diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index 5c5a2531..07b58701 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -23,6 +23,7 @@ 3. This notice may not be removed or altered from any source distribution.
using System.Linq;
using System.Threading.Tasks;
using DotRecast.Core;
+using DotRecast.Core.Collections;
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Detour.Dynamic.Io;
using DotRecast.Recast;
@@ -63,7 +64,7 @@ public DtDynamicNavMesh(DtVoxelFile voxelFile)
navMeshParams.orig.Y = voxelFile.bounds[1];
navMeshParams.orig.Z = voxelFile.bounds[2];
navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
- navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ: voxelFile.bounds[5] - voxelFile.bounds[2];
+ navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ : voxelFile.bounds[5] - voxelFile.bounds[2];
navMeshParams.maxTiles = voxelFile.tiles.Count;
navMeshParams.maxPolys = 0x8000;
foreach (var t in voxelFile.tiles)
@@ -230,6 +231,8 @@ private bool UpdateNavMesh()
{
if (_dirty)
{
+ _dirty = false;
+
DtNavMesh navMesh = new DtNavMesh();
navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY);
@@ -239,7 +242,6 @@ private bool UpdateNavMesh()
}
_navMesh = navMesh;
- _dirty = false;
return true;
}
@@ -267,5 +269,21 @@ public List<RcBuilderResult> RecastResults()
{
return _tiles.Values.Select(t => t.recastResult).ToList();
}
+
+ public void NavMesh(DtNavMesh mesh)
+ {
+ _tiles.Values.ForEach(t =>
+ {
+ const int MAX_NEIS = 32;
+ DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+ int nneis = mesh.GetTilesAt(t.voxelTile.tileX, t.voxelTile.tileZ, tiles, MAX_NEIS);
+ if (0 < nneis)
+ {
+ t.SetMeshData(tiles[0].data);
+ }
+ });
+ _navMesh = mesh;
+ _dirty = false;
+ }
}
}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
index bf844375..17a15754 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
@@ -189,5 +189,10 @@ public void AddTo(DtNavMesh navMesh)
id = 0;
}
}
+
+ public void SetMeshData(DtMeshData data)
+ {
+ this.meshData = data;
+ }
}
}
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
index 2f11aeee..deb60c33 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
@@ -1,3 +1,4 @@
+using System;
using System.Collections.Generic;
using System.IO;
using System.Threading.Tasks;
@@ -6,6 +7,7 @@
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Detour.Dynamic.Io;
using DotRecast.Detour.Dynamic.Test.Io;
+using DotRecast.Detour.Io;
using NUnit.Framework;
namespace DotRecast.Detour.Dynamic.Test;
@@ -78,4 +80,101 @@ public void E2eTest()
// path length should be back to the initial value
Assert.That(path.Count, Is.EqualTo(16));
}
+
+
+ [Test]
+ public void ShouldSaveAndLoadDynamicNavMesh()
+ {
+ using var writerMs = new MemoryStream();
+ using var bw = new BinaryWriter(writerMs);
+
+
+ int maxVertsPerPoly = 6;
+ // load voxels from file
+
+ {
+ byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+ using var readMs = new MemoryStream(bytes);
+ using var br = new BinaryReader(readMs);
+
+ DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+ DtVoxelFile f = reader.Read(br);
+
+ // create dynamic navmesh
+ DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+
+ // build navmesh asynchronously using multiple threads
+ mesh.Build(Task.Factory);
+
+ // Save the resulting nav mesh and re-use it
+ new DtMeshSetWriter().Write(bw, mesh.NavMesh(), RcByteOrder.LITTLE_ENDIAN, true);
+ maxVertsPerPoly = mesh.NavMesh().GetMaxVertsPerPoly();
+ }
+
+ {
+ byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+ using var readMs = new MemoryStream(bytes);
+ using var br = new BinaryReader(readMs);
+
+ // load voxels from file
+ DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+ DtVoxelFile f = reader.Read(br);
+
+ // create dynamic navmesh
+ DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+ // use the saved nav mesh instead of building from scratch
+ DtNavMesh navMesh = new DtMeshSetReader().Read(new RcByteBuffer(writerMs.ToArray()), maxVertsPerPoly);
+ mesh.NavMesh(navMesh);
+
+ DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
+ IDtQueryFilter filter = new DtQueryDefaultFilter();
+
+ // find path
+ _ = query.FindNearestPoly(START_POS, EXTENT, filter, out var startNearestRef, out var startNearestPos, out var _);
+ _ = query.FindNearestPoly(END_POS, EXTENT, filter, out var endNearestRef, out var endNearestPos, out var _);
+
+ List<long> path = new List<long>();
+ query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+ // check path length without any obstacles
+ Assert.That(path.Count, Is.EqualTo(16));
+
+ // place obstacle
+ DtCollider colldier = new DtSphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
+ long colliderId = mesh.AddCollider(colldier);
+
+ // update navmesh asynchronously
+ mesh.Update(Task.Factory);
+
+ // create new query
+ query = new DtNavMeshQuery(mesh.NavMesh());
+
+ // find path again
+ _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+ _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+ path = new List<long>();
+ query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+ // check path length with obstacles
+ Assert.That(path.Count, Is.EqualTo(19));
+
+ // remove obstacle
+ mesh.RemoveCollider(colliderId);
+ // update navmesh asynchronously
+ mesh.Update(Task.Factory);
+
+ // create new query
+ query = new DtNavMeshQuery(mesh.NavMesh());
+ // find path one more time
+ _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+ _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+ path = new List<long>();
+ query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+ // path length should be back to the initial value
+ Assert.That(path.Count, Is.EqualTo(16));
+ }
+ }
}
\ No newline at end of file