void OnDrawGizmos(int boxi, int depth) { BBTreeBox box = arr[boxi]; var min = (Vector3) new Int3(box.rect.xmin, 0, box.rect.ymin); var max = (Vector3) new Int3(box.rect.xmax, 0, box.rect.ymax); Vector3 center = (min + max) * 0.5F; Vector3 size = (max - center) * 2; size = new Vector3(size.x, 1, size.z); center.y += depth * 2; Gizmos.color = AstarMath.IntToColor(depth, 1f); //new Color (0,0,0,0.2F); Gizmos.DrawCube(center, size); if (box.node != null) { } else { OnDrawGizmos(box.left, depth + 1); OnDrawGizmos(box.right, depth + 1); } }
/** Generates a terrain chunk mesh */ RasterizationMesh GenerateHeightmapChunk(float[, ] heights, Vector3 sampleSize, Vector3 offset, int x0, int z0, int width, int depth, int stride) { // Downsample to a smaller mesh (full resolution will take a long time to rasterize) // Round up the width to the nearest multiple of terrainSampleSize and then add 1 // (off by one because there are vertices at the edge of the mesh) int resultWidth = CeilDivision(width, terrainSampleSize) + 1; int resultDepth = CeilDivision(depth, terrainSampleSize) + 1; var heightmapWidth = heights.GetLength(0); var heightmapDepth = heights.GetLength(1); // Create a mesh from the heightmap var terrainVertices = new Vector3[resultWidth * resultDepth]; // Create lots of vertices for (int z = 0; z < resultDepth; z++) { for (int x = 0; x < resultWidth; x++) { int sampleX = Math.Min(x0 + x * stride, heightmapWidth - 1); int sampleZ = Math.Min(z0 + z * stride, heightmapDepth - 1); terrainVertices[z * resultWidth + x] = new Vector3(sampleZ * sampleSize.x, heights[sampleX, sampleZ] * sampleSize.y, sampleX * sampleSize.z) + offset; } } // Create the mesh by creating triangles in a grid like pattern var tris = new int[(resultWidth - 1) * (resultDepth - 1) * 2 * 3]; int triangleIndex = 0; for (int z = 0; z < resultDepth - 1; z++) { for (int x = 0; x < resultWidth - 1; x++) { tris[triangleIndex] = z * resultWidth + x; tris[triangleIndex + 1] = z * resultWidth + x + 1; tris[triangleIndex + 2] = (z + 1) * resultWidth + x + 1; triangleIndex += 3; tris[triangleIndex] = z * resultWidth + x; tris[triangleIndex + 1] = (z + 1) * resultWidth + x + 1; tris[triangleIndex + 2] = (z + 1) * resultWidth + x; triangleIndex += 3; } } #if ASTARDEBUG var color = AstarMath.IntToColor(x0 + 7 * z0, 0.7f); for (int i = 0; i < tris.Length; i += 3) { Debug.DrawLine(terrainVertices[tris[i]], terrainVertices[tris[i + 1]], color, 40); Debug.DrawLine(terrainVertices[tris[i + 1]], terrainVertices[tris[i + 2]], color, 40); Debug.DrawLine(terrainVertices[tris[i + 2]], terrainVertices[tris[i]], color, 40); } #endif var mesh = new RasterizationMesh(terrainVertices, tris, new Bounds()); // Could probably calculate these bounds in a faster way mesh.RecalculateBounds(); return(mesh); }
private void OnDrawGizmos() { List <Vector3>[] paths = drawPaths; for (int i = 0; i < paths.Length; i++) { List <Vector3> pt = paths[i]; if (pt == null) { Debug.LogWarning("Path Number " + i + " cound not be found"); continue; } for (int j = 0; j < pt.Count - 1; j++) { Debug.DrawLine(pt[j], pt[j + 1], AstarMath.IntToColor(i, 0.5f)); } } }
public void OnPathComplete(Path p) { Debug.Log("Got Callback"); if (p.error) { Debug.Log("Ouch, the path returned an error"); Debug.LogError(p.errorLog); return; } List <Vector3> path = p.vectorPath; for (int j = 0; j < path.Count - 1; j++) { // Plot segment j to j+1 with a nice color got from Pathfinding.AstarMath.IntToColor Debug.DrawLine(path[j], path[j + 1], AstarMath.IntToColor(1, 0.5F), 1); } }
public void BuildContours(float maxError, int maxEdgeLength, VoxelContourSet cset, int buildFlags) { AstarProfiler.StartProfile("Build Contours"); AstarProfiler.StartProfile("- Init"); int w = voxelArea.width; int d = voxelArea.depth; int wd = w * d; //cset.bounds = voxelArea.bounds; int maxContours = Mathf.Max(8 /*Max Regions*/, 8); //cset.conts = new VoxelContour[maxContours]; List <VoxelContour> contours = new List <VoxelContour>(maxContours); AstarProfiler.EndProfile("- Init"); AstarProfiler.StartProfile("- Mark Boundaries"); //cset.nconts = 0; //NOTE: This array may contain any data, but since we explicitly set all data in it before we use it, it's OK. ushort[] flags = voxelArea.tmpUShortArr; if (flags.Length < voxelArea.compactSpanCount) { flags = voxelArea.tmpUShortArr = new ushort[voxelArea.compactSpanCount]; } // Mark boundaries. (@?) for (int z = 0; z < wd; z += voxelArea.width) { for (int x = 0; x < voxelArea.width; x++) { CompactVoxelCell c = voxelArea.compactCells[x + z]; for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++) { ushort res = 0; CompactVoxelSpan s = voxelArea.compactSpans[i]; if (s.reg == 0 || (s.reg & BorderReg) == BorderReg) { flags[i] = 0; continue; } for (int dir = 0; dir < 4; dir++) { int r = 0; if (s.GetConnection(dir) != NotConnected) { int nx = x + voxelArea.DirectionX[dir]; int nz = z + voxelArea.DirectionZ[dir]; int ni = (int)voxelArea.compactCells[nx + nz].index + s.GetConnection(dir); r = voxelArea.compactSpans[ni].reg; } //@TODO - Why isn't this inside the previous IF if (r == s.reg) { res |= (ushort)(1 << dir); } } //Inverse, mark non connected edges. flags[i] = (ushort)(res ^ 0xf); } } } AstarProfiler.EndProfile("- Mark Boundaries"); AstarProfiler.StartProfile("- Simplify Contours"); List <int> verts = Pathfinding.Util.ListPool <int> .Claim(256); //new List<int> (256); List <int> simplified = Pathfinding.Util.ListPool <int> .Claim(64); //new List<int> (64); for (int z = 0; z < wd; z += voxelArea.width) { for (int x = 0; x < voxelArea.width; x++) { CompactVoxelCell c = voxelArea.compactCells[x + z]; for (int i = (int)c.index, ci = (int)(c.index + c.count); i < ci; i++) { //CompactVoxelSpan s = voxelArea.compactSpans[i]; if (flags[i] == 0 || flags[i] == 0xf) { flags[i] = 0; continue; } int reg = voxelArea.compactSpans[i].reg; if (reg == 0 || (reg & BorderReg) == BorderReg) { continue; } int area = voxelArea.areaTypes[i]; verts.Clear(); simplified.Clear(); WalkContour(x, z, i, flags, verts); SimplifyContour(verts, simplified, maxError, maxEdgeLength, buildFlags); RemoveDegenerateSegments(simplified); VoxelContour contour = new VoxelContour(); contour.verts = Pathfinding.Util.ArrayPool <int> .Claim(simplified.Count); //simplified.ToArray (); for (int j = 0; j < simplified.Count; j++) { contour.verts[j] = simplified[j]; } #if ASTAR_RECAST_INCLUDE_RAW_VERTEX_CONTOUR //Not used at the moment, just debug stuff contour.rverts = ClaimIntArr(verts.Count); for (int j = 0; j < verts.Count; j++) { contour.rverts[j] = verts[j]; } #endif contour.nverts = simplified.Count / 4; contour.reg = reg; contour.area = area; contours.Add(contour); #if ASTARDEBUG for (int q = 0, j = (simplified.Count / 4) - 1; q < (simplified.Count / 4); j = q, q++) { int i4 = q * 4; int j4 = j * 4; Vector3 p1 = Vector3.Scale( new Vector3( simplified[i4 + 0], simplified[i4 + 1], (simplified[i4 + 2] / (float)voxelArea.width) ), cellScale) + voxelOffset; Vector3 p2 = Vector3.Scale( new Vector3( simplified[j4 + 0], simplified[j4 + 1], (simplified[j4 + 2] / (float)voxelArea.width) ) , cellScale) + voxelOffset; if (CalcAreaOfPolygon2D(contour.verts, contour.nverts) > 0) { Debug.DrawLine(p1, p2, AstarMath.IntToColor(reg, 0.5F)); } else { Debug.DrawLine(p1, p2, Color.red); } } #endif } } } Pathfinding.Util.ListPool <int> .Release(ref verts); Pathfinding.Util.ListPool <int> .Release(ref simplified); AstarProfiler.EndProfile("- Simplify Contours"); AstarProfiler.StartProfile("- Fix Contours"); // Check and merge droppings. // Sometimes the previous algorithms can fail and create several contours // per area. This pass will try to merge the holes into the main region. for (int i = 0; i < contours.Count; i++) { VoxelContour cont = contours[i]; // Check if the contour is would backwards. if (CalcAreaOfPolygon2D(cont.verts, cont.nverts) < 0) { // Find another contour which has the same region ID. int mergeIdx = -1; for (int j = 0; j < contours.Count; j++) { if (i == j) { continue; } if (contours[j].nverts > 0 && contours[j].reg == cont.reg) { // Make sure the polygon is correctly oriented. if (CalcAreaOfPolygon2D(contours[j].verts, contours[j].nverts) > 0) { mergeIdx = j; break; } } } if (mergeIdx == -1) { Debug.LogError("rcBuildContours: Could not find merge target for bad contour " + i + "."); } else { // Debugging // Debug.LogWarning ("Fixing contour"); VoxelContour mcont = contours[mergeIdx]; // Merge by closest points. int ia = 0, ib = 0; GetClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ref ia, ref ib); if (ia == -1 || ib == -1) { Debug.LogWarning("rcBuildContours: Failed to find merge points for " + i + " and " + mergeIdx + "."); continue; } #if ASTARDEBUG int p4 = ia * 4; int p42 = ib * 4; Vector3 p12 = Vector3.Scale( new Vector3( mcont.verts[p4 + 0], mcont.verts[p4 + 1], (mcont.verts[p4 + 2] / (float)voxelArea.width) ), cellScale) + voxelOffset; Vector3 p22 = Vector3.Scale( new Vector3( cont.verts[p42 + 0], cont.verts[p42 + 1], (cont.verts[p42 + 2] / (float)voxelArea.width) ) , cellScale) + voxelOffset; Debug.DrawLine(p12, p22, Color.green); #endif if (!MergeContours(ref mcont, ref cont, ia, ib)) { Debug.LogWarning("rcBuildContours: Failed to merge contours " + i + " and " + mergeIdx + "."); continue; } contours[mergeIdx] = mcont; contours[i] = cont; #if ASTARDEBUG Debug.Log(mcont.nverts); for (int q = 0, j = (mcont.nverts) - 1; q < (mcont.nverts); j = q, q++) { int i4 = q * 4; int j4 = j * 4; Vector3 p1 = Vector3.Scale( new Vector3( mcont.verts[i4 + 0], mcont.verts[i4 + 1], (mcont.verts[i4 + 2] / (float)voxelArea.width) ), cellScale) + voxelOffset; Vector3 p2 = Vector3.Scale( new Vector3( mcont.verts[j4 + 0], mcont.verts[j4 + 1], (mcont.verts[j4 + 2] / (float)voxelArea.width) ) , cellScale) + voxelOffset; Debug.DrawLine(p1, p2, Color.red); //} } #endif } } } cset.conts = contours; AstarProfiler.EndProfile("- Fix Contours"); AstarProfiler.EndProfile("Build Contours"); }