//private void GenerateNavMesh()
//{
// Console.WriteLine("Generating NavMesh");
// long prevMs = 0;
// try
// {
// var levelTris = level.GetTriangles();
// var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
// BBox3 bounds = triEnumerable.GetBoundingBox();
// settings = NavMeshGenerationSettings.Default;
// heightfield = new Heightfield(bounds, settings);
// heightfield.RasterizeTriangles(levelTris, Area.Default);
// heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
// heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
// heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
// compactHeightfield = new CompactHeightfield(heightfield, settings);
// compactHeightfield.Erode(settings.VoxelAgentRadius);
// compactHeightfield.BuildDistanceField();
// compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
// contourSet = compactHeightfield.BuildContourSet(settings);
// polyMesh = new PolyMesh(contourSet, settings);
// polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
// buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
// tiledNavMesh = new TiledNavMesh(buildData);
// navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
// }
// catch (Exception e)
// {
// //if (!interceptExceptions)
// // throw;
// //else
// // Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
// }
// finally
// {
// //sw.Stop();
// }
//}
private void GenerateNavMesh()
{
Console.WriteLine("Generating NavMesh");
long prevMs = 0;
//try
//{
var levelTris = level.GetTriangles();
var triEnumerable = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length);
BBox3 bounds = triEnumerable.GetBoundingBox();
settings = NavMeshGenerationSettings.Default;
heightfield = new Heightfield(bounds, settings);
heightfield.RasterizeTriangles(levelTris, Area.Default);
heightfield.FilterLedgeSpans(settings.VoxelAgentHeight, settings.VoxelMaxClimb);
heightfield.FilterLowHangingWalkableObstacles(settings.VoxelMaxClimb);
heightfield.FilterWalkableLowHeightSpans(settings.VoxelAgentHeight);
compactHeightfield = new CompactHeightfield(heightfield, settings);
compactHeightfield.Erode(settings.VoxelAgentRadius);
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions(0, settings.MinRegionSize, settings.MergedRegionSize);
contourSet = compactHeightfield.BuildContourSet(settings);
polyMesh = new PolyMesh(contourSet, settings);
polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings);
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
OutMesh();
//}
//catch (Exception e)
//{
// //if (!interceptExceptions)
// // throw;
// //else
// // Console.WriteLine("Navmesh generation failed with exception:" + Environment.NewLine + e.ToString());
//}
//finally
//{
// //sw.Stop();
//}
}
private void InitializeUI()
{
settings = NavMeshGenerationSettings.Default;
areaSettings = new AreaIdGenerationSettings();
DockBase dock = new DockBase(gwenCanvas);
dock.Dock = Pos.Fill;
dock.SetSize(Width, Height);
dock.RightDock.Width = 280;
dock.BottomDock.Height = 150;
statusBar = new StatusBar(gwenCanvas);
Label genTime = new Label(statusBar);
genTime.Name = "GenTime";
genTime.Text = "Generation Time: 0ms";
genTime.Dock = Pos.Left;
LabeledCheckBox catchCheckBox = new LabeledCheckBox(statusBar);
catchCheckBox.Text = "Intercept and log exceptions";
catchCheckBox.Dock = Pos.Right;
catchCheckBox.CheckChanged += (s, e) => interceptExceptions = catchCheckBox.IsChecked;
catchCheckBox.IsChecked = true;
Base genBase = new Base(dock);
dock.RightDock.TabControl.AddPage("NavMesh Generation", genBase);
Button generateButton = new Button(genBase);
generateButton.Text = "Generate!";
generateButton.Height = 30;
generateButton.Dock = Pos.Top;
generateButton.Pressed += (s, e) => GenerateNavMesh();
GroupBox displaySettings = new GroupBox(genBase);
displaySettings.Text = "Display";
displaySettings.Dock = Pos.Top;
displaySettings.Height = 60;
Base levelCheckBase = new Base(displaySettings);
levelCheckBase.Dock = Pos.Top;
Label levelCheckLabel = new Label(levelCheckBase);
levelCheckLabel.Text = "Level";
levelCheckLabel.Dock = Pos.Left;
CheckBox levelCheckBox = new CheckBox(levelCheckBase);
levelCheckBox.Dock = Pos.Right;
levelCheckBox.Checked += (s, e) => displayLevel = true;
levelCheckBox.UnChecked += (s, e) => displayLevel = false;
levelCheckBox.IsChecked = true;
levelCheckBase.SizeToChildren();
Base displayModeBase = new Base(displaySettings);
displayModeBase.Dock = Pos.Top;
displayModeBase.Padding = new Padding(0, 4, 0, 0);
Label displayModeLabel = new Label(displayModeBase);
displayModeLabel.Text = "Generation Step";
displayModeLabel.Dock = Pos.Left;
displayModeLabel.Padding = new Padding(0, 0, 4, 0);
ComboBox displayModes = new ComboBox(displayModeBase);
displayModes.Dock = Pos.Top;
displayModes.AddItem("None", "", DisplayMode.None);
displayModes.AddItem("Heightfield", "", DisplayMode.Heightfield);
displayModes.AddItem("Compact Heightfield", "", DisplayMode.CompactHeightfield);
displayModes.AddItem("Distance Field", "", DisplayMode.DistanceField);
displayModes.AddItem("Regions", "", DisplayMode.Regions);
displayModes.AddItem("Contours", "", DisplayMode.Contours);
displayModes.AddItem("Polygon Mesh", "", DisplayMode.PolyMesh);
displayModes.AddItem("Polygon Mesh Detail", "", DisplayMode.PolyMeshDetail);
displayModes.AddItem("Pathfinding", "", DisplayMode.Pathfinding);
displayModes.AddItem("Crowd", "", DisplayMode.Crowd);
displayModes.ItemSelected += (s, e) => displayMode = (DisplayMode)e.SelectedItem.UserData;
displayModes.SelectByUserData(DisplayMode.PolyMeshDetail);
displayModeBase.SizeToChildren();
displayModeBase.Height += 4; //accounts for the padding, GWEN.NET should do this
const int leftMax = 125;
const int rightMax = 20;
GroupBox rsSettings = new GroupBox(genBase);
rsSettings.Text = "Rasterization";
rsSettings.Dock = Pos.Top;
rsSettings.Height = 90;
var levelTris = level.GetTriangles();
BBox3 bounds = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length).GetBoundingBox();
Base maxTriSlope = CreateSliderOption(rsSettings, "Max Tri Slope:", 0.0001f, 3.14f, 3.14f, "N2", leftMax, rightMax, v => areaSettings.MaxTriSlope = v);
Base minLevelHeight = CreateSliderOption(rsSettings, "Min Height:", bounds.Min.Y, bounds.Max.Y, bounds.Min.Y, "N0", leftMax, rightMax, v => areaSettings.MinLevelHeight = v);
Base maxLevelHeight = CreateSliderOption(rsSettings, "Max Height:", bounds.Min.Y, bounds.Max.Y, bounds.Max.Y, "N0", leftMax, rightMax, v => areaSettings.MaxLevelHeight = v);
GroupBox hfSettings = new GroupBox(genBase);
hfSettings.Text = "Heightfield";
hfSettings.Dock = Pos.Top;
hfSettings.Height = 112;
Base cellSizeSetting = CreateSliderOption(hfSettings, "Cell Size:", 0.1f, 2.0f, 0.3f, "N2", leftMax, rightMax, v => settings.CellSize = v);
Base cellHeightSetting = CreateSliderOption(hfSettings, "Cell Height:", 0.1f, 2f, 0.2f, "N2", leftMax, rightMax, v => settings.CellHeight = v);
Base maxSlopeSetting = CreateSliderOption(hfSettings, "Max Climb:", 0.1f, 5.0f, 0.9f, "N0", leftMax, rightMax, v => settings.MaxClimb = v);
Base maxHeightSetting = CreateSliderOption(hfSettings, "Max Height:", 0.1f, 5.0f, 2.0f, "N0", leftMax, rightMax, v => settings.AgentHeight = v);
GroupBox chfSettings = new GroupBox(genBase);
chfSettings.Text = "CompactHeightfield";
chfSettings.Dock = Pos.Top;
chfSettings.Height = 38;
Base erodeRadius = CreateSliderOption(chfSettings, "Erode Radius:", 0.0f, 5.0f, 0.6f, "N1", leftMax, rightMax, v => settings.AgentRadius = v);
GroupBox regionSettings = new GroupBox(genBase);
regionSettings.Text = "Region";
regionSettings.Dock = Pos.Top;
regionSettings.Height = 65;
Base minRegionSize = CreateSliderOption(regionSettings, "Min Region Size:", 0f, 150f, 8f, "N0", leftMax, rightMax, v => settings.MinRegionSize = (int)Math.Round(v));
Base mrgRegionSize = CreateSliderOption(regionSettings, "Merged Region Size:", 0f, 150f, 20f, "N0", leftMax, rightMax, v => settings.MergedRegionSize = (int)Math.Round(v));
GroupBox navMeshSettings = new GroupBox(genBase);
navMeshSettings.Text = "NavMesh";
navMeshSettings.Dock = Pos.Top;
navMeshSettings.Height = 90;
Base maxEdgeLength = CreateSliderOption(navMeshSettings, "Max Edge Length:", 0f, 50f, 12f, "N0", leftMax, rightMax, v => settings.MaxEdgeLength = (int)Math.Round(v));
Base maxEdgeErr = CreateSliderOption(navMeshSettings, "Max Edge Error:", 0f, 3f, 1.8f, "N1", leftMax, rightMax, v => settings.MaxEdgeError = v);
Base vertsPerPoly = CreateSliderOption(navMeshSettings, "Verts Per Poly:", 3f, 12f, 6f, "N0", leftMax, rightMax, v => settings.VertsPerPoly = (int)Math.Round(v));
GroupBox navMeshDetailSettings = new GroupBox(genBase);
navMeshDetailSettings.Text = "NavMeshDetail";
navMeshDetailSettings.Dock = Pos.Top;
navMeshDetailSettings.Height = 65;
Base sampleDistance = CreateSliderOption(navMeshDetailSettings, "Sample Distance:", 0f, 16f, 6f, "N0", leftMax, rightMax, v => settings.SampleDistance = (int)Math.Round(v));
Base maxSampleError = CreateSliderOption(navMeshDetailSettings, "Max Sample Error:", 0f, 16f, 1f, "N0", leftMax, rightMax, v => settings.MaxSampleError = (int)Math.Round(v));
Base logBase = new Base(dock);
dock.BottomDock.TabControl.AddPage("Log", logBase);
ListBox logBox = new ListBox(logBase);
logBox.Dock = Pos.Fill;
logBox.AllowMultiSelect = false;
logBox.EnableScroll(true, true);
Console.SetOut(new GwenTextWriter(logBox));
}
private void InitializeUI()
{
settings = NavMeshGenerationSettings.Default;
areaSettings = new AreaIdGenerationSettings();
DockBase dock = new DockBase(gwenCanvas);
dock.Dock = Pos.Fill;
dock.SetSize(Width, Height);
dock.RightDock.Width = 280;
dock.BottomDock.Height = 150;
statusBar = new StatusBar(gwenCanvas);
Label genTime = new Label(statusBar);
genTime.Name = "GenTime";
genTime.Text = "Generation Time: 0ms";
genTime.Dock = Pos.Left;
LabeledCheckBox catchCheckBox = new LabeledCheckBox(statusBar);
catchCheckBox.Text = "Intercept and log exceptions";
catchCheckBox.Dock = Pos.Right;
catchCheckBox.CheckChanged += (s, e) => interceptExceptions = catchCheckBox.IsChecked;
catchCheckBox.IsChecked = true;
Base genBase = new Base(dock);
dock.RightDock.TabControl.AddPage("NavMesh Generation", genBase);
Button generateButton = new Button(genBase);
generateButton.Text = "Generate!";
generateButton.Height = 30;
generateButton.Dock = Pos.Top;
generateButton.Released += (s, e) => GenerateNavMesh();
Base clientBase = new Base(dock);
dock.RightDock.TabControl.AddPage("Game Loading", clientBase);
TextBox clientInput = new TextBox(clientBase);
clientInput.Text = @"C:\Dark Age of Camelot1118L";
clientInput.Height = 30;
clientInput.Dock = Pos.Top;
Button clientButton = new Button(clientBase);
clientButton.Text = "Load!";
clientButton.Height = 30;
clientButton.Dock = Pos.Top;
clientButton.Released += (s, e) => LoadClient(clientInput.Text);
GroupBox displaySettings = new GroupBox(genBase);
displaySettings.Text = "Display";
displaySettings.Dock = Pos.Top;
displaySettings.Height = 85;
Base levelCheckBase = new Base(displaySettings);
levelCheckBase.Dock = Pos.Top;
Label levelCheckLabel = new Label(levelCheckBase);
levelCheckLabel.Text = "Level";
levelCheckLabel.Dock = Pos.Left;
CheckBox levelCheckBox = new CheckBox(levelCheckBase);
levelCheckBox.Dock = Pos.Right;
levelCheckBox.Checked += (s, e) => displayLevel = true;
levelCheckBox.UnChecked += (s, e) => displayLevel = false;
levelCheckBox.IsChecked = true;
levelCheckBase.SizeToChildren();
Base displayModeBase = new Base(displaySettings);
displayModeBase.Dock = Pos.Top;
displayModeBase.Padding = new Padding(0, 4, 0, 0);
Label displayModeLabel = new Label(displayModeBase);
displayModeLabel.Text = "Generation Step";
displayModeLabel.Dock = Pos.Left;
displayModeLabel.Padding = new Padding(0, 0, 4, 0);
ComboBox displayModes = new ComboBox(displayModeBase);
displayModes.Dock = Pos.Top;
displayModes.AddItem("None", "", DisplayMode.None);
displayModes.AddItem("Heightfield", "", DisplayMode.Heightfield);
displayModes.AddItem("Compact Heightfield", "", DisplayMode.CompactHeightfield);
displayModes.AddItem("Distance Field", "", DisplayMode.DistanceField);
displayModes.AddItem("Regions", "", DisplayMode.Regions);
displayModes.AddItem("Contours", "", DisplayMode.Contours);
displayModes.AddItem("Polygon Mesh", "", DisplayMode.PolyMesh);
displayModes.AddItem("Polygon Mesh Detail", "", DisplayMode.PolyMeshDetail);
displayModes.AddItem("NavMesh", "", DisplayMode.NavMesh);
displayModes.AddItem("Pathfinding", "", DisplayMode.Pathfinding);
displayModes.ItemSelected += (s, e) => displayMode = (DisplayMode)e.SelectedItem.UserData;
displayModes.SelectByUserData(DisplayMode.PolyMeshDetail);
displayModeBase.SizeToChildren();
displayModeBase.Height += 4; //accounts for the padding, GWEN.NET should do this
Base ZoneSelectBase = new Base(displaySettings);
ZoneSelectBase.Dock = Pos.Top;
ZoneSelectBase.Padding = new Padding(0, 4, 0, 0);
Label ZoneSelect = new Label(ZoneSelectBase);
ZoneSelect.Text = "Select Zone";
ZoneSelect.Dock = Pos.Left;
ZoneSelect.Padding = new Padding(0, 0, 4, 0);
_levelDisplay = new ComboBox(ZoneSelectBase);
_levelDisplay.Dock = Pos.Top;
_levelDisplay.AddItem("--- None ---", "", -1);
_levelDisplay.SelectByUserData(-1);
ZoneSelectBase.SizeToChildren();
ZoneSelectBase.Height += 4; //accounts for the padding, GWEN.NET should do this
const int leftMax = 125;
const int rightMax = 20;
GroupBox areaSetting = new GroupBox(genBase);
areaSetting.Text = "Area";
areaSetting.Dock = Pos.Top;
areaSetting.Height = 90;
var levelTris = new [] { new Triangle3(new Vector3(0, 0, 0), new Vector3(0, 0, 0), new Vector3(0, 0, 0)) };
BBox3 bounds = TriangleEnumerable.FromTriangle(levelTris, 0, levelTris.Length).GetBoundingBox();
Base maxTriSlope = CreateSliderOption(areaSetting, "Max Tri Slope:", 0.0001f, 3.14f, 3.14f, "N2", leftMax, rightMax, v => areaSettings.MaxTriSlope = v);
Base minLevelHeight = CreateSliderOption(areaSetting, "Min Height:", bounds.Min.Y, bounds.Max.Y, bounds.Min.Y, "N0", leftMax, rightMax, v => areaSettings.MinLevelHeight = v);
Base maxLevelHeight = CreateSliderOption(areaSetting, "Max Height:", bounds.Min.Y, bounds.Max.Y, bounds.Max.Y, "N0", leftMax, rightMax, v => areaSettings.MaxLevelHeight = v);
_levelDisplay.ItemSelected += (s, e) => {
_levelId = (int)e.SelectedItem.UserData;
areaSetting.RemoveChild(minLevelHeight, true);
areaSetting.RemoveChild(maxLevelHeight, true);
bounds = _level != null ? _level.BoundingBox
: TriangleEnumerable.FromTriangle(new [] { new Triangle3 {
A = new Vector3(0, 0, 0), B = new Vector3(0, 0, 0), C = new Vector3(0, 0, 0)
} }, 0, 1).GetBoundingBox();
minLevelHeight = CreateSliderOption(areaSetting, "Min Height:", bounds.Min.Y, bounds.Max.Y, bounds.Min.Y, "N0", leftMax, rightMax, v => areaSettings.MinLevelHeight = v);
maxLevelHeight = CreateSliderOption(areaSetting, "Max Height:", bounds.Min.Y, bounds.Max.Y, bounds.Max.Y, "N0", leftMax, rightMax, v => areaSettings.MaxLevelHeight = v);
};
GroupBox rsSettings = new GroupBox(genBase);
rsSettings.Text = "Rasterization";
rsSettings.Dock = Pos.Top;
rsSettings.Height = 90;
Base cellSizeSetting = CreateSliderOption(rsSettings, "Cell Size:", 0.001f, 2.0f, 0.125f, "N3", leftMax, rightMax, v => settings.CellSize = v);
Base cellHeightSetting = CreateSliderOption(rsSettings, "Cell Height:", 0.001f, 2f, 0.063f, "N3", leftMax, rightMax, v => settings.CellHeight = v);
GroupBox agentSettings = new GroupBox(genBase);
agentSettings.Text = "Agent";
agentSettings.Dock = Pos.Top;
agentSettings.Height = 115;
Base maxSlopeSetting = CreateSliderOption(agentSettings, "Max Climb:", 0.001f, 5.0f, 1.500f, "N3", leftMax, rightMax, v => settings.MaxClimb = v);
Base maxHeightSetting = CreateSliderOption(agentSettings, "Height:", 0.001f, 2.0f, 0.250f, "N3", leftMax, rightMax, v => { settings.AgentHeight = v; agentCylinder.Height = v; });
Base erodeRadius = CreateSliderOption(agentSettings, "Radius:", 0.001f, 1.0f, 0.125f, "N3", leftMax, rightMax, v => { settings.AgentRadius = v; agentCylinder.Radius = v; });
Base addRemoveAgent = CreateAddRemoveButton(agentSettings, "Count", leftMax, rightMax, 0, MAX_AGENTS, () => { numActiveAgents++; GenerateCrowd(); }, () => { numActiveAgents--; GenerateCrowd(); });
GroupBox regionSettings = new GroupBox(genBase);
regionSettings.Text = "Region";
regionSettings.Dock = Pos.Top;
regionSettings.Height = 65;
Base minRegionSize = CreateSliderOption(regionSettings, "Min Region Size:", 0f, 150f, 8f, "N0", leftMax, rightMax, v => settings.MinRegionSize = (int)Math.Round(v));
Base mrgRegionSize = CreateSliderOption(regionSettings, "Merged Region Size:", 0f, 150f, 20f, "N0", leftMax, rightMax, v => settings.MergedRegionSize = (int)Math.Round(v));
GroupBox navMeshSettings = new GroupBox(genBase);
navMeshSettings.Text = "NavMesh";
navMeshSettings.Dock = Pos.Top;
navMeshSettings.Height = 90;
Base maxEdgeLength = CreateSliderOption(navMeshSettings, "Max Edge Length:", 0f, 50f, 12f, "N0", leftMax, rightMax, v => settings.MaxEdgeLength = (int)Math.Round(v));
Base maxEdgeErr = CreateSliderOption(navMeshSettings, "Max Edge Error:", 0f, 3f, 1.8f, "N1", leftMax, rightMax, v => settings.MaxEdgeError = v);
Base vertsPerPoly = CreateSliderOption(navMeshSettings, "Verts Per Poly:", 3f, 12f, 6f, "N0", leftMax, rightMax, v => settings.VertsPerPoly = (int)Math.Round(v));
GroupBox navMeshDetailSettings = new GroupBox(genBase);
navMeshDetailSettings.Text = "NavMeshDetail";
navMeshDetailSettings.Dock = Pos.Top;
navMeshDetailSettings.Height = 65;
Base sampleDistance = CreateSliderOption(navMeshDetailSettings, "Sample Distance:", 0f, 16f, 6f, "N0", leftMax, rightMax, v => settings.SampleDistance = (int)Math.Round(v));
Base maxSampleError = CreateSliderOption(navMeshDetailSettings, "Max Sample Error:", 0f, 16f, 1f, "N0", leftMax, rightMax, v => settings.MaxSampleError = (int)Math.Round(v));
Base logBase = new Base(dock);
dock.BottomDock.TabControl.AddPage("Log", logBase);
ListBox logBox = new ListBox(logBase);
logBox.Dock = Pos.Fill;
logBox.AllowMultiSelect = false;
logBox.EnableScroll(true, true);
Console.SetOut(new GwenTextWriter(logBox));
}
public void SetAdjacentBoundry(NavCellBoundry adjacent, NavMeshGenerationSettings settings)
{
if (adjacent == null)
{
connections = null;
islandsToIslands = null;
return;
}
else
{
lock (adjacentBoundryCalculationLock) lock (adjacent.adjacentBoundryCalculationLock)
{
// set adjacent connection
this.connectedBoundry = adjacent;
adjacent.connectedBoundry = this;
// create maps for algorithm
Dictionary <NavQuad, List <int> > thisToThatMap = new Dictionary <NavQuad, List <int> >();
Dictionary <NavQuad, List <int> > thatToThisMap = new Dictionary <NavQuad, List <int> >();
Dictionary <NavigationIsland, List <NavigationIsland> > thisToThatIslands
= new Dictionary <NavigationIsland, List <NavigationIsland> >();
Dictionary <NavigationIsland, List <NavigationIsland> > thatToThisIslands
= new Dictionary <NavigationIsland, List <NavigationIsland> >();
// intialize maps
foreach (var quad in this.quads)
{
thisToThatMap.Add(quad, new List <int>());
}
foreach (var quad in adjacent.quads)
{
thatToThisMap.Add(quad, new List <int>());
}
// The multiplication by 0.999999 helps combat floating point rounding errors
float requiredWidth = settings.orientation.VoxelSize * 0.5f;
float requiredHeight = settings.crouchHeightInVoxels * settings.orientation.VoxelSize * 0.5f;
for (int i = 0; i < quads.Length; i++)
{
NavQuad thisQuad = quads[i];
for (int j = 0; j < adjacent.quads.Length; j++)
{
NavQuad otherQuad = adjacent.quads[j];
if (NavQuad.IsOverlappingVertical(thisQuad, otherQuad, requiredWidth, requiredHeight))
{
float aHeight = thisQuad.position.y - thisQuad.scale.y * 0.5f;
float bHeight = otherQuad.position.y - otherQuad.scale.y * 0.5f;
if (settings.CanClimbTo(aHeight, bHeight))
{
thisToThatMap[thisQuad].Add(j);
}
else if (settings.CanDropTo(aHeight, bHeight))
{
thisToThatMap[thisQuad].Add(j);
}
if (settings.CanClimbTo(bHeight, aHeight))
{
thatToThisMap[otherQuad].Add(i);
}
else if (settings.CanDropTo(bHeight, aHeight))
{
thatToThisMap[otherQuad].Add(i);
}
}
}
}
connections = thisToThatMap.ToDictionary(x => x.Key, x => x.Value.ToArray());
adjacent.connections = thatToThisMap.ToDictionary(x => x.Key, x => x.Value.ToArray());
// link this boundries islands to that boundries islands
foreach (var quad in this.quads)
{
var thisIsland = boundryQuadsToIslands[quad];
// ensure map contains island
if (!thisToThatIslands.ContainsKey(thisIsland))
{
thisToThatIslands.Add(thisIsland, new List <NavigationIsland>());
}
// add link in map
var thisList = thisToThatIslands[thisIsland];
foreach (var other in GetConnectedQuads(quad))
{
// get islands
var otherIsland = adjacent.boundryQuadsToIslands[other];
if (!thisList.Contains(otherIsland))
{
thisList.Add(otherIsland);
}
}
}
// link that boundries islands to this boundries islands
foreach (var other in adjacent.quads)
{
var otherIsland = adjacent.boundryQuadsToIslands[other];
// ensure map contains island
if (!thatToThisIslands.ContainsKey(otherIsland))
{
thatToThisIslands.Add(otherIsland, new List <NavigationIsland>());
}
var otherList = thatToThisIslands[otherIsland];
foreach (var quad in adjacent.GetConnectedQuads(other))
{
// get islands
var thisIsland = boundryQuadsToIslands[quad];
// add link in map
if (!otherList.Contains(thisIsland))
{
otherList.Add(thisIsland);
}
}
}
this.islandsToIslands = thisToThatIslands;
adjacent.islandsToIslands = thatToThisIslands;
}
}
}
public Coroutine Generate(NavMeshGenerationSettings generationSettings)
{
return(Cell.Generate(collidersInCell.ToArray(), generationSettings));
}
public bool BuildNavMesh( out string error )
{
DestroyNavMesh();
if( !EnabledInHierarchy )
{
error = "Is not enabled.";
return false;
}
//get geometry data
var collector = GetAllGeometriesForNavigationMesh();
Vector3[] vertices = collector.resultVertices;
int[] indices = collector.resultIndices;
int vertexCount = collector.resultVertexCount;
int indexCount = collector.resultIndexCount;
if( vertexCount == 0 )
{
error = "No vertices were gathered from collision objects.";
return false;
}
//get settings
var settings = new NavMeshGenerationSettings();
settings.CellSize = (float)CellSize;
settings.CellHeight = (float)CellHeight;
settings.MaxClimb = (float)AgentMaxClimb;
settings.AgentHeight = (float)AgentHeight;
settings.AgentRadius = (float)AgentRadius;
settings.MinRegionSize = MinRegionSize;
settings.MergedRegionSize = MergedRegionSize;
settings.MaxEdgeLength = MaxEdgeLength;
settings.MaxEdgeError = (float)MaxEdgeError;
settings.VertsPerPoly = MaxVerticesPerPolygon;
settings.SampleDistance = DetailSampleDistance;
settings.MaxSampleError = DetailMaxSampleError;
settings.BuildBoundingVolumeTree = true;
TiledNavMesh newTiledNavMesh;
try
{
//level.SetBoundingBoxOffset(new SVector3(settings.CellSize * 0.5f, settings.CellHeight * 0.5f, settings.CellSize * 0.5f));
var bounds = Bounds.Cleared;
bounds.Add( vertices );
var heightfield = new Heightfield( ToSharpNav( bounds ), settings );
var vertices2 = new SharpNav.Geometry.Vector3[ indexCount ];
for( int index = 0; index < indexCount; index++ )
vertices2[ index ] = ToSharpNav( vertices[ indices[ index ] ] );
//Area[] areas = AreaGenerator.From( vertices2, Area.Default )
// .MarkBelowSlope( (float)AgentMaxSlope.Value.InRadians(), Area.Null )
// .ToArray();
//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( vertices2, areas );
heightfield.RasterizeTriangles( vertices2, Area.Default );
heightfield.FilterLedgeSpans( settings.VoxelAgentHeight, settings.VoxelMaxClimb );
heightfield.FilterLowHangingWalkableObstacles( settings.VoxelMaxClimb );
heightfield.FilterWalkableLowHeightSpans( settings.VoxelAgentHeight );
var compactHeightfield = new CompactHeightfield( heightfield, settings );
compactHeightfield.Erode( settings.VoxelAgentRadius );
compactHeightfield.BuildDistanceField();
compactHeightfield.BuildRegions( 0, settings.MinRegionSize, settings.MergedRegionSize );
//!!!!
System.Random r = new System.Random();
var regionColors = new ColorByte[ compactHeightfield.MaxRegions ];
regionColors[ 0 ] = new ColorByte( 0, 0, 0 );
for( int i = 1; i < regionColors.Length; i++ )
regionColors[ i ] = new ColorByte( (byte)r.Next( 0, 255 ), (byte)r.Next( 0, 255 ), (byte)r.Next( 0, 255 ), (byte)255 );
var contourSet = compactHeightfield.BuildContourSet( settings );
var polyMesh = new PolyMesh( contourSet, settings );
var polyMeshDetail = new PolyMeshDetail( polyMesh, compactHeightfield, settings );
var buildData = new NavMeshBuilder( polyMesh, polyMeshDetail, new OffMeshConnection[ 0 ], settings );
newTiledNavMesh = new TiledNavMesh( buildData );
//!!!!
////Pathfinding with multiple units
//GenerateCrowd();
}
catch( Exception e )
{
DestroyNavMesh();
error = e.Message;
return false;
}
int dataLength;
byte[] data;
using( var memoryStream = new MemoryStream() )
{
var serializer = new NavMeshBinarySerializer();
serializer.Serialize( memoryStream, newTiledNavMesh );
dataLength = (int)memoryStream.Length;
data = memoryStream.GetBuffer();
}
//generate nav mesh data
var writer = new ArrayDataWriter();
writer.Write( navMeshDataVersion );
writer.Write( dataLength );
writer.Write( data, 0, dataLength );
//set NavMeshData and init
var newNavMeshData = new byte[ writer.BitLength / 8 ];
Buffer.BlockCopy( writer.Data, 0, newNavMeshData, 0, newNavMeshData.Length );
NavMeshData = newNavMeshData;
error = "";
return true;
}
