|
public FilterLowHeightSpans ( uint voxelWalkableHeight, float cs, float ch, |
||
| voxelWalkableHeight | uint | |
| cs | float | |
| ch | float | |
| min | ||
| return | void | |
protected void BuildTileMesh(Voxelize vox, int x, int z)
{
float num = (float)this.tileSizeX * this.cellSize;
float num2 = (float)this.tileSizeZ * this.cellSize;
int num3 = Mathf.CeilToInt(this.characterRadius / this.cellSize);
Vector3 min = this.forcedBounds.min;
Vector3 max = this.forcedBounds.max;
Bounds forcedBounds = default(Bounds);
forcedBounds.SetMinMax(new Vector3((float)x * num, 0f, (float)z * num2) + min, new Vector3((float)(x + 1) * num + min.x, max.y, (float)(z + 1) * num2 + min.z));
vox.borderSize = num3 + 3;
forcedBounds.Expand(new Vector3((float)vox.borderSize, 0f, (float)vox.borderSize) * this.cellSize * 2f);
vox.forcedBounds = forcedBounds;
vox.width = this.tileSizeX + vox.borderSize * 2;
vox.depth = this.tileSizeZ + vox.borderSize * 2;
if (!this.useTiles && this.relevantGraphSurfaceMode == RecastGraph.RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile)
{
vox.relevantGraphSurfaceMode = RecastGraph.RelevantGraphSurfaceMode.RequireForAll;
}
else
{
vox.relevantGraphSurfaceMode = this.relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(this.minRegionSize / (this.cellSize * this.cellSize));
vox.Init();
vox.CollectMeshes();
vox.VoxelizeInput();
vox.FilterLedges(vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
vox.FilterLowHeightSpans(vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
vox.BuildCompactField();
vox.BuildVoxelConnections();
vox.ErodeWalkableArea(num3);
vox.BuildDistanceField();
vox.BuildRegions();
VoxelContourSet cset = new VoxelContourSet();
vox.BuildContours(this.contourMaxError, 1, cset, 1);
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
for (int i = 0; i < mesh.verts.Length; i++)
{
mesh.verts[i] = mesh.verts[i] * 1000 * vox.cellScale + (Int3)vox.voxelOffset;
}
RecastGraph.NavmeshTile navmeshTile = this.CreateTile(vox, mesh, x, z);
this.tiles[navmeshTile.x + navmeshTile.z * this.tileXCount] = navmeshTile;
}
protected void BuildTileMesh (Voxelize vox, int x, int z) {
AstarProfiler.StartProfile ("Build Tile");
AstarProfiler.StartProfile ("Init");
//World size of tile
float tcsx = tileSizeX*cellSize;
float tcsz = tileSizeZ*cellSize;
int voxelCharacterRadius = Mathf.CeilToInt (characterRadius/cellSize);
Vector3 forcedBoundsMin = forcedBounds.min;
Vector3 forcedBoundsMax = forcedBounds.max;
Bounds bounds = new Bounds ();
bounds.SetMinMax(new Vector3 (x*tcsx, 0, z*tcsz) + forcedBoundsMin,
new Vector3 ((x+1)*tcsx + forcedBoundsMin.x, forcedBoundsMax.y, (z+1)*tcsz + forcedBoundsMin.z)
);
vox.borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
bounds.Expand (new Vector3 (vox.borderSize,0,vox.borderSize)*cellSize*2);
vox.forcedBounds = bounds;
vox.width = tileSizeX + vox.borderSize*2;
vox.depth = tileSizeZ + vox.borderSize*2;
if (!useTiles && relevantGraphSurfaceMode == RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile) {
// This best reflects what the user would actually want
vox.relevantGraphSurfaceMode = RelevantGraphSurfaceMode.RequireForAll;
} else {
vox.relevantGraphSurfaceMode = relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(minRegionSize / (cellSize*cellSize));
#if ASTARDEBUG
Debug.Log ("Building Tile " + x+","+z);
Console.WriteLine ("Recast Graph -- Voxelizing");
#endif
AstarProfiler.EndProfile ("Init");
//Init voxelizer
vox.Init ();
vox.CollectMeshes ();
vox.VoxelizeInput ();
AstarProfiler.StartProfile ("Filter Ledges");
if (importMode) {
if (System.IO.File.Exists(Application.dataPath+"/tile."+x+"."+z)) {
System.IO.FileStream fs = System.IO.File.OpenRead (Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = new byte[fs.Length];
fs.Read (bytes,0,(int)fs.Length);
VoxelArea tmpVox = new VoxelArea(vox.width,vox.depth);
Pathfinding.Voxels.VoxelSerializeUtility.DeserializeVoxelAreaData (bytes,tmpVox);
Pathfinding.Voxels.VoxelSerializeUtility.MergeVoxelAreaData(tmpVox,vox.voxelArea,vox.voxelWalkableClimb);
}
}
if (exportMode) {
System.IO.FileStream fs = System.IO.File.Create(Application.dataPath+"/tile."+x+"."+z);
byte[] bytes = Pathfinding.Voxels.VoxelSerializeUtility.SerializeVoxelAreaData(vox.voxelArea);
fs.Write(bytes,0,bytes.Length);
fs.Close();
}
vox.FilterLedges (vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile ("Filter Ledges");
AstarProfiler.StartProfile ("Filter Low Height Spans");
vox.FilterLowHeightSpans (vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile ("Filter Low Height Spans");
vox.BuildCompactField ();
vox.BuildVoxelConnections ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Eroding");
#endif
vox.ErodeWalkableArea (voxelCharacterRadius);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Distance Field");
#endif
vox.BuildDistanceField ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Regions");
#endif
vox.BuildRegions ();
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Contours");
#endif
VoxelContourSet cset = new VoxelContourSet ();
vox.BuildContours (contourMaxError,1,cset,Voxelize.RC_CONTOUR_TESS_WALL_EDGES);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Poly Mesh");
#endif
VoxelMesh mesh;
vox.BuildPolyMesh (cset,3,out mesh);
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Building Nodes");
#endif
//Vector3[] vertices = new Vector3[mesh.verts.Length];
AstarProfiler.StartProfile ("Build Nodes");
//matrix = Matrix4x4.TRS (vox.voxelOffset,Quaternion.identity,Int3.Precision*vox.cellScale);
//Position the vertices correctly in the world
for (int i=0;i<mesh.verts.Length;i++) {
//Note the multiplication is Scalar multiplication of vectors
mesh.verts[i] = ((mesh.verts[i]*Int3.Precision) * vox.cellScale) + (Int3)vox.voxelOffset;
//Debug.DrawRay (matrix.MultiplyPoint3x4(vertices[i]),Vector3.up,Color.red);
}
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Generating Nodes");
#endif
//NavMeshGraph.GenerateNodes (this,vertices,mesh.tris, out _vectorVertices, out _vertices);
/*NavmeshTile prevTile = tiles[x + z*tileXCount];
if (prevTile != null) {
for (int i=0;i<prevTile.nodes.Length;i++) {
prevTile.nodes[i].v0 = -1;
prevTile.nodes[i].v1 = -1;
prevTile.nodes[i].v2 = -1;
}
}*/
NavmeshTile tile = CreateTile (vox, mesh, x,z);
tiles[tile.x + tile.z*tileXCount] = tile;
AstarProfiler.EndProfile ("Build Nodes");
#if ASTARDEBUG
Console.WriteLine ("Recast Graph -- Done");
#endif
AstarProfiler.EndProfile ("Build Tile");
}
protected void BuildTileMesh (Voxelize vox, int x, int z) {
AstarProfiler.StartProfile("Build Tile");
AstarProfiler.StartProfile("Init");
//World size of tile
float tcsx = tileSizeX*cellSize;
float tcsz = tileSizeZ*cellSize;
int voxelCharacterRadius = Mathf.CeilToInt(characterRadius/cellSize);
Vector3 forcedBoundsMin = forcedBounds.min;
Vector3 forcedBoundsMax = forcedBounds.max;
var bounds = new Bounds();
bounds.SetMinMax(new Vector3(x*tcsx, 0, z*tcsz) + forcedBoundsMin,
new Vector3((x+1)*tcsx + forcedBoundsMin.x, forcedBoundsMax.y, (z+1)*tcsz + forcedBoundsMin.z)
);
vox.borderSize = voxelCharacterRadius + 3;
//Expand borderSize voxels on each side
bounds.Expand(new Vector3(vox.borderSize, 0, vox.borderSize)*cellSize*2);
vox.forcedBounds = bounds;
vox.width = tileSizeX + vox.borderSize*2;
vox.depth = tileSizeZ + vox.borderSize*2;
if (!useTiles && relevantGraphSurfaceMode == RelevantGraphSurfaceMode.OnlyForCompletelyInsideTile) {
// This best reflects what the user would actually want
vox.relevantGraphSurfaceMode = RelevantGraphSurfaceMode.RequireForAll;
} else {
vox.relevantGraphSurfaceMode = relevantGraphSurfaceMode;
}
vox.minRegionSize = Mathf.RoundToInt(minRegionSize / (cellSize*cellSize));
#if ASTARDEBUG
Debug.Log("Building Tile " + x+","+z);
System.Console.WriteLine("Recast Graph -- Voxelizing");
#endif
AstarProfiler.EndProfile("Init");
//Init voxelizer
vox.Init();
vox.CollectMeshes();
vox.VoxelizeInput();
AstarProfiler.StartProfile("Filter Ledges");
vox.FilterLedges(vox.voxelWalkableHeight, vox.voxelWalkableClimb, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile("Filter Ledges");
AstarProfiler.StartProfile("Filter Low Height Spans");
vox.FilterLowHeightSpans(vox.voxelWalkableHeight, vox.cellSize, vox.cellHeight, vox.forcedBounds.min);
AstarProfiler.EndProfile("Filter Low Height Spans");
vox.BuildCompactField();
vox.BuildVoxelConnections();
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Eroding");
#endif
vox.ErodeWalkableArea(voxelCharacterRadius);
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Distance Field");
#endif
vox.BuildDistanceField();
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Regions");
#endif
vox.BuildRegions();
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Contours");
#endif
var cset = new VoxelContourSet();
vox.BuildContours(contourMaxError, 1, cset, Voxelize.RC_CONTOUR_TESS_WALL_EDGES);
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Poly Mesh");
#endif
VoxelMesh mesh;
vox.BuildPolyMesh(cset, 3, out mesh);
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Building Nodes");
#endif
//Vector3[] vertices = new Vector3[mesh.verts.Length];
AstarProfiler.StartProfile("Build Nodes");
// Debug code
//matrix = Matrix4x4.TRS (vox.voxelOffset,Quaternion.identity,Int3.Precision*vox.cellScale);
//Position the vertices correctly in the world
for (int i = 0; i < mesh.verts.Length; i++) {
//Note the multiplication is Scalar multiplication of vectors
mesh.verts[i] = ((mesh.verts[i]*Int3.Precision) * vox.cellScale) + (Int3)vox.voxelOffset;
// Debug code
//Debug.DrawRay (matrix.MultiplyPoint3x4(vertices[i]),Vector3.up,Color.red);
}
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Generating Nodes");
#endif
NavmeshTile tile = CreateTile(vox, mesh, x, z);
tiles[tile.x + tile.z*tileXCount] = tile;
AstarProfiler.EndProfile("Build Nodes");
#if ASTARDEBUG
System.Console.WriteLine("Recast Graph -- Done");
#endif
AstarProfiler.EndProfile("Build Tile");
}
