Voxelizer for recast graphs. More...

Detailed Description

Voxelizer for recast graphs.

In comments: units wu are World Units, vx are Voxels

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Public Member Functions
	Voxelize (float ch, float cs, float walkableClimb, float walkableHeight, float maxSlope, float maxEdgeLength)

ushort[]	BoxBlur (ushort[] src, ushort[] dst)

void	BuildCompactField ()

void	BuildContours (float maxError, int maxEdgeLength, VoxelContourSet cset, int buildFlags)

void	BuildDistanceField ()

void	BuildPolyMesh (VoxelContourSet cset, int nvp, out VoxelMesh mesh)
	Builds a polygon mesh from a contour set.

void	BuildRegions ()

void	BuildVoxelConnections ()

int	CalcAreaOfPolygon2D (int[] verts, int nverts)

ushort	CalculateDistanceField (ushort[] src)

Vector3	CompactSpanToVector (int x, int z, int i)

void	DebugDrawCompactSpans ()

void	DebugDrawSpans ()

void	ErodeVoxels (int radius)

void	ErodeWalkableArea (int radius)

ushort[]	ExpandRegions (int maxIterations, uint level, ushort[] srcReg, ushort[] srcDist, ushort[] dstReg, ushort[] dstDist, List< int > stack)

void	FilterLedges (uint voxelWalkableHeight, int voxelWalkableClimb, float cs, float ch)

void	FilterLowHeightSpans (uint voxelWalkableHeight, float cs, float ch)

void	FilterSmallRegions (ushort[] reg, int minRegionSize, int maxRegions)
	Filters out or merges small regions.

bool	FloodRegion (int x, int z, int i, uint level, ushort r, ushort[] srcReg, ushort[] srcDist, List< int > stack)

int	GetCornerHeight (int x, int z, int i, int dir, ref bool isBorderVertex)

void	Init ()

void	MarkRectWithRegion (int minx, int maxx, int minz, int maxz, ushort region, ushort[] srcReg)

void	RemoveDegenerateSegments (List< int > simplified)

void	SimplifyContour (List< int > verts, List< int > simplified, float maxError, int maxEdgeLenght, int buildFlags)

void	VectorToIndex (Vector3 p, out int x, out int z)

void	VoxelizeInput (Pathfinding.Util.GraphTransform graphTransform, Bounds graphSpaceBounds)

Vector3	VoxelToWorld (int x, int y, int z)
	Convert from voxel coordinates to world coordinates.

Int3	VoxelToWorldInt3 (Int3 voxelPosition)
	Convert from voxel coordinates to world coordinates.

void	WalkContour (int x, int z, int i, ushort[] flags, List< int > verts)

Static Public Member Functions
static int	Area2 (int a, int b, int c, int[] verts)

static bool	Collinear (int a, int b, int c, int[] verts)

static bool	Diagonal (int i, int j, int n, int[] verts, int[] indices)
	Returns T iff (v_i, v_j) is a proper internal diagonal of P.

static bool	Ileft (int a, int b, int c, int[] va, int[] vb, int[] vc)

static bool	InCone (int i, int j, int n, int[] verts, int[] indices)

static bool	IntersectProp (int a, int b, int c, int d, int[] verts)

static bool	Left (int a, int b, int c, int[] verts)
	Returns true iff c is strictly to the left of the directed line through a to b.

static bool	LeftOn (int a, int b, int c, int[] verts)

static bool	MergeContours (ref VoxelContour ca, ref VoxelContour cb, int ia, int ib)

static int	Next (int i, int n)
	(i+1) % n assuming 0 <= i < n

static int	Prev (int i, int n)
	(i-1+n) % n assuming 0 <= i < n

static bool	Xorb (bool x, bool y)

Public Attributes
int	borderSize = 0
	The size of the non-navigable border around the heightfield.

readonly float	cellHeight = 0.1F
	The y-axis cell size to use for fields.

readonly float	cellSize = 0.2F
	The xz-plane cell size to use for fields.

VoxelContourSet	countourSet

int	depth
	Depth in voxels.

Bounds	forcedBounds
	The world AABB to rasterize.

List< RasterizationMesh >	inputMeshes

float	maxEdgeLength = 20
	The maximum allowed length for contour edges along the border of the mesh.

float	maxSlope = 30
	The maximum slope that is considered walkable.

int	minRegionSize = 100

RecastGraph.RelevantGraphSurfaceMode	relevantGraphSurfaceMode

VoxelArea	voxelArea

readonly int	voxelWalkableClimb
	Maximum ledge height that is considered to still be traversable.

readonly uint	voxelWalkableHeight
	Minimum floor to 'ceiling' height that will still allow the floor area to be considered walkable.

int	width
	Width in voxels.

Properties
Pathfinding.Util.GraphTransform	transformVoxel2Graph `[get, set]`
	Transform from voxel space to graph space.

Private Member Functions
Vector3	ConvertPosition (int x, int z, int i)

Vector3	ConvertPosWithoutOffset (int x, int y, int z)

void	DrawLine (int a, int b, int[] indices, int[] verts, Color color)

void	FloodOnes (List< Int3 > st1, ushort[] regs, uint level, ushort reg)

void	GetClosestIndices (int[] vertsa, int nvertsa, int[] vertsb, int nvertsb, ref int ia, ref int ib)

int	Triangulate (int n, int[] verts, ref int[] indices, ref int[] tris)

Static Private Member Functions
static bool	Between (int a, int b, int c, int[] verts)

static bool	Diagonalie (int i, int j, int n, int[] verts, int[] indices)
	Returns T iff (v_i, v_j) is a proper internal or external diagonal of P, ignoring edges incident to v_i and v_j.

static bool	Intersect (int a, int b, int c, int d, int[] verts)

static void	ReleaseContours (VoxelContourSet cset)
	Releases contents of a contour set to caches.

static int	union_find_find (int[] arr, int x)
	Find method in the UnionFind data structure.

static void	union_find_union (int[] arr, int a, int b)
	Join method in the UnionFind data structure.

static bool	Vequal (int a, int b, int[] verts)

Private Attributes
readonly Vector3	cellScale

VoxelPolygonClipper	clipper
	Utility for clipping polygons to rectangles.

Pathfinding.Util.GraphTransform	transform
	Transform from voxel space to world space.

Vector3	voxelOffset = Vector3.zero

Constants @{
const uint	NotConnected = 0x3f

const int	RC_CONTOUR_TESS_WALL_EDGES = 1 << 0
	Tessellate wall edges.

const int	RC_CONTOUR_TESS_AREA_EDGES = 1 << 1
	Tessellate edges between areas.

const int	RC_CONTOUR_TESS_TILE_EDGES = 1 << 2
	Tessellate edges at the border of the tile.

const int	MaxLayers = 65535
	Unmotivated variable, but let's clamp the layers at 65535.

const int	MaxRegions = 500

const int	UnwalkableArea = 0

const ushort	BorderReg = 0x8000
	If heightfield region ID has the following bit set, the region is on border area and excluded from many calculations.

const int	RC_BORDER_VERTEX = 0x10000
	If contour region ID has the following bit set, the vertex will be later removed in order to match the segments and vertices at tile boundaries.

const int	RC_AREA_BORDER = 0x20000

const int	VERTEX_BUCKET_COUNT = 1<<12

const int	ContourRegMask = 0xffff
	Mask used with contours to extract region id.

Constructor & Destructor Documentation

Voxelize	(	float	ch,
		float	cs,
		float	walkableClimb,
		float	walkableHeight,
		float	maxSlope,
		float	maxEdgeLength
	)

Member Function Documentation

static int Area2	(	int	a,
		int	b,
		int	c,
		int[]	verts
	)

static

static bool Between	(	int	a,
		int	b,
		int	c,
		int[]	verts
	)

staticprivate

ushort [] BoxBlur	(	ushort[]	src,
		ushort[]	dst
	)

void BuildCompactField ( )

void BuildContours	(	float	maxError,
		int	maxEdgeLength,
		VoxelContourSet	cset,
		int	buildFlags
	)

void BuildDistanceField ( )

void BuildPolyMesh	(	VoxelContourSet	cset,
		int	nvp,
		out VoxelMesh	mesh
	)

Builds a polygon mesh from a contour set.

Parameters

cset	contour set to build a mesh from.
nvp	Maximum allowed vertices per polygon.

Warning: Currently locked to 3.

Parameters

mesh	Results will be written to this mesh.

void BuildRegions ( )

void BuildVoxelConnections ( )

int CalcAreaOfPolygon2D	(	int[]	verts,
		int	nverts
	)

ushort CalculateDistanceField ( ushort[] src )

static bool Collinear	(	int	a,
		int	b,
		int	c,
		int[]	verts
	)

static

Vector3 CompactSpanToVector	(	int	x,
		int	z,
		int	i
	)

Vector3 ConvertPosition	(	int	x,
		int	z,
		int	i
	)

private

Vector3 ConvertPosWithoutOffset	(	int	x,
		int	y,
		int	z
	)

private

void DebugDrawCompactSpans ( )

void DebugDrawSpans ( )

static bool Diagonal	(	int	i,
		int	j,
		int	n,
		int[]	verts,
		int[]	indices
	)

static

Returns T iff (v_i, v_j) is a proper internal diagonal of P.

static bool Diagonalie	(	int	i,
		int	j,
		int	n,
		int[]	verts,
		int[]	indices
	)

staticprivate

Returns T iff (v_i, v_j) is a proper internal *or* external diagonal of P, *ignoring edges incident to v_i and v_j*.

void DrawLine	(	int	a,
		int	b,
		int[]	indices,
		int[]	verts,
		Color	color
	)

private

void ErodeVoxels ( int radius )

Todo:: Complete the ErodeVoxels function translation

void ErodeWalkableArea ( int radius )

ushort [] ExpandRegions	(	int	maxIterations,
		uint	level,
		ushort[]	srcReg,
		ushort[]	srcDist,
		ushort[]	dstReg,
		ushort[]	dstDist,
		List< int >	stack
	)

void FilterLedges	(	uint	voxelWalkableHeight,
		int	voxelWalkableClimb,
		float	cs,
		float	ch
	)

void FilterLowHeightSpans	(	uint	voxelWalkableHeight,
		float	cs,
		float	ch
	)

void FilterSmallRegions	(	ushort[]	reg,
		int	minRegionSize,
		int	maxRegions
	)

Filters out or merges small regions.

void FloodOnes	(	List< Int3 >	st1,
		ushort[]	regs,
		uint	level,
		ushort	reg
	)

private

bool FloodRegion	(	int	x,
		int	z,
		int	i,
		uint	level,
		ushort	r,
		ushort[]	srcReg,
		ushort[]	srcDist,
		List< int >	stack
	)

void GetClosestIndices	(	int[]	vertsa,
		int	nvertsa,
		int[]	vertsb,
		int	nvertsb,
		ref int	ia,
		ref int	ib
	)

private

int GetCornerHeight	(	int	x,
		int	z,
		int	i,
		int	dir,
		ref bool	isBorderVertex
	)

static bool Ileft	(	int	a,
		int	b,
		int	c,
		int[]	va,
		int[]	vb,
		int[]	vc
	)

static

static bool InCone	(	int	i,
		int	j,
		int	n,
		int[]	verts,
		int[]	indices
	)

static

void Init ( )

static bool Intersect	(	int	a,
		int	b,
		int	c,
		int	d,
		int[]	verts
	)

staticprivate

static bool IntersectProp	(	int	a,
		int	b,
		int	c,
		int	d,
		int[]	verts
	)

static

static bool Left	(	int	a,
		int	b,
		int	c,
		int[]	verts
	)

static

Returns true iff c is strictly to the left of the directed line through a to b.

static bool LeftOn	(	int	a,
		int	b,
		int	c,
		int[]	verts
	)

static

void MarkRectWithRegion	(	int	minx,
		int	maxx,
		int	minz,
		int	maxz,
		ushort	region,
		ushort[]	srcReg
	)

static bool MergeContours	(	ref VoxelContour	ca,
		ref VoxelContour	cb,
		int	ia,
		int	ib
	)

static

static int Next	(	int	i,
		int	n
	)

static

(i+1) % n assuming 0 <= i < n

static int Prev	(	int	i,
		int	n
	)

static

(i-1+n) % n assuming 0 <= i < n

static void ReleaseContours ( VoxelContourSet cset )

staticprivate

Releases contents of a contour set to caches.

void RemoveDegenerateSegments ( List< int > simplified )

void SimplifyContour	(	List< int >	verts,
		List< int >	simplified,
		float	maxError,
		int	maxEdgeLenght,
		int	buildFlags
	)

int Triangulate	(	int	n,
		int[]	verts,
		ref int[]	indices,
		ref int[]	tris
	)

private

static int union_find_find	(	int[]	arr,
		int	x
	)

staticprivate

Find method in the UnionFind data structure.

See Also: https://en.wikipedia.org/wiki/Disjoint-set_data_structure

static void union_find_union	(	int[]	arr,
		int	a,
		int	b
	)

staticprivate

Join method in the UnionFind data structure.

See Also: https://en.wikipedia.org/wiki/Disjoint-set_data_structure

void VectorToIndex	(	Vector3	p,
		out int	x,
		out int	z
	)

static bool Vequal	(	int	a,
		int	b,
		int[]	verts
	)

staticprivate

void VoxelizeInput	(	Pathfinding.Util.GraphTransform	graphTransform,
		Bounds	graphSpaceBounds
	)

Vector3 VoxelToWorld	(	int	x,
		int	y,
		int	z
	)

Convert from voxel coordinates to world coordinates.

(0,0,0) in voxel coordinates is a bottom corner of the bounding box. (1,0,0) is one voxel in the +X direction of that.

Int3 VoxelToWorldInt3 ( Int3 voxelPosition )

Convert from voxel coordinates to world coordinates.

(0,0,0) in voxel coordinates is a bottom corner of the bounding box. (1,0,0) is one voxel in the +X direction of that.

void WalkContour	(	int	x,
		int	z,
		int	i,
		ushort[]	flags,
		List< int >	verts
	)

static bool Xorb	(	bool	x,
		bool	y
	)

static

Member Data Documentation

const ushort BorderReg = 0x8000

private

If heightfield region ID has the following bit set, the region is on border area and excluded from many calculations.

int borderSize = 0

The size of the non-navigable border around the heightfield.

[Limit: >=0] [Units: vx]

readonly float cellHeight = 0.1F

The y-axis cell size to use for fields.

[Limit: > 0] [Units: wu]

readonly Vector3 cellScale

private

readonly float cellSize = 0.2F

The xz-plane cell size to use for fields.

[Limit: > 0] [Units: wu]

VoxelPolygonClipper clipper

private

Utility for clipping polygons to rectangles.

Implemented as a struct and not a bunch of static methods because it needs some buffer arrays that are best cached to avoid excessive allocations

const int ContourRegMask = 0xffff

private

Mask used with contours to extract region id.

VoxelContourSet countourSet

int depth

Depth in voxels.

Must match the forcedBounds

Bounds forcedBounds

The world AABB to rasterize.

List<RasterizationMesh> inputMeshes

float maxEdgeLength = 20

The maximum allowed length for contour edges along the border of the mesh.

[Limit: >= 0] [Units: vx]

const int MaxLayers = 65535

private

Unmotivated variable, but let's clamp the layers at 65535.

const int MaxRegions = 500

private

Todo:: : Check up on this variable

float maxSlope = 30

The maximum slope that is considered walkable.

[Limits: 0 <= value < 90] [Units: Degrees]

int minRegionSize = 100

const uint NotConnected = 0x3f

const int RC_AREA_BORDER = 0x20000

private

const int RC_BORDER_VERTEX = 0x10000

private

If contour region ID has the following bit set, the vertex will be later removed in order to match the segments and vertices at tile boundaries.

const int RC_CONTOUR_TESS_AREA_EDGES = 1 << 1

Tessellate edges between areas.

const int RC_CONTOUR_TESS_TILE_EDGES = 1 << 2

Tessellate edges at the border of the tile.

const int RC_CONTOUR_TESS_WALL_EDGES = 1 << 0

Tessellate wall edges.

RecastGraph.RelevantGraphSurfaceMode relevantGraphSurfaceMode

Pathfinding.Util.GraphTransform transform

private

Transform from voxel space to world space.

const int UnwalkableArea = 0

private

const int VERTEX_BUCKET_COUNT = 1<<12

private

VoxelArea voxelArea

Vector3 voxelOffset = Vector3.zero

private

readonly int voxelWalkableClimb

Maximum ledge height that is considered to still be traversable.

[Limit: >=0] [Units: vx]

readonly uint voxelWalkableHeight

Minimum floor to 'ceiling' height that will still allow the floor area to be considered walkable.

[Limit: >= 3] [Units: vx]

int width

Width in voxels.

Must match the forcedBounds

Property Documentation

Pathfinding.Util.GraphTransform transformVoxel2Graph

getset

Transform from voxel space to graph space.

The documentation for this class was generated from the following files:

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelContour.cs
/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelRasterization.cs
/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelMesh.cs
/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelRegion.cs

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Properties

Private Member Functions

Static Private Member Functions

Private Attributes

Constants @{

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

Property Documentation