|
public GetPortal ( |
||
| _other | ||
| left | System |
|
| right | System |
|
| backwards | bool | |
| aIndex | int | |
| bIndex | int | |
| return | bool | |
public bool GetPortal (GraphNode _other, System.Collections.Generic.List<Vector3> left, System.Collections.Generic.List<Vector3> right, bool backwards, out int aIndex, out int bIndex)
{
aIndex = -1;
bIndex = -1;
//If the nodes are in different graphs, this function has no idea on how to find a shared edge.
if (_other.GraphIndex != GraphIndex) return false;
TriangleMeshNode other = _other as TriangleMeshNode;
//Get tile indices
int tileIndex = (GetVertexIndex(0) >> RecastGraph.TileIndexOffset) & RecastGraph.TileIndexMask;
int tileIndex2 = (other.GetVertexIndex(0) >> RecastGraph.TileIndexOffset) & RecastGraph.TileIndexMask;
//When the nodes are in different tiles, the edges might not be completely identical
//so another technique is needed
//Only do this on recast graphs
if (tileIndex != tileIndex2 && ( GetNavmeshHolder(GraphIndex) is RecastGraph)) {
for ( int i=0;i<connections.Length;i++) {
if ( connections[i].GraphIndex != GraphIndex ) {
NodeLink3Node mid = connections[i] as NodeLink3Node;
if ( mid != null && mid.GetOther (this) == other ) {
// We have found a node which is connected through a NodeLink3Node
if ( left != null ) {
mid.GetPortal ( other, left, right, false );
return true;
}
}
}
}
//Get the tile coordinates, from them we can figure out which edge is going to be shared
int x1, x2, z1, z2;
int coord;
INavmeshHolder nm = GetNavmeshHolder (GraphIndex);
nm.GetTileCoordinates(tileIndex, out x1, out z1);
nm.GetTileCoordinates(tileIndex2, out x2, out z2);
if (System.Math.Abs(x1-x2) == 1) coord = 0;
else if (System.Math.Abs(z1-z2) == 1) coord = 2;
else throw new System.Exception ("Tiles not adjacent (" + x1+", " + z1 +") (" + x2 + ", " + z2+")");
int av = GetVertexCount ();
int bv = other.GetVertexCount ();
//Try the X and Z coordinate. For one of them the coordinates should be equal for one of the two nodes' edges
//The midpoint between the tiles is the only place where they will be equal
int first = -1, second = -1;
//Find the shared edge
for (int a=0;a<av;a++) {
int va = GetVertex(a)[coord];
for (int b=0;b<bv;b++) {
if (va == other.GetVertex((b+1)%bv)[coord] && GetVertex((a+1) % av)[coord] == other.GetVertex(b)[coord]) {
first = a;
second = b;
a = av;
break;
}
}
}
aIndex = first;
bIndex = second;
if (first != -1) {
Int3 a = GetVertex(first);
Int3 b = GetVertex((first+1)%av);
//The coordinate which is not the same for the vertices
int ocoord = coord == 2 ? 0 : 2;
//When the nodes are in different tiles, they might not share exactly the same edge
//so we clamp the portal to the segment of the edges which they both have.
int mincoord = System.Math.Min(a[ocoord], b[ocoord]);
int maxcoord = System.Math.Max(a[ocoord], b[ocoord]);
mincoord = System.Math.Max (mincoord, System.Math.Min(other.GetVertex(second)[ocoord], other.GetVertex((second+1)%bv)[ocoord]));
maxcoord = System.Math.Min (maxcoord, System.Math.Max(other.GetVertex(second)[ocoord], other.GetVertex((second+1)%bv)[ocoord]));
if (a[ocoord] < b[ocoord]) {
a[ocoord] = mincoord;
b[ocoord] = maxcoord;
} else {
a[ocoord] = maxcoord;
b[ocoord] = mincoord;
}
if (left != null) {
//All triangles should be clockwise so second is the rightmost vertex (seen from this node)
left.Add ((Vector3)a);
right.Add ((Vector3)b);
}
return true;
}
} else
if (!backwards) {
int first = -1;
int second = -1;
int av = GetVertexCount ();
int bv = other.GetVertexCount ();
/** \todo Maybe optimize with pa=av-1 instead of modulus... */
for (int a=0;a<av;a++) {
int va = GetVertexIndex(a);
for (int b=0;b<bv;b++) {
if (va == other.GetVertexIndex((b+1)%bv) && GetVertexIndex((a+1) % av) == other.GetVertexIndex(b)) {
first = a;
second = b;
a = av;
break;
}
}
}
aIndex = first;
bIndex = second;
if (first != -1) {
if (left != null) {
//All triangles should be clockwise so second is the rightmost vertex (seen from this node)
left.Add ((Vector3)GetVertex(first));
right.Add ((Vector3)GetVertex((first+1)%av));
}
} else {
for ( int i=0;i<connections.Length;i++) {
if ( connections[i].GraphIndex != GraphIndex ) {
NodeLink3Node mid = connections[i] as NodeLink3Node;
if ( mid != null && mid.GetOther (this) == other ) {
// We have found a node which is connected through a NodeLink3Node
if ( left != null ) {
mid.GetPortal ( other, left, right, false );
return true;
}
}
}
}
return false;
}
}
return true;
}
|
TriangleMeshNode::GetPortal ( |
public static bool Linecast(INavmesh graph, Vector3 tmp_origin, Vector3 tmp_end, GraphNode hint, out GraphHitInfo hit, List <GraphNode> trace)
{
Int3 @int = (Int3)tmp_end;
Int3 int2 = (Int3)tmp_origin;
hit = default(GraphHitInfo);
if (float.IsNaN(tmp_origin.x + tmp_origin.y + tmp_origin.z))
{
throw new ArgumentException("origin is NaN");
}
if (float.IsNaN(tmp_end.x + tmp_end.y + tmp_end.z))
{
throw new ArgumentException("end is NaN");
}
TriangleMeshNode triangleMeshNode = hint as TriangleMeshNode;
if (triangleMeshNode == null)
{
triangleMeshNode = ((graph as NavGraph).GetNearest(tmp_origin, NNConstraint.None).node as TriangleMeshNode);
if (triangleMeshNode == null)
{
Debug.LogError("Could not find a valid node to start from");
hit.point = tmp_origin;
return(true);
}
}
if (int2 == @int)
{
hit.node = triangleMeshNode;
return(false);
}
int2 = (Int3)triangleMeshNode.ClosestPointOnNode((Vector3)int2);
hit.origin = (Vector3)int2;
if (!triangleMeshNode.Walkable)
{
hit.point = (Vector3)int2;
hit.tangentOrigin = (Vector3)int2;
return(true);
}
List <Vector3> list = ListPool <Vector3> .Claim();
List <Vector3> list2 = ListPool <Vector3> .Claim();
int num = 0;
while (true)
{
num++;
if (num > 2000)
{
break;
}
TriangleMeshNode triangleMeshNode2 = null;
if (trace != null)
{
trace.Add(triangleMeshNode);
}
if (triangleMeshNode.ContainsPoint(@int))
{
goto Block_9;
}
for (int i = 0; i < triangleMeshNode.connections.Length; i++)
{
if (triangleMeshNode.connections[i].GraphIndex == triangleMeshNode.GraphIndex)
{
list.Clear();
list2.Clear();
if (triangleMeshNode.GetPortal(triangleMeshNode.connections[i], list, list2, false))
{
Vector3 vector = list[0];
Vector3 vector2 = list2[0];
if (Polygon.LeftNotColinear(vector, vector2, hit.origin) || !Polygon.LeftNotColinear(vector, vector2, tmp_end))
{
float num2;
float num3;
if (Polygon.IntersectionFactor(vector, vector2, hit.origin, tmp_end, out num2, out num3))
{
if (num3 >= 0f)
{
if (num2 >= 0f && num2 <= 1f)
{
triangleMeshNode2 = (triangleMeshNode.connections[i] as TriangleMeshNode);
break;
}
}
}
}
}
}
}
if (triangleMeshNode2 == null)
{
goto Block_18;
}
triangleMeshNode = triangleMeshNode2;
}
Debug.LogError("Linecast was stuck in infinite loop. Breaking.");
ListPool <Vector3> .Release(list);
ListPool <Vector3> .Release(list2);
return(true);
Block_9:
ListPool <Vector3> .Release(list);
ListPool <Vector3> .Release(list2);
return(false);
Block_18:
int vertexCount = triangleMeshNode.GetVertexCount();
for (int j = 0; j < vertexCount; j++)
{
Vector3 vector3 = (Vector3)triangleMeshNode.GetVertex(j);
Vector3 vector4 = (Vector3)triangleMeshNode.GetVertex((j + 1) % vertexCount);
if (Polygon.LeftNotColinear(vector3, vector4, hit.origin) || !Polygon.LeftNotColinear(vector3, vector4, tmp_end))
{
float num4;
float num5;
if (Polygon.IntersectionFactor(vector3, vector4, hit.origin, tmp_end, out num4, out num5))
{
if (num5 >= 0f)
{
if (num4 >= 0f && num4 <= 1f)
{
Vector3 point = vector3 + (vector4 - vector3) * num4;
hit.point = point;
hit.node = triangleMeshNode;
hit.tangent = vector4 - vector3;
hit.tangentOrigin = vector3;
ListPool <Vector3> .Release(list);
ListPool <Vector3> .Release(list2);
return(true);
}
}
}
}
}
Debug.LogWarning("Linecast failing because point not inside node, and line does not hit any edges of it");
ListPool <Vector3> .Release(list);
ListPool <Vector3> .Release(list2);
return(false);
}
