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use std::collections::HashSet;
use glam::{Vec2, Vec3Swizzles};
use hashbrown::HashMap;
pub use rerecast::DetailNavmesh as RecastPolyMeshDetail;
pub use rerecast::PolygonNavmesh as RecastPolyMesh;
use crate::{Layer, Mesh, Polygon, U32Layer, Vertex};
trait RecastPolyMeshExt {
fn areas(&self) -> Vec<u8>;
}
impl RecastPolyMeshExt for RecastPolyMesh {
fn areas(&self) -> Vec<u8> {
let mut areas: Vec<u8> = self
.areas
.iter()
.map(|area| area.0)
.collect::<HashSet<_>>()
.into_iter()
.collect();
areas.sort_unstable();
if let Some(255) = areas.last() {
areas.pop();
areas.insert(0, 255);
}
areas
}
}
trait RecastPolyMeshDetailExt {
fn triangles(&self) -> Vec<[usize; 3]>;
fn common_vertices(&self) -> HashMap<u32, Vec<u32>>;
}
impl RecastPolyMeshDetailExt for RecastPolyMeshDetail {
/// Get the list of vertex IDs for each triangle in the mesh.
fn triangles(&self) -> Vec<[usize; 3]> {
self.meshes
.iter()
.flat_map(|mesh| {
self.triangles
.iter()
.skip(mesh.base_triangle_index as usize)
.take(mesh.triangle_count as usize)
.map(|[a, b, c]| {
[
*a as usize + mesh.base_vertex_index as usize,
*b as usize + mesh.base_vertex_index as usize,
*c as usize + mesh.base_vertex_index as usize,
]
})
})
.collect()
}
fn common_vertices(&self) -> HashMap<u32, Vec<u32>> {
self.vertices
.iter()
.enumerate()
.map(|(i, v)| {
(
i as u32,
self.vertices
.iter()
.enumerate()
.filter_map(|(i2, v2)| (v == v2).then_some(i2 as u32))
.collect(),
)
})
.collect()
}
}
impl From<RecastPolyMeshDetail> for Mesh {
fn from(detailed_mesh: RecastPolyMeshDetail) -> Self {
let common = detailed_mesh.common_vertices();
let mut layer =
Layer::new(
detailed_mesh
.vertices
.iter()
.enumerate()
.map(|(i, v)| {
Vertex::new(
Vec2::new(v.x, v.z),
detailed_mesh
.triangles()
.iter()
.enumerate()
.filter_map(|(n, p)| {
common.get(&(i as u32)).unwrap().iter().find_map(|ii| {
p.contains(&(*ii as usize)).then_some(n as u32)
})
})
.collect(),
)
})
.collect(),
detailed_mesh
.triangles()
.into_iter()
.map(|[p0, p1, p2]| Polygon::new(vec![p2 as u32, p1 as u32, p0 as u32], false))
.collect(),
)
.unwrap();
layer.height = detailed_mesh.vertices.iter().map(|v| v.y).collect();
let mut detailed_navmesh = Mesh {
layers: vec![layer],
..Default::default()
};
detailed_navmesh.reorder_neighbors_ccw_and_fix_corners();
detailed_navmesh.update_is_one_way();
#[cfg(not(feature = "no-default-baking"))]
detailed_navmesh.bake();
detailed_navmesh
}
}
/// A combined mesh from recast
#[derive(Debug, Clone)]
pub struct RecastFullMesh {
rasterised: RecastPolyMesh,
detailed: RecastPolyMeshDetail,
}
impl RecastFullMesh {
/// Create a new `RecastFullMesh` from the combined polygon mesh and detailed mesh from recast.
pub fn new(rasterised: RecastPolyMesh, detailed: RecastPolyMeshDetail) -> Self {
Self {
rasterised,
detailed,
}
}
fn triangles_with_mesh_info(&self) -> Vec<PolygonWithMeshInfo> {
self.detailed
.meshes
.iter()
.zip(self.rasterised.areas.iter())
.flat_map(|(mesh, mesh_area)| {
self.detailed
.triangles
.iter()
.skip(mesh.base_triangle_index as usize)
.take(mesh.triangle_count as usize)
.map(|[a, b, c]| PolygonWithMeshInfo {
vertices: [
*a as usize + mesh.base_vertex_index as usize,
*b as usize + mesh.base_vertex_index as usize,
*c as usize + mesh.base_vertex_index as usize,
],
mesh_area: mesh_area.0,
})
})
.collect()
}
}
struct PolygonWithMeshInfo {
vertices: [usize; 3],
mesh_area: u8,
}
impl From<RecastFullMesh> for Mesh {
fn from(full: RecastFullMesh) -> Self {
let common = full.detailed.common_vertices();
let triangles_with_mesh_info = full.triangles_with_mesh_info();
let areas = full.rasterised.areas();
let reindexed_polygons: HashMap<u8, HashMap<usize, u32>> = areas
.iter()
.map(|area| {
(
*area,
triangles_with_mesh_info
.iter()
.enumerate()
.filter_map(|(original_index, polygon)| {
(*area == polygon.mesh_area).then_some(original_index)
})
.enumerate()
.map(|(layer_index, original_index)| {
(
original_index,
U32Layer::from_layer_and_polygon(
if *area == 255 { 0 } else { *area },
layer_index as u32,
),
)
})
.collect::<HashMap<usize, u32>>(),
)
})
.collect();
let layers = areas
.iter()
.map(|area| {
let mut layer = Layer {
vertices: full
.detailed
.vertices
.iter()
.enumerate()
.map(|(vertex_index, vertex)| {
Vertex::new(
vertex.xz(),
triangles_with_mesh_info
.iter()
.enumerate()
.filter_map(|(polygon_index, polygon)| {
common.get(&(vertex_index as u32)).unwrap().iter().find_map(
|common_vertex_index| {
polygon
.vertices
.contains(&(*common_vertex_index as usize))
.then(|| {
reindexed_polygons
.get(&polygon.mesh_area)
.unwrap()
.get(&polygon_index)
.cloned()
})
.flatten()
},
)
})
.collect(),
)
})
.collect(),
polygons: triangles_with_mesh_info
.iter()
.filter(|polygon| polygon.mesh_area == *area)
.map(|polygon| {
Polygon::new(
vec![
polygon.vertices[2] as u32,
polygon.vertices[1] as u32,
polygon.vertices[0] as u32,
],
false,
)
})
.collect(),
..Default::default()
};
layer.height = full.detailed.vertices.iter().map(|v| v.y).collect();
// TODO: islands baking doesn't work on stitched layers, don't do it for now
#[cfg(not(feature = "no-default-baking"))]
layer.bake_polygon_finder();
layer
})
.collect();
let mut full_navmesh = Mesh {
layers,
..Default::default()
};
if !areas.is_empty() {
full_navmesh.remove_useless_vertices();
}
full_navmesh.reorder_neighbors_ccw_and_fix_corners();
full_navmesh.update_is_one_way();
full_navmesh
}
}