|
public GenerateNodes ( |
||
| vectorVertices | ||
| triangles | int | |
| originalVertices | ||
| vertices | ||
| return | void | |
public void GenerateNodes (Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices) {
if (vectorVertices.Length == 0 || triangles.Length == 0) {
originalVertices = vectorVertices;
vertices = new Int3[0];
//graph.CreateNodes (0);
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
//Backup the original vertices
//for (int i=0;i<vectorVertices.Length;i++) {
// vectorVertices[i] = graph.matrix.MultiplyPoint (vectorVertices[i]);
//}
int c = 0;
/*int maxX = 0;
int maxZ = 0;
//Almost infinity
int minX = 0xFFFFFFF;
int minZ = 0xFFFFFFF;*/
for (int i=0;i<vertices.Length;i++) {
vertices[i] = (Int3)matrix.MultiplyPoint3x4 (vectorVertices[i]);
/*maxX = Mathfx.Max (vertices[i].x, maxX);
maxZ = Mathfx.Max (vertices[i].z, maxZ);
minX = Mathfx.Min (vertices[i].x, minX);
minZ = Mathfx.Min (vertices[i].z, minZ);*/
}
//maxX = maxX-minX;
//maxZ = maxZ-minZ;
Dictionary<Int3,int> hashedVerts = new Dictionary<Int3,int> ();
int[] newVertices = new int[vertices.Length];
for (int i=0;i<vertices.Length-1;i++) {
//int hash = Mathfx.ComputeVertexHash (vertices[i].x,vertices[i].y,vertices[i].z);
//(vertices[i].x-minX)+(vertices[i].z-minX)*maxX+vertices[i].y*maxX*maxZ;
//if (sortedVertices[i] != sortedVertices[i+1]) {
if (!hashedVerts.ContainsKey (vertices[i])) {
newVertices[c] = i;
hashedVerts.Add (vertices[i], c);
c++;
}// else {
//Debug.Log ("Hash Duplicate "+hash+" "+vertices[i].ToString ());
//}
}
newVertices[c] = vertices.Length-1;
//int hash2 = (newVertices[c].x-minX)+(newVertices[c].z-minX)*maxX+newVertices[c].y*maxX*maxZ;
//int hash2 = Mathfx.ComputeVertexHash (newVertices[c].x,newVertices[c].y,newVertices[c].z);
if (!hashedVerts.ContainsKey (vertices[newVertices[c]])) {
hashedVerts.Add (vertices[newVertices[c]], c);
c++;
}
for (int x=0;x<triangles.Length;x++) {
Int3 vertex = vertices[triangles[x]];
//int hash3 = (vertex.x-minX)+(vertex.z-minX)*maxX+vertex.y*maxX*maxZ;
//int hash3 = Mathfx.ComputeVertexHash (vertex.x,vertex.y,vertex.z);
//for (int y=0;y<newVertices.Length;y++) {
triangles[x] = hashedVerts[vertex];
}
/*for (int i=0;i<triangles.Length;i += 3) {
Vector3 offset = Vector3.forward*i*0.01F;
Debug.DrawLine (newVertices[triangles[i]]+offset,newVertices[triangles[i+1]]+offset,Color.blue);
Debug.DrawLine (newVertices[triangles[i+1]]+offset,newVertices[triangles[i+2]]+offset,Color.blue);
Debug.DrawLine (newVertices[triangles[i+2]]+offset,newVertices[triangles[i]]+offset,Color.blue);
}*/
//Debug.Log ("NavMesh - Old vertice count "+vertices.Length+", new vertice count "+c+" "+maxX+" "+maxZ+" "+maxX*maxZ);
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i=0;i<c;i++) {
vertices[i] = totalIntVertices[newVertices[i]];//(Int3)graph.matrix.MultiplyPoint (vectorVertices[i]);
originalVertices[i] = (Vector3)vectorVertices[newVertices[i]];//vectorVertices[newVertices[i]];
}
//graph.CreateNodes (triangles.Length/3);//new Node[triangles.Length/3];
nodes = new TriangleMeshNode[triangles.Length/3];
for (int i=0;i<nodes.Length;i++) {
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i];//new MeshNode ();
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i*3];
node.v1 = triangles[i*3+1];
node.v2 = triangles[i*3+2];
if (!Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (Polygon.IsColinear (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
List<MeshNode> connections = new List<MeshNode> ();
List<uint> connectionCosts = new List<uint> ();
int identicalError = 0;
for (int i=0;i<triangles.Length;i+=3) {
connections.Clear ();
connectionCosts.Clear ();
//Int3 indices = new Int3(triangles[i],triangles[i+1],triangles[i+2]);
TriangleMeshNode node = nodes[i/3];
for (int x=0;x<triangles.Length;x+=3) {
if (x == i) {
continue;
}
int count = 0;
if (triangles[x] == triangles[i]) { count++; }
if (triangles[x+1] == triangles[i]) { count++; }
if (triangles[x+2] == triangles[i]) { count++; }
if (triangles[x] == triangles[i+1]) { count++; }
if (triangles[x+1] == triangles[i+1]) { count++; }
if (triangles[x+2] == triangles[i+1]) { count++; }
if (triangles[x] == triangles[i+2]) { count++; }
if (triangles[x+1] == triangles[i+2]) { count++; }
if (triangles[x+2] == triangles[i+2]) { count++; }
if (count >= 3) {
identicalError++;
Debug.DrawLine ((Vector3)vertices[triangles[x]],(Vector3)vertices[triangles[x+1]],Color.red);
Debug.DrawLine ((Vector3)vertices[triangles[x]],(Vector3)vertices[triangles[x+2]],Color.red);
Debug.DrawLine ((Vector3)vertices[triangles[x+2]],(Vector3)vertices[triangles[x+1]],Color.red);
}
if (count == 2) {
GraphNode other = nodes[x/3];
connections.Add (other as MeshNode);
connectionCosts.Add ((uint)(node.position-other.position).costMagnitude);
}
}
node.connections = connections.ToArray ();
node.connectionCosts = connectionCosts.ToArray ();
}
if (identicalError > 0) {
Debug.LogError ("One or more triangles are identical to other triangles, this is not a good thing to have in a navmesh\nIncreasing the scale of the mesh might help\nNumber of triangles with error: "+identicalError+"\n");
}
RebuildBBTree (this);
#if ASTARDEBUG
for (int i=0;i<nodes.Length;i++) {
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
float a1 = Polygon.TriangleArea2 ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],(Vector3)vertices[node.v2]);
long a2 = Polygon.TriangleArea2 (vertices[node.v0],vertices[node.v1],vertices[node.v2]);
if (a1 * a2 < 0) Debug.LogError (a1+ " " + a2);
if (Polygon.IsClockwise (vertices[node.v0],vertices[node.v1],vertices[node.v2])) {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.green);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.green);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.green);
} else {
Debug.DrawLine ((Vector3)vertices[node.v0],(Vector3)vertices[node.v1],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v1],(Vector3)vertices[node.v2],Color.red);
Debug.DrawLine ((Vector3)vertices[node.v2],(Vector3)vertices[node.v0],Color.red);
}
}
#endif
//Debug.Log ("Graph Generation - NavMesh - Time to compute graph "+((Time.realtimeSinceStartup-startTime)*1000F).ToString ("0")+"ms");
}
public void ScanCRecast()
{
//#if (!UNITY_EDITOR && !UNITY_STANDALONE_OSX && !UNITY_STANDALONE_WIN) || UNITY_WEBPLAYER || UNITY_IPHONE || UNITY_ANDROID || UNITY_DASHBOARD_WIDGET || UNITY_XBOX360 || UNITY_PS3
#if (UNITY_STANDALONE_OSX || UNITY_STANDALONE_WIN)
System.Diagnostics.Process myProcess = new System.Diagnostics.Process();
myProcess.StartInfo.FileName = GetRecastPath(); //"/Users/arong/Recast/build/Debug/Recast";
//System.Diagnostics.ProcessStartInfo startInfo = new System.Diagnostics.ProcessStartInfo ();
//startInfo.UseShellExecute = true;
myProcess.StartInfo.UseShellExecute = false;
myProcess.StartInfo.RedirectStandardInput = true;
myProcess.StartInfo.RedirectStandardOutput = true;
myProcess.StartInfo.Arguments = "";
MeshFilter[] filters;
ExtraMesh[] extraMeshes;
//Get all meshes which should be used
CollectMeshes(out filters, out extraMeshes);
Vector3[] inputVerts;
int[] inputTris;
//Get polygon soup from meshes
Voxelize.CollectMeshes(filters, extraMeshes, forcedBounds, out inputVerts, out inputTris);
//Bild .obj file
System.Text.StringBuilder arguments = new System.Text.StringBuilder();
arguments.Append("o recastMesh.obj\n");
for (int i = 0; i < inputVerts.Length; i++)
{
arguments.Append("v " + inputVerts[i].x.ToString("0.000") + " ").Append(inputVerts[i].y.ToString("0.000") + " ").Append(inputVerts[i].z.ToString("0.000"));
arguments.Append("\n");
}
//Build .obj file tris
for (int i = 0; i < inputTris.Length - 2; i += 3)
{
arguments.Append("f " + (inputTris[i] + 1) + "//0 ").Append((inputTris[i + 1] + 1) + "//0 ").Append((inputTris[i + 2] + 1) + "//0");
//Debug.DrawLine (inputVerts[inputTris[i]],inputVerts[inputTris[i+1]],Color.red);
//Debug.DrawLine (inputVerts[inputTris[i+1]],inputVerts[inputTris[i+2]],Color.red);
//Debug.DrawLine (inputVerts[inputTris[i+2]],inputVerts[inputTris[i]],Color.red);
arguments.Append("\n");
}
string tmpPath = System.IO.Path.GetTempPath();
tmpPath += "recastMesh.obj";
try {
using (System.IO.StreamWriter outfile = new System.IO.StreamWriter(tmpPath)) {
outfile.Write(arguments.ToString());
}
myProcess.StartInfo.Arguments = tmpPath
+ "\n" + cellSize + "\n" +
cellHeight + "\n" +
walkableHeight + "\n" +
walkableClimb + "\n" +
maxSlope + "\n" +
maxEdgeLength + "\n" +
contourMaxError + "\n" +
regionMinSize + "\n" +
characterRadius;
/* public int erosionRadius = 2; /< Voxels to erode away from the edges of the mesh /
* public float contourMaxError = 2F; /< Max distance from simplified edge to real edge /
*
* public float cellSize = 0.5F; /< Voxel sample size (x,z) /
* public float cellHeight = 0.4F; /< Voxel sample size (y) /
* public float walkableHeight = 2F; /< Character height/
* public float walkableClimb = 0.5F; /< Height the character can climb /
* public float maxSlope = 30; /< Max slope in degrees the character can traverse /
* public float maxEdgeLength = 20; /< Longer edges will be subdivided. Reducing this value can im
* public bool useCRecast = true;
* public bool includeOutOfBounds = false;*/
myProcess.Start();
System.IO.StreamReader sOut = myProcess.StandardOutput;
//string result = sOut.ReadToEnd ();
//Debug.Log (result);
//return;
bool failed = false;
bool startedVerts = false;
int readVerts = 0;
bool startedTris = false;
int vCount = -1;
int readTris = 0;
int trisCount = 0;
Vector3[] verts = null;
int[] tris = null;
int internalVertCount = 0;
Vector3 bmin = Vector3.zero;
float cs = 1F;
float ch = 1F;
while (sOut.Peek() >= 0)
{
string line = sOut.ReadLine();
int resultInt;
if (line == "")
{
continue;
}
if (!int.TryParse(line, out resultInt))
{
//Debug.Log ("Syntax Error at '"+line+"'");
failed = true;
break;
}
if (!startedVerts)
{
verts = new Vector3[resultInt];
if (resultInt == 0)
{
failed = true;
break;
}
bmin.x = float.Parse(sOut.ReadLine());
bmin.y = float.Parse(sOut.ReadLine());
bmin.z = float.Parse(sOut.ReadLine());
cs = float.Parse(sOut.ReadLine());
ch = float.Parse(sOut.ReadLine());
startedVerts = true;
//Debug.Log ("Starting Reading "+resultInt+" verts "+bmin.ToString ()+" - "+cs+" * "+ch);
}
else if (readVerts < verts.Length)
{
resultInt *= 1;
if (internalVertCount == 0)
{
verts[readVerts].x = resultInt * cs + bmin.x;
}
else if (internalVertCount == 1)
{
verts[readVerts].y = resultInt * ch + bmin.y;
}
else
{
verts[readVerts].z = resultInt * cs + bmin.z;
}
internalVertCount++;
if (internalVertCount == 3)
{
internalVertCount = 0;
readVerts++;
}
}
else if (!startedTris)
{
trisCount = resultInt;
startedTris = true;
}
else if (vCount == -1)
{
vCount = resultInt;
tris = new int[trisCount * vCount];
//Debug.Log ("Starting Reading "+trisCount+" - "+tris.Length+" tris at vertsCount "+readVerts);
//Debug.Log ("Max vertices per polygon: "+vCount);
}
else if (readTris < tris.Length)
{
tris[readTris] = resultInt;
readTris++;
}
}
if (!myProcess.HasExited)
{
myProcess.Kill();
}
sOut.Close();
myProcess.Close();
if (failed)
{
return;
}
matrix = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, Vector3.one);
NavMeshGraph.GenerateNodes(this, verts, tris, out _vectorVertices, out _vertices);
} finally {
//Debug.Log (tmpPath);
System.IO.File.Delete(tmpPath);
}
#else
Debug.LogError("The C++ version of recast can only be used in editor or standalone mode, I'm sure it cannot be used in the webplayer, but other platforms are not tested yet\n" +
"If you are in the Unity Editor, try switching Platform to Standalone just when scanning, scanned graphs can be cached to enable them to be used in a webplayer");
_vectorVertices = new Vector3[0];
_vertices = new Int3[0];
nodes = new Node[0];
#endif
}