JisolGame/JNFrame2/Assets/JNGame/Map/DotRecast/DotRecastController.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using DotRecast.Core.Numerics;
using DotRecast.Detour;
using DotRecast.Recast.Geom;
using DotRecast.Recast.Toolset;
using DotRecast.Recast.Toolset.Builder;
using JNGame.Map.DotRecast.Util;
using JNGame.Math;
using UnityEngine;
using UnityEngine.AI;

namespace JNGame.Map.DotRecast
{
    public class DotRecastController : MonoBehaviour
    {

        public LayerMask layerMask;

        private Mesh debugMesh;
        private DtNavMesh dtNavMesh;
        
        private List<Mesh> debugPathMeshs;


        public void Save()
        {
            if (debugMesh is null)
            {
                Debug.Log("[DotRecast] 未生成地形 请生成地形.");
                return;
            }
            var data = new MeshData(debugMesh);
            File.WriteAllText(UnityEngine.Application.dataPath + "/Resources/map1.json", JsonUtility.ToJson(data)); 
            Debug.Log("[DotRecast] 保存成功.");
        }

        public void Load()
        {
            
            debugMesh = this.Merge();
            var data = new MeshData(debugMesh);

            var vertices = new LFloat[data.vertices.Length * 3];
            for (int i = 0; i < data.vertices.Length; ++i)
            {
                vertices[i * 3 + 0] = (LFloat)data.vertices[i].x;
                vertices[i * 3 + 1] = (LFloat)data.vertices[i].y;
                vertices[i * 3 + 2] = (LFloat)data.vertices[i].z;
            }
            
            var bmin = RcVecUtils.Create(vertices);
            var bmax = RcVecUtils.Create(vertices);
            for (int i = 1; i < vertices.Length / 3; i++)
            {
                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
            }

            var geom = new DefaultInputGeomProvider(vertices,data.triangles);
            var builder = new TileNavMeshBuilder();
            var settings = new RcNavMeshBuildSettings();
            settings.cellSize = (LFloat)1f;
            var result = builder.Build(geom, settings);
            
            dtNavMesh = result.NavMesh;

            debugPathMeshs = new List<Mesh>();
            for (int i = 0; i < dtNavMesh.GetMaxTiles(); ++i)
            {
                DtMeshTile tile = dtNavMesh.GetTile(i);
                if (tile != null && tile.data != null)
                {
                    DrawMeshTile(tile);
                }
            }
            
            Debug.Log("[DotRecast] 加载完成.");
            
        }
        
        private void DrawMeshTile(DtMeshTile tile)
        {
            List<Vector3> vertices = new List<Vector3>();
            //Begin(DebugDrawPrimitives.TRIS);
            for (int i = 0; i < tile.data.header.polyCount; ++i)
            {
                DtPoly p = tile.data.polys[i];
                
                if (p.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
                {
                    continue;
                }

                
                if (tile.data.detailMeshes != null)
                {
                    DtPolyDetail pd = tile.data.detailMeshes[i];
                    for (int j = 0; j < pd.triCount; ++j)
                    {
                        int t = (pd.triBase + j) * 4;
                        for (int k = 0; k < 3; ++k)
                        {
                            int v = tile.data.detailTris[t + k];
                            if (v < p.vertCount)
                            {
                                vertices.Add(new Vector3(tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1] + 0.1f,
                                    tile.data.verts[p.verts[v] * 3 + 2]));
                            }
                            else
                            {
                                vertices.Add(new Vector3(tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3],
                                    tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1],
                                    tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2]));
                            }
                        }
                    }
                }
            }

            List<Vector3[]> vertices3 = new List<Vector3[]>();
            for (int i = 0; i < vertices.Count; i += 3)
            {
                vertices3.Add(new []{vertices[i], vertices[i + 1], vertices[i + 2]});
            }
            
            int triCount = vertices3.Count;
		
            Vector3[] verts = new Vector3[3 * triCount];
            int[] tris = new int[3* triCount];
            Color[] colors = new Color[3*triCount];
		
            for (int i=0;i<triCount;++i){
                int v = i*3;
                for (int j=0;j<3;++j){
                    verts[v+j] = vertices3[i][j];
                    tris[v+j] = v+j;
                    colors[v+j] = Color.white;
                }
            }

            Mesh mesh1 = new Mesh();
            mesh1.vertices = verts;
            mesh1.triangles = tris;
            mesh1.colors = colors;
            mesh1.RecalculateNormals();
            
            debugPathMeshs.Add(mesh1);
            
        }
        
        private Mesh Merge()
        {
            //获取所有子物体的网格过滤器组件
            MeshFilter[] meshFilters = FindObjectsOfType<MeshFilter>(true).Where(mf => ((1 << mf.gameObject.layer) & layerMask) > 0).ToArray();
            
            //创建一个新的合并后的网格
            Mesh mergedMesh = new Mesh();

            //创建一个合并用的网格数组
            CombineInstance[] combine = new CombineInstance[meshFilters.Length+1];

            for (int i = 0; i < meshFilters.Length; i++)
            {
                //设置合并用的网格数组
                combine[i].mesh = meshFilters[i].sharedMesh;
                combine[i].transform = meshFilters[i].transform.localToWorldMatrix;
            }

            var triangulation = NavMesh.CalculateTriangulation();
            combine[^1].mesh = new Mesh()
            {
                vertices = triangulation.vertices,
                triangles = triangulation.indices,
            };
            combine[^1].transform = Matrix4x4.identity;

            //合并网格
            mergedMesh.CombineMeshes(combine);
            mergedMesh.RecalculateNormals();
            mergedMesh.RecalculateBounds();

            debugPathMeshs = null;

            return mergedMesh;
        }

        public void OnDrawGizmos()
        {
            // if (debugMesh is not null)
            // {
            //     Gizmos.color = new Color(0f, 1f, 1f, 0.5f);
            //     Gizmos.DrawMesh(debugMesh); 
            //     Gizmos.color = new Color(0f, 0f, 0f, 0.3f);
            //     Gizmos.DrawWireMesh(debugMesh);
            // }
            //
            // return;

            if (debugPathMeshs is not null)
            {
                foreach (var mesh in debugPathMeshs)
                {
                    Gizmos.color = new Color(0f, 1f, 1f, 0.5f);
                    Gizmos.DrawMesh(mesh);
                }
            }

        }
        
    }
}