void DynamicNavigationMesh::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
{
if (!debug || !navMesh_ || !node_)
return;
const Matrix3x4& worldTransform = node_->GetWorldTransform();
const dtNavMesh* navMesh = navMesh_;
for (int z = 0; z < numTilesZ_; ++z)
{
for (int x = 0; x < numTilesX_; ++x)
{
// Get the layers from the tile-cache
const dtMeshTile* tiles[TILECACHE_MAXLAYERS];
int tileCount = navMesh->getTilesAt(x, z, tiles, TILECACHE_MAXLAYERS);
for (int i = 0; i < tileCount; ++i)
{
const dtMeshTile* tile = tiles[i];
if (!tile)
continue;
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* poly = tile->polys + i;
for (unsigned j = 0; j < poly->vertCount; ++j)
{
debug->AddLine(
worldTransform * *reinterpret_cast<const Vector3*>(&tile->verts[poly->verts[j] * 3]),
worldTransform * *reinterpret_cast<const Vector3*>(&tile->verts[poly->verts[(j + 1) % poly->vertCount] * 3]),
Color::YELLOW,
depthTest
);
}
}
}
}
}
Scene* scene = GetScene();
if (scene)
{
// Draw Obstacle components
if (drawObstacles_)
{
PODVector<Node*> obstacles;
scene->GetChildrenWithComponent<Obstacle>(obstacles, true);
for (unsigned i = 0; i < obstacles.Size(); ++i)
{
Obstacle* obstacle = obstacles[i]->GetComponent<Obstacle>();
if (obstacle && obstacle->IsEnabledEffective())
obstacle->DrawDebugGeometry(debug, depthTest);
}
}
// Draw OffMeshConnection components
if (drawOffMeshConnections_)
{
PODVector<Node*> connections;
scene->GetChildrenWithComponent<OffMeshConnection>(connections, true);
for (unsigned i = 0; i < connections.Size(); ++i)
{
OffMeshConnection* connection = connections[i]->GetComponent<OffMeshConnection>();
if (connection && connection->IsEnabledEffective())
connection->DrawDebugGeometry(debug, depthTest);
}
}
// Draw NavArea components
if (drawNavAreas_)
{
PODVector<Node*> areas;
scene->GetChildrenWithComponent<NavArea>(areas, true);
for (unsigned i = 0; i < areas.Size(); ++i)
{
NavArea* area = areas[i]->GetComponent<NavArea>();
if (area && area->IsEnabledEffective())
area->DrawDebugGeometry(debug, depthTest);
}
}
}
}
bool DynamicNavigationMesh::Build()
{
PROFILE(BuildNavigationMesh);
// Release existing navigation data and zero the bounding box
ReleaseNavigationMesh();
if (!node_)
return false;
if (!node_->GetWorldScale().Equals(Vector3::ONE))
LOGWARNING("Navigation mesh root node has scaling. Agent parameters may not work as intended");
Vector<NavigationGeometryInfo> geometryList;
CollectGeometries(geometryList);
if (geometryList.Empty())
return true; // Nothing to do
// Build the combined bounding box
for (unsigned i = 0; i < geometryList.Size(); ++i)
boundingBox_.Merge(geometryList[i].boundingBox_);
// Expand bounding box by padding
boundingBox_.min_ -= padding_;
boundingBox_.max_ += padding_;
{
PROFILE(BuildNavigationMesh);
// Calculate number of tiles
int gridW = 0, gridH = 0;
float tileEdgeLength = (float)tileSize_ * cellSize_;
rcCalcGridSize(&boundingBox_.min_.x_, &boundingBox_.max_.x_, cellSize_, &gridW, &gridH);
numTilesX_ = (gridW + tileSize_ - 1) / tileSize_;
numTilesZ_ = (gridH + tileSize_ - 1) / tileSize_;
// Calculate max. number of tiles and polygons, 22 bits available to identify both tile & polygon within tile
unsigned maxTiles = NextPowerOfTwo(numTilesX_ * numTilesZ_) * TILECACHE_MAXLAYERS;
unsigned tileBits = 0;
unsigned temp = maxTiles;
while (temp > 1)
{
temp >>= 1;
++tileBits;
}
unsigned maxPolys = 1 << (22 - tileBits);
dtNavMeshParams params;
rcVcopy(params.orig, &boundingBox_.min_.x_);
params.tileWidth = tileEdgeLength;
params.tileHeight = tileEdgeLength;
params.maxTiles = maxTiles;
params.maxPolys = maxPolys;
navMesh_ = dtAllocNavMesh();
if (!navMesh_)
{
LOGERROR("Could not allocate navigation mesh");
return false;
}
if (dtStatusFailed(navMesh_->init(¶ms)))
{
LOGERROR("Could not initialize navigation mesh");
ReleaseNavigationMesh();
return false;
}
dtTileCacheParams tileCacheParams;
memset(&tileCacheParams, 0, sizeof(tileCacheParams));
rcVcopy(tileCacheParams.orig, &boundingBox_.min_.x_);
tileCacheParams.ch = cellHeight_;
tileCacheParams.cs = cellSize_;
tileCacheParams.width = tileSize_;
tileCacheParams.height = tileSize_;
tileCacheParams.maxSimplificationError = edgeMaxError_;
tileCacheParams.maxTiles = numTilesX_ * numTilesZ_ * TILECACHE_MAXLAYERS;
tileCacheParams.maxObstacles = maxObstacles_;
// Settings from NavigationMesh
tileCacheParams.walkableClimb = agentMaxClimb_;
tileCacheParams.walkableHeight = agentHeight_;
tileCacheParams.walkableRadius = agentRadius_;
tileCache_ = dtAllocTileCache();
if (!tileCache_)
{
LOGERROR("Could not allocate tile cache");
ReleaseNavigationMesh();
return false;
}
if (dtStatusFailed(tileCache_->init(&tileCacheParams, allocator_, compressor_, meshProcessor_)))
{
LOGERROR("Could not initialize tile cache");
ReleaseNavigationMesh();
return false;
}
// Build each tile
unsigned numTiles = 0;
for (int z = 0; z < numTilesZ_; ++z)
{
for (int x = 0; x < numTilesX_; ++x)
{
TileCacheData tiles[TILECACHE_MAXLAYERS];
int layerCt = BuildTile(geometryList, x, z, tiles);
for (int i = 0; i < layerCt; ++i)
{
dtCompressedTileRef tileRef;
int status = tileCache_->addTile(tiles[i].data, tiles[i].dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tileRef);
if (dtStatusFailed(status))
{
dtFree(tiles[i].data);
tiles[i].data = 0x0;
}
}
++numTiles;
}
for (int x = 0; x < numTilesX_; ++x)
tileCache_->buildNavMeshTilesAt(x, z, navMesh_);
}
// For a full build it's necessary to update the nav mesh
// not doing so will cause dependent components to crash, like DetourCrowdManager
tileCache_->update(0, navMesh_);
LOGDEBUG("Built navigation mesh with " + String(numTiles) + " tiles");
// Send a notification event to concerned parties that we've been fully rebuilt
{
using namespace NavigationMeshRebuilt;
VariantMap& buildEventParams = GetContext()->GetEventDataMap();
buildEventParams[P_NODE] = node_;
buildEventParams[P_MESH] = this;
SendEvent(E_NAVIGATION_MESH_REBUILT, buildEventParams);
}
// Scan for obstacles to insert into us
PODVector<Node*> obstacles;
GetScene()->GetChildrenWithComponent<Obstacle>(obstacles, true);
for (unsigned i = 0; i < obstacles.Size(); ++i)
{
Obstacle* obs = obstacles[i]->GetComponent<Obstacle>();
if (obs && obs->IsEnabledEffective())
AddObstacle(obs);
}
return true;
}
}
