forked from mirror/DotRecast
676 lines
32 KiB
C#
676 lines
32 KiB
C#
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/*
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recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
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This software is provided 'as-is', without any express or implied
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warranty. In no event will the authors be held liable for any damages
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arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely, subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software
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in a product, an acknowledgment in the product documentation would be
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appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Threading.Tasks;
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using DotRecast.Core;
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using DotRecast.Detour.Dynamic;
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using DotRecast.Detour.Dynamic.Colliders;
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using DotRecast.Detour.Dynamic.Io;
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using DotRecast.Recast.Demo.Builder;
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using DotRecast.Recast.Demo.Draw;
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using DotRecast.Recast.Demo.Geom;
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using DotRecast.Recast.Demo.Tools.Gizmos;
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using DotRecast.Recast.Demo.UI;
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using Silk.NET.Windowing;
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using static DotRecast.Recast.Demo.Draw.DebugDraw;
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using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
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using static DotRecast.Detour.DetourCommon;
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namespace DotRecast.Recast.Demo.Tools;
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public class DynamicUpdateTool : Tool {
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private enum ToolMode {
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BUILD, COLLIDERS, RAYCAST
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}
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private enum ColliderShape {
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SPHERE, CAPSULE, BOX, CYLINDER, COMPOSITE, CONVEX, TRIMESH_BRIDGE, TRIMESH_HOUSE
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}
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private Sample sample;
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private ToolMode mode = ToolMode.BUILD;
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private readonly float[] cellSize = new[] { 0.3f };
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private PartitionType partitioning = PartitionType.WATERSHED;
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private bool filterLowHangingObstacles = true;
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private bool filterLedgeSpans = true;
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private bool filterWalkableLowHeightSpans = true;
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private readonly float[] walkableHeight = new[] { 2f };
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private readonly float[] walkableRadius = new[] { 0.6f };
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private readonly float[] walkableClimb = new[] { 0.9f };
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private readonly float[] walkableSlopeAngle = new[] { 45f };
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private readonly float[] minRegionArea = new[] { 6f };
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private readonly float[] regionMergeSize = new[] { 36f };
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private readonly float[] maxEdgeLen = new[] { 12f };
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private readonly float[] maxSimplificationError = new[] { 1.3f };
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private readonly int[] vertsPerPoly = new[] { 6 };
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private bool buildDetailMesh = true;
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private bool compression = true;
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private readonly float[] detailSampleDist = new[] { 6f };
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private readonly float[] detailSampleMaxError = new[] { 1f };
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private bool showColliders = false;
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private long buildTime;
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private long raycastTime;
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private ColliderShape colliderShape = ColliderShape.SPHERE;
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private DynamicNavMesh dynaMesh;
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private readonly TaskFactory executor;
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private readonly Dictionary<long, Collider> colliders = new();
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private readonly Dictionary<long, ColliderGizmo> colliderGizmos = new();
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private readonly Random random = Random.Shared;
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private readonly DemoInputGeomProvider bridgeGeom;
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private readonly DemoInputGeomProvider houseGeom;
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private readonly DemoInputGeomProvider convexGeom;
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private bool sposSet;
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private bool eposSet;
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private float[] spos;
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private float[] epos;
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private bool raycastHit;
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private float[] raycastHitPos;
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public DynamicUpdateTool()
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{
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executor = Task.Factory;
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bridgeGeom = DemoObjImporter.load(Loader.ToBytes("bridge.obj"));
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houseGeom = DemoObjImporter.load(Loader.ToBytes("house.obj"));
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convexGeom = DemoObjImporter.load(Loader.ToBytes("convex.obj"));
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}
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public override void setSample(Sample sample) {
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this.sample = sample;
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}
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public override void handleClick(float[] s, float[] p, bool shift) {
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if (mode == ToolMode.COLLIDERS) {
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if (!shift) {
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Tuple<Collider, ColliderGizmo> colliderWithGizmo = null;
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if (dynaMesh != null) {
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if (colliderShape == ColliderShape.SPHERE) {
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colliderWithGizmo = sphereCollider(p);
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} else if (colliderShape == ColliderShape.CAPSULE) {
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colliderWithGizmo = capsuleCollider(p);
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} else if (colliderShape == ColliderShape.BOX) {
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colliderWithGizmo = boxCollider(p);
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} else if (colliderShape == ColliderShape.CYLINDER) {
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colliderWithGizmo = cylinderCollider(p);
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} else if (colliderShape == ColliderShape.COMPOSITE) {
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colliderWithGizmo = compositeCollider(p);
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} else if (colliderShape == ColliderShape.TRIMESH_BRIDGE) {
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colliderWithGizmo = trimeshBridge(p);
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} else if (colliderShape == ColliderShape.TRIMESH_HOUSE) {
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colliderWithGizmo = trimeshHouse(p);
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} else if (colliderShape == ColliderShape.CONVEX) {
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colliderWithGizmo = convexTrimesh(p);
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}
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}
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if (colliderWithGizmo != null) {
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long id = dynaMesh.addCollider(colliderWithGizmo.Item1);
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colliders.Add(id, colliderWithGizmo.Item1);
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colliderGizmos.Add(id, colliderWithGizmo.Item2);
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}
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}
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}
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if (mode == ToolMode.RAYCAST) {
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if (shift) {
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sposSet = true;
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spos = ArrayUtils.CopyOf(p, p.Length);
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} else {
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eposSet = true;
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epos = ArrayUtils.CopyOf(p, p.Length);
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}
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if (sposSet && eposSet && dynaMesh != null) {
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float[] sp = { spos[0], spos[1] + 1.3f, spos[2] };
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float[] ep = { epos[0], epos[1] + 1.3f, epos[2] };
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long t1 = Stopwatch.GetTimestamp();
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float? hitPos = dynaMesh.voxelQuery().raycast(sp, ep);
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long t2 = Stopwatch.GetTimestamp();
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raycastTime = (t2 - t1) / 1_000_000L;
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raycastHit = hitPos.HasValue;
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raycastHitPos = hitPos.HasValue
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? new float[] { sp[0] + hitPos.Value * (ep[0] - sp[0]), sp[1] + hitPos.Value * (ep[1] - sp[1]), sp[2] + hitPos.Value * (ep[2] - sp[2]) }
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: ep;
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}
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}
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}
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private Tuple<Collider, ColliderGizmo> sphereCollider(float[] p) {
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float radius = 1 + (float)random.NextDouble() * 10;
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return Tuple.Create<Collider, ColliderGizmo>(
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new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb),
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GizmoFactory.sphere(p, radius));
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}
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private Tuple<Collider, ColliderGizmo> capsuleCollider(float[] p) {
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float radius = 0.4f + (float)random.NextDouble() * 4f;
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float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
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vNormalize(a);
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float len = 1f + (float)random.NextDouble() * 20f;
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a[0] *= len;
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a[1] *= len;
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a[2] *= len;
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float[] start = new float[] { p[0], p[1], p[2] };
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float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] };
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return Tuple.Create<Collider, ColliderGizmo>(new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER,
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dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius));
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}
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private Tuple<Collider, ColliderGizmo> boxCollider(float[] p) {
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float[] extent = new float[] { 0.5f + (float)random.NextDouble() * 6f, 0.5f + (float)random.NextDouble() * 6f,
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0.5f + (float)random.NextDouble() * 6f };
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float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) };
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float[] up = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
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float[][] halfEdges = BoxCollider.getHalfEdges(up, forward, extent);
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return Tuple.Create<Collider, ColliderGizmo>(
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new BoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb),
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GizmoFactory.box(p, halfEdges));
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}
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private Tuple<Collider, ColliderGizmo> cylinderCollider(float[] p) {
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float radius = 0.7f + (float)random.NextDouble() * 4f;
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float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
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vNormalize(a);
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float len = 2f + (float)random.NextDouble() * 20f;
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a[0] *= len;
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a[1] *= len;
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a[2] *= len;
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float[] start = new float[] { p[0], p[1], p[2] };
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float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] };
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return Tuple.Create<Collider, ColliderGizmo>(new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER,
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dynaMesh.config.walkableClimb), GizmoFactory.cylinder(start, end, radius));
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}
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private Tuple<Collider, ColliderGizmo> compositeCollider(float[] p) {
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float[] baseExtent = new float[] { 5, 3, 8 };
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float[] baseCenter = new float[] { p[0], p[1] + 3, p[2] };
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float[] baseUp = new float[] { 0, 1, 0 };
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float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) };
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vNormalize(forward);
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float[] side = DemoMath.vCross(forward, baseUp);
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BoxCollider @base = new BoxCollider(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent),
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SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
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float[] roofExtent = new float[] { 4.5f, 4.5f, 8f };
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float[] rx = GLU.build_4x4_rotation_matrix(45, forward[0], forward[1], forward[2]);
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float[] roofUp = mulMatrixVector(new float[3], rx, baseUp);
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float[] roofCenter = new float[] { p[0], p[1] + 6, p[2] };
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BoxCollider roof = new BoxCollider(roofCenter, BoxCollider.getHalfEdges(roofUp, forward, roofExtent),
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SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
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float[] trunkStart = new float[] { baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1],
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baseCenter[2] - forward[2] * 15 + side[2] * 6 };
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float[] trunkEnd = new float[] { trunkStart[0], trunkStart[1] + 10, trunkStart[2] };
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CapsuleCollider trunk = new CapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
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dynaMesh.config.walkableClimb);
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float[] crownCenter = new float[] { baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1] + 10,
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baseCenter[2] - forward[2] * 15 + side[2] * 6 };
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SphereCollider crown = new SphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS,
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dynaMesh.config.walkableClimb);
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CompositeCollider collider = new CompositeCollider(@base, roof, trunk, crown);
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ColliderGizmo baseGizmo = GizmoFactory.box(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent));
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ColliderGizmo roofGizmo = GizmoFactory.box(roofCenter, BoxCollider.getHalfEdges(roofUp, forward, roofExtent));
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ColliderGizmo trunkGizmo = GizmoFactory.capsule(trunkStart, trunkEnd, 0.5f);
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ColliderGizmo crownGizmo = GizmoFactory.sphere(crownCenter, 4f);
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ColliderGizmo gizmo = GizmoFactory.composite(baseGizmo, roofGizmo, trunkGizmo, crownGizmo);
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return Tuple.Create<Collider, ColliderGizmo>(collider, gizmo);
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}
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private Tuple<Collider, ColliderGizmo> trimeshBridge(float[] p) {
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return trimeshCollider(p, bridgeGeom);
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}
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private Tuple<Collider, ColliderGizmo> trimeshHouse(float[] p) {
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return trimeshCollider(p, houseGeom);
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}
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private Tuple<Collider, ColliderGizmo> convexTrimesh(float[] p) {
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float[] verts = transformVertices(p, convexGeom, 360);
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ConvexTrimeshCollider collider = new ConvexTrimeshCollider(verts, convexGeom.faces,
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SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb * 10);
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return Tuple.Create<Collider, ColliderGizmo>(collider, GizmoFactory.trimesh(verts, convexGeom.faces));
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}
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private Tuple<Collider, ColliderGizmo> trimeshCollider(float[] p, DemoInputGeomProvider geom) {
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float[] verts = transformVertices(p, geom, 0);
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TrimeshCollider collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
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dynaMesh.config.walkableClimb * 10);
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return Tuple.Create<Collider, ColliderGizmo>(collider, GizmoFactory.trimesh(verts, geom.faces));
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}
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private float[] transformVertices(float[] p, DemoInputGeomProvider geom, float ax) {
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float[] rx = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * ax, 1, 0, 0);
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float[] ry = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * 360, 0, 1, 0);
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float[] m = GLU.mul(rx, ry);
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float[] verts = new float[geom.vertices.Length];
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float[] v = new float[3];
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float[] vr = new float[3];
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for (int i = 0; i < geom.vertices.Length; i += 3) {
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v[0] = geom.vertices[i];
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v[1] = geom.vertices[i + 1];
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v[2] = geom.vertices[i + 2];
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mulMatrixVector(vr, m, v);
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vr[0] += p[0];
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vr[1] += p[1] - 0.1f;
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vr[2] += p[2];
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verts[i] = vr[0];
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verts[i + 1] = vr[1];
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verts[i + 2] = vr[2];
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}
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return verts;
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}
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private float[] mulMatrixVector(float[] resultvector, float[] matrix, float[] pvector) {
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resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2];
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resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2];
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resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2];
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return resultvector;
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}
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public override void handleClickRay(float[] start, float[] dir, bool shift) {
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if (mode == ToolMode.COLLIDERS) {
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if (shift) {
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foreach (var e in colliders) {
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if (hit(start, dir, e.Value.bounds())) {
|
||
|
|
dynaMesh.removeCollider(e.Key);
|
||
|
|
colliders.Remove(e.Key);
|
||
|
|
colliderGizmos.Remove(e.Key);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private bool hit(float[] point, float[] dir, float[] bounds) {
|
||
|
|
float cx = 0.5f * (bounds[0] + bounds[3]);
|
||
|
|
float cy = 0.5f * (bounds[1] + bounds[4]);
|
||
|
|
float cz = 0.5f * (bounds[2] + bounds[5]);
|
||
|
|
float dx = 0.5f * (bounds[3] - bounds[0]);
|
||
|
|
float dy = 0.5f * (bounds[4] - bounds[1]);
|
||
|
|
float dz = 0.5f * (bounds[5] - bounds[2]);
|
||
|
|
float rSqr = dx * dx + dy * dy + dz * dz;
|
||
|
|
float mx = point[0] - cx;
|
||
|
|
float my = point[1] - cy;
|
||
|
|
float mz = point[2] - cz;
|
||
|
|
float c = mx * mx + my * my + mz * mz - rSqr;
|
||
|
|
if (c <= 0.0f) {
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
float b = mx * dir[0] + my * dir[1] + mz * dir[2];
|
||
|
|
if (b > 0.0f) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
float disc = b * b - c;
|
||
|
|
return disc >= 0.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void handleRender(NavMeshRenderer renderer) {
|
||
|
|
if (mode == ToolMode.COLLIDERS) {
|
||
|
|
if (showColliders) {
|
||
|
|
colliderGizmos.Values.forEach(g => g.render(renderer.getDebugDraw()));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (mode == ToolMode.RAYCAST) {
|
||
|
|
RecastDebugDraw dd = renderer.getDebugDraw();
|
||
|
|
int startCol = duRGBA(128, 25, 0, 192);
|
||
|
|
int endCol = duRGBA(51, 102, 0, 129);
|
||
|
|
if (sposSet) {
|
||
|
|
drawAgent(dd, spos, startCol);
|
||
|
|
}
|
||
|
|
if (eposSet) {
|
||
|
|
drawAgent(dd, epos, endCol);
|
||
|
|
}
|
||
|
|
dd.depthMask(false);
|
||
|
|
if (raycastHitPos != null) {
|
||
|
|
int spathCol = raycastHit ? duRGBA(128, 32, 16, 220) : duRGBA(64, 128, 240, 220);
|
||
|
|
dd.begin(LINES, 2.0f);
|
||
|
|
dd.vertex(spos[0], spos[1] + 1.3f, spos[2], spathCol);
|
||
|
|
dd.vertex(raycastHitPos[0], raycastHitPos[1], raycastHitPos[2], spathCol);
|
||
|
|
dd.end();
|
||
|
|
}
|
||
|
|
dd.depthMask(true);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void drawAgent(RecastDebugDraw dd, float[] pos, int col) {
|
||
|
|
float r = sample.getSettingsUI().getAgentRadius();
|
||
|
|
float h = sample.getSettingsUI().getAgentHeight();
|
||
|
|
float c = sample.getSettingsUI().getAgentMaxClimb();
|
||
|
|
dd.depthMask(false);
|
||
|
|
// Agent dimensions.
|
||
|
|
dd.debugDrawCylinderWire(pos[0] - r, pos[1] + 0.02f, pos[2] - r, pos[0] + r, pos[1] + h, pos[2] + r, col, 2.0f);
|
||
|
|
dd.debugDrawCircle(pos[0], pos[1] + c, pos[2], r, duRGBA(0, 0, 0, 64), 1.0f);
|
||
|
|
int colb = duRGBA(0, 0, 0, 196);
|
||
|
|
dd.begin(LINES);
|
||
|
|
dd.vertex(pos[0], pos[1] - c, pos[2], colb);
|
||
|
|
dd.vertex(pos[0], pos[1] + c, pos[2], colb);
|
||
|
|
dd.vertex(pos[0] - r / 2, pos[1] + 0.02f, pos[2], colb);
|
||
|
|
dd.vertex(pos[0] + r / 2, pos[1] + 0.02f, pos[2], colb);
|
||
|
|
dd.vertex(pos[0], pos[1] + 0.02f, pos[2] - r / 2, colb);
|
||
|
|
dd.vertex(pos[0], pos[1] + 0.02f, pos[2] + r / 2, colb);
|
||
|
|
dd.end();
|
||
|
|
dd.depthMask(true);
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void handleUpdate(float dt) {
|
||
|
|
if (dynaMesh != null) {
|
||
|
|
updateDynaMesh();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void updateDynaMesh() {
|
||
|
|
long t = Stopwatch.GetTimestamp();
|
||
|
|
try
|
||
|
|
{
|
||
|
|
bool updated = dynaMesh.update(executor).Result;
|
||
|
|
if (updated) {
|
||
|
|
buildTime = (Stopwatch.GetTimestamp() - t) / 1_000_000;
|
||
|
|
sample.update(null, dynaMesh.recastResults(), dynaMesh.navMesh());
|
||
|
|
sample.setChanged(false);
|
||
|
|
}
|
||
|
|
} catch (Exception e) {
|
||
|
|
Console.WriteLine(e);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void layout(IWindow ctx) {
|
||
|
|
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Build", mode == ToolMode.BUILD)) {
|
||
|
|
// mode = ToolMode.BUILD;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Colliders", mode == ToolMode.COLLIDERS)) {
|
||
|
|
// mode = ToolMode.COLLIDERS;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Raycast", mode == ToolMode.RAYCAST)) {
|
||
|
|
// mode = ToolMode.RAYCAST;
|
||
|
|
// }
|
||
|
|
//
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// if (mode == ToolMode.BUILD) {
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_button_text(ctx, "Load Voxels...")) {
|
||
|
|
// load();
|
||
|
|
// }
|
||
|
|
// if (dynaMesh != null) {
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// compression = nk_check_text(ctx, "Compression", compression);
|
||
|
|
// if (nk_button_text(ctx, "Save Voxels...")) {
|
||
|
|
// save();
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Rasterization", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 2);
|
||
|
|
// nk_label(ctx, "Cell Size", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_label(ctx, string.format("%.2f", cellSize[0]), NK_TEXT_ALIGN_RIGHT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Agent", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Height", 0f, walkableHeight, 5f, 0.01f, 0.01f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Radius", 0f, walkableRadius, 10f, 0.01f, 0.01f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Max Climb", 0f, walkableClimb, 10f, 0.01f, 0.01f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 2);
|
||
|
|
// nk_label(ctx, "Max Slope", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_label(ctx, string.format("%.0f", walkableSlopeAngle[0]), NK_TEXT_ALIGN_RIGHT);
|
||
|
|
//
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Partitioning", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// partitioning = NuklearUIHelper.nk_radio(ctx, PartitionType.values(), partitioning,
|
||
|
|
// p => p.name().substring(0, 1) + p.name().substring(1).toLowerCase());
|
||
|
|
//
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Filtering", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// filterLowHangingObstacles = nk_option_text(ctx, "Low Hanging Obstacles", filterLowHangingObstacles);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// filterLedgeSpans = nk_option_text(ctx, "Ledge Spans", filterLedgeSpans);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// filterWalkableLowHeightSpans = nk_option_text(ctx, "Walkable Low Height Spans", filterWalkableLowHeightSpans);
|
||
|
|
//
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Region", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Min Region Size", 0, minRegionArea, 150, 0.1f, 0.1f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Merged Region Size", 0, regionMergeSize, 400, 0.1f, 0.1f);
|
||
|
|
//
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Polygonization", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Max Edge Length", 0f, maxEdgeLen, 50f, 0.1f, 0.1f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Max Edge Error", 0.1f, maxSimplificationError, 10f, 0.1f, 0.1f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_int(ctx, "Verts Per Poly", 3, vertsPerPoly, 12, 1, 1);
|
||
|
|
//
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Detail Mesh", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// buildDetailMesh = nk_check_text(ctx, "Enable", buildDetailMesh);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Sample Distance", 0f, detailSampleDist, 16f, 0.1f, 0.1f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// nk_property_float(ctx, "Max Sample Error", 0f, detailSampleMaxError, 16f, 0.1f, 0.1f);
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// if (nk_button_text(ctx, "Build")) {
|
||
|
|
// if (dynaMesh != null) {
|
||
|
|
// buildDynaMesh();
|
||
|
|
// sample.setChanged(false);
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
// if (mode == ToolMode.COLLIDERS) {
|
||
|
|
// nk_layout_row_dynamic(ctx, 1, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, "Colliders", NK_TEXT_ALIGN_LEFT);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// showColliders = nk_check_text(ctx, "Show", showColliders);
|
||
|
|
// nk_layout_row_dynamic(ctx, 20, 1);
|
||
|
|
// if (nk_option_label(ctx, "Sphere", colliderShape == ColliderShape.SPHERE)) {
|
||
|
|
// colliderShape = ColliderShape.SPHERE;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Capsule", colliderShape == ColliderShape.CAPSULE)) {
|
||
|
|
// colliderShape = ColliderShape.CAPSULE;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Box", colliderShape == ColliderShape.BOX)) {
|
||
|
|
// colliderShape = ColliderShape.BOX;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Cylinder", colliderShape == ColliderShape.CYLINDER)) {
|
||
|
|
// colliderShape = ColliderShape.CYLINDER;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Composite", colliderShape == ColliderShape.COMPOSITE)) {
|
||
|
|
// colliderShape = ColliderShape.COMPOSITE;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Convex Trimesh", colliderShape == ColliderShape.CONVEX)) {
|
||
|
|
// colliderShape = ColliderShape.CONVEX;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Trimesh Bridge", colliderShape == ColliderShape.TRIMESH_BRIDGE)) {
|
||
|
|
// colliderShape = ColliderShape.TRIMESH_BRIDGE;
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (nk_option_label(ctx, "Trimesh House", colliderShape == ColliderShape.TRIMESH_HOUSE)) {
|
||
|
|
// colliderShape = ColliderShape.TRIMESH_HOUSE;
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
// nk_layout_row_dynamic(ctx, 2, 1);
|
||
|
|
// nk_spacing(ctx, 1);
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// if (mode == ToolMode.RAYCAST) {
|
||
|
|
// nk_label(ctx, string.format("Raycast Time: %d ms", raycastTime), NK_TEXT_ALIGN_LEFT);
|
||
|
|
// if (sposSet) {
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, string.format("Start: %.3f, %.3f, %.3f", spos[0], spos[1] + 1.3f, spos[2]), NK_TEXT_ALIGN_LEFT);
|
||
|
|
// }
|
||
|
|
// if (eposSet) {
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, string.format("End: %.3f, %.3f, %.3f", epos[0], epos[1] + 1.3f, epos[2]), NK_TEXT_ALIGN_LEFT);
|
||
|
|
// }
|
||
|
|
// if (raycastHit) {
|
||
|
|
// nk_layout_row_dynamic(ctx, 18, 1);
|
||
|
|
// nk_label(ctx, string.format("Hit: %.3f, %.3f, %.3f", raycastHitPos[0], raycastHitPos[1], raycastHitPos[2]),
|
||
|
|
// NK_TEXT_ALIGN_LEFT);
|
||
|
|
// }
|
||
|
|
// } else {
|
||
|
|
// nk_label(ctx, string.format("Build Time: %d ms", buildTime), NK_TEXT_ALIGN_LEFT);
|
||
|
|
// }
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
private void load() {
|
||
|
|
// try (MemoryStack stack = stackPush()) {
|
||
|
|
// PointerBuffer aFilterPatterns = stack.mallocPointer(1);
|
||
|
|
// aFilterPatterns.put(stack.UTF8("*.voxels"));
|
||
|
|
// aFilterPatterns.flip();
|
||
|
|
// string filename = TinyFileDialogs.tinyfd_openFileDialog("Open Voxel File", "", aFilterPatterns, "Voxel File", false);
|
||
|
|
// if (filename != null) {
|
||
|
|
// load(filename);
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
private void load(string filename) {
|
||
|
|
// File file = new File(filename);
|
||
|
|
// if (file.exists()) {
|
||
|
|
// VoxelFileReader reader = new VoxelFileReader();
|
||
|
|
// try (FileInputStream fis = new FileInputStream(file)) {
|
||
|
|
// VoxelFile voxelFile = reader.read(fis);
|
||
|
|
// dynaMesh = new DynamicNavMesh(voxelFile);
|
||
|
|
// dynaMesh.config.keepIntermediateResults = true;
|
||
|
|
// updateUI();
|
||
|
|
// buildDynaMesh();
|
||
|
|
// colliders.clear();
|
||
|
|
// } catch (Exception e) {
|
||
|
|
// Console.WriteLine(e);
|
||
|
|
// dynaMesh = null;
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
}
|
||
|
|
|
||
|
|
private void save() {
|
||
|
|
// try (MemoryStack stack = stackPush()) {
|
||
|
|
// PointerBuffer aFilterPatterns = stack.mallocPointer(1);
|
||
|
|
// aFilterPatterns.put(stack.UTF8("*.voxels"));
|
||
|
|
// aFilterPatterns.flip();
|
||
|
|
// string filename = TinyFileDialogs.tinyfd_saveFileDialog("Save Voxel File", "", aFilterPatterns, "Voxel File");
|
||
|
|
// if (filename != null) {
|
||
|
|
// save(filename);
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
private void save(string filename) {
|
||
|
|
// File file = new File(filename);
|
||
|
|
// try (FileOutputStream fos = new FileOutputStream(file)) {
|
||
|
|
// VoxelFile voxelFile = VoxelFile.from(dynaMesh);
|
||
|
|
// VoxelFileWriter writer = new VoxelFileWriter();
|
||
|
|
// writer.write(fos, voxelFile, compression);
|
||
|
|
// } catch (Exception e) {
|
||
|
|
// Console.WriteLine(e);
|
||
|
|
// }
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
private void buildDynaMesh() {
|
||
|
|
configDynaMesh();
|
||
|
|
long t = Stopwatch.GetTimestamp();
|
||
|
|
try
|
||
|
|
{
|
||
|
|
var _ = dynaMesh.build(executor).Result;
|
||
|
|
} catch (Exception e) {
|
||
|
|
Console.WriteLine(e);
|
||
|
|
}
|
||
|
|
buildTime = (Stopwatch.GetTimestamp() - t) / 1_000_000;
|
||
|
|
sample.update(null, dynaMesh.recastResults(), dynaMesh.navMesh());
|
||
|
|
}
|
||
|
|
|
||
|
|
private void configDynaMesh() {
|
||
|
|
dynaMesh.config.partitionType = partitioning;
|
||
|
|
dynaMesh.config.walkableHeight = walkableHeight[0];
|
||
|
|
dynaMesh.config.walkableSlopeAngle = walkableSlopeAngle[0];
|
||
|
|
dynaMesh.config.walkableRadius = walkableRadius[0];
|
||
|
|
dynaMesh.config.walkableClimb = walkableClimb[0];
|
||
|
|
dynaMesh.config.filterLowHangingObstacles = filterLowHangingObstacles;
|
||
|
|
dynaMesh.config.filterLedgeSpans = filterLedgeSpans;
|
||
|
|
dynaMesh.config.filterWalkableLowHeightSpans = filterWalkableLowHeightSpans;
|
||
|
|
dynaMesh.config.minRegionArea = minRegionArea[0];
|
||
|
|
dynaMesh.config.regionMergeArea = regionMergeSize[0];
|
||
|
|
dynaMesh.config.maxEdgeLen = maxEdgeLen[0];
|
||
|
|
dynaMesh.config.maxSimplificationError = maxSimplificationError[0];
|
||
|
|
dynaMesh.config.vertsPerPoly = vertsPerPoly[0];
|
||
|
|
dynaMesh.config.buildDetailMesh = buildDetailMesh;
|
||
|
|
dynaMesh.config.detailSampleDistance = detailSampleDist[0];
|
||
|
|
dynaMesh.config.detailSampleMaxError = detailSampleMaxError[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
private void updateUI() {
|
||
|
|
cellSize[0] = dynaMesh.config.cellSize;
|
||
|
|
partitioning = dynaMesh.config.partitionType;
|
||
|
|
walkableHeight[0] = dynaMesh.config.walkableHeight;
|
||
|
|
walkableSlopeAngle[0] = dynaMesh.config.walkableSlopeAngle;
|
||
|
|
walkableRadius[0] = dynaMesh.config.walkableRadius;
|
||
|
|
walkableClimb[0] = dynaMesh.config.walkableClimb;
|
||
|
|
minRegionArea[0] = dynaMesh.config.minRegionArea;
|
||
|
|
regionMergeSize[0] = dynaMesh.config.regionMergeArea;
|
||
|
|
maxEdgeLen[0] = dynaMesh.config.maxEdgeLen;
|
||
|
|
maxSimplificationError[0] = dynaMesh.config.maxSimplificationError;
|
||
|
|
vertsPerPoly[0] = dynaMesh.config.vertsPerPoly;
|
||
|
|
buildDetailMesh = dynaMesh.config.buildDetailMesh;
|
||
|
|
detailSampleDist[0] = dynaMesh.config.detailSampleDistance;
|
||
|
|
detailSampleMaxError[0] = dynaMesh.config.detailSampleMaxError;
|
||
|
|
filterLowHangingObstacles = dynaMesh.config.filterLowHangingObstacles;
|
||
|
|
filterLedgeSpans = dynaMesh.config.filterLedgeSpans;
|
||
|
|
filterWalkableLowHeightSpans = dynaMesh.config.filterWalkableLowHeightSpans;
|
||
|
|
}
|
||
|
|
|
||
|
|
public override string getName() {
|
||
|
|
return "Dynamic Updates";
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|