DotRecastNetSim/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs

/*
recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org

This software is provided 'as-is', without any express or implied
warranty.  In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
 claim that you wrote the original software. If you use this software
 in a product, an acknowledgment in the product documentation would be
 appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
 misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

using DotRecast.Core;
using DotRecast.Recast;
using DotRecast.Recast.Geom;

namespace DotRecast.Detour.Crowd.Test;

public class RecastTestMeshBuilder
{
    private readonly DtMeshData meshData;
    public const float m_cellSize = 0.3f;
    public const float m_cellHeight = 0.2f;
    public const float m_agentHeight = 2.0f;
    public const float m_agentRadius = 0.6f;
    public const float m_agentMaxClimb = 0.9f;
    public const float m_agentMaxSlope = 45.0f;
    public const int m_regionMinSize = 8;
    public const int m_regionMergeSize = 20;
    public const float m_edgeMaxLen = 12.0f;
    public const float m_edgeMaxError = 1.3f;
    public const int m_vertsPerPoly = 6;
    public const float m_detailSampleDist = 6.0f;
    public const float m_detailSampleMaxError = 1.0f;

    public RecastTestMeshBuilder() : this(ObjImporter.Load(Loader.ToBytes("dungeon.obj")),
        PartitionType.WATERSHED, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, m_agentMaxClimb, m_agentMaxSlope,
        m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, m_detailSampleDist,
        m_detailSampleMaxError)
    {
    }

    public RecastTestMeshBuilder(IInputGeomProvider m_geom, PartitionType m_partitionType, float m_cellSize,
        float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope,
        int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly,
        float m_detailSampleDist, float m_detailSampleMaxError)
    {
        RcConfig cfg = new RcConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius,
            m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError,
            m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
        RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, m_geom.GetMeshBoundsMin(), m_geom.GetMeshBoundsMax());
        RecastBuilder rcBuilder = new RecastBuilder();
        RecastBuilderResult rcResult = rcBuilder.Build(m_geom, bcfg);
        RcPolyMesh m_pmesh = rcResult.GetMesh();
        for (int i = 0; i < m_pmesh.npolys; ++i)
        {
            m_pmesh.flags[i] = 1;
        }

        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
        DtNavMeshCreateParams option = new DtNavMeshCreateParams();
        option.verts = m_pmesh.verts;
        option.vertCount = m_pmesh.nverts;
        option.polys = m_pmesh.polys;
        option.polyAreas = m_pmesh.areas;
        option.polyFlags = m_pmesh.flags;
        option.polyCount = m_pmesh.npolys;
        option.nvp = m_pmesh.nvp;
        option.detailMeshes = m_dmesh.meshes;
        option.detailVerts = m_dmesh.verts;
        option.detailVertsCount = m_dmesh.nverts;
        option.detailTris = m_dmesh.tris;
        option.detailTriCount = m_dmesh.ntris;
        option.walkableHeight = m_agentHeight;
        option.walkableRadius = m_agentRadius;
        option.walkableClimb = m_agentMaxClimb;
        option.bmin = m_pmesh.bmin;
        option.bmax = m_pmesh.bmax;
        option.cs = m_cellSize;
        option.ch = m_cellHeight;
        option.buildBvTree = true;

        option.offMeshConVerts = new float[6];
        option.offMeshConVerts[0] = 0.1f;
        option.offMeshConVerts[1] = 0.2f;
        option.offMeshConVerts[2] = 0.3f;
        option.offMeshConVerts[3] = 0.4f;
        option.offMeshConVerts[4] = 0.5f;
        option.offMeshConVerts[5] = 0.6f;
        option.offMeshConRad = new float[1];
        option.offMeshConRad[0] = 0.1f;
        option.offMeshConDir = new int[1];
        option.offMeshConDir[0] = 1;
        option.offMeshConAreas = new int[1];
        option.offMeshConAreas[0] = 2;
        option.offMeshConFlags = new int[1];
        option.offMeshConFlags[0] = 12;
        option.offMeshConUserID = new int[1];
        option.offMeshConUserID[0] = 0x4567;
        option.offMeshConCount = 1;
        meshData = NavMeshBuilder.CreateNavMeshData(option);
    }

    public DtMeshData GetMeshData()
    {
        return meshData;
    }
}