private NavigationMeshTile BuildTile(Point tileCoordinate, NavigationMeshBuildSettings buildSettings, NavigationAgentSettings agentSettings,
ICollection <BoundingBox> boundingBoxes, Vector3[] inputVertices, int[] inputIndices, long buildTimeStamp)
{
NavigationMeshTile meshTile = null;
// Include bounding boxes in tile height range
BoundingBox tileBoundingBox = NavigationMeshBuildUtils.CalculateTileBoundingBox(buildSettings, tileCoordinate);
float minimumHeight = float.MaxValue;
float maximumHeight = float.MinValue;
bool shouldBuildTile = false;
foreach (var boundingBox in boundingBoxes)
{
if (boundingBox.Intersects(ref tileBoundingBox))
{
maximumHeight = Math.Max(maximumHeight, boundingBox.Maximum.Y);
minimumHeight = Math.Min(minimumHeight, boundingBox.Minimum.Y);
shouldBuildTile = true;
}
}
NavigationMeshBuildUtils.SnapBoundingBoxToCellHeight(buildSettings, ref tileBoundingBox);
// Skip tiles that do not overlap with any bounding box
if (shouldBuildTile)
{
// Set tile's minimum and maximum height
tileBoundingBox.Minimum.Y = minimumHeight;
tileBoundingBox.Maximum.Y = maximumHeight;
unsafe
{
IntPtr builder = Navigation.CreateBuilder();
// Turn build settings into native structure format
Navigation.BuildSettings internalBuildSettings = new Navigation.BuildSettings
{
// Tile settings
BoundingBox = tileBoundingBox,
TilePosition = tileCoordinate,
TileSize = buildSettings.TileSize,
// General build settings
CellHeight = buildSettings.CellHeight,
CellSize = buildSettings.CellSize,
RegionMinArea = buildSettings.MinRegionArea,
RegionMergeArea = buildSettings.RegionMergeArea,
EdgeMaxLen = buildSettings.MaxEdgeLen,
EdgeMaxError = buildSettings.MaxEdgeError,
DetailSampleDist = buildSettings.DetailSamplingDistance,
DetailSampleMaxError = buildSettings.MaxDetailSamplingError,
// Agent settings
AgentHeight = agentSettings.Height,
AgentRadius = agentSettings.Radius,
AgentMaxClimb = agentSettings.MaxClimb,
AgentMaxSlope = agentSettings.MaxSlope.Degrees,
};
Navigation.SetSettings(builder, new IntPtr(&internalBuildSettings));
IntPtr buildResultPtr = Navigation.Build(builder, inputVertices, inputVertices.Length, inputIndices, inputIndices.Length);
Navigation.GeneratedData *generatedDataPtr = (Navigation.GeneratedData *)buildResultPtr;
if (generatedDataPtr->Success && generatedDataPtr->NavmeshDataLength > 0)
{
meshTile = new NavigationMeshTile();
// Copy the generated navigationMesh data
meshTile.Data = new byte[generatedDataPtr->NavmeshDataLength + sizeof(long)];
Marshal.Copy(generatedDataPtr->NavmeshData, meshTile.Data, 0, generatedDataPtr->NavmeshDataLength);
// Append time stamp
byte[] timeStamp = BitConverter.GetBytes(buildTimeStamp);
for (int i = 0; i < timeStamp.Length; i++)
{
meshTile.Data[meshTile.Data.Length - sizeof(long) + i] = timeStamp[i];
}
List <Vector3> outputVerts = new List <Vector3>();
if (generatedDataPtr->NumNavmeshVertices > 0)
{
Vector3 *navmeshVerts = (Vector3 *)generatedDataPtr->NavmeshVertices;
for (int j = 0; j < generatedDataPtr->NumNavmeshVertices; j++)
{
outputVerts.Add(navmeshVerts[j]);
}
}
Navigation.DestroyBuilder(builder);
}
}
}
return(meshTile);
}
/// <summary>
/// Builds a single tile for a given layer without adding it
/// </summary>
/// <param name="inputVertices">Input vertex data for the input mesh</param>
/// <param name="inputIndices">Input index data for the input mesh</param>
/// <param name="boundingBox">Bounding box of the tile</param>
/// <param name="tileCoordinate">Tile coordinate to of the tile to build</param>
/// <returns>Teh tile that was built</returns>
private unsafe NavigationMeshTile BuildTileInternal(Vector3[] inputVertices, int[] inputIndices,
BoundingBox boundingBox, Point tileCoordinate)
{
// Turn settings into native structure format
NavigationAgentSettings agentSettings = AgentSettings;
NavigationMeshTile tile = new NavigationMeshTile();
// Initialize navigation builder
IntPtr nav = Navigation.CreateBuilder();
// Turn build settings into native structure format
Navigation.BuildSettings internalBuildSettings = new Navigation.BuildSettings
{
// Tile settings
BoundingBox = boundingBox,
TilePosition = tileCoordinate,
TileSize = BuildSettings.TileSize,
// General build settings
CellHeight = BuildSettings.CellHeight,
CellSize = BuildSettings.CellSize,
RegionMinArea = BuildSettings.MinRegionArea,
RegionMergeArea = BuildSettings.RegionMergeArea,
EdgeMaxLen = BuildSettings.MaxEdgeLen,
EdgeMaxError = BuildSettings.MaxEdgeError,
DetailSampleDist = BuildSettings.DetailSamplingDistance,
DetailSampleMaxError = BuildSettings.MaxDetailSamplingError,
// Agent settings
AgentHeight = agentSettings.Height,
AgentRadius = agentSettings.Radius,
AgentMaxClimb = agentSettings.MaxClimb,
AgentMaxSlope = agentSettings.MaxSlope.Degrees
};
Navigation.SetSettings(nav, new IntPtr(&internalBuildSettings));
// Generate mesh
Navigation.GeneratedData data;
IntPtr ret = Navigation.Build(nav, inputVertices.ToArray(), inputVertices.Length, inputIndices.ToArray(), inputIndices.Length);
Navigation.GeneratedData *dataPtr = (Navigation.GeneratedData *)ret;
data = *dataPtr;
// Copy output data on success
if (data.Success)
{
List <Vector3> outputVerts = new List <Vector3>();
if (data.NumNavmeshVertices > 0)
{
Vector3 *navmeshVerts = (Vector3 *)data.NavmeshVertices;
for (int j = 0; j < data.NumNavmeshVertices; j++)
{
outputVerts.Add(navmeshVerts[j]);
}
tile.MeshVertices = outputVerts.ToArray();
}
// Copy the generated navigationMesh data
tile.Data = new byte[data.NavmeshDataLength];
Marshal.Copy(data.NavmeshData, tile.Data, 0, data.NavmeshDataLength);
}
// Cleanup builder
Navigation.DestroyBuilder(nav);
return(tile);
}
