using System.Collections.Generic; namespace UnityEngine.AI { public enum CollectObjects { All = 0, Volume = 1, Children = 2, } [ExecuteInEditMode] [DefaultExecutionOrder(-102)] [AddComponentMenu("Navigation/NavMeshSurface", 30)] [HelpURL("https://github.com/Unity-Technologies/NavMeshComponents#documentation-draft")] public class NavMeshSurface : MonoBehaviour { [SerializeField] int m_AgentTypeID; public int agentTypeID { get { return m_AgentTypeID; } set { m_AgentTypeID = value; } } [SerializeField] CollectObjects m_CollectObjects = CollectObjects.All; public CollectObjects collectObjects { get { return m_CollectObjects; } set { m_CollectObjects = value; } } [SerializeField] Vector3 m_Size = new Vector3(10.0f, 10.0f, 10.0f); public Vector3 size { get { return m_Size; } set { m_Size = value; } } [SerializeField] Vector3 m_Center = new Vector3(0, 2.0f, 0); public Vector3 center { get { return m_Center; } set { m_Center = value; } } [SerializeField] LayerMask m_LayerMask = ~0; public LayerMask layerMask { get { return m_LayerMask; } set { m_LayerMask = value; } } [SerializeField] NavMeshCollectGeometry m_UseGeometry = NavMeshCollectGeometry.RenderMeshes; public NavMeshCollectGeometry useGeometry { get { return m_UseGeometry; } set { m_UseGeometry = value; } } [SerializeField] int m_DefaultArea; public int defaultArea { get { return m_DefaultArea; } set { m_DefaultArea = value; } } [SerializeField] bool m_IgnoreNavMeshAgent = true; public bool ignoreNavMeshAgent { get { return m_IgnoreNavMeshAgent; } set { m_IgnoreNavMeshAgent = value; } } [SerializeField] bool m_IgnoreNavMeshObstacle = true; public bool ignoreNavMeshObstacle { get { return m_IgnoreNavMeshObstacle; } set { m_IgnoreNavMeshObstacle = value; } } [SerializeField] bool m_OverrideTileSize; public bool overrideTileSize { get { return m_OverrideTileSize; } set { m_OverrideTileSize = value; } } [SerializeField] int m_TileSize = 256; public int tileSize { get { return m_TileSize; } set { m_TileSize = value; } } [SerializeField] bool m_OverrideVoxelSize; public bool overrideVoxelSize { get { return m_OverrideVoxelSize; } set { m_OverrideVoxelSize = value; } } [SerializeField] float m_VoxelSize; public float voxelSize { get { return m_VoxelSize; } set { m_VoxelSize = value; } } // Currently not supported advanced options [SerializeField] bool m_BuildHeightMesh; public bool buildHeightMesh { get { return m_BuildHeightMesh; } set { m_BuildHeightMesh = value; } } // Reference to whole scene navmesh data asset. [UnityEngine.Serialization.FormerlySerializedAs("m_BakedNavMeshData")] [SerializeField] NavMeshData m_NavMeshData; public NavMeshData navMeshData { get { return m_NavMeshData; } set { m_NavMeshData = value; } } // Do not serialize - runtime only state. NavMeshDataInstance m_NavMeshDataInstance; Vector3 m_LastPosition = Vector3.zero; Quaternion m_LastRotation = Quaternion.identity; static readonly List s_NavMeshSurfaces = new List(); public static List activeSurfaces { get { return s_NavMeshSurfaces; } } void OnEnable() { Register(this); AddData(); } void OnDisable() { RemoveData(); Unregister(this); } public void AddData() { if (m_NavMeshDataInstance.valid) return; if (m_NavMeshData != null) { m_NavMeshDataInstance = NavMesh.AddNavMeshData(m_NavMeshData, transform.position, transform.rotation); m_NavMeshDataInstance.owner = this; } m_LastPosition = transform.position; m_LastRotation = transform.rotation; } public void RemoveData() { m_NavMeshDataInstance.Remove(); m_NavMeshDataInstance = new NavMeshDataInstance(); } public NavMeshBuildSettings GetBuildSettings() { var buildSettings = NavMesh.GetSettingsByID(m_AgentTypeID); if (buildSettings.agentTypeID == -1) { Debug.LogWarning("No build settings for agent type ID " + agentTypeID, this); buildSettings.agentTypeID = m_AgentTypeID; } if (overrideTileSize) { buildSettings.overrideTileSize = true; buildSettings.tileSize = tileSize; } if (overrideVoxelSize) { buildSettings.overrideVoxelSize = true; buildSettings.voxelSize = voxelSize; } return buildSettings; } public void BuildNavMesh() { var sources = CollectSources(); // Use unscaled bounds - this differs in behaviour from e.g. collider components. // But is similar to reflection probe - and since navmesh data has no scaling support - it is the right choice here. var sourcesBounds = new Bounds(m_Center, Abs(m_Size)); if (m_CollectObjects == CollectObjects.All || m_CollectObjects == CollectObjects.Children) { sourcesBounds = CalculateWorldBounds(sources); } var data = NavMeshBuilder.BuildNavMeshData(GetBuildSettings(), sources, sourcesBounds, transform.position, transform.rotation); if (data != null) { data.name = gameObject.name; RemoveData(); m_NavMeshData = data; if (isActiveAndEnabled) AddData(); } } public AsyncOperation UpdateNavMesh(NavMeshData data) { var sources = CollectSources(); // Use unscaled bounds - this differs in behaviour from e.g. collider components. // But is similar to reflection probe - and since navmesh data has no scaling support - it is the right choice here. var sourcesBounds = new Bounds(m_Center, Abs(m_Size)); if (m_CollectObjects == CollectObjects.All || m_CollectObjects == CollectObjects.Children) sourcesBounds = CalculateWorldBounds(sources); return NavMeshBuilder.UpdateNavMeshDataAsync(data, GetBuildSettings(), sources, sourcesBounds); } static void Register(NavMeshSurface surface) { if (s_NavMeshSurfaces.Count == 0) NavMesh.onPreUpdate += UpdateActive; if (!s_NavMeshSurfaces.Contains(surface)) s_NavMeshSurfaces.Add(surface); } static void Unregister(NavMeshSurface surface) { s_NavMeshSurfaces.Remove(surface); if (s_NavMeshSurfaces.Count == 0) NavMesh.onPreUpdate -= UpdateActive; } static void UpdateActive() { for (var i = 0; i < s_NavMeshSurfaces.Count; ++i) s_NavMeshSurfaces[i].UpdateDataIfTransformChanged(); } void AppendModifierVolumes(ref List sources) { // Modifiers List modifiers; if (m_CollectObjects == CollectObjects.Children) { modifiers = new List(GetComponentsInChildren()); modifiers.RemoveAll(x => !x.isActiveAndEnabled); } else { modifiers = NavMeshModifierVolume.activeModifiers; } foreach (var m in modifiers) { if ((m_LayerMask & (1 << m.gameObject.layer)) == 0) continue; if (!m.AffectsAgentType(m_AgentTypeID)) continue; var mcenter = m.transform.TransformPoint(m.center); var scale = m.transform.lossyScale; var msize = new Vector3(m.size.x * Mathf.Abs(scale.x), m.size.y * Mathf.Abs(scale.y), m.size.z * Mathf.Abs(scale.z)); var src = new NavMeshBuildSource(); src.shape = NavMeshBuildSourceShape.ModifierBox; src.transform = Matrix4x4.TRS(mcenter, m.transform.rotation, Vector3.one); src.size = msize; src.area = m.area; sources.Add(src); } } List CollectSources() { var sources = new List(); var markups = new List(); List modifiers; if (m_CollectObjects == CollectObjects.Children) { modifiers = new List(GetComponentsInChildren()); modifiers.RemoveAll(x => !x.isActiveAndEnabled); } else { modifiers = NavMeshModifier.activeModifiers; } foreach (var m in modifiers) { if ((m_LayerMask & (1 << m.gameObject.layer)) == 0) continue; if (!m.AffectsAgentType(m_AgentTypeID)) continue; var markup = new NavMeshBuildMarkup(); markup.root = m.transform; markup.overrideArea = m.overrideArea; markup.area = m.area; markup.ignoreFromBuild = m.ignoreFromBuild; markups.Add(markup); } if (m_CollectObjects == CollectObjects.All) { NavMeshBuilder.CollectSources(null, m_LayerMask, m_UseGeometry, m_DefaultArea, markups, sources); } else if (m_CollectObjects == CollectObjects.Children) { NavMeshBuilder.CollectSources(transform, m_LayerMask, m_UseGeometry, m_DefaultArea, markups, sources); } else if (m_CollectObjects == CollectObjects.Volume) { Matrix4x4 localToWorld = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one); var worldBounds = GetWorldBounds(localToWorld, new Bounds(m_Center, m_Size)); NavMeshBuilder.CollectSources(worldBounds, m_LayerMask, m_UseGeometry, m_DefaultArea, markups, sources); } if (m_IgnoreNavMeshAgent) sources.RemoveAll((x) => (x.component != null && x.component.gameObject.GetComponent() != null)); if (m_IgnoreNavMeshObstacle) sources.RemoveAll((x) => (x.component != null && x.component.gameObject.GetComponent() != null)); AppendModifierVolumes(ref sources); return sources; } static Vector3 Abs(Vector3 v) { return new Vector3(Mathf.Abs(v.x), Mathf.Abs(v.y), Mathf.Abs(v.z)); } static Bounds GetWorldBounds(Matrix4x4 mat, Bounds bounds) { var absAxisX = Abs(mat.MultiplyVector(Vector3.right)); var absAxisY = Abs(mat.MultiplyVector(Vector3.up)); var absAxisZ = Abs(mat.MultiplyVector(Vector3.forward)); var worldPosition = mat.MultiplyPoint(bounds.center); var worldSize = absAxisX * bounds.size.x + absAxisY * bounds.size.y + absAxisZ * bounds.size.z; return new Bounds(worldPosition, worldSize); } Bounds CalculateWorldBounds(List sources) { // Use the unscaled matrix for the NavMeshSurface Matrix4x4 worldToLocal = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one); worldToLocal = worldToLocal.inverse; var result = new Bounds(); foreach (var src in sources) { switch (src.shape) { case NavMeshBuildSourceShape.Mesh: { var m = src.sourceObject as Mesh; result.Encapsulate(GetWorldBounds(worldToLocal * src.transform, m.bounds)); break; } case NavMeshBuildSourceShape.Terrain: { // Terrain pivot is lower/left corner - shift bounds accordingly var t = src.sourceObject as TerrainData; result.Encapsulate(GetWorldBounds(worldToLocal * src.transform, new Bounds(0.5f * t.size, t.size))); break; } case NavMeshBuildSourceShape.Box: case NavMeshBuildSourceShape.Sphere: case NavMeshBuildSourceShape.Capsule: case NavMeshBuildSourceShape.ModifierBox: result.Encapsulate(GetWorldBounds(worldToLocal * src.transform, new Bounds(Vector3.zero, src.size))); break; } } // Inflate the bounds a bit to avoid clipping co-planar sources result.Expand(0.1f); return result; } bool HasTransformChanged() { if (m_LastPosition != transform.position) return true; if (m_LastRotation != transform.rotation) return true; return false; } void UpdateDataIfTransformChanged() { if (HasTransformChanged()) { RemoveData(); AddData(); } } #if UNITY_EDITOR bool UnshareNavMeshAsset() { // Nothing to unshare if (m_NavMeshData == null) return false; // Prefab parent owns the asset reference var prefabType = UnityEditor.PrefabUtility.GetPrefabType(this); if (prefabType == UnityEditor.PrefabType.Prefab) return false; // An instance can share asset reference only with its prefab parent var prefab = UnityEditor.PrefabUtility.GetPrefabParent(this) as NavMeshSurface; if (prefab != null && prefab.navMeshData == navMeshData) return false; // Don't allow referencing an asset that's assigned to another surface for (var i = 0; i < s_NavMeshSurfaces.Count; ++i) { var surface = s_NavMeshSurfaces[i]; if (surface != this && surface.m_NavMeshData == m_NavMeshData) return true; } // Asset is not referenced by known surfaces return false; } void OnValidate() { if (UnshareNavMeshAsset()) { Debug.LogWarning("Duplicating NavMeshSurface does not duplicate the referenced navmesh data", this); m_NavMeshData = null; } var settings = NavMesh.GetSettingsByID(m_AgentTypeID); if (settings.agentTypeID != -1) { // When unchecking the override control, revert to automatic value. const float kMinVoxelSize = 0.01f; if (!m_OverrideVoxelSize) m_VoxelSize = settings.agentRadius / 3.0f; if (m_VoxelSize < kMinVoxelSize) m_VoxelSize = kMinVoxelSize; // When unchecking the override control, revert to default value. const int kMinTileSize = 16; const int kMaxTileSize = 1024; const int kDefaultTileSize = 256; if (!m_OverrideTileSize) m_TileSize = kDefaultTileSize; // Make sure tilesize is in sane range. if (m_TileSize < kMinTileSize) m_TileSize = kMinTileSize; if (m_TileSize > kMaxTileSize) m_TileSize = kMaxTileSize; } } #endif } }