forked from bit/DotRecastNetSim
343 lines
14 KiB
C#
343 lines
14 KiB
C#
/*
|
|
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 System;
|
|
using System.Diagnostics;
|
|
using System.IO;
|
|
using DotRecast.Core;
|
|
using DotRecast.Recast.Geom;
|
|
using NUnit.Framework;
|
|
|
|
namespace DotRecast.Recast.Test;
|
|
|
|
using static RecastConstants;
|
|
|
|
[Parallelizable]
|
|
public class RecastSoloMeshTest
|
|
{
|
|
private const float m_cellSize = 0.3f;
|
|
private const float m_cellHeight = 0.2f;
|
|
private const float m_agentHeight = 2.0f;
|
|
private const float m_agentRadius = 0.6f;
|
|
private const float m_agentMaxClimb = 0.9f;
|
|
private const float m_agentMaxSlope = 45.0f;
|
|
private const int m_regionMinSize = 8;
|
|
private const int m_regionMergeSize = 20;
|
|
private const float m_edgeMaxLen = 12.0f;
|
|
private const float m_edgeMaxError = 1.3f;
|
|
private const int m_vertsPerPoly = 6;
|
|
private const float m_detailSampleDist = 6.0f;
|
|
private const float m_detailSampleMaxError = 1.0f;
|
|
private PartitionType m_partitionType = PartitionType.WATERSHED;
|
|
|
|
[Test]
|
|
public void testPerformance()
|
|
{
|
|
for (int i = 0; i < 10; i++)
|
|
{
|
|
testBuild("dungeon.obj", PartitionType.WATERSHED, 52, 16, 15, 223, 118, 118, 513, 291);
|
|
testBuild("dungeon.obj", PartitionType.MONOTONE, 0, 17, 16, 210, 100, 100, 453, 264);
|
|
testBuild("dungeon.obj", PartitionType.LAYERS, 0, 5, 5, 203, 97, 97, 446, 266);
|
|
}
|
|
}
|
|
|
|
[Test]
|
|
public void testDungeonWatershed()
|
|
{
|
|
testBuild("dungeon.obj", PartitionType.WATERSHED, 52, 16, 15, 223, 118, 118, 513, 291);
|
|
}
|
|
|
|
[Test]
|
|
public void testDungeonMonotone()
|
|
{
|
|
testBuild("dungeon.obj", PartitionType.MONOTONE, 0, 17, 16, 210, 100, 100, 453, 264);
|
|
}
|
|
|
|
[Test]
|
|
public void testDungeonLayers()
|
|
{
|
|
testBuild("dungeon.obj", PartitionType.LAYERS, 0, 5, 5, 203, 97, 97, 446, 266);
|
|
}
|
|
|
|
[Test]
|
|
public void testWatershed()
|
|
{
|
|
testBuild("nav_test.obj", PartitionType.WATERSHED, 60, 48, 47, 349, 153, 153, 802, 558);
|
|
}
|
|
|
|
[Test]
|
|
public void testMonotone()
|
|
{
|
|
testBuild("nav_test.obj", PartitionType.MONOTONE, 0, 50, 49, 340, 185, 185, 871, 557);
|
|
}
|
|
|
|
[Test]
|
|
public void testLayers()
|
|
{
|
|
testBuild("nav_test.obj", PartitionType.LAYERS, 0, 19, 32, 312, 150, 150, 764, 521);
|
|
}
|
|
|
|
public void testBuild(string filename, PartitionType partitionType, int expDistance, int expRegions,
|
|
int expContours, int expVerts, int expPolys, int expDetMeshes, int expDetVerts, int expDetTris)
|
|
{
|
|
m_partitionType = partitionType;
|
|
InputGeomProvider geomProvider = ObjImporter.load(Loader.ToBytes(filename));
|
|
long time = FrequencyWatch.Ticks;
|
|
Vector3f bmin = geomProvider.getMeshBoundsMin();
|
|
Vector3f bmax = geomProvider.getMeshBoundsMax();
|
|
Telemetry m_ctx = new Telemetry();
|
|
//
|
|
// Step 1. Initialize build config.
|
|
//
|
|
|
|
// Init build configuration from GUI
|
|
RecastConfig cfg = new RecastConfig(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, bmin, bmax);
|
|
//
|
|
// Step 2. Rasterize input polygon soup.
|
|
//
|
|
|
|
// Allocate voxel heightfield where we rasterize our input data to.
|
|
Heightfield m_solid = new Heightfield(bcfg.width, bcfg.height, bcfg.bmin, bcfg.bmax, cfg.cs, cfg.ch, cfg.borderSize);
|
|
|
|
foreach (TriMesh geom in geomProvider.meshes())
|
|
{
|
|
float[] verts = geom.getVerts();
|
|
int[] tris = geom.getTris();
|
|
int ntris = tris.Length / 3;
|
|
|
|
// Allocate array that can hold triangle area types.
|
|
// If you have multiple meshes you need to process, allocate
|
|
// and array which can hold the max number of triangles you need to
|
|
// process.
|
|
|
|
// Find triangles which are walkable based on their slope and rasterize
|
|
// them.
|
|
// If your input data is multiple meshes, you can transform them here,
|
|
// calculate
|
|
// the are type for each of the meshes and rasterize them.
|
|
int[] m_triareas = Recast.markWalkableTriangles(m_ctx, cfg.walkableSlopeAngle, verts, tris, ntris,
|
|
cfg.walkableAreaMod);
|
|
RecastRasterization.rasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, m_ctx);
|
|
//
|
|
// Step 3. Filter walkables surfaces.
|
|
//
|
|
}
|
|
|
|
// Once all geometry is rasterized, we do initial pass of filtering to
|
|
// remove unwanted overhangs caused by the conservative rasterization
|
|
// as well as filter spans where the character cannot possibly stand.
|
|
RecastFilter.filterLowHangingWalkableObstacles(m_ctx, cfg.walkableClimb, m_solid);
|
|
RecastFilter.filterLedgeSpans(m_ctx, cfg.walkableHeight, cfg.walkableClimb, m_solid);
|
|
RecastFilter.filterWalkableLowHeightSpans(m_ctx, cfg.walkableHeight, m_solid);
|
|
|
|
//
|
|
// Step 4. Partition walkable surface to simple regions.
|
|
//
|
|
|
|
// Compact the heightfield so that it is faster to handle from now on.
|
|
// This will result more cache coherent data as well as the neighbours
|
|
// between walkable cells will be calculated.
|
|
CompactHeightfield m_chf = RecastCompact.buildCompactHeightfield(m_ctx, cfg.walkableHeight, cfg.walkableClimb,
|
|
m_solid);
|
|
|
|
// Erode the walkable area by agent radius.
|
|
RecastArea.erodeWalkableArea(m_ctx, cfg.walkableRadius, m_chf);
|
|
|
|
// (Optional) Mark areas.
|
|
/*
|
|
* ConvexVolume vols = m_geom->getConvexVolumes(); for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
|
|
* rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned
|
|
* char)vols[i].area, *m_chf);
|
|
*/
|
|
|
|
// Partition the heightfield so that we can use simple algorithm later
|
|
// to triangulate the walkable areas.
|
|
// There are 3 martitioning methods, each with some pros and cons:
|
|
// 1) Watershed partitioning
|
|
// - the classic Recast partitioning
|
|
// - creates the nicest tessellation
|
|
// - usually slowest
|
|
// - partitions the heightfield into nice regions without holes or
|
|
// overlaps
|
|
// - the are some corner cases where this method creates produces holes
|
|
// and overlaps
|
|
// - holes may appear when a small obstacles is close to large open area
|
|
// (triangulation can handle this)
|
|
// - overlaps may occur if you have narrow spiral corridors (i.e
|
|
// stairs), this make triangulation to fail
|
|
// * generally the best choice if you precompute the nacmesh, use this
|
|
// if you have large open areas
|
|
// 2) Monotone partioning
|
|
// - fastest
|
|
// - partitions the heightfield into regions without holes and overlaps
|
|
// (guaranteed)
|
|
// - creates long thin polygons, which sometimes causes paths with
|
|
// detours
|
|
// * use this if you want fast navmesh generation
|
|
// 3) Layer partitoining
|
|
// - quite fast
|
|
// - partitions the heighfield into non-overlapping regions
|
|
// - relies on the triangulation code to cope with holes (thus slower
|
|
// than monotone partitioning)
|
|
// - produces better triangles than monotone partitioning
|
|
// - does not have the corner cases of watershed partitioning
|
|
// - can be slow and create a bit ugly tessellation (still better than
|
|
// monotone)
|
|
// if you have large open areas with small obstacles (not a problem if
|
|
// you use tiles)
|
|
// * good choice to use for tiled navmesh with medium and small sized
|
|
// tiles
|
|
long time3 = FrequencyWatch.Ticks;
|
|
|
|
if (m_partitionType == PartitionType.WATERSHED)
|
|
{
|
|
// Prepare for region partitioning, by calculating distance field
|
|
// along the walkable surface.
|
|
RecastRegion.buildDistanceField(m_ctx, m_chf);
|
|
// Partition the walkable surface into simple regions without holes.
|
|
RecastRegion.buildRegions(m_ctx, m_chf, cfg.minRegionArea, cfg.mergeRegionArea);
|
|
}
|
|
else if (m_partitionType == PartitionType.MONOTONE)
|
|
{
|
|
// Partition the walkable surface into simple regions without holes.
|
|
// Monotone partitioning does not need distancefield.
|
|
RecastRegion.buildRegionsMonotone(m_ctx, m_chf, cfg.minRegionArea, cfg.mergeRegionArea);
|
|
}
|
|
else
|
|
{
|
|
// Partition the walkable surface into simple regions without holes.
|
|
RecastRegion.buildLayerRegions(m_ctx, m_chf, cfg.minRegionArea);
|
|
}
|
|
|
|
Assert.That(m_chf.maxDistance, Is.EqualTo(expDistance), "maxDistance");
|
|
Assert.That(m_chf.maxRegions, Is.EqualTo(expRegions), "Regions");
|
|
//
|
|
// Step 5. Trace and simplify region contours.
|
|
//
|
|
|
|
// Create contours.
|
|
ContourSet m_cset = RecastContour.buildContours(m_ctx, m_chf, cfg.maxSimplificationError, cfg.maxEdgeLen,
|
|
RecastConstants.RC_CONTOUR_TESS_WALL_EDGES);
|
|
|
|
Assert.That(m_cset.conts.Count, Is.EqualTo(expContours), "Contours");
|
|
//
|
|
// Step 6. Build polygons mesh from contours.
|
|
//
|
|
|
|
// Build polygon navmesh from the contours.
|
|
PolyMesh m_pmesh = RecastMesh.buildPolyMesh(m_ctx, m_cset, cfg.maxVertsPerPoly);
|
|
Assert.That(m_pmesh.nverts, Is.EqualTo(expVerts), "Mesh Verts");
|
|
Assert.That(m_pmesh.npolys, Is.EqualTo(expPolys), "Mesh Polys");
|
|
|
|
//
|
|
// Step 7. Create detail mesh which allows to access approximate height
|
|
// on each polygon.
|
|
//
|
|
|
|
PolyMeshDetail m_dmesh = RecastMeshDetail.buildPolyMeshDetail(m_ctx, m_pmesh, m_chf, cfg.detailSampleDist,
|
|
cfg.detailSampleMaxError);
|
|
Assert.That(m_dmesh.nmeshes, Is.EqualTo(expDetMeshes), "Mesh Detail Meshes");
|
|
Assert.That(m_dmesh.nverts, Is.EqualTo(expDetVerts), "Mesh Detail Verts");
|
|
Assert.That(m_dmesh.ntris, Is.EqualTo(expDetTris), "Mesh Detail Tris");
|
|
long time2 = FrequencyWatch.Ticks;
|
|
Console.WriteLine(filename + " : " + partitionType + " " + (time2 - time) / TimeSpan.TicksPerMillisecond + " ms");
|
|
Console.WriteLine(" " + (time3 - time) / TimeSpan.TicksPerMillisecond + " ms");
|
|
saveObj(filename.Substring(0, filename.LastIndexOf('.')) + "_" + partitionType + "_detail.obj", m_dmesh);
|
|
saveObj(filename.Substring(0, filename.LastIndexOf('.')) + "_" + partitionType + ".obj", m_pmesh);
|
|
foreach (var (key, millis) in m_ctx.ToList())
|
|
{
|
|
Console.WriteLine($"{key} : {millis} ms");
|
|
}
|
|
}
|
|
|
|
private void saveObj(string filename, PolyMesh mesh)
|
|
{
|
|
try
|
|
{
|
|
string path = Path.Combine("test-output", filename);
|
|
Directory.CreateDirectory(Path.GetDirectoryName(path));
|
|
using StreamWriter fw = new StreamWriter(path);
|
|
for (int v = 0; v < mesh.nverts; v++)
|
|
{
|
|
fw.Write("v " + (mesh.bmin[0] + mesh.verts[v * 3] * mesh.cs) + " "
|
|
+ (mesh.bmin[1] + mesh.verts[v * 3 + 1] * mesh.ch) + " "
|
|
+ (mesh.bmin[2] + mesh.verts[v * 3 + 2] * mesh.cs) + "\n");
|
|
}
|
|
|
|
for (int i = 0; i < mesh.npolys; i++)
|
|
{
|
|
int p = i * mesh.nvp * 2;
|
|
fw.Write("f ");
|
|
for (int j = 0; j < mesh.nvp; ++j)
|
|
{
|
|
int v = mesh.polys[p + j];
|
|
if (v == RC_MESH_NULL_IDX)
|
|
{
|
|
break;
|
|
}
|
|
|
|
fw.Write((v + 1) + " ");
|
|
}
|
|
|
|
fw.Write("\n");
|
|
}
|
|
|
|
fw.Close();
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
Console.WriteLine(e);
|
|
}
|
|
}
|
|
|
|
private void saveObj(string filename, PolyMeshDetail dmesh)
|
|
{
|
|
try
|
|
{
|
|
string filePath = Path.Combine("test-output", filename);
|
|
Directory.CreateDirectory(Path.GetDirectoryName(filePath));
|
|
using StreamWriter fw = new StreamWriter(filePath);
|
|
for (int v = 0; v < dmesh.nverts; v++)
|
|
{
|
|
fw.Write(
|
|
"v " + dmesh.verts[v * 3] + " " + dmesh.verts[v * 3 + 1] + " " + dmesh.verts[v * 3 + 2] + "\n");
|
|
}
|
|
|
|
for (int m = 0; m < dmesh.nmeshes; m++)
|
|
{
|
|
int vfirst = dmesh.meshes[m * 4];
|
|
int tfirst = dmesh.meshes[m * 4 + 2];
|
|
for (int f = 0; f < dmesh.meshes[m * 4 + 3]; f++)
|
|
{
|
|
fw.Write("f " + (vfirst + dmesh.tris[(tfirst + f) * 4] + 1) + " "
|
|
+ (vfirst + dmesh.tris[(tfirst + f) * 4 + 1] + 1) + " "
|
|
+ (vfirst + dmesh.tris[(tfirst + f) * 4 + 2] + 1) + "\n");
|
|
}
|
|
}
|
|
|
|
fw.Close();
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
Console.WriteLine(e);
|
|
}
|
|
}
|
|
} |