public void BuildRegions_Success()
{
//Build a 3x3 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f / 3.0f), 0.02f);
for (int i = 0; i < 9; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
chf.BuildRegions(1, 2, 3);
//Most spans do not have a region id because those spans are part of the border
//Most region ids won't be assigned to any span
//Total number of regions right now
Assert.AreEqual(chf.MaxRegions, 7);
//Center spans should have region id
Assert.AreEqual((int)chf.Spans[4 * 2 + 0].Region, 5);
Assert.AreEqual((int)chf.Spans[4 * 2 + 1].Region, 6);
//Check that the rest of the region ids are not assigned to a span
for (int i = 0; i < chf.Spans.Length; i++)
{
for (int j = 0; j <= 4; j++)
{
Assert.AreNotEqual((int)chf.Spans[i].Region, j);
}
}
}
/// <summary>
/// Generates a <see cref="NavMesh"/> given a collection of triangles and some settings.
/// </summary>
/// <param name="triangles">The triangles that form the level.</param>
/// <param name="settings">The settings to generate with.</param>
/// <returns>A <see cref="NavMesh"/>.</returns>
public static NavMesh Generate(IEnumerable <Triangle3> triangles, NavMeshGenerationSettings settings)
{
BBox3 bounds = triangles.GetBoundingBox(settings.CellSize);
var hf = new Heightfield(bounds, settings);
hf.RasterizeTriangles(triangles);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentRadius);
chf.BuildDistanceField();
chf.BuildRegions(2, settings.MinRegionSize, settings.MergedRegionSize);
var cont = chf.BuildContourSet(settings);
var polyMesh = new PolyMesh(cont, settings);
var polyMeshDetail = new PolyMeshDetail(polyMesh, chf, settings);
var buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new Pathfinding.OffMeshConnection[0], settings);
var navMesh = new NavMesh(buildData);
return(navMesh);
}
/// <summary>
/// Generates a <see cref="NavMesh"/> given a collection of triangles and some settings.
/// </summary>
/// <param name="triangles">The triangles that form the level.</param>
/// <param name="settings">The settings to generate with.</param>
/// <returns>A <see cref="NavMesh"/>.</returns>
public static NavMesh Generate(IEnumerable<Triangle3> triangles, NavMeshGenerationSettings settings)
{
BBox3 bounds = triangles.GetBoundingBox(settings.CellSize);
var hf = new Heightfield(bounds, settings);
hf.RasterizeTriangles(triangles);
hf.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
hf.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
hf.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
var chf = new CompactHeightfield(hf, settings);
chf.Erode(settings.VoxelAgentRadius);
chf.BuildDistanceField();
chf.BuildRegions(2, settings.MinRegionSize, settings.MergedRegionSize);
var cont = chf.BuildContourSet(settings);
var polyMesh = new PolyMesh(cont, settings);
var polyMeshDetail = new PolyMeshDetail(polyMesh, chf, settings);
var buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new Pathfinding.OffMeshConnection[0], settings);
var navMesh = new NavMesh(buildData);
return navMesh;
}
public void ConvertSpans_OneCell()
{
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
hf[0].AddSpan(new Span(10, 20, Area.Default));
hf[0].AddSpan(new Span(25, 30, Area.Default));
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
Assert.AreEqual(chf.Spans.Length, 2);
Assert.AreEqual(chf.Spans[0].Minimum, 20);
Assert.AreEqual(chf.Spans[0].Height, 5);
Assert.AreEqual(chf.Spans[1].Minimum, 30);
Assert.AreEqual(chf.Spans[1].Height, int.MaxValue);
}
public void ConvertSpans_TwoCells()
{
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
hf[0].AddSpan(new Span(10, 20, Area.Default));
hf[0].AddSpan(new Span(25, 30, Area.Default));
hf[1].AddSpan(new Span(5, 15, Area.Default));
hf[1].AddSpan(new Span(25, 30, Area.Default));
hf[1].AddSpan(new Span(40, 55, Area.Default));
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
Assert.AreEqual(chf.Cells.Length, 4);
Assert.AreEqual(chf.Cells[0].StartIndex, 0);
Assert.AreEqual(chf.Cells[0].Count, 2);
Assert.AreEqual(chf.Cells[1].StartIndex, 2);
Assert.AreEqual(chf.Cells[1].Count, 3);
}
public void SetConnection_TwoCells()
{
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
hf[0].AddSpan(new Span(10, 20, Area.Default));
hf[0].AddSpan(new Span(25, 30, Area.Default));
hf[1].AddSpan(new Span(10, 21, Area.Default));
hf[1].AddSpan(new Span(25, 30, Area.Default));
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
Assert.IsTrue(chf.Spans[0].IsConnected(Direction.East));
Assert.IsTrue(chf.Spans[1].IsConnected(Direction.East));
Assert.IsTrue(chf.Spans[2].IsConnected(Direction.West));
Assert.IsTrue(chf.Spans[3].IsConnected(Direction.West));
Assert.AreEqual(chf.Spans[0].ConnectionEast, 0);
Assert.AreEqual(chf.Spans[1].ConnectionEast, 1);
Assert.AreEqual(chf.Spans[2].ConnectionWest, 0);
Assert.AreEqual(chf.Spans[3].ConnectionWest, 1);
}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
Stopwatch sw = new Stopwatch();
sw.Start();
long prevMs = 0;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
heightfield = new Heightfield(bounds, settings);
Console.WriteLine("Heightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
/*Area[] areas = AreaGenerator.From(triEnumerable, Area.Default)
.MarkAboveHeight(areaSettings.MaxLevelHeight, Area.Null)
.MarkBelowHeight(areaSettings.MinLevelHeight, Area.Null)
.MarkBelowSlope(areaSettings.MaxTriSlope, Area.Null)
.ToArray();
heightfield.RasterizeTrianglesWithAreas(levelTris, areas);*/
heightfield.RasterizeTriangles(levelTris, Area.Default);
Console.WriteLine(" + Rasterization\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
Console.WriteLine(" + Filtering");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
Console.WriteLine(" + Ledge Spans\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
Console.WriteLine(" + Low Hanging Obstacles\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
Console.WriteLine(" + Low Height Spans\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield = new CompactHeightfield(heightfield, settings);
Console.WriteLine("CompactHeightfield");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.Erode(settings.VoxelAgentRadius);
Console.WriteLine(" + Erosion\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildDistanceField();
Console.WriteLine(" + Distance Field\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
Console.WriteLine(" + Regions\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
Random r = new Random();
regionColors = new Color4[compactHeightfield.MaxRegions];
regionColors[0] = Color4.Black;
for (int i = 1; i < regionColors.Length; i++)
regionColors[i] = new Color4((byte)r.Next(0, 255), (byte)r.Next(0, 255), (byte)r.Next(0, 255), 255);
Console.WriteLine(" + Colors\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
contourSet = compactHeightfield.BuildContourSet(settings);
Console.WriteLine("ContourSet");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMesh = new PolyMesh(contourSet, settings);
Console.WriteLine("PolyMesh");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
Console.WriteLine("PolyMeshDetail");
Console.WriteLine(" + Ctor\t\t\t\t" + (sw.ElapsedMilliseconds - prevMs).ToString("D3") + " ms");
prevMs = sw.ElapsedMilliseconds;
hasGenerated = true;
}
catch (Exception e)
{
if (!interceptExceptions)
throw;
else
Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
}
finally
{
sw.Stop();
}
if (hasGenerated)
{
try
{
GeneratePathfinding();
//Pathfinding with multiple units
GenerateCrowd();
}
catch (Exception e)
{
Console.WriteLine("Pathfinding generation failed with exception" + Environment.NewLine + e.ToString());
hasGenerated = false;
}
Label l = (Label)statusBar.FindChildByName("GenTime");
l.Text = "Generation Time: " + sw.ElapsedMilliseconds + "ms";
Console.WriteLine("Navmesh generated successfully in " + sw.ElapsedMilliseconds + "ms.");
Console.WriteLine("Rasterized " + level.GetTriangles().Length + " triangles.");
Console.WriteLine("Generated " + contourSet.Count + " regions.");
Console.WriteLine("PolyMesh contains " + polyMesh.VertCount + " vertices in " + polyMesh.PolyCount + " polys.");
Console.WriteLine("PolyMeshDetail contains " + polyMeshDetail.VertCount + " vertices and " + polyMeshDetail.TrisCount + " tris in " + polyMeshDetail.MeshCount + " meshes.");
}
}
/// <summary>
/// Initializes a new instance of the <see cref="CompactHeightfield"/> class.
/// </summary>
/// <param name="field">A <see cref="Heightfield"/> to build from.</param>
/// <param name="walkableHeight">The maximum difference in height to filter.</param>
/// <param name="walkableClimb">The maximum difference in slope to filter.</param>
public CompactHeightfield(Heightfield field, int walkableHeight, int walkableClimb)
{
this.bounds = field.Bounds;
this.width = field.Width;
this.height = field.Height;
this.length = field.Length;
this.cellSize = field.CellSizeXZ;
this.cellHeight = field.CellHeight;
int spanCount = field.SpanCount;
cells = new CompactCell[width * length];
spans = new CompactSpan[spanCount];
areas = new Area[spanCount];
//iterate over the Heightfield's cells
int spanIndex = 0;
for (int i = 0; i < cells.Length; i++)
{
//get the heightfield span list, skip if empty
var fs = field[i].Spans;
if (fs.Count == 0)
continue;
CompactCell c = new CompactCell(spanIndex, 0);
//convert the closed spans to open spans
int lastInd = fs.Count - 1;
for (int j = 0; j < lastInd; j++)
{
var s = fs[j];
if (s.Area.IsWalkable)
{
CompactSpan.FromMinMax(s.Maximum, fs[j + 1].Minimum, out spans[spanIndex]);
areas[spanIndex] = s.Area;
spanIndex++;
c.Count++;
}
}
//the last closed span that has an "infinite" height
var lastS = fs[lastInd];
if (lastS.Area.IsWalkable)
{
spans[spanIndex] = new CompactSpan(fs[lastInd].Maximum, int.MaxValue);
areas[spanIndex] = lastS.Area;
spanIndex++;
c.Count++;
}
cells[i] = c;
}
//set neighbor connections
for (int z = 0; z < length; z++)
{
for (int x = 0; x < width; x++)
{
CompactCell c = cells[z * width + x];
for (int i = c.StartIndex, end = c.StartIndex + c.Count; i < end; i++)
{
CompactSpan s = spans[i];
for (var dir = Direction.West; dir <= Direction.South; dir++)
{
int dx = x + dir.GetHorizontalOffset();
int dz = z + dir.GetVerticalOffset();
if (dx < 0 || dz < 0 || dx >= width || dz >= length)
continue;
CompactCell dc = cells[dz * width + dx];
for (int j = dc.StartIndex, cellEnd = dc.StartIndex + dc.Count; j < cellEnd; j++)
{
CompactSpan ds = spans[j];
int overlapBottom, overlapTop;
CompactSpan.OverlapMin(ref s, ref ds, out overlapBottom);
CompactSpan.OverlapMax(ref s, ref ds, out overlapTop);
//Make sure that the agent can walk to the next span and that the span isn't a huge drop or climb
if ((overlapTop - overlapBottom) >= walkableHeight && Math.Abs(ds.Minimum - s.Minimum) <= walkableClimb)
{
int con = j - dc.StartIndex;
CompactSpan.SetConnection(dir, con, ref spans[i]);
break;
}
}
}
}
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="CompactHeightfield"/> class.
/// </summary>
/// <param name="field">A <see cref="Heightfield"/> to build from.</param>
/// <param name="settings">The settings to build with.</param>
public CompactHeightfield(Heightfield field, NavMeshGenerationSettings settings)
: this(field, settings.VoxelAgentHeight, settings.VoxelMaxClimb)
{
}
public void Filter_LowHangingWalkable_Success()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(10, 15, Area.Default);
var span2 = new Span(16, 20, Area.Null);
hf[0].AddSpan(span);
hf[0].AddSpan(span2);
hf.FilterLowHangingWalkableObstacles(20);
Assert.AreEqual(hf[0].Spans[0].Area, hf[0].Spans[1].Area);
}
public void Indexer_CellOutOfRange_Throws()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.5f);
Assert.Throws<ArgumentOutOfRangeException>(() => { var c = hf[5]; });
}
public void Indexer_Valid_ReturnsCell()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.5f);
Assert.IsNotNull(hf[0, 1]);
}
public void Filter_WalkableLowHeight_Success()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(10, 20, Area.Default);
var span2 = new Span(25, 30, Area.Default);
hf[0].AddSpan(span);
hf[0].AddSpan(span2);
//too low to walk through. there is only a gap of 5 units to walk through,
//but at least 15 units is needed
hf.FilterWalkableLowHeightSpans(15);
//so one span is unwalkable and the other is fine
Assert.AreEqual(hf[0].Spans[0].Area, Area.Null);
Assert.AreEqual(hf[0].Spans[1].Area, Area.Default);
}
public void Filter_LowHangingWalkable_Fail()
{
var hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.5f, 0.02f);
var span = new Span(1, 2, Area.Default);
var span2 = new Span(10, 20, Area.Null);
hf[2].AddSpan(span);
hf[2].AddSpan(span2);
//walkable step cannot cover the gap (difference between span2 maximum and span 1 maximum) so fail
hf.FilterLowHangingWalkableObstacles(10);
Assert.AreNotEqual(hf[0, 1].Spans[0].Area, hf[0, 1].Spans[1].Area);
}
public void DistanceField_Simple_Success()
{
//Build a 3x3 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), (float)(1.0f/3.0f), 0.02f);
for (int i = 0; i < 9; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
//make sure connections are set
Assert.AreEqual(chf.Spans[0 * 2].ConnectionCount, 2); //corner
Assert.AreEqual(chf.Spans[1 * 2].ConnectionCount, 3); //edge
Assert.AreEqual(chf.Spans[2 * 2].ConnectionCount, 2); //corner
Assert.AreEqual(chf.Spans[3 * 2].ConnectionCount, 3); //edge
Assert.AreEqual(chf.Spans[4 * 2].ConnectionCount, 4); //center
chf.BuildDistanceField();
//check distance field values
Assert.AreEqual(chf.MaxDistance, 2);
//1st row
Assert.AreEqual(chf.Distances[0 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[1 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[2 * 2], 0); //boundary
//2nd row
Assert.AreEqual(chf.Distances[3 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[4 * 2], 2); //center span
Assert.AreEqual(chf.Distances[5 * 2], 0); //boundary
}
public void DistanceField_Medium_Success()
{
//Build a 5x5 heightfield
Heightfield hf = new Heightfield(new BBox3(Vector3.Zero, Vector3.One), 0.2f, 0.02f);
for (int i = 0; i < 25; i++)
{
hf[i].AddSpan(new Span(10, 20, Area.Default));
hf[i].AddSpan(new Span(25, 30, Area.Default));
}
CompactHeightfield chf = new CompactHeightfield(hf, 2, 1);
chf.BuildDistanceField();
//Before box blur, MaxDistance is 4
//After box blur, MaxDistance is 2
Assert.AreEqual(chf.MaxDistance, 2);
//1st row
Assert.AreEqual(chf.Distances[0 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[4 * 2], 0); //boundary
//2nd row
Assert.AreEqual(chf.Distances[5 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[6 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[7 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[8 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[9 * 2], 0); //boundary
//3rd row
Assert.AreEqual(chf.Distances[10 * 2], 0); //boundary
Assert.AreEqual(chf.Distances[11 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[12 * 2], 2); //center (box blurred distance is (2*8 + 5)/9)
Assert.AreEqual(chf.Distances[13 * 2], 2); //near boundary
Assert.AreEqual(chf.Distances[14 * 2], 0); //boundary
}
