ConnectTiles (tiles[x + (z-1)*tileXCount], tile);
if (x < tileXCount-1) ConnectTiles (tiles[(x+1) + z*tileXCount], tile);
if (z < tileZCount-1) ConnectTiles (tiles[x + (z+1)*tileXCount], tile);*/
}
//Remove the fake graph
TriangleMeshNode.SetNavmeshHolder (graphIndex, null);
//Real graph index
//TODO, could this step be changed for this function, is a fake index required?
graphIndex = AstarPath.active.astarData.GetGraphIndex (this);
for (int i=0;i<nodes.Length;i++) nodes[i].GraphIndex = (uint)graphIndex;
}
public override void OnDrawGizmos(bool drawNodes)
{
if (!drawNodes)
{
return;
}
Matrix4x4 preMatrix = matrix;
GenerateMatrix();
if (nodes == null)
{
//Scan ();
}
if (nodes == null)
{
return;
}
if (bbTree != null)
{
bbTree.OnDrawGizmos();
}
if (preMatrix != matrix)
{
//Debug.Log ("Relocating Nodes");
RelocateNodes(preMatrix, matrix);
}
PathHandler debugData = AstarPath.active.debugPathData;
for (int i = 0; i < nodes.Length; i++)
{
TriangleMeshNode node = (TriangleMeshNode)nodes[i];
Gizmos.color = NodeColor(node, AstarPath.active.debugPathData);
if (node.Walkable)
{
if (AstarPath.active.showSearchTree && debugData != null && debugData.GetPathNode(node).parent != null)
{
Gizmos.DrawLine((Vector3)node.position, (Vector3)debugData.GetPathNode(node).parent.node.position);
}
else
{
for (int q = 0; q < node.connections.Length; q++)
{
Gizmos.DrawLine((Vector3)node.position, Vector3.Lerp((Vector3)node.position, (Vector3)node.connections[q].position, 0.45f));
}
}
Gizmos.color = AstarColor.MeshEdgeColor;
}
else
{
Gizmos.color = Color.red;
}
Gizmos.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1]);
Gizmos.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2]);
Gizmos.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0]);
}
}
public override void DeserializeExtraInfo (GraphSerializationContext ctx) {
//NavMeshGraph.DeserializeMeshNodes (this,nodes,bytes);
System.IO.BinaryReader reader = ctx.reader;
tileXCount = reader.ReadInt32();
if (tileXCount < 0) return;
tileZCount = reader.ReadInt32();
tiles = new NavmeshTile[tileXCount * tileZCount];
//Make sure mesh nodes can reference this graph
TriangleMeshNode.SetNavmeshHolder (ctx.graphIndex, this);
for (int z=0;z<tileZCount;z++) {
for (int x=0;x<tileXCount;x++) {
int tileIndex = x + z*tileXCount;
int tx = reader.ReadInt32();
if (tx < 0) throw new System.Exception ("Invalid tile coordinates (x < 0)");
int tz = reader.ReadInt32();
if (tz < 0) throw new System.Exception ("Invalid tile coordinates (z < 0)");
// This is not the origin of a large tile. Refer back to that tile.
if (tx != x || tz != z) {
tiles[tileIndex] = tiles[tz*tileXCount + tx];
continue;
}
NavmeshTile tile = new NavmeshTile ();
tile.x = tx;
tile.z = tz;
tile.w = reader.ReadInt32();
tile.d = reader.ReadInt32();
tile.bbTree = new BBTree (tile);
tiles[tileIndex] = tile;
int trisCount = reader.ReadInt32 ();
if (trisCount % 3 != 0) throw new System.Exception ("Corrupt data. Triangle indices count must be divisable by 3. Got " + trisCount);
tile.tris = new int[trisCount];
for (int i=0;i<tile.tris.Length;i++) tile.tris[i] = reader.ReadInt32();
tile.verts = new Int3[reader.ReadInt32()];
for (int i=0;i<tile.verts.Length;i++) {
tile.verts[i] = new Int3 (reader.ReadInt32(), reader.ReadInt32(), reader.ReadInt32());
}
int nodeCount = reader.ReadInt32();
tile.nodes = new TriangleMeshNode[nodeCount];
//Prepare for storing in vertex indices
tileIndex <<= TileIndexOffset;
for (int i=0;i<tile.nodes.Length;i++) {
TriangleMeshNode node = new TriangleMeshNode (active);
tile.nodes[i] = node;
node.GraphIndex = (uint)ctx.graphIndex;
node.DeserializeNode (ctx);
node.v0 = tile.tris[i*3+0] | tileIndex;
node.v1 = tile.tris[i*3+1] | tileIndex;
node.v2 = tile.tris[i*3+2] | tileIndex;
node.UpdatePositionFromVertices();
tile.bbTree.Insert (node);
}
}
}
}
void FindWalls(int nodeIndex, List <Vector3> wallBuffer, Vector3 position, float range)
{
if (range <= 0)
{
return;
}
bool negAbort = false;
bool posAbort = false;
range *= range;
position.y = 0;
//Looping as 0,-1,1,-2,2,-3,3,-4,4 etc. Avoids code duplication by keeping it to one loop instead of two
for (int i = 0; !negAbort || !posAbort; i = i < 0 ? -i : -i - 1)
{
if (i < 0 && negAbort)
{
continue;
}
if (i > 0 && posAbort)
{
continue;
}
if (i < 0 && nodeIndex + i < 0)
{
negAbort = true;
continue;
}
if (i > 0 && nodeIndex + i >= nodes.Count)
{
posAbort = true;
continue;
}
TriangleMeshNode prev = nodeIndex + i - 1 < 0 ? null : nodes[nodeIndex + i - 1];
TriangleMeshNode node = nodes[nodeIndex + i];
TriangleMeshNode next = nodeIndex + i + 1 >= nodes.Count ? null : nodes[nodeIndex + i + 1];
if (node.Destroyed)
{
break;
}
if ((node.ClosestPointOnNodeXZ(position) - position).sqrMagnitude > range)
{
if (i < 0)
{
negAbort = true;
}
else
{
posAbort = true;
}
continue;
}
for (int j = 0; j < 3; j++)
{
triBuffer[j] = 0;
}
for (int j = 0; j < node.connections.Length; j++)
{
var other = node.connections[j] as TriangleMeshNode;
if (other == null)
{
continue;
}
int va = -1;
for (int a = 0; a < 3; a++)
{
for (int b = 0; b < 3; b++)
{
if (node.GetVertex(a) == other.GetVertex((b + 1) % 3) && node.GetVertex((a + 1) % 3) == other.GetVertex(b))
{
va = a;
a = 3;
break;
}
}
}
if (va == -1)
{
//No direct connection
}
else
{
triBuffer[va] = other == prev || other == next ? 2 : 1;
}
}
for (int j = 0; j < 3; j++)
{
//Tribuffer values
// 0 : Navmesh border, outer edge
// 1 : Inner edge, to node inside funnel
// 2 : Inner edge, to node outside funnel
if (triBuffer[j] == 0)
{
//Add edge to list of walls
wallBuffer.Add((Vector3)node.GetVertex(j));
wallBuffer.Add((Vector3)node.GetVertex((j + 1) % 3));
}
}
}
}
public void UpdateFunnelCorridor(int splitIndex, TriangleMeshNode prefix)
{
if (splitIndex > 0)
{
this.nodes.RemoveRange(0, splitIndex - 1);
this.nodes[0] = prefix;
}
else
{
this.nodes.Insert(0, prefix);
}
this.left.Clear();
this.right.Clear();
this.left.Add(this.exactStart);
this.right.Add(this.exactStart);
for (int i = 0; i < this.nodes.Count - 1; i++)
{
this.nodes[i].GetPortal(this.nodes[i + 1], this.left, this.right, false);
}
this.left.Add(this.exactEnd);
this.right.Add(this.exactEnd);
}
