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#include "UnityPrefix.h"
#include "NavMeshTileCarving.h"
#include "NavMeshTileConversion.h"
#include "DynamicMesh.h"
#include "DetourNavMesh.h"
#include "Runtime/Math/Matrix4x4.h"
#include "Runtime/Geometry/AABB.h"
#include "DetourCommon.h"
#include "DetourAlloc.h"
// TODO:
// Sort carving objects spatially - so carving order does not depend on carve index
static inline Vector3f TileMidpoint (const dtMeshHeader* tileHeader);
static bool CalculateHull (DynamicMesh::Hull& carveHull, const Matrix4x4f& transform, const Vector3f& size, const MinMaxAABB& aabb, const Vector3f& tileOffset, const float carveWidth, const float carveDepth);
static Vector3f CalculateCarveOffsetScale (const Vector3f& axis);
// Replaces a single tile in the detour navmesh with a carved tile.
void CarveNavMeshTile (const dtMeshTile* tile, dtNavMesh* navmesh, size_t count, const Matrix4x4f* transforms, const Vector3f* sizes, const MinMaxAABB* aabbs)
{
if (count == 0 || tile == NULL || tile->header == NULL)
{
return;
}
const Vector3f tileOffset = TileMidpoint (tile->header);
const float carveWidth = tile->header->walkableRadius;
const float carveDepth = tile->header->walkableHeight;
DynamicMesh::HullContainer carveHulls;
for (size_t i = 0; i < count; ++i)
{
DynamicMesh::Hull carveHull;
if (CalculateHull (carveHull, transforms[i], sizes[i], aabbs[i], tileOffset, carveWidth, carveDepth))
{
carveHulls.push_back (carveHull);
}
}
DynamicMesh dynamicMesh;
if (!TileToDynamicMesh (tile, dynamicMesh, tileOffset))
{
return;
}
if (!dynamicMesh.ClipPolys (carveHulls))
{
return;
}
dynamicMesh.FindNeighbors ();
int newTileSize = 0;
unsigned char* newTile = DynamicMeshToTile (&newTileSize, dynamicMesh, tile, tileOffset);
dtPolyRef tileRef = navmesh->getTileRef (tile);
navmesh->removeTile (tileRef, 0, 0);
dtStatus status = navmesh->addTile (newTile, newTileSize, DT_TILE_FREE_DATA, tileRef, 0);
if (dtStatusFailed (status))
{
dtFree (newTile);
}
}
static inline Vector3f TileMidpoint (const dtMeshHeader* tileHeader)
{
if (!tileHeader)
{
return Vector3f::zero;
}
return 0.5f * (Vector3f (tileHeader->bmin) + Vector3f (tileHeader->bmax));
}
static inline bool AreColinear (const Vector3f& v, const Vector3f& u, const float cosAngleAccept)
{
DebugAssert (IsNormalized (v));
DebugAssert (IsNormalized (u));
return Abs (Dot (v, u)) > cosAngleAccept;
}
// Compute the set of planes defining an extruded bounding box.
// Bounding box is represented by transform and size.
// Extrusion is based on 'carveWidth' horizontally and 'carveDepth' vertically down.
// Everyting is translated relative to 'tileOffset'.
static bool CalculateHull (DynamicMesh::Hull& carveHull, const Matrix4x4f& transform, const Vector3f& size, const MinMaxAABB& aabb, const Vector3f& tileOffset, const float carveWidth, const float carveDepth)
{
carveHull.resize_uninitialized (12);
const float cosAngleConsiderAxisAligned = Cos (Deg2Rad (10.0f)); // Consider colinear if within 10 degrees
bool isAlmostAxisAlignedX = false;
bool isAlmostAxisAlignedY = false;
bool isAlmostAxisAlignedZ = false;
// First add the six planes from the OBB
const Vector3f carveLocalOffset = Vector3f (carveWidth, carveDepth, carveWidth);
const Vector3f position = transform.GetPosition () - tileOffset;
Vector3f axis, offset, planeOffset;
axis = transform.GetAxisX ();
if (CompareApproximately (axis, Vector3f::zero, 0.0001f))
{
return false;
}
offset = size.x * axis;
axis = Normalize (axis);
planeOffset = Scale (CalculateCarveOffsetScale (-axis), carveLocalOffset) - offset;
carveHull[0].SetNormalAndPosition (-axis, position + planeOffset);
planeOffset = Scale (CalculateCarveOffsetScale (axis), carveLocalOffset) + offset;
carveHull[1].SetNormalAndPosition (axis, position + planeOffset);
isAlmostAxisAlignedX = isAlmostAxisAlignedX || AreColinear (axis, Vector3f::xAxis, cosAngleConsiderAxisAligned);
isAlmostAxisAlignedY = isAlmostAxisAlignedY || AreColinear (axis, Vector3f::yAxis, cosAngleConsiderAxisAligned);
isAlmostAxisAlignedZ = isAlmostAxisAlignedZ || AreColinear (axis, Vector3f::zAxis, cosAngleConsiderAxisAligned);
axis = transform.GetAxisY ();
if (CompareApproximately (axis, Vector3f::zero, 0.0001f))
{
return false;
}
offset = size.y * axis;
axis = Normalize (axis);
planeOffset = Scale (CalculateCarveOffsetScale (-axis), carveLocalOffset) - offset;
carveHull[2].SetNormalAndPosition (-axis, position + planeOffset);
planeOffset = Scale (CalculateCarveOffsetScale (axis), carveLocalOffset) + offset;
carveHull[3].SetNormalAndPosition (axis, position + planeOffset);
isAlmostAxisAlignedX = isAlmostAxisAlignedX || AreColinear (axis, Vector3f::xAxis, cosAngleConsiderAxisAligned);
isAlmostAxisAlignedY = isAlmostAxisAlignedY || AreColinear (axis, Vector3f::yAxis, cosAngleConsiderAxisAligned);
isAlmostAxisAlignedZ = isAlmostAxisAlignedZ || AreColinear (axis, Vector3f::zAxis, cosAngleConsiderAxisAligned);
axis = transform.GetAxisZ ();
if (CompareApproximately (axis, Vector3f::zero, 0.0001f))
{
return false;
}
offset = size.z * axis;
axis = Normalize (axis);
planeOffset = Scale (CalculateCarveOffsetScale (-axis), carveLocalOffset) - offset;
carveHull[4].SetNormalAndPosition (-axis, position + planeOffset);
planeOffset = Scale (CalculateCarveOffsetScale (axis), carveLocalOffset) + offset;
carveHull[5].SetNormalAndPosition (axis, position + planeOffset);
isAlmostAxisAlignedX = isAlmostAxisAlignedX || AreColinear (axis, Vector3f::xAxis, cosAngleConsiderAxisAligned);
isAlmostAxisAlignedY = isAlmostAxisAlignedY || AreColinear (axis, Vector3f::yAxis, cosAngleConsiderAxisAligned);
isAlmostAxisAlignedZ = isAlmostAxisAlignedZ || AreColinear (axis, Vector3f::zAxis, cosAngleConsiderAxisAligned);
int planeCount = 6;
// The add the six planes from the containing AABB
const Vector3f min = aabb.m_Min - tileOffset;
const Vector3f max = aabb.m_Max - tileOffset;
if (!isAlmostAxisAlignedX)
{
carveHull[planeCount++].SetNormalAndPosition (-Vector3f::xAxis, min - carveWidth*Vector3f::xAxis);
carveHull[planeCount++].SetNormalAndPosition (Vector3f::xAxis, max + carveWidth*Vector3f::xAxis);
}
if (!isAlmostAxisAlignedY)
{
carveHull[planeCount++].SetNormalAndPosition (-Vector3f::yAxis, min - carveDepth*Vector3f::yAxis);
carveHull[planeCount++].SetNormalAndPosition (Vector3f::yAxis, max);
}
if (!isAlmostAxisAlignedZ)
{
carveHull[planeCount++].SetNormalAndPosition (-Vector3f::zAxis, min - carveWidth*Vector3f::zAxis);
carveHull[planeCount++].SetNormalAndPosition (Vector3f::zAxis, max + carveWidth*Vector3f::zAxis);
}
carveHull.resize_uninitialized (planeCount);
return true;
}
// Returns the general plane offset direction given the plane axis
static Vector3f CalculateCarveOffsetScale (const Vector3f& axis)
{
Vector3f res;
res.x = Sign (axis.x);
res.y = std::min (0.0f, Sign (axis.y));
res.z = Sign (axis.z);
return res;
}
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