private static bool inCone(int i, int n, int[] verts, int pj, int[] vertpj)
{
int pi = i * 4;
int pi1 = RecastMesh.next(i, n) * 4;
int pin1 = RecastMesh.prev(i, n) * 4;
int[] pverts = new int[4 * 4];
for (int g = 0; g < 4; g++)
{
pverts[g] = verts[pi + g];
pverts[4 + g] = verts[pi1 + g];
pverts[8 + g] = verts[pin1 + g];
pverts[12 + g] = vertpj[pj + g];
}
pi = 0;
pi1 = 4;
pin1 = 8;
pj = 12;
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
if (RecastMesh.leftOn(pverts, pin1, pi, pi1))
{
return(RecastMesh.left(pverts, pi, pj, pin1) && RecastMesh.left(pverts, pj, pi, pi1));
}
// Assume (i-1,i,i+1) not collinear.
// else P[i] is reflex.
return(!(RecastMesh.leftOn(pverts, pi, pj, pi1) && RecastMesh.leftOn(pverts, pj, pi, pin1)));
}
/// <summary>
/// Unloads a zone
/// </summary>
/// <param name="z"></param>
public static void Unload(Zone2 z)
{
lock (_loadedZones)
{
if (_loadedZones.ContainsKey(z.ID))
{
RecastMesh m = _loadedZones[z.ID];
if (m != null)
{
FreeNavMesh(m.meshPtr, m.queryPtr);
}
_loadedZones.Remove(z.ID);
}
}
}
private static bool intersectSegCountour(int d0, int d1, int i, int n, int[] verts, int[] d0verts, int[] d1verts)
{
// For each edge (k,k+1) of P
int[] pverts = new int[4 * 4];
for (int g = 0; g < 4; g++)
{
pverts[g] = d0verts[d0 + g];
pverts[4 + g] = d1verts[d1 + g];
}
d0 = 0;
d1 = 4;
for (int k = 0; k < n; k++)
{
int k1 = RecastMesh.next(k, n);
// Skip edges incident to i.
if (i == k || i == k1)
{
continue;
}
int p0 = k * 4;
int p1 = k1 * 4;
for (int g = 0; g < 4; g++)
{
pverts[8 + g] = verts[p0 + g];
pverts[12 + g] = verts[p1 + g];
}
p0 = 8;
p1 = 12;
if (RecastMesh.vequal(pverts, d0, p0) || RecastMesh.vequal(pverts, d1, p0) || RecastMesh.vequal(pverts, d0, p1) || RecastMesh.vequal(pverts, d1, p1))
{
continue;
}
if (RecastMesh.intersect(pverts, d0, d1, p0, p1))
{
return(true);
}
}
return(false);
}
private static void removeDegenerateSegments(List <int> simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
int npts = simplified.Count / 4;
for (int i = 0; i < npts; ++i)
{
int ni = RecastMesh.next(i, npts);
// if (vequal(&simplified[i*4], &simplified[ni*4]))
if (simplified[i * 4] == simplified[ni * 4] && simplified[i * 4 + 2] == simplified[ni * 4 + 2])
{
// Degenerate segment, remove.
simplified.RemoveAt(i * 4);
simplified.RemoveAt(i * 4);
simplified.RemoveAt(i * 4);
simplified.RemoveAt(i * 4);
npts--;
}
}
}
/// <summary>
/// Gets or loads a recast mesh
/// </summary>
private static RecastMesh LoadZoneMesh(Zone2 zone)
{
lock (_loadedZones) {
if (_loadedZones.ContainsKey(zone.ID))
{
return(_loadedZones[zone.ID]);
}
RecastMesh mesh = null;
try {
string file = zone.NavFile;
if (!File.Exists(file))
{
return(null); // no navmesh available
}
file = Path.GetFullPath(file); // not sure if c dll can load relative stuff
IntPtr meshPtr = IntPtr.Zero;
IntPtr queryPtr = IntPtr.Zero;
if (!LoadNavMesh(file, ref meshPtr, ref queryPtr))
{
Log.Error("Loading NavMesh failed for {0}!", zone);
return(null);
}
if (meshPtr == IntPtr.Zero || queryPtr == IntPtr.Zero)
{
Log.Error("Loading NavMesh failed for {0}! (Pointer was zero!)", zone);
return(null);
}
Log.Normal("Loading NavMesh sucessful for region {0}", zone);
return(mesh = new RecastMesh(meshPtr, queryPtr));
}
finally {
_loadedZones.Add(zone.ID, mesh);
}
}
}
public virtual RecastBuilderResult build(InputGeom geom, RecastBuilderConfig bcfg)
{
RecastConfig cfg = bcfg.cfg;
Context ctx = new Context();
CompactHeightfield chf = buildCompactHeightfield(geom, bcfg, ctx);
// Partition the heightfield so that we can use simple algorithm later
// to triangulate the walkable areas.
// There are 3 martitioning methods, each with some pros and cons:
// 1) Watershed partitioning
// - the classic Recast partitioning
// - creates the nicest tessellation
// - usually slowest
// - partitions the heightfield into nice regions without holes or
// overlaps
// - the are some corner cases where this method creates produces holes
// and overlaps
// - holes may appear when a small obstacles is close to large open area
// (triangulation can handle this)
// - overlaps may occur if you have narrow spiral corridors (i.e
// stairs), this make triangulation to fail
// * generally the best choice if you precompute the nacmesh, use this
// if you have large open areas
// 2) Monotone partioning
// - fastest
// - partitions the heightfield into regions without holes and overlaps
// (guaranteed)
// - creates long thin polygons, which sometimes causes paths with
// detours
// * use this if you want fast navmesh generation
// 3) Layer partitoining
// - quite fast
// - partitions the heighfield into non-overlapping regions
// - relies on the triangulation code to cope with holes (thus slower
// than monotone partitioning)
// - produces better triangles than monotone partitioning
// - does not have the corner cases of watershed partitioning
// - can be slow and create a bit ugly tessellation (still better than
// monotone)
// if you have large open areas with small obstacles (not a problem if
// you use tiles)
// * good choice to use for tiled navmesh with medium and small sized
// tiles
if (cfg.partitionType == PartitionType.WATERSHED)
{
// Prepare for region partitioning, by calculating distance field
// along the walkable surface.
RecastRegion.buildDistanceField(ctx, chf);
// Partition the walkable surface into simple regions without holes.
RecastRegion.buildRegions(ctx, chf, bcfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea);
}
else if (cfg.partitionType == PartitionType.MONOTONE)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
RecastRegion.buildRegionsMonotone(ctx, chf, bcfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea);
}
else
{
// Partition the walkable surface into simple regions without holes.
RecastRegion.buildLayerRegions(ctx, chf, bcfg.borderSize, cfg.minRegionArea);
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
ContourSet cset = RecastContour.buildContours(ctx, chf, cfg.maxSimplificationError, cfg.maxEdgeLen, RecastConstants.RC_CONTOUR_TESS_WALL_EDGES);
//
// Step 6. Build polygons mesh from contours.
//
PolyMesh pmesh = RecastMesh.buildPolyMesh(ctx, cset, cfg.maxVertsPerPoly);
//
// Step 7. Create detail mesh which allows to access approximate height
// on each polygon.
//
PolyMeshDetail dmesh = RecastMeshDetail.buildPolyMeshDetail(ctx, pmesh, chf, cfg.detailSampleDist, cfg.detailSampleMaxError);
return(new RecastBuilderResult(this, pmesh, dmesh));
}
/// <summary>
///
/// </summary>
public void BuildNavigationMesh(ContentManager content)
{
NavConfig.CellSize = 0.3f;
NavConfig.CellHeight = 0.2f;
NavConfig.WalkableSlopeAngle = 45f;
NavConfig.WalkableHeight = (int)Math.Ceiling((2f / NavConfig.CellHeight));
NavConfig.WalkableClimb = (int)Math.Floor(0.9f / NavConfig.CellHeight);
NavConfig.WalkableRadius = (int)Math.Ceiling(0.6f / NavConfig.CellSize);
NavConfig.MaxEdgeLen = (int)(12f / NavConfig.CellSize);
NavConfig.MaxSimplificationError = 1.3f;
NavConfig.MinRegionArea = (int)8 * 8;
NavConfig.MergeRegionArea = (int)20 * 20;
NavConfig.DetailSampleDist = 6f;
NavConfig.DetailSampleMaxError = 1f;
NavConfig.MaxVertsPerPoly = 3;
var indices = new List <int>();
var vertices = new List <Vector3>();
/*
* foreach ( var factory in Nodes ) {
* if (!string.IsNullOrWhiteSpace(factory.Model.ScenePath)) {
*
* var scene = content.Load<Scene>( factory.Model.ScenePath );
*
* var nodeCount = scene.Nodes.Count;
*
* var worldMatricies = new Matrix[nodeCount];
*
* scene.ComputeAbsoluteTransforms( worldMatricies );
*
* for ( int i=0; i<scene.Nodes.Count; i++) {
*
* var worldMatrix = worldMatricies[i] * factory.WorldMatrix;
*
* var node = scene.Nodes[i];
*
* if (node.MeshIndex<0) {
* continue;
* }
*
* var mesh = scene.Meshes[ node.MeshIndex ];
*
* indices.AddRange( mesh.GetIndices( vertices.Count ) );
*
* vertices.AddRange( mesh.Vertices.Select( v1 => Vector3.TransformCoordinate( v1.Position, worldMatrix ) ) );
* }
* }
* }
*/
var rcmesh = new RecastMesh();
rcmesh.Indices = indices.ToArray();
rcmesh.Vertices = vertices.ToArray();
var context = new BuildContext(false);
SourceNavigationMesh = rcmesh;
NavigationMesh = RecastBuilder.BuildNavigationMesh(rcmesh, NavConfig, context, true);
var cs = NavConfig.CellSize;
var ch = NavConfig.CellHeight;
var t = NavigationMesh;
navVertices = new Vector3[t.VerticesCount];
navIndices = new int[t.PolysCount * 3];
Vector3 origin = NavConfig.BMin;
for (int i = 0; i < t.PolysCount; i++)
{
for (int j = 0; j < 3; j++)
{
var index = t.Polys[i * 6 + j];
navIndices[i * 3 + j] = index;
ushort a = t.Verts[index * 3];
ushort b = t.Verts[index * 3 + 1];
ushort c = t.Verts[index * 3 + 2];
Vector3 vertex = origin + new Vector3(a * cs, b * ch, c * cs);
navVertices[index] = vertex;
}
}
}
