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nav_mesh_tile_carving.go
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nav_mesh_tile_carving.go
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package unityai
import (
"math"
"reflect"
"sort"
"unsafe"
)
type CarveResultStatus int32
const (
kReplaceTile CarveResultStatus = iota
kRestoreTile
kRemoveTile
)
type ClippedDetailMesh struct {
polyIndex int
vertices []Vector3f
triangles []uint16
}
func NewClippedDetailMesh() *ClippedDetailMesh {
return &ClippedDetailMesh{
polyIndex: 0,
vertices: nil,
triangles: nil,
}
}
type DetailMeshBVNode struct {
min Vector3f
max Vector3f
idx int32
}
type DetailMeshPoly struct {
vertBase int32
vertCount int32
triBase int32
triCount int32
bvBase int32
bvCount int32
}
type Triangles []uint16
func (t *Triangles) resize_uninitialized(size int) {
if cap(*t) >= size {
*t = (*t)[:size]
} else {
*t = append(*t, make([]uint16, size-len(*t))...)
}
}
type PolyContainer []DetailMeshPoly
func (c *PolyContainer) resize_uninitialized(size int) {
if cap(*c) >= size {
*c = (*c)[:size]
} else {
*c = append(*c, make([]DetailMeshPoly, size-len(*c))...)
}
}
type DetailMesh struct {
vertices []Vector3f
triangles Triangles
polys PolyContainer
bvNodes DetailMeshBVNodeContainer
}
type DetailMeshBVNodeContainer []DetailMeshBVNode
func (this *DetailMeshBVNodeContainer) resize_uninitialized(size int32) {
if cap(*this) >= int(size) {
*this = (*this)[:size]
}else {
*this = append(*this, make([]DetailMeshBVNode, int(size) - len(*this))...)
}
}
func NewDetailMesh() *DetailMesh {
return &DetailMesh{}
}
func CarveNavMeshTile(tileData *[]byte, tileDataSize *uint32,
sourceData []byte, sourceDataSize int32,
shapes []NavMeshCarveShape, shapeCount int,
carveDepth float32, carveWidth float32, quantSize float32,
position Vector3f, rotation Quaternionf) CarveResultStatus {
Assert(sourceData != nil)
Assert(sourceDataSize > 0)
*tileData = nil
*tileDataSize = 0
if shapeCount == 0 {
return kRestoreTile
}
tile := NewNavMeshTile()
if !PatchMeshTilePointers(tile, sourceData, sourceDataSize) {
// remove tile altogether if we cannot patch source data pointers
return kRemoveTile
}
Assert(tile.header != nil)
tileOffset := tile.header.bmin.Add(tile.header.bmax).Mulf(0.5)
detailMesh := NewDetailMesh()
UnpackDetailMesh(detailMesh, tile, tileOffset)
var mat Matrix4x4f
mat.SetTRInverse(position, rotation)
hull := Hull{}
var carveHulls DetailHullContainer
for i := 0; i < shapeCount; i++ {
var localShape NavMeshCarveShape
localShape.shape = shapes[i].shape
localShape.center = mat.MultiplyPoint3(shapes[i].center)
localShape.extents = shapes[i].extents
localShape.xAxis = mat.MultiplyVector3(shapes[i].xAxis)
localShape.yAxis = mat.MultiplyVector3(shapes[i].yAxis)
localShape.zAxis = mat.MultiplyVector3(shapes[i].zAxis)
TransformAABBSlow(shapes[i].bounds, mat, &localShape.bounds)
validHull := false
var localBounds MinMaxAABB
if localShape.shape == kObstacleShapeCapsule {
validHull = CalculateCapsuleHull(&hull, &localBounds, &localShape, tileOffset, carveDepth, carveWidth)
} else if localShape.shape == kObstacleShapeBox {
validHull = CalculateBoxHull(&hull, &localBounds, &localShape, tileOffset, carveDepth, carveWidth)
}
if !validHull {
continue
}
localBounds.m_Min = localBounds.m_Min.Sub(NewVector3f(quantSize, quantSize, quantSize))
localBounds.m_Max = localBounds.m_Max.Add(NewVector3f(quantSize, quantSize, quantSize))
// Find potentially intersecting polygons and create new cutter
// based on the intersection points in detail mesh.
var detailHulls DetailHullContainer
validHull = BuildDetailHulls(&detailHulls, hull, localBounds, detailMesh, tile, tileOffset, quantSize)
if validHull {
carveHulls = append(carveHulls, detailHulls...)
}
}
// The vertex quantization factor needs to match the tile size
// in order to not get any gaps at tile boundaries.
// As long as the divider is large enough and divisible by 2
// (because tileOffset is at tile center during carving),
// things should work fine.
quantFactor := quantSize
dynamicMesh := NewDynamicMesh(quantFactor)
TileToDynamicMesh(tile, dynamicMesh, tileOffset)
// Restore if nothing was clipped
if !dynamicMesh.ClipPolys2(carveHulls) {
return kRestoreTile
}
// Remove if nothing is left
if dynamicMesh.PolyCount() == 0 {
return kReplaceTile
}
// Project new vertices to detail meshes.
ProjectNewVerticesToDetailMesh(dynamicMesh, detailMesh)
dynamicMesh.FindNeighbors()
// Clip the detail triangles of the original polygons to match each new polygon.
var clipped []*ClippedDetailMesh
clipped = make([]*ClippedDetailMesh, dynamicMesh.PolyCount())
ClipDetailMeshes(clipped, dynamicMesh, detailMesh, tile, tileOffset, quantFactor)
*tileData = DynamicMeshToTile(tileDataSize, dynamicMesh, clipped, tile, tileOffset)
return kReplaceTile
}
func PatchMeshTilePointers(tile *NavMeshTile, data []byte, dataSize int32) bool {
header := (*NavMeshDataHeader)(unsafe.Pointer(&(data[0])))
tile.header = nil
if header.magic != kNavMeshMagic {
return false
}
if header.version != kNavMeshVersion {
return false
}
tile.header = header
// Patch header pointers.
headerSize := Align4(unsafe.Sizeof(NavMeshDataHeader{}))
vertsSize := Align4(unsafe.Sizeof(Vector3f{}) * uintptr(header.vertCount))
polysSize := Align4(unsafe.Sizeof(NavMeshPoly{}) * uintptr(header.polyCount))
detailMeshesSize := Align4(unsafe.Sizeof(NavMeshPolyDetail{}) * uintptr(header.detailMeshCount))
detailVertsSize := Align4(unsafe.Sizeof(Vector3f{}) * uintptr(header.detailVertCount))
detailTrisSize := Align4(unsafe.Sizeof(NavMeshPolyDetailIndex(0)) * 4 * uintptr(header.detailTriCount))
bvtreeSize := Align4(unsafe.Sizeof(NavMeshBVNode{}) * uintptr(header.bvNodeCount))
d := headerSize
var verts []Vector3f
sliceHeader := (*reflect.SliceHeader)(unsafe.Pointer(&(verts)))
sliceHeader.Cap = int(header.vertCount)
sliceHeader.Len = int(header.vertCount)
sliceHeader.Data = uintptr(unsafe.Pointer(&(data[d])))
d += vertsSize
var polys []NavMeshPoly
sliceHeader = (*reflect.SliceHeader)(unsafe.Pointer(&(polys)))
sliceHeader.Cap = int(header.polyCount)
sliceHeader.Len = int(header.polyCount)
sliceHeader.Data = uintptr(unsafe.Pointer(&(data[d])))
d += polysSize
var detailMeshes []NavMeshPolyDetail
sliceHeader = (*reflect.SliceHeader)(unsafe.Pointer(&(detailMeshes)))
sliceHeader.Cap = int(header.detailMeshCount)
sliceHeader.Len = int(header.detailMeshCount)
sliceHeader.Data = uintptr(unsafe.Pointer(&(data[d])))
d += detailMeshesSize
var detailVerts []Vector3f
sliceHeader = (*reflect.SliceHeader)(unsafe.Pointer(&(detailVerts)))
sliceHeader.Cap = int(header.detailVertCount)
sliceHeader.Len = int(header.detailVertCount)
sliceHeader.Data = uintptr(unsafe.Pointer(&(data[d])))
d += detailVertsSize
var detailTris []NavMeshPolyDetailIndex
sliceHeader = (*reflect.SliceHeader)(unsafe.Pointer(&(detailTris)))
sliceHeader.Cap = int(header.detailTriCount * 4)
sliceHeader.Len = int(header.detailTriCount * 4)
sliceHeader.Data = uintptr(unsafe.Pointer(&(data[d])))
d += detailTrisSize
var bvTree []NavMeshBVNode
sliceHeader = (*reflect.SliceHeader)(unsafe.Pointer(&(bvTree)))
sliceHeader.Cap = int(header.bvNodeCount)
sliceHeader.Len = int(header.bvNodeCount)
sliceHeader.Data = uintptr(unsafe.Pointer(&(data[d])))
d += bvtreeSize
tile.verts = verts
tile.polys = polys
tile.detailMeshes = detailMeshes
tile.detailVerts = detailVerts
tile.detailTris = detailTris
tile.bvTree = bvTree
// If there are no items in the bvtree, reset the tree pointer.
if bvtreeSize == 0 {
tile.bvTree = nil
}
return true
}
func HullPolygonIntersection(inside *Polygon, hull *Hull, temp *Polygon, quantFactor float32) {
planeCount := len(*hull)
for ic := 0; ic < planeCount; ic++ {
plane := (*hull)[ic]
result := SplitPoly(temp, *inside, plane, quantFactor, nil, 0)
if result == 0 {
inside.resize_uninitialized(len(*temp))
copy(*inside, *temp)
} else if result == 1 {
inside.resize_uninitialized(0)
return
}
}
}
type DetailNodeXSorter []DetailMeshBVNode
func (d DetailNodeXSorter) Len() int {
return len(d)
}
func (d DetailNodeXSorter) Less(i, j int) bool {
ra := d[i]
rb := d[j]
a := (ra.min.x + ra.max.x) * 0.5
b := (rb.min.x + rb.max.x) * 0.5
return a < b
}
func (d DetailNodeXSorter) Swap(i, j int) {
d[i], d[j] = d[j], d[i]
}
type DetailNodeYSorter []DetailMeshBVNode
func (d DetailNodeYSorter) Len() int {
return len(d)
}
func (d DetailNodeYSorter) Less(i, j int) bool {
ra := d[i]
rb := d[j]
a := (ra.min.y + ra.max.y) * 0.5
b := (rb.min.y + rb.max.y) * 0.5
return a < b
}
func (d DetailNodeYSorter) Swap(i, j int) {
d[i], d[j] = d[j], d[i]
}
type DetailNodeZSorter []DetailMeshBVNode
func (d DetailNodeZSorter) Len() int {
return len(d)
}
func (d DetailNodeZSorter) Less(i, j int) bool {
ra := d[i]
rb := d[j]
a := (ra.min.z + ra.max.z) * 0.5
b := (rb.min.z + rb.max.z) * 0.5
return a < b
}
func (d DetailNodeZSorter) Swap(i, j int) {
d[i], d[j] = d[j], d[i]
}
func OverlapBoundsXZ(amin Vector3f, amax Vector3f,
bmin Vector3f, bmax Vector3f) bool {
if amin.x > bmax.x || amax.x < bmin.x {
return false
}
if amin.z > bmax.z || amax.z < bmin.z {
return false
}
return true
}
func DetailLongestAxis(v Vector3f) int32 {
axis := int32(0)
max := v.x
if v.y > max {
axis = 1
max = v.y
}
if v.z > max {
axis = 2
max = v.z
}
return axis
}
func Subdivide(nodes *[]DetailMeshBVNode,
items []DetailMeshBVNode,
imin int32, imax int32) {
inum := imax - imin
*nodes = append(*nodes, DetailMeshBVNode{})
icur := len(*nodes) - 1
node := &(*nodes)[icur]
// Update bounds
node.min = items[imin].min
node.max = items[imin].max
for i := imin + 1; i < imax; i++ {
node.min = MinVector3f(node.min, items[i].min)
node.max = MaxVector3f(node.max, items[i].max)
}
if (imax - imin) <= 1 {
// Leaf, copy triangles.
node.idx = items[imin].idx
} else {
// Split remaining items along longest axis
axis := DetailLongestAxis(node.max.Sub(node.min))
if axis == 0 {
sort.Sort(DetailNodeXSorter(items[imin:imax]))
} else if axis == 1 {
sort.Sort(DetailNodeYSorter(items[imin:imax]))
} else {
sort.Sort(DetailNodeZSorter(items[imin:imax]))
}
isplit := imin + inum/2
// Left
Subdivide(nodes, items, imin, isplit)
// Right
Subdivide(nodes, items, isplit, imax)
iescape := (len(*nodes) - 1) - icur
// Negative index means escape.
(*nodes)[icur].idx = int32(-iescape) // 'node' ref may be invalid because of realloc.
}
}
func BuildBVTree(nodes *[]DetailMeshBVNode,
vertices []Vector3f,
tris []uint16, triCount int32) bool {
*nodes = (*nodes)[:0]
// Build input items
items := make([]DetailMeshBVNode, triCount)
for i := int32(0); i < triCount; i++ {
t := tris[i*4:]
it := &items[i]
it.idx = int32(i)
// Calc triangle bounds.
it.min = vertices[t[0]]
it.max = vertices[t[0]]
it.min = MinVector3f(it.min, vertices[t[1]])
it.max = MaxVector3f(it.max, vertices[t[1]])
it.min = MinVector3f(it.min, vertices[t[2]])
it.max = MaxVector3f(it.max, vertices[t[2]])
}
Subdivide(nodes, items, 0, triCount)
return true
}
type QueryDetailBVTreeCallback interface {
process(detailMesh *DetailMesh, poly *DetailMeshPoly, tris []int32, triCount int32)
}
const BATCH_SIZE = 32
func QueryDetailBVTree(detailMesh *DetailMesh, poly *DetailMeshPoly,
queryMin Vector3f, queryMax Vector3f,
callback QueryDetailBVTreeCallback) {
var batch [BATCH_SIZE]int32
batchCount := int32(0)
// Clip all detail triangles against the polygon.
if poly.bvCount > 0 {
nodes := detailMesh.bvNodes[poly.bvBase:]
n := int32(0)
for n < poly.bvCount {
node := &nodes[n]
overlap := OverlapBoundsXZ(queryMin, queryMax, node.min, node.max)
isLeafNode := node.idx >= int32(0)
if isLeafNode && overlap {
if batchCount+1 > BATCH_SIZE {
callback.process(detailMesh, poly, batch[:], batchCount)
batchCount = 0
}
batch[batchCount] = poly.triBase + node.idx
batchCount++
}
if overlap || isLeafNode {
n++
} else {
escapeIndex := -node.idx
n += escapeIndex
}
}
} else {
for j := int32(0); j < poly.triCount; j++ {
if batchCount+1 > BATCH_SIZE {
callback.process(detailMesh, poly, batch[:], batchCount)
batchCount = 0
}
batch[batchCount] = poly.triBase + j
batchCount++
}
}
if batchCount > 0 {
callback.process(detailMesh, poly, batch[:], batchCount)
batchCount = 0
}
}
func UnpackDetailMesh(detailMesh *DetailMesh, tile *NavMeshTile, tileOffset Vector3f) {
// Unpack
polyCount := tile.header.polyCount
detailTriCount := tile.header.detailTriCount
detailPolyCount := tile.header.detailMeshCount
Assert(polyCount == detailPolyCount)
detailMesh.triangles.resize_uninitialized(int(detailTriCount) * 4)
detailMesh.polys.resize_uninitialized(int(detailPolyCount))
bvTriCount := int32(0)
maxTriCount := int32(0)
kBVTreeThreshold := int32(6)
for i := int32(0); i < polyCount; i++ {
p := &tile.polys[i]
pd := &tile.detailMeshes[i]
poly := &detailMesh.polys[i]
poly.bvBase = 0
poly.bvCount = 0
poly.vertBase = int32(len(detailMesh.vertices))
poly.vertCount = int32(p.vertCount) + int32(pd.vertCount)
for j := uint8(0); j < p.vertCount; j++ {
detailMesh.vertices = append(detailMesh.vertices, tile.verts[p.verts[j]].Sub(tileOffset))
}
for j := uint32(0); j < uint32(pd.vertCount); j++ {
detailMesh.vertices = append(detailMesh.vertices, tile.detailVerts[pd.vertBase+j].Sub(tileOffset))
}
poly.triBase = int32(pd.triBase)
poly.triCount = int32(pd.triCount)
for j := uint32(0); j < uint32(pd.triCount); j++ {
t := tile.detailTris[(pd.triBase+j)*4:]
detailMesh.triangles[(pd.triBase+j)*4+0] = uint16(t[0])
detailMesh.triangles[(pd.triBase+j)*4+1] = uint16(t[1])
detailMesh.triangles[(pd.triBase+j)*4+2] = uint16(t[2])
detailMesh.triangles[(pd.triBase+j)*4+3] = uint16(t[3])
}
if poly.triCount > kBVTreeThreshold {
bvTriCount += poly.triCount
if maxTriCount < poly.triCount {
maxTriCount = poly.triCount
}
}
}
if bvTriCount > 0 {
// Build BV-tree for polys which have many detail triangles.
var nodes []DetailMeshBVNode
for i := int32(0); i < polyCount; i++ {
poly := &detailMesh.polys[i]
if poly.triCount > kBVTreeThreshold {
BuildBVTree(&nodes, detailMesh.vertices[poly.vertBase:], detailMesh.triangles[poly.triBase*4:], poly.triCount)
nodeCount := int32(len(nodes))
if nodeCount > 0 {
poly.bvBase = int32(len(detailMesh.bvNodes))
poly.bvCount = nodeCount
detailMesh.bvNodes.resize_uninitialized(poly.bvBase + nodeCount)
for j := int32(0); j < nodeCount; j++ {
detailMesh.bvNodes[poly.bvBase+j] = nodes[j]
}
}
}
}
}
}
func ClosestHeightToTriangleEdge(height *float32, dmin *float32,
samplePos, va, vb, vc Vector3f) {
var d, t float32
*dmin = math.MaxFloat32
d = SqrDistancePointSegment2D(&t, samplePos, va, vb)
if d < *dmin {
*height = va.y + (vb.y-va.y)*t
*dmin = d
}
d = SqrDistancePointSegment2D(&t, samplePos, vb, vc)
if d < *dmin {
*height = vb.y + (vc.y-vb.y)*t
*dmin = d
}
d = SqrDistancePointSegment2D(&t, samplePos, vc, va)
if d < *dmin {
*height = vc.y + (va.y-vc.y)*t
*dmin = d
}
}
func PickDetailTriHeight(height *float32, dmin *float32,
samplePos, va, vb, vc Vector3f) {
var h float32
if ClosestHeightPointTriangle(&h, samplePos, va, vb, vc) {
*height = h
*dmin = 0.0
}
if *dmin > 0.0 {
var dist float32
ClosestHeightToTriangleEdge(&h, &dist, samplePos, va, vb, vc)
if dist < *dmin {
*height = h
*dmin = dist
}
}
}
type PickHeightCallback struct {
samplePos Vector3f
height, dmin float32
}
func NewPickHeightCallback(pos Vector3f) *PickHeightCallback {
return &PickHeightCallback{
samplePos: pos,
height: pos.y,
dmin: math.MaxFloat32,
}
}
func (this *PickHeightCallback) process(detailMesh *DetailMesh, poly *DetailMeshPoly, tris []int32, triCount int32) {
for i := int32(0); i < triCount; i++ {
t := detailMesh.triangles[tris[i]*4:]
va := detailMesh.vertices[poly.vertBase+int32(t[0])]
vb := detailMesh.vertices[poly.vertBase+int32(t[1])]
vc := detailMesh.vertices[poly.vertBase+int32(t[2])]
PickDetailTriHeight(&this.height, &this.dmin, this.samplePos, va, vb, vc)
}
}
func PickDetailPolyHeight(detailMesh *DetailMesh, polyIdx int32, samplePos Vector3f) float32 {
poly := &detailMesh.polys[polyIdx]
sampleExt := NewVector3f(0.1, 0, 0.1)
queryMin := samplePos.Sub(sampleExt)
queryMax := samplePos.Add(sampleExt)
callback := NewPickHeightCallback(samplePos)
QueryDetailBVTree(detailMesh, poly, queryMin, queryMax, callback)
return callback.height
}
func ProjectNewVerticesToDetailMesh(mesh *DynamicMesh, detailMesh *DetailMesh) {
vertCount := mesh.VertCount()
polyCount := mesh.PolyCount()
vertexSourcePoly := make([]int32, vertCount)
for i := range vertexSourcePoly {
vertexSourcePoly[i] = -1
}
// Check which vertices have changed and store their original polygon too.
// TODO: check if we need to store all source polys, now just projecting to the last one.
for i := 0; i < polyCount; i++ {
p := mesh.GetPoly(i)
if p.m_Status != kOriginalPolygon {
sourcePolyIndex := *mesh.GetData(i)
for j := uint8(0); j < p.m_VertexCount; j++ {
vertexSourcePoly[p.m_VertexIDs[j]] = int32(sourcePolyIndex)
}
}
}
for i := 0; i < vertCount; i++ {
ip := vertexSourcePoly[i]
if ip == -1 {
continue
}
pos := mesh.GetVertex(i)
pos.y = PickDetailPolyHeight(detailMesh, ip, pos)
mesh.SetVertex(i, pos)
}
}
func CalcPolyDetailBounds(bounds *MinMaxAABB, detailMesh *DetailMesh, ip int32) {
poly := detailMesh.polys[ip]
bounds.m_Min = detailMesh.vertices[poly.vertBase]
bounds.m_Max = detailMesh.vertices[poly.vertBase]
for i := int32(1); i < poly.vertCount; i++ {
bounds.EncapsulateV(detailMesh.vertices[poly.vertBase+i])
}
}
func HasBoundaryVertices(verts Vertex2Array, bmin Vector2f, bmax Vector2f) bool {
if len(verts) == 0 {
return false
}
var vmin, vmax Vector2f
vmin.x = verts[0].x
vmax.x = verts[0].x
vmin.y = verts[0].y
vmax.y = verts[0].y
for i := 1; i < len(verts); i++ {
vmin = MinVector2f(vmin, verts[i])
vmax = MaxVector2f(vmax, verts[i])
}
dmin := vmin.Sub(bmin)
if Sqr(dmin.x) < Sqr(MAGIC_EDGE_DISTANCE) {
return true
}
if Sqr(dmin.y) < Sqr(MAGIC_EDGE_DISTANCE) {
return true
}
dmax := vmax.Sub(bmax)
if Sqr(dmax.x) < Sqr(MAGIC_EDGE_DISTANCE) {
return true
}
if Sqr(dmax.y) < Sqr(MAGIC_EDGE_DISTANCE) {
return true
}
return false
}
type ClipCallback struct {
m_Hull *Hull
m_Inside *Polygon
m_Temp *Polygon
m_Footprint *Vertex2Array
m_QuantFactor float32
m_Hit bool
}
func NewClipCallback(hull *Hull, inside *Polygon, temp *Polygon, footPrint *Vertex2Array, quantFactor float32) *ClipCallback {
return &ClipCallback{
m_Hull: hull,
m_Inside: inside,
m_Temp: temp,
m_Footprint: footPrint,
m_QuantFactor: quantFactor,
m_Hit: false,
}
}
func (this *ClipCallback) process(detailMesh *DetailMesh, poly *DetailMeshPoly, tris []int32, triCount int32) {
for i := int32(0); i < triCount; i++ {
t := detailMesh.triangles[tris[i]*4:]
this.m_Inside.resize_uninitialized(3)
(*this.m_Inside)[0] = detailMesh.vertices[poly.vertBase+int32(t[0])]
(*this.m_Inside)[1] = detailMesh.vertices[poly.vertBase+int32(t[1])]
(*this.m_Inside)[2] = detailMesh.vertices[poly.vertBase+int32(t[2])]
HullPolygonIntersection(this.m_Inside, this.m_Hull, this.m_Temp, this.m_QuantFactor)
if len(*this.m_Inside) == 0 {
continue
}
for i := 0; i < len(*this.m_Inside); i++ {
*this.m_Footprint = append(*this.m_Footprint, Vector2f{})
v := &(*this.m_Footprint)[len(*this.m_Footprint)-1]
v.x = (*this.m_Inside)[i].x
v.y = (*this.m_Inside)[i].z
}
this.m_Hit = true
}
}
func BuildDetailHulls(detailHulls *DetailHullContainer,
hull Hull, bounds MinMaxAABB,
detailMesh *DetailMesh, tile *NavMeshTile, tileOffset Vector3f, quantSize float32) bool {
polyCount := tile.header.polyCount
var inside Polygon
var temp Polygon
var footPrint Vertex2Array = make([]Vector2f, 0, 32)
// Find polygons that potentially intersect with the cave hull.
// We'll use detail mesh for this to capture all cases.
// As we go we keep track of the polygons that were touched
// as well as the vertices of the detail mesh intersection.
// These intersection points will later be used to create a new infinite
// carver which is actually used for carving.
kTouched := byte(1)
kVisited := byte(2)
visited := make([]byte, polyCount)
// TODO: we should be able to use BV-tree for this.
nTouched := 0
for ip := int32(0); ip < polyCount; ip++ {
var polyBounds MinMaxAABB
CalcPolyDetailBounds(&polyBounds, detailMesh, ip)
if !IntersectAABBAABB(bounds, polyBounds) {
continue
}
visited[ip] = kTouched
nTouched++
}
var stack []int32
// Merge connecting regions.
for ip := int32(0); ip < polyCount; ip++ {
if visited[ip] != kTouched {
continue
}
var detailHull DetailHull
stack = stack[:0]
stack = append(stack, ip)
for len(stack) != 0 {
curLen := len(stack)
cur := stack[curLen-1]
stack = stack[:curLen-1]
detailHull.polysIds = append(detailHull.polysIds, int(cur))
poly := &tile.polys[cur]
for j := uint8(0); j < poly.vertCount; j++ {
// Skip if no neighbour or if at tile border.
if poly.neis[j] == uint16(0) || poly.neis[j]&uint16(0x8000) != 0 {
continue
}
nei := poly.neis[j] - 1
if visited[nei] == kTouched {
visited[nei] = kVisited
stack = append(stack, int32(nei))
}
}
}
*detailHulls = append(*detailHulls, detailHull)
}
if len(*detailHulls) == 0 {
return false
}
var convexHull Vertex2Array
detailHullCount := len(*detailHulls)
for hi := 0; hi < detailHullCount; hi++ {
detailHull := &(*detailHulls)[hi]
footPrint = footPrint[:0]
for i := 0; i < len(detailHull.polysIds); i++ {
ip := detailHull.polysIds[i]
dpoly := &detailMesh.polys[ip]
callback := NewClipCallback(&hull, &inside, &temp, &footPrint, quantSize)
QueryDetailBVTree(detailMesh, dpoly, bounds.m_Min, bounds.m_Max, callback)
if !callback.m_Hit {
polyIdLen := len(detailHull.polysIds)
detailHull.polysIds[i] = detailHull.polysIds[polyIdLen-1]
detailHull.polysIds = detailHull.polysIds[:polyIdLen-1]
i--
}
}
// TODO: Optimization, if all the potentially intersecting polygons are flat, we could
// just use the original hull.
// Build carve hull from a convex hull of footprint.
if len(footPrint) == 0 {
detailHull.polysIds = detailHull.polysIds[:0]
continue
}
CalculateConvexHull(&convexHull, &footPrint)
// Avoid simplifying the hull if it touches the tile boundary.
tileOffset2 := NewVector2f(tileOffset.x, tileOffset.z)
bmin := NewVector2f(tile.header.bmin.x, tile.header.bmin.z).Sub(tileOffset2)
bmax := NewVector2f(tile.header.bmax.x, tile.header.bmax.z).Sub(tileOffset2)
if !HasBoundaryVertices(convexHull, bmin, bmax) {
SimplifyPolyline(&convexHull, quantSize)
}
if len(convexHull) < 3 {
detailHull.polysIds = detailHull.polysIds[:0]
continue
}
// Create hull planes from the polygon
detailHull.hull = detailHull.hull[:0]
convexHullCount := len(convexHull)
for i := 0; i < convexHullCount; i++ {
position2 := convexHull[i]
dir2 := convexHull[NextIndex(int32(i), int32(convexHullCount))].Sub(position2)
len2 := Magnitude2(dir2)
if len2 <= kEpsilon {
continue
}
dir2 = dir2.Div(len2)
position := NewVector3f(position2.x, 0, position2.y)
normal := NewVector3f(-dir2.y, 0, dir2.x)
detailHull.hull.emplace_back_uninitialized().SetNormalAndPosition(normal, position)
}
}
return true
}
func HullFromPoly(hull *Hull, poly []Vector3f) {
vertCount := len(poly)
*hull = make([]Plane, vertCount)
for i := 0; i < vertCount; i++ {
position := poly[i]
dir := poly[NextIndex(int32(i), int32(vertCount))].Sub(position)
normal := NewVector3f(-dir.z, 0, dir.x)
normal = NormalizeSafe(normal, NewVector3f(0, 0, 0))
(*hull)[i].SetNormalAndPosition(normal, position)
}
}
type ClipDetailMeshCallback struct {
dmesh *ClippedDetailMesh
hull *Hull
welder *VertexWelder //64
inside *Polygon
temp *Polygon
quantFactor float32
}
func NewDetailMeshClipCallback(dmeshIn *ClippedDetailMesh, hullIn *Hull, welderIn *VertexWelder,
insideIn *Polygon, tempIn *Polygon, quantFactorIn float32) *ClipDetailMeshCallback {
return &ClipDetailMeshCallback{
dmesh: dmeshIn,
hull: hullIn,
welder: welderIn,
inside: insideIn,
temp: tempIn,
quantFactor: quantFactorIn,
}
}
const MAGIC_EDGE_DISTANCE = 1e-2
func (this *ClipDetailMeshCallback) process(detailMesh *DetailMesh, poly *DetailMeshPoly, tris []int32, triCount int32) {
for i := int32(0); i < triCount; i++ {
t := detailMesh.triangles[tris[i]*4:]
this.inside.resize_uninitialized(3)
(*this.inside)[0] = detailMesh.vertices[poly.vertBase+int32(t[0])]
(*this.inside)[1] = detailMesh.vertices[poly.vertBase+int32(t[1])]
(*this.inside)[2] = detailMesh.vertices[poly.vertBase+int32(t[2])]
HullPolygonIntersection(this.inside, this.hull, this.temp, this.quantFactor)
vertexCount := len(*this.inside)
if vertexCount < 3 {
continue
}
v0 := this.welder.AddUnique((*this.inside)[0])
v1 := this.welder.AddUnique((*this.inside)[1])
for i := 2; i < vertexCount; i++ {
v2 := this.welder.AddUnique((*this.inside)[i])
triArea2 := TriArea2D((*this.inside)[0], (*this.inside)[i-1], (*this.inside)[i])
if triArea2 < MAGIC_EDGE_DISTANCE*MAGIC_EDGE_DISTANCE {
v1 = v2
continue
}
if v0 != v1 && v1 != v2 && v2 != v0 {
this.dmesh.triangles = append(this.dmesh.triangles, uint16(v0))
this.dmesh.triangles = append(this.dmesh.triangles, uint16(v1))
this.dmesh.triangles = append(this.dmesh.triangles, uint16(v2))
}
v1 = v2
}
}
}
func ClipDetailMeshes(clipped []*ClippedDetailMesh,
mesh *DynamicMesh, detailMesh *DetailMesh,
tile *NavMeshTile,
tileOffset Vector3f,
quantFactor float32) {
queryPadding := NewVector3f(quantFactor*2.0, 0, quantFactor*2.0)
polyCount := mesh.PolyCount()
var hull Hull = make([]Plane, 0, 8)
verts := make([]Vector3f, 0, 8)
var inside Polygon = make([]Vector3f, 0, 32)
var temp Polygon = make([]Vector3f, 0, 32)
welder := NewVertexWelder(64, nil, quantFactor)
for i := 0; i < polyCount; i++ {
p := mesh.GetPoly(i)
// Process only new polygons
if p.m_Status == kOriginalPolygon {
continue
}
ip := *mesh.GetData(i)
dpoly := &detailMesh.polys[ip]
// If the detail mesh does not have any extra vertices,
// no need to clip, just retriangulate later.
if dpoly.vertCount == int32(p.m_VertexCount) {
continue
}
// Build clip hull from the polygons
verts = make([]Vector3f, p.m_VertexCount)
for j := uint8(0); j < p.m_VertexCount; j++ {
verts[j] = mesh.GetVertex(int(p.m_VertexIDs[j]))
}
HullFromPoly(&hull, verts)
// Build query box from the polygon.
var queryMin, queryMax Vector3f
queryMin = verts[0]
queryMax = verts[0]
vertsCount := len(verts)
for j := 0; j < vertsCount; j++ {
queryMin = MinVector3f(queryMin, verts[j])
queryMax = MaxVector3f(queryMax, verts[j])
}
queryMin = queryMin.Sub(queryPadding)
queryMax = queryMax.Add(queryPadding)
clipped[i] = NewClippedDetailMesh()
dmesh := clipped[i]
dmesh.polyIndex = i
welder.SetVertexArray(&dmesh.vertices)
welder.Reset()
// Clip all detail triangles against the polygon.
callback := NewDetailMeshClipCallback(dmesh, &hull, welder, &inside, &temp, quantFactor)
QueryDetailBVTree(detailMesh, dpoly, queryMin, queryMax, callback)
// Offset dmesh back to tile location.
vertCount := len(dmesh.vertices)
for j := 0; j < vertCount; j++ {
dmesh.vertices[j] = dmesh.vertices[j].Add(tileOffset)
}
if len(dmesh.vertices) < 3 || len(dmesh.triangles) < 3 {
clipped[i] = nil
}
}
}
func AreColinear(u, v Vector3f, cosAngleAccept float32) bool {
return FloatAbs(DotVector3f(v, u)) > cosAngleAccept
}
func DistancePointSegmentSqr(pt, s1, s2 Vector2f) float32 {
ds := s2.Sub(s1)
dp := pt.Sub(s1)
den := DotVector2f(ds, ds)
if den == 0 {