public static int[] calcTileCount(float[] bmin, float[] bmax, float cs, int tileSize)
{
int[] gwh = Recast.calcGridSize(bmin, bmax, cs);
int gw = gwh[0];
int gh = gwh[1];
int ts = tileSize;
int tw = (gw + ts - 1) / ts;
int th = (gh + ts - 1) / ts;
return(new int[] { tw, th });
}
private CompactHeightfield buildCompactHeightfield(InputGeom geom, RecastBuilderConfig bcfg, Context ctx)
{
RecastConfig cfg = bcfg.cfg;
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heightfield where we rasterize our input data to.
Heightfield solid = new Heightfield(bcfg.width, bcfg.height, bcfg.bmin, bcfg.bmax, cfg.cs, cfg.ch);
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to
// process.
// Find triangles which are walkable based on their slope and rasterize
// them.
// If your input data is multiple meshes, you can transform them here,
// calculate
// the are type for each of the meshes and rasterize them.
float[] verts = geom.Verts;
bool tiled = cfg.tileSize > 0;
int totaltris = 0;
if (tiled)
{
ChunkyTriMesh chunkyMesh = geom.ChunkyMesh;
float[] tbmin = new float[2];
float[] tbmax = new float[2];
tbmin[0] = bcfg.bmin[0];
tbmin[1] = bcfg.bmin[2];
tbmax[0] = bcfg.bmax[0];
tbmax[1] = bcfg.bmax[2];
List <ChunkyTriMeshNode> nodes = chunkyMesh.getChunksOverlappingRect(tbmin, tbmax);
foreach (ChunkyTriMeshNode node in nodes)
{
int[] tris = node.tris;
int ntris = tris.Length / 3;
totaltris += ntris;
int[] m_triareas = Recast.markWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris);
RecastRasterization.rasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.walkableClimb);
}
}
else
{
int[] tris = geom.Tris;
int ntris = tris.Length / 3;
int[] m_triareas = Recast.markWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris);
totaltris = ntris;
RecastRasterization.rasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.walkableClimb);
}
//
// Step 3. Filter walkables surfaces.
//
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
RecastFilter.filterLowHangingWalkableObstacles(ctx, cfg.walkableClimb, solid);
RecastFilter.filterLedgeSpans(ctx, cfg.walkableHeight, cfg.walkableClimb, solid);
RecastFilter.filterWalkableLowHeightSpans(ctx, cfg.walkableHeight, solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
CompactHeightfield chf = Recast.buildCompactHeightfield(ctx, cfg.walkableHeight, cfg.walkableClimb, solid);
// Erode the walkable area by agent radius.
RecastArea.erodeWalkableArea(ctx, cfg.walkableRadius, chf);
// (Optional) Mark areas.
foreach (ConvexVolume vol in geom.ConvexVolumes)
{
RecastArea.markConvexPolyArea(ctx, vol.verts, vol.hmin, vol.hmax, vol.area, chf);
}
return(chf);
}
