2023-03-14 08:02:43 +03:00
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/*
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recast4j Copyright (c) 2015-2019 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.Collections.Generic;
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using DotRecast.Core;
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using DotRecast.Recast;
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using DotRecast.Recast.Geom;
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using static DotRecast.Recast.RecastVectors;
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namespace DotRecast.Detour.Test;
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public class TestTiledNavMeshBuilder
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{
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private readonly NavMesh navMesh;
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private const float m_cellSize = 0.3f;
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private const float m_cellHeight = 0.2f;
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private const float m_agentHeight = 2.0f;
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private const float m_agentRadius = 0.6f;
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private const float m_agentMaxClimb = 0.9f;
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private const float m_agentMaxSlope = 45.0f;
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private const int m_regionMinSize = 8;
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private const int m_regionMergeSize = 20;
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private const float m_regionMinArea = m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize;
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private const float m_regionMergeArea = m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize;
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private const float m_edgeMaxLen = 12.0f;
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private const float m_edgeMaxError = 1.3f;
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private const int m_vertsPerPoly = 6;
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private const float m_detailSampleDist = 6.0f;
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private const float m_detailSampleMaxError = 1.0f;
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private const int m_tileSize = 32;
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public TestTiledNavMeshBuilder() :
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this(ObjImporter.load(Loader.ToBytes("dungeon.obj")),
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PartitionType.WATERSHED, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, m_agentMaxClimb, m_agentMaxSlope,
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m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, m_detailSampleDist,
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m_detailSampleMaxError, m_tileSize)
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{
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}
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public TestTiledNavMeshBuilder(InputGeomProvider m_geom, PartitionType m_partitionType, float m_cellSize, float m_cellHeight,
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float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, int m_regionMinSize,
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int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, float m_detailSampleDist,
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float m_detailSampleMaxError, int m_tileSize)
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{
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// Create empty nav mesh
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NavMeshParams navMeshParams = new NavMeshParams();
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navMeshParams.orig = m_geom.getMeshBoundsMin();
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navMeshParams.tileWidth = m_tileSize * m_cellSize;
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navMeshParams.tileHeight = m_tileSize * m_cellSize;
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navMeshParams.maxTiles = 128;
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navMeshParams.maxPolys = 32768;
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navMesh = new NavMesh(navMeshParams, 6);
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// Build all tiles
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RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.calcBorder(m_agentRadius, m_cellSize),
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m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, true, true, true, m_agentHeight, m_agentRadius,
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m_agentMaxClimb, m_regionMinArea, m_regionMergeArea, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, true,
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m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
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RecastBuilder rcBuilder = new RecastBuilder();
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List<RecastBuilderResult> rcResult = rcBuilder.buildTiles(m_geom, cfg, null);
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// Add tiles to nav mesh
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foreach (RecastBuilderResult result in rcResult)
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{
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PolyMesh pmesh = result.getMesh();
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if (pmesh.npolys == 0)
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{
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continue;
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}
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for (int i = 0; i < pmesh.npolys; ++i)
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{
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pmesh.flags[i] = 1;
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}
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NavMeshDataCreateParams option = new NavMeshDataCreateParams();
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option.verts = pmesh.verts;
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option.vertCount = pmesh.nverts;
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option.polys = pmesh.polys;
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option.polyAreas = pmesh.areas;
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option.polyFlags = pmesh.flags;
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option.polyCount = pmesh.npolys;
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option.nvp = pmesh.nvp;
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PolyMeshDetail dmesh = result.getMeshDetail();
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option.detailMeshes = dmesh.meshes;
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option.detailVerts = dmesh.verts;
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option.detailVertsCount = dmesh.nverts;
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option.detailTris = dmesh.tris;
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option.detailTriCount = dmesh.ntris;
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option.walkableHeight = m_agentHeight;
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option.walkableRadius = m_agentRadius;
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option.walkableClimb = m_agentMaxClimb;
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option.bmin = pmesh.bmin;
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option.bmax = pmesh.bmax;
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option.cs = m_cellSize;
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option.ch = m_cellHeight;
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option.tileX = result.tileX;
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option.tileZ = result.tileZ;
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option.buildBvTree = true;
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navMesh.addTile(NavMeshBuilder.createNavMeshData(option), 0, 0);
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}
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}
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public NavMesh getNavMesh()
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{
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return navMesh;
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}
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}
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