371 lines
14 KiB
C#
371 lines
14 KiB
C#
using DotRecast.Core.Numerics;
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using DotRecast.Detour;
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using DotRecast.Recast;
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using System.Buffers; // 引入 ArrayPool
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using System.Collections.Concurrent;
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using System.Numerics;
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using XNet.Business.Parser;
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namespace XNet.Business.PathNavigation
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{
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public class NavMeshManager
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{
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// --- 核心类：地图资源模板 (共享) ---
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private class NavMeshTemplate : IDisposable
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{
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public string TemplateId { get; }
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public DtNavMesh NavMesh { get; }
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public DtNavMeshQuery Query { get; }
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public ReaderWriterLockSlim RwLock { get; }
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private bool _disposed = false;
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public NavMeshTemplate(string id, DtNavMesh mesh, DtNavMeshQuery query)
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{
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TemplateId = id;
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NavMesh = mesh;
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Query = query;
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RwLock = new ReaderWriterLockSlim();
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}
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public void Dispose()
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{
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Dispose(true);
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GC.SuppressFinalize(this);
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}
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protected virtual void Dispose(bool disposing)
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{
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if (_disposed) return;
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if (disposing)
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{
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// 释放托管资源
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RwLock?.Dispose();
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//// 释放DotRecast的非托管资源
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//Query?.Dispose();
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//NavMesh?.Dispose();
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}
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_disposed = true;
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}
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~NavMeshTemplate()
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{
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Dispose(false);
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}
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}
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// --- 数据存储 ---
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private readonly ConcurrentDictionary<string, NavMeshTemplate> _templates = new();
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private readonly ConcurrentDictionary<string, string> _instanceMap = new();
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// 寻路配置 (SceneAgent 需要访问，改为 Public)
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private readonly DtQueryDefaultFilter _filter;
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private readonly RcVec3f _extents = new RcVec3f(20.0f, 20.0f, 20.0f);
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public DtQueryDefaultFilter Filter => _filter;
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public RcVec3f Extents => _extents;
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public NavMeshManager()
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{
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_filter = new DtQueryDefaultFilter(
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includeFlags: 0xFFFF,
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excludeFlags: 0,
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areaCost: new float[] { 1f, 1f, 1f, 1f, 1f, 1f }
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);
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}
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// ==========================================
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// 1. 资源管理
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// ==========================================
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public void LoadTemplate(string templateId, string objFilePath)
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{
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Console.WriteLine($"[NavMesh] 开始构建模板: {templateId} ...");
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NavMeshTemplate newTemplate = null;
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try
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{
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newTemplate = BuildTemplateInternal(templateId, objFilePath);
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[Error] 模板 {templateId} 构建失败: {ex.Message}");
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return;
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}
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_templates.AddOrUpdate(templateId,
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addValueFactory: (k) =>
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{
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Console.WriteLine($"[NavMesh] 模板 {k} 加载完成。");
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return newTemplate;
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},
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updateValueFactory: (k, old) =>
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{
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Console.WriteLine($"[NavMesh] 模板 {k} 更新 (Reload)。");
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return newTemplate;
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});
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}
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public void UnloadTemplate(string templateId)
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{
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if (_templates.TryRemove(templateId, out var template))
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{
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template.Dispose();
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Console.WriteLine($"[NavMesh] 模板 {templateId} 已卸载。");
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}
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}
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// ==========================================
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// 2. 副本实例管理
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// ==========================================
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public bool CreateInstance(string roomId, string templateId)
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{
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if (!_templates.ContainsKey(templateId))
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{
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Console.WriteLine($"[Error] 无法创建实例 {roomId}, 资源 {templateId} 不存在。");
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return false;
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}
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_instanceMap[roomId] = templateId;
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return true;
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}
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public void RemoveInstance(string roomId)
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{
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_instanceMap.TryRemove(roomId, out _);
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}
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public void ClearInstanceMap()
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{
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_instanceMap.Clear();
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}
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// ==========================================
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// 3. 【新增】供 SceneAgent 使用的辅助方法
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// ==========================================
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/// <summary>
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/// 获取指定副本实例底层的 NavMesh 和 Query 对象
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/// 注意：返回的对象是共享资源，请勿 Dispose，也请勿修改其拓扑结构
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/// </summary>
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public bool GetNavMeshAndQuery(string roomId, out DtNavMesh navMesh, out DtNavMeshQuery query)
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{
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navMesh = null!;
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query = null!;
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if (!_instanceMap.TryGetValue(roomId, out var templateId)) return false;
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if (!_templates.TryGetValue(templateId, out var template)) return false;
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navMesh = template.NavMesh;
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query = template.Query;
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return true;
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}
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public RcVec3f? GetClosetPoint(string roomId, Vector3 originPt, out long startRef)
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{
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startRef = 0;
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if (!_instanceMap.TryGetValue(roomId, out var templateId)) return null;
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if (!_templates.TryGetValue(templateId, out var template)) return null;
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var query = template.Query;
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var startPos = new RcVec3f(originPt.X, originPt.Y, originPt.Z);
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query.FindNearestPoly(startPos, _extents, _filter, out startRef, out var startPt, out var _);
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return startPt;
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}
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// ==========================================
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// 4. 高性能寻路
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// ==========================================
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public List<Vector3>? FindPath(string roomId, Vector3 start, Vector3 end)
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{
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if (!_instanceMap.TryGetValue(roomId, out var templateId)) return null;
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if (!_templates.TryGetValue(templateId, out var template)) return null;
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const int MAX_POLYS = 256;
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const int MAX_SMOOTH = 256;
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long[] polyBuffer = ArrayPool<long>.Shared.Rent(MAX_POLYS);
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DtStraightPath[] straightPathBuffer = ArrayPool<DtStraightPath>.Shared.Rent(MAX_SMOOTH);
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template.RwLock.EnterReadLock();
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try
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{
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var query = template.Query;
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var startPos = new RcVec3f(start.X, start.Y, start.Z);
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var endPos = new RcVec3f(end.X, end.Y, end.Z);
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query.FindNearestPoly(startPos, _extents, _filter, out long startRef, out var startPt, out var _);
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query.FindNearestPoly(endPos, _extents, _filter, out long endRef, out var endPt, out var _);
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if (startRef == 0 || endRef == 0) return null;
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var status = query.FindPath(
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startRef, endRef, startPt, endPt, _filter,
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polyBuffer, out int pathCount, MAX_POLYS
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);
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if (status.Failed() || pathCount == 0) return null;
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query.FindStraightPath(
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startPt, endPt, polyBuffer.AsSpan(0, pathCount), pathCount,
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straightPathBuffer, out int straightPathCount, MAX_SMOOTH, 0
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);
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var result = new List<Vector3>(straightPathCount);
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for (int i = 0; i < straightPathCount; i++)
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{
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var pos = straightPathBuffer[i].pos;
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result.Add(new Vector3(pos.X, pos.Y, pos.Z));
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}
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return result;
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}
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finally
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{
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template.RwLock.ExitReadLock();
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ArrayPool<long>.Shared.Return(polyBuffer, clearArray: true);
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ArrayPool<DtStraightPath>.Shared.Return(straightPathBuffer, clearArray: true);
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}
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}
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// ==========================================
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// 5. 内部构建逻辑
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// ==========================================
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private NavMeshTemplate BuildTemplateInternal(string id, string objFilePath)
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{
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var objData = SimpleObjParser.Parse(objFilePath);
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var geom = new SimpleInputGeomProvider(objData.Vertices, objData.Indices);
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// --- 2. 配置烘焙参数 ---
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var walkableAreaMod = new RcAreaModification(63);
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var config = new RcConfig(
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useTiles: false, // 单块 Mesh
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tileSizeX: 0,
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tileSizeZ: 0,
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borderSize: 0,
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partition: RcPartition.WATERSHED,
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cellSize: 0.1f,
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cellHeight: 0.1f,
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agentMaxSlope: 45f, // 允许 45 度坡
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agentHeight: 0.3f,
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agentRadius: 0.1f, // 极小半径
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agentMaxClimb: 0.5f,
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minRegionArea: 0.0f, // 不过滤小区域
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mergeRegionArea: 0.0f,
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edgeMaxLen: 12.0f,
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edgeMaxError: 1.3f,
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vertsPerPoly: 6,
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detailSampleDist: 6.0f,
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detailSampleMaxError: 1.0f,
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filterLowHangingObstacles: false, // 过滤开关
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filterLedgeSpans: false,
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filterWalkableLowHeightSpans: false,
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walkableAreaMod: walkableAreaMod,
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buildMeshDetail: true
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);
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// --- 3. 构建 NavMesh ---
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RcBuilder builder = new RcBuilder();
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RcVec3f bmin = geom.GetMeshBoundsMin();
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RcVec3f bmax = geom.GetMeshBoundsMax();
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// 【关键修复】确保高度
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if (Math.Abs(bmax.Y - bmin.Y) < 0.001f)
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{
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Console.WriteLine("Flat mesh detected. Increasing Bounds Height...");
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bmax.Y += 5.0f;
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bmin.Y -= 0.5f;
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}
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else // 即使不是绝对平面，如果太薄，也强制加高
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{
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bmax.Y += 5.0f;
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bmin.Y -= 0.5f;
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}
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//Console.WriteLine($"Adjusted Bounds: Min({bmin.X},{bmin.Y},{bmin.Z}) Max({bmax.X},{bmax.Y},{bmax.Z})");
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//Console.WriteLine($"Adjusted Size: {bmax.X - bmin.X}, {bmax.Y - bmin.Y}, {bmax.Z - bmin.Z}");
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var builderConfig = new RcBuilderConfig(config, bmin, bmax);
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if (builderConfig.width <= 0 || builderConfig.height <= 0)
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{
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throw new Exception($"网格尺寸计算错误！Width: {builderConfig.width}, Height: {builderConfig.height}.");
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}
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RcBuilderResult result = builder.Build(geom, builderConfig, false);
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var meshData = result.Mesh;
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// 检查点：npolys 应该是 > 0
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if (meshData.npolys == 0)
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{
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throw new Exception($"Recast 构建完成，但生成了 0 个多边形。请检查 OBJ 数据和参数。");
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}
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// 【强制修复】设置 Flags 为 1 (Walkable)
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for (int i = 0; i < meshData.npolys; ++i)
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{
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meshData.flags[i] = 1;
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}
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// --- 4. 转换为 Detour 数据 ---
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var meshDetail = result.MeshDetail;
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var navMeshDataParams = new DtNavMeshCreateParams
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{
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verts = meshData.verts,
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vertCount = meshData.nverts,
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polys = meshData.polys,
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polyFlags = meshData.flags,
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polyAreas = meshData.areas,
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polyCount = meshData.npolys,
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nvp = meshData.nvp,
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detailMeshes = meshDetail?.meshes ?? new int[0],
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detailVerts = meshDetail?.verts ?? new float[0],
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detailVertsCount = meshDetail?.nverts ?? 0,
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detailTris = meshDetail?.tris ?? new int[0],
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detailTriCount = meshDetail?.ntris ?? 0,
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offMeshConVerts = new float[0],
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offMeshConRad = new float[0],
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offMeshConDir = new int[0],
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offMeshConAreas = new int[0],
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offMeshConFlags = new int[0],
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offMeshConUserID = new int[0], // 确保是 uint[]
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offMeshConCount = 0,
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bmin = meshData.bmin,
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bmax = meshData.bmax,
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walkableHeight = config.WalkableHeightWorld,
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walkableRadius = config.WalkableRadiusWorld,
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walkableClimb = config.WalkableClimbWorld,
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cs = config.Cs,
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ch = config.Ch,
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buildBvTree = true
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};
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var navMeshData = DtNavMeshBuilder.CreateNavMeshData(navMeshDataParams);
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if (navMeshData == null) throw new Exception("Failed to create Detour NavMeshData.");
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// 1. 初始化一个空的 NavMesh 容器
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var dtParams = new DtNavMeshParams();
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dtParams.orig = navMeshData.header.bmin; // 设置原点
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dtParams.tileWidth = navMeshData.header.bmax.X - navMeshData.header.bmin.X; // 设置块宽
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dtParams.tileHeight = navMeshData.header.bmax.Z - navMeshData.header.bmin.Z; // 设置块高
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dtParams.maxTiles = 1; // 只有一块
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dtParams.maxPolys = navMeshData.header.polyCount;
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var navMesh = new DtNavMesh();
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// 使用 Init 方法加载数据
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navMesh.Init(dtParams, 6);
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// 关键：添加导航数据Tile到NavMesh
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navMesh.AddTile(navMeshData, 0, 0, out long tileRef);
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if (tileRef == 0)
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{
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throw new Exception("Failed to add tile to NavMesh!");
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}
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var navMeshQuery = new DtNavMeshQuery(navMesh);
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return new NavMeshTemplate(id, navMesh, navMeshQuery);
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}
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}
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} |