private MyNavigationTriangle GetClosestNavigationTriangle(ref Vector3 point, ref float closestDistanceSq)
{
MyNavigationTriangle triangle = null;
Vector3I vectori = Vector3I.Round((point + (this.m_voxelMap.PositionComp.GetPosition() - this.m_voxelMap.PositionLeftBottomCorner)) / this.m_cellSize);
for (int i = 0; i < 8; i++)
{
Vector3I position = (Vector3I)(vectori + m_cornerOffsets[i]);
if (this.m_processedCells.Contains(position))
{
ulong packedCellCoord = new MyCellCoord(0, position).PackId64();
MyIntervalList list = this.m_higherLevelHelper.TryGetTriangleList(packedCellCoord);
if (list != null)
{
MyIntervalList.Enumerator enumerator = list.GetEnumerator();
while (enumerator.MoveNext())
{
int current = enumerator.Current;
MyNavigationTriangle triangle2 = base.GetTriangle(current);
float num4 = Vector3.DistanceSquared(triangle2.Center, point);
if (num4 < closestDistanceSq)
{
closestDistanceSq = num4;
triangle = triangle2;
}
}
}
}
}
return(triangle);
}
public MyIntervalList TryGetTriangleList(ulong packedCellCoord)
{
MyIntervalList retval = null;
m_triangleLists.TryGetValue(packedCellCoord, out retval);
return(retval);
}
public MyIntervalList TryGetTriangleList(ulong packedCellCoord)
{
MyIntervalList list = null;
this.m_triangleLists.TryGetValue(packedCellCoord, out list);
return(list);
}
public void AddComponentTriangle(MyNavigationTriangle triangle, Vector3 center)
{
MyIntervalList list = this.m_components[this.m_componentNum];
list.Add(triangle.Index);
float num2 = 1f / ((float)list.Count);
this.m_lastCellComponentCenters[this.m_componentNum] = (center * num2) + (this.m_lastCellComponentCenters[this.m_componentNum] * (1f - num2));
}
public MyVoxelHighLevelHelper(MyVoxelNavigationMesh mesh)
{
this.m_mesh = mesh;
this.m_triangleList = new MyIntervalList();
this.m_triangleLists = new Dictionary <ulong, MyIntervalList>();
this.m_exploredCells = new MyVector3ISet();
this.m_navmeshComponents = new MyNavmeshComponents();
this.m_currentCellConnections = new List <List <ConnectionInfo> >();
for (int i = 0; i < 8; i++)
{
this.m_currentCellConnections.Add(new List <ConnectionInfo>());
}
}
public void AddComponentTriangle(MyNavigationTriangle triangle, Vector3 center)
{
Debug.Assert(m_componentOpen, "Adding a triangle to a component in TriangleComponentMapping, when no component is open!");
int triIndex = triangle.Index;
MyIntervalList triList = m_components[m_componentNum];
triList.Add(triIndex);
float t = 1.0f / triList.Count;
m_lastCellComponentCenters[m_componentNum] = center * t + m_lastCellComponentCenters[m_componentNum] * (1.0f - t);
}
private MyNavigationTriangle GetClosestNavigationTriangle(ref Vector3 point, ref float closestDistanceSq)
{
// TODO: When point is completely away (according to BB), return null
MyNavigationTriangle closestTriangle = null;
// Convert from world matrix local coords to LeftBottomCorner-based coords
Vector3 lbcPoint = point + (m_voxelMap.PositionComp.GetPosition() - m_voxelMap.PositionLeftBottomCorner);
Vector3I closestCellCorner = Vector3I.Round(lbcPoint / m_cellSize);
for (int i = 0; i < 8; ++i)
{
Vector3I cell = closestCellCorner + m_cornerOffsets[i];
if (!m_processedCells.Contains(cell))
{
continue;
}
MyCellCoord coord = new MyCellCoord(NAVMESH_LOD, cell);
ulong packedCoord = coord.PackId64();
MyIntervalList triList = m_higherLevelHelper.TryGetTriangleList(packedCoord);
if (triList == null)
{
continue;
}
foreach (var triIndex in triList)
{
MyNavigationTriangle tri = GetTriangle(triIndex);
// TODO: Use triangle centers so far
float distSq = Vector3.DistanceSquared(tri.Center, point);
if (distSq < closestDistanceSq)
{
closestDistanceSq = distSq;
closestTriangle = tri;
}
}
}
return(closestTriangle);
}
private bool RemoveCell(Vector3I cell)
{
if (!MyFakes.REMOVE_VOXEL_NAVMESH_CELLS)
{
return(true);
}
Debug.Assert(m_processedCells.Contains(cell), "Removing a non-existent cell from the navmesh!");
if (!m_processedCells.Contains(cell))
{
return(false);
}
MyTrace.Send(TraceWindow.Ai, "Removing cell " + cell);
ProfilerShort.Begin("Removing navmesh links");
MyVoxelPathfinding.CellId cellId = new MyVoxelPathfinding.CellId()
{
VoxelMap = m_voxelMap, Pos = cell
};
m_navmeshCoordinator.RemoveVoxelNavmeshLinks(cellId);
ProfilerShort.End();
ProfilerShort.Begin("Removing triangles");
MyCellCoord coord = new MyCellCoord(NAVMESH_LOD, cell);
ulong packedCoord = coord.PackId64();
MyIntervalList triangleList = m_higherLevelHelper.TryGetTriangleList(packedCoord);
if (triangleList != null)
{
foreach (var triangleIndex in triangleList)
{
RemoveTerrainTriangle(GetTriangle(triangleIndex));
}
m_higherLevelHelper.ClearCachedCell(packedCoord);
}
ProfilerShort.End();
Debug.Assert(m_processedCells.Contains(ref cell));
m_processedCells.Remove(ref cell);
return(triangleList != null);
}
private bool RemoveCell(Vector3I cell)
{
if (!MyFakes.REMOVE_VOXEL_NAVMESH_CELLS)
{
return(true);
}
if (!this.m_processedCells.Contains(cell))
{
return(false);
}
if (MyFakes.LOG_NAVMESH_GENERATION)
{
MyCestmirPathfindingShorts.Pathfinding.VoxelPathfinding.DebugLog.LogCellRemoval(this, cell);
}
MyVoxelPathfinding.CellId cellId = new MyVoxelPathfinding.CellId {
VoxelMap = this.m_voxelMap,
Pos = cell
};
this.m_navmeshCoordinator.RemoveVoxelNavmeshLinks(cellId);
ulong packedCellCoord = new MyCellCoord(0, cell).PackId64();
MyIntervalList list = this.m_higherLevelHelper.TryGetTriangleList(packedCellCoord);
if (list != null)
{
MyIntervalList.Enumerator enumerator = list.GetEnumerator();
while (true)
{
if (!enumerator.MoveNext())
{
this.m_higherLevelHelper.ClearCachedCell(packedCellCoord);
break;
}
int current = enumerator.Current;
this.RemoveTerrainTriangle(base.GetTriangle(current));
}
}
this.m_processedCells.Remove(ref cell);
return(list != null);
}
