public void InitVoxelArea(float cellSize, float cellHeight, int pathLayerMask, int exceptLayerMask)
{
_pathLayerMask = pathLayerMask;
_exceptLayerMask = exceptLayerMask;
_area = new VoxelArea(UUtil.ScanMapSize3D(_pathLayerMask, cellSize), cellSize, cellHeight);
_inObjects.Clear();
_exceptObjects.Clear();
}
//private void FilterLedge()
//{
// BuildConnection();
// var va = VoxelArea;
// List<uint> deletingReservations = new List<uint>();
// foreach (var ele in va.WalkableCells)
// {
// if (!ele.ConnectionBackward || !ele.ConnectionForward || !ele.ConnectionLeft || !ele.ConnectionRight)
// deletingReservations.Add(ele.Index);
// }
// foreach (var ele in deletingReservations)
// {
// va.RemoveWalkableCell(ele);
// var ledge = va.GetCell(ele);
// if (ledge != null)
// {
// va.AddLedge(ledge);
// ledge.CellType = VOXEL_NAVI_TYPE.Ledge;
// }
// }
//}
//private void BuildDistanceField()
//{
// var va = VoxelArea;
// var wc = VoxelArea.WalkableCells;
// foreach(var ele in wc)
// {
// }
//}
/// <summary>
/// 일단 정방(AABB)만 처리한다.
/// </summary>
/// <param name="mesh"></param>
private void RegistExceptVoxel(SimpleMesh mesh)
{
// 쎌 처리 되어 있는데 성능상 바운드 체크만 하는걸로 변경하자.
// 모델 안쪽도 다 넣어줘야 한다.
// ex 모델의 경우 높이에서 바운드 밖으로 나갈수 있으니 수정요망.
VoxelArea va = VoxelArea;
for (int i = 0; i < mesh._triangles.Length; i += 3)
{
uint min_x, min_y, min_z, max_x, max_y, max_z;
Vector3 tri1 = mesh._matrix.MultiplyPoint3x4(mesh._vertices[mesh._triangles[i]]);
Vector3 tri2 = mesh._matrix.MultiplyPoint3x4(mesh._vertices[mesh._triangles[i + 1]]);
Vector3 tri3 = mesh._matrix.MultiplyPoint3x4(mesh._vertices[mesh._triangles[i + 2]]);
Vector3 minPos = Vector3.Min(Vector3.Min(tri1, tri2), tri3);
Vector3 maxPos = Vector3.Max(Vector3.Max(tri1, tri2), tri3);
if (!va.GetCellCount(minPos, out min_x, out min_y, out min_z))
{
Debug.Log("bound min err");
return;
}
if (!va.GetCellCount(maxPos, out max_x, out max_y, out max_z))
{
Debug.Log("bound max err");
return;
}
for (uint z = min_z; z <= max_z; ++z)
{
for (uint y = min_y; y <= max_y; ++y)
{
for (uint x = min_x; x <= max_x; ++x)
{
// 일단 정방만 처리.
uint index;
if (!va.GetCellIndex(out index, x, y, z))
{
continue;
}
var vox = new Voxel(index);
vox._ex = true;
va.Voxels[index] = vox;
}
}
}
}
}
private void VoxelizeObject(SimpleMesh mesh)
{
VoxelArea va = VoxelArea;
for (int i = 0; i < mesh._triangles.Length; i += 3)
{
uint min_x, min_y, min_z, max_x, max_y, max_z;
Vector3 tri1 = mesh._matrix.MultiplyPoint3x4(mesh._vertices[mesh._triangles[i]]);
Vector3 tri2 = mesh._matrix.MultiplyPoint3x4(mesh._vertices[mesh._triangles[i + 1]]);
Vector3 tri3 = mesh._matrix.MultiplyPoint3x4(mesh._vertices[mesh._triangles[i + 2]]);
Vector3 minPos = Vector3.Min(Vector3.Min(tri1, tri2), tri3);
Vector3 maxPos = Vector3.Max(Vector3.Max(tri1, tri2), tri3);
if (!va.GetCellCount(minPos, out min_x, out min_y, out min_z))
{
Debug.Log("bound min err");
return;
}
if (!va.GetCellCount(maxPos, out max_x, out max_y, out max_z))
{
Debug.Log("bound max err");
return;
}
for (uint z = (uint)min_z; z <= max_z; ++z)
{
for (uint y = (uint)min_y; y <= max_y; ++y)
{
for (uint x = (uint)min_x; x <= max_x; ++x)
{
uint index;
if (!va.GetCellIndex(out index, x, y, z))
{
continue;
}
// 이미 검출되었고, 위를 향한 면이라서 더 검출을 할 필요가 없다.
if (va.Voxels.ContainsKey(index))
{
BuildSpan(index);
continue;
}
Vector3 position;
if (!va.GetCellPosition(x, y, z, out position))
{
continue;
}
AABox box = new AABox(position, new Vector3(va.CellSize, va.CellHeight, va.CellSize));
Triangle triangle = new Triangle(tri1, tri2, tri3);
bool reverseSide = false;
if (Collision3D.CollisionDetectTriangle(triangle, box, out reverseSide, Vector3.up))
//if(Collision3D.triBoxOverlap(position, new Vector3(va.CellSize, va.CellHeight, va.CellSize)*0.5f, triangle)) // 이게 더 빠르다.. 근데 아직 미완성.
{
va.Voxels[index] = new Voxel(index);
if (reverseSide)
{
va.Voxels[index].FaceReverse = true;
}
BuildSpan(index);
}
}
}
}
}
}
