NavMesh只制作可移动的导航网，清除多余不可走区域

只制作可移动的导航网。它使存储文件大小减小并提高性能。它消除了迁移到随机区域的问题。添加链接描述
1.如何使用
**加粗样式**
2.创建一个包含“NavMeshCleaner”组件的对象。Andadd指向可定制区域。

按住控制键并单击添加点。如果要移动它，请按
输入上的control键并单击。您不需要在此处添加多点筛选
3.单击计算按钮
在这里插入图片描述
非步行问题表已取消。
在这里插入图片描述
4.重建一个无碱问题的NavMesh。完成。
在这里插入图片描述
提示
如果NvMesh的坡度较大，它仍可能成为不可步行的区域。在这种情况下，复制NavMeshCleaner对象并创建新的非行走问题表。

using System.Collections.Generic;
using UnityEngine;
#if UNITY_5_3_OR_NEWER
using UnityEngine.AI;
#endif
#if UNITY_EDITOR
using UnityEditor;
#endifpublic class NavMeshCleaner : MonoBehaviour
{public List<Vector3> m_WalkablePoint = new List<Vector3>();public float m_Height = 1.0f;public float m_Offset = 0.0f;public int m_MidLayerCount = 3;#if UNITY_EDITORprivate void Awake(){SetMeshVisible(false);}List<GameObject> m_Child = new List<GameObject> ();void Reset(){Undo.RecordObject(this, "Reset");for (int i = 0; i < m_Child.Count; i++){Undo.DestroyObjectImmediate(m_Child[i]);}m_Child.Clear();}void SetMeshVisible(bool visible){for (int i = 0; i < m_Child.Count; i++)m_Child[i].SetActive(visible);}public bool HasMesh(){return m_Child.Count != 0 ? true : false;}public bool MeshVisible(){if (m_Child.Count > 0)return m_Child[0].activeSelf;return false;}void Build(){Mesh[] m = CreateMesh();Undo.RegisterCreatedObjectUndo(this, "build");for (int i = 0; i < m.Length || i == 0; i++){GameObject o;if (i >= m_Child.Count){o = new GameObject();//o.hideFlags = HideFlags.DontSave;o.name = gameObject.name + "_Mesh(DontSave)";o.AddComponent<MeshFilter>();MeshRenderer meshrenderer = o.AddComponent<MeshRenderer>();meshrenderer.sharedMaterial = AssetDatabase.GetBuiltinExtraResource<Material>("Default-Diffuse.mat");o.transform.parent = transform;o.transform.localScale = Vector3.one;o.transform.localPosition = Vector3.zero;o.transform.localRotation = Quaternion.identity;GameObjectUtility.SetStaticEditorFlags(o, GameObjectUtility.GetStaticEditorFlags(gameObject) | StaticEditorFlags.NavigationStatic);GameObjectUtility.SetNavMeshArea(o, 1);m_Child.Add(o);Undo.RegisterCreatedObjectUndo(o, "");}else{o = m_Child[i].gameObject;}o.hideFlags = i == 0 ? (HideFlags.DontSave | HideFlags.HideInHierarchy) : m_Child[0].gameObject.hideFlags;MeshFilter meshfilter = m_Child[i].GetComponent<MeshFilter>();Undo.RecordObject(meshfilter, "MeshUpdate");meshfilter.sharedMesh = m.Length == 0 ? null : m[i];}while (m_Child.Count > m.Length){Undo.DestroyObjectImmediate(m_Child[m_Child.Count-1]);m_Child.RemoveAt(m_Child.Count-1);}}static int Find(Vector3[] vtx, int left, int right, Vector3 v, float key){int center = (left + right) / 2;if (center == left){for (int i = left; i < vtx.Length && vtx[i].x <= key + 0.002f; i++){if (Vector3.Magnitude(vtx[i] - v) <= 0.01f)return i;}return -1;}if (key <= vtx[center].x)return Find(vtx, left, center, v, key);elsereturn Find(vtx, center, right, v, key);}class Tri{public Tri(int i1, int i2, int i3) { this.i1 = i1; this.i2 = i2; this.i3 = i3; min = Mathf.Min(i1, i2, i3); max = Mathf.Max(i1, i2, i3); }public int i1, i2, i3;public int min, max;};class Edge{public Edge(int i1, int i2) { this.i1 = i1; this.i2 = i2; }public int i1, i2;};static bool Find(Edge[] edge, int left, int right, int i1, int i2){int center = (left + right) / 2;if (center == left){for (int i = left; i < edge.Length && edge[i].i1 <= i1; i++){if (edge[i].i1 == i1 && edge[i].i2 == i2)return true;}return false;}if (i1 <= edge[center].i1)return Find(edge, left, center, i1, i2);elsereturn Find(edge, center, right, i1, i2);}Mesh[] CreateMesh(){NavMeshTriangulation triangulatedNavMesh = NavMesh.CalculateTriangulation();Vector3[] navVertices = triangulatedNavMesh.vertices;List<Vector3> vertices = new List<Vector3>();vertices.AddRange(navVertices);vertices.Sort(delegate (Vector3 v1, Vector3 v2) { return v1.x == v2.x ? (v1.z == v2.z ? 0 : (v1.z < v2.z ? -1 : 1)) : (v1.x < v2.x ? -1 : 1); });Vector3[] v = vertices.ToArray();int[] table = new int[triangulatedNavMesh.vertices.Length];for (int i = 0; i < table.Length; i++){table[i] = Find(v, 0, vertices.Count, navVertices[i], navVertices[i].x - 0.001f);if ((i % 100) == 0)EditorUtility.DisplayProgressBar(string.Format("Export Nav-Mesh (Phase #1/3) {0}/{1}", i, table.Length), "Weld Vertex", Mathf.InverseLerp(0, table.Length, i));}int[] navTriangles = triangulatedNavMesh.indices;List <Tri> tri = new List <Tri> ();for (int i = 0; i < navTriangles.Length; i += 3)tri.Add(new Tri(table[navTriangles[i + 0]], table[navTriangles[i + 1]], table[navTriangles[i + 2]]));tri.Sort(delegate (Tri t1, Tri t2) { return t1.min == t2.min ? 0 : t1.min < t2.min ? -1 : 1; });int[] boundmin = new int[(tri.Count + 127) / 128];int[] boundmax = new int[boundmin.Length];for (int i = 0, c=0; i < tri.Count; i += 128, c++){int min = tri[i].min;int max = tri[i].max;for (int j = 1; j < 128 && i + j < tri.Count; j++){min = Mathf.Min(tri[i + j].min, min);max = Mathf.Max(tri[i + j].max, max);}boundmin[c] = min;boundmax[c] = max;}int[] triangles = new int[navTriangles.Length];for (int i = 0; i < triangles.Length; i += 3){triangles[i+0] = tri[i/3].i1;triangles[i+1] = tri[i/3].i2;triangles[i+2] = tri[i/3].i3;}List<int> groupidx = new List<int>();List<int> groupcount = new List<int>();int[] group = new int[triangles.Length / 3];for (int i = 0; i < triangles.Length; i += 3){int groupid = -1;int max = Mathf.Max(triangles[i], triangles[i + 1], triangles[i + 2]);int min = Mathf.Min(triangles[i], triangles[i + 1], triangles[i + 2]);for (int b=0, c=0; b < i; b+=3*128, c++){if (boundmin[c] > max || boundmax[c] < min)continue;for (int j=b; j < i && j < b+3*128; j+=3){if (tri[j / 3].min > max)break;if (tri[j / 3].max < min)continue;if (groupidx[group[j / 3]] == groupid)continue;for (int k = 0; k < 3; k++){int vi = triangles[j + k];if (triangles[i] == vi || triangles[i+1] == vi || triangles[i+2] == vi){if (groupid == -1){groupid = groupidx[group[j / 3]];group[i/3] = groupid;}else{int curgroup = groupidx[group[j / 3]];for (int l = 0; l < groupidx.Count; l++){if (groupidx[l] == curgroup)groupidx[l] = groupid;}}break;}}}}if (groupid == -1){groupid = groupidx.Count;group[i/3] = groupid;groupidx.Add(groupid);groupcount.Add(0);}if (((i / 3) % 100) == 0)EditorUtility.DisplayProgressBar("Collect (Phase #2/3)", "Classification Group", Mathf.InverseLerp(0, triangles.Length, i));}for (int i = 0; i < triangles.Length; i += 3){group[i / 3] = groupidx[group[i / 3]];groupcount[group[i / 3]]++;}List<Mesh> result = new List<Mesh>();List<Vector3> vtx = new List<Vector3>();List<int> indices = new List<int>();int[] newtable = new int[vertices.Count];for (int i = 0; i < newtable.Length; i++)newtable[i] = -1;Vector3[] walkpoint = m_WalkablePoint.ToArray();for (int g = 0; g < groupcount.Count; g++){if (groupcount[g] == 0)continue;List<Vector3> isolatevtx = new List<Vector3>();List<int> iolateidx = new List<int>();for (int i = 0; i < triangles.Length; i += 3){if (group[i / 3] == g){for (int j = 0; j < 3; j++){int idx = triangles[i + j];if (newtable[idx] == -1){newtable[idx] = isolatevtx.Count;isolatevtx.Add(transform.InverseTransformPoint(vertices[idx] + Vector3.up * m_Offset));}}iolateidx.Add(newtable[triangles[i + 0]]);iolateidx.Add(newtable[triangles[i + 1]]);iolateidx.Add(newtable[triangles[i + 2]]);}}if (Contains(isolatevtx.ToArray(), iolateidx.ToArray(), walkpoint) == true)continue;int maxvertex = 32768;if (vtx.Count > maxvertex || vtx.Count + isolatevtx.Count*(2+m_MidLayerCount) >= 65536){result.Add(CreateMesh(vtx.ToArray(), indices.ToArray()));vtx.Clear();indices.Clear();}Vector3 h = transform.InverseTransformVector(Vector3.up * m_Height);int vtxoffset = vtx.Count;int layer = 2 + m_MidLayerCount;for (int i = 0; i < isolatevtx.Count; i++){for(int j=0; j<layer; j++)vtx.Add(isolatevtx[i] + h * ((float)j / (layer-1)));}for (int i = 0; i < iolateidx.Count; i += 3){for (int j = 0; j < layer; j++){if (j == 0)indices.AddRange(new int[] { vtxoffset + iolateidx[i] * layer + j, vtxoffset + iolateidx[i + 2] * layer + j, vtxoffset + iolateidx[i + 1] * layer + j });elseindices.AddRange(new int[] { vtxoffset + iolateidx[i] * layer + j, vtxoffset + iolateidx[i + 1] * layer + j, vtxoffset + iolateidx[i + 2] * layer + j });}}if (m_Height > 0){List<Edge> edge = new List<Edge>();for (int i = 0; i < iolateidx.Count; i += 3){edge.Add(new Edge(iolateidx[i+0], iolateidx[i+1]));edge.Add(new Edge(iolateidx[i+1], iolateidx[i+2]));edge.Add(new Edge(iolateidx[i+2], iolateidx[i+0]));}edge.Sort(delegate (Edge e1, Edge e2) { return e1.i1 == e2.i1 ? 0 : (e1.i1 < e2.i1 ? -1 : 1); });Edge[] e = edge.ToArray();for (int i = 0; i < iolateidx.Count; i += 3){for (int i1 = 2, i2 = 0; i2 < 3; i1 = i2++){int v1 = iolateidx[i + i1];int v2 = iolateidx[i + i2];if (!Find(e, 0, edge.Count, v2, v1)){if (vtx.Count + 4 >= 65536){result.Add(CreateMesh(vtx.ToArray(), indices.ToArray()));vtx.Clear();indices.Clear();}indices.AddRange(new int[] { vtx.Count, vtx.Count + 1, vtx.Count + 3, vtx.Count, vtx.Count + 3, vtx.Count + 2 });vtx.AddRange(new Vector3[] { isolatevtx[v1], isolatevtx[v2], isolatevtx[v1]+h, isolatevtx[v2]+h });}}if ((i%600) == 0)EditorUtility.DisplayProgressBar("Collect (Phase #3/3)", "Create Mesh", Mathf.InverseLerp(0, groupcount.Count*100, g*100 + i * 100 / (i - iolateidx.Count)));}}EditorUtility.DisplayProgressBar("Collect (Phase #3/3)", "Create Mesh", Mathf.InverseLerp(0, groupcount.Count, g));}if (vtx.Count > 0){result.Add(CreateMesh(vtx.ToArray(), indices.ToArray()));}EditorUtility.ClearProgressBar();return result.ToArray();}static Mesh CreateMesh(Vector3[] vtx, int[] indices){Mesh m = new Mesh();m.hideFlags = HideFlags.DontSave;m.vertices = vtx;m.SetIndices(indices, MeshTopology.Triangles, 0);m.RecalculateNormals();m.RecalculateBounds();return m;}static bool Contains(Vector3[] vtx, int[] indices, Vector3[] points){for (int j = 0; j < points.Length; j++){Vector3 p = points[j];for (int i = 0; i < indices.Length; i += 3){if (indices[i] == indices[i + 1] || indices[i] == indices[i + 2] || indices[i + 1] == indices[i + 2])continue;if (PointInTriangle(vtx[indices[i]], vtx[indices[i + 2]], vtx[indices[i + 1]], p))return true;}}return false;}static bool PointInTriangle(Vector3 v1, Vector3 v2, Vector3 v3, Vector3 p){Vector3 up = Vector3.Cross(v3 - v1, v2 - v1);if (Vector3.Dot(Vector3.Cross(p - v1, v2 - v1), up) > 0 &&Vector3.Dot(Vector3.Cross(p - v2, v3 - v2), up) > 0 &&Vector3.Dot(Vector3.Cross(p - v3, v1 - v3), up) > 0)return true;return false;}[UnityEditor.CustomEditor(typeof(NavMeshCleaner))]public class NavMeshCleanerEditor : Editor{NavMeshCleaner m_Target;void OnEnable(){m_Target = (NavMeshCleaner)target;Undo.undoRedoPerformed += OnUndoOrRedo;}void OnDisable(){Undo.undoRedoPerformed -= OnUndoOrRedo;}void OnUndoOrRedo(){Repaint();}public override void OnInspectorGUI(){EditorGUILayout.HelpBox(m_OverPoint != -1 ? "Press Control and click to remove the point." : "Press Control and click to add a walkable point.", m_Target.m_WalkablePoint.Count == 0 ? MessageType.Warning : MessageType.Info);base.OnInspectorGUI();NavMeshCleaner t = (NavMeshCleaner)target;if (t.m_Child.Count > 0){EditorGUI.BeginChangeCheck();bool hideInHierarchy = EditorGUILayout.Toggle("Hide Temp Mesh Object In Hierarchy", (t.m_Child[0].gameObject.hideFlags & HideFlags.HideInHierarchy) != 0 ? true : false);if (EditorGUI.EndChangeCheck()){for (int i = 0; i < t.m_Child.Count; i++)t.m_Child[i].gameObject.hideFlags = hideInHierarchy ? (t.m_Child[i].gameObject.hideFlags | HideFlags.HideInHierarchy) : (t.m_Child[i].gameObject.hideFlags & (~HideFlags.HideInHierarchy));try{EditorApplication.RepaintHierarchyWindow();EditorApplication.DirtyHierarchyWindowSorting();}catch { }}}if (GUILayout.Button(t.HasMesh() ? "Recalculate" : "Calculate", GUILayout.Height(30.0f))){t.Build();t.SetMeshVisible(true);SceneView.RepaintAll();}if (t.HasMesh() && GUILayout.Button(t.MeshVisible() ? "Hide Mesh" : "Show Mesh", GUILayout.Height(30.0f))){//StaticEditorFlags flags = GameObjectUtility.GetStaticEditorFlags(t.gameObject);bool enabled = !t.MeshVisible();t.SetMeshVisible(enabled);SceneView.RepaintAll();}if (t.HasMesh() && GUILayout.Button("Reset Mesh", GUILayout.Height(30.0f))){t.Reset();SceneView.RepaintAll();}if (t.HasMesh() && GUILayout.Button("Reset WalkablePoints", GUILayout.Height(30.0f))){Undo.RecordObject(target, "reset");m_Target.m_WalkablePoint.Clear();SceneView.RepaintAll();}}static class Styles{public static GUIStyle Get(string id){GUIStyle style;if (!texture.TryGetValue(id, out style)){style = new GUIStyle(id);texture.Add(id, style);}return style;}static Dictionary<string, GUIStyle> texture = new Dictionary<string, GUIStyle>();}void DrawDisc(Vector3 p, Vector3 n, float radius){Vector3[] v = new Vector3[20];Matrix4x4 tm = Matrix4x4.TRS(p, Quaternion.LookRotation(n), Vector3.one * radius);for (int i = 0; i < 20; i++){v[i] = tm.MultiplyPoint3x4(new Vector3(Mathf.Cos(Mathf.PI * 2 * i / (20 - 1)), Mathf.Sin(Mathf.PI * 2 * i / (20 - 1)), 0));}Handles.DrawAAPolyLine(v);}void OnSceneGUI(){SceneView sceneview = SceneView.currentDrawingSceneView;Event guiEvent = Event.current;if (guiEvent.type == EventType.Repaint){// drawfor (int i = 0; i < m_Target.m_WalkablePoint.Count; i++){Vector3 p = m_Target.transform.TransformPoint(m_Target.m_WalkablePoint[i]);float unitsize = WorldSize(1.0f, sceneview.camera, p);Handles.color = Color.black;DrawDisc(p, Vector3.up, unitsize * 15);Handles.color = i == m_OverPoint ? Color.red : Color.green;Handles.DrawSolidDisc(p, Vector3.up, unitsize * 10);Handles.DrawLine(p, p + Vector3.up * (unitsize * 200.0f));}}if (guiEvent.type == EventType.Layout && guiEvent.control == true){HandleUtility.AddDefaultControl(GUIUtility.GetControlID(FocusType.Passive));}if (guiEvent.control == true){EditorGUIUtility.AddCursorRect(new Rect(0, 0, Screen.width, Screen.height), m_OverPoint == -1 ? MouseCursor.ArrowPlus : MouseCursor.ArrowMinus);}if ((guiEvent.type == EventType.MouseDown || guiEvent.type == EventType.MouseDrag || guiEvent.type == EventType.MouseMove || guiEvent.type == EventType.MouseUp) && guiEvent.button == 0){MouseEvent(guiEvent.type, guiEvent.mousePosition, guiEvent.modifiers == EventModifiers.Control ? true : false);}}int m_OverPoint = -1;void MouseEvent(EventType type, Vector2 mouseposition, bool controldown){SceneView sceneview = SceneView.currentDrawingSceneView;Ray mouseRay = HandleUtility.GUIPointToWorldRay(mouseposition);            if (type == EventType.MouseMove){int pointindex = -1;for (int i = 0; i < m_Target.m_WalkablePoint.Count; i++){Vector3 p = m_Target.transform.TransformPoint(m_Target.m_WalkablePoint[i]);float size = WorldSize(10.0f, sceneview.camera, p) * 1.5f;if (DistanceRayVsPoint(mouseRay, p) < size){pointindex = i;break;}}if (pointindex != m_OverPoint){m_OverPoint = pointindex;HandleUtility.Repaint();}}if (type == EventType.MouseDown && controldown == true){if (m_OverPoint != -1){Undo.RecordObject(m_Target, "Remove Point");m_Target.m_WalkablePoint.RemoveAt(m_OverPoint);m_OverPoint = -1;}else{float mint = 1000.0f;RaycastHit hit;if (Physics.Raycast(mouseRay, out hit, mint)){Undo.RecordObject(m_Target, "Add Point");m_Target.m_WalkablePoint.Add(m_Target.transform.InverseTransformPoint(hit.point));}else{NavMeshTriangulation triangulatedNavMesh = NavMesh.CalculateTriangulation();Vector3[] navVertices = triangulatedNavMesh.vertices;int[] indices = triangulatedNavMesh.indices;Vector3 outNormal = Vector3.up;for (int i = 0; i < indices.Length; i += 3)mint = IntersectTest(mouseRay, navVertices[indices[i]], navVertices[indices[i + 1]], navVertices[indices[i + 2]], mint, ref outNormal);if (mint < 1000.0f){Undo.RecordObject(m_Target, "Add Point");Vector3 point = mouseRay.origin + mouseRay.direction * mint;m_Target.m_WalkablePoint.Add(m_Target.transform.InverseTransformPoint(point));}}}HandleUtility.Repaint();}}static float kEpsilon = 0.000001f;// https://en.wikipedia.org/wiki/Möller–Trumbore_intersection_algorithmstatic float IntersectTest(Ray ray, Vector3 v0, Vector3 v1, Vector3 v2, float mint, ref Vector3 outNormal){// edges from v1 & v2 to v0.     Vector3 e1 = v1 - v0;Vector3 e2 = v2 - v0;Vector3 h = Vector3.Cross(ray.direction, e2);float a = Vector3.Dot(e1, h);if ((a > -kEpsilon) && (a < kEpsilon))return mint;float f = 1.0f / a;Vector3 s = ray.origin - v0;float u = f * Vector3.Dot(s, h);if ((u < 0.0f) || (u > 1.0f))return mint;Vector3 q = Vector3.Cross(s, e1);float v = f * Vector3.Dot(ray.direction, q);if ((v < 0.0f) || (u + v > 1.0f))return mint;float t = f * Vector3.Dot(e2, q);if (t > kEpsilon && t < mint){outNormal = Vector3.Normalize(Vector3.Cross(e1.normalized, e2.normalized));return t;}return mint;}static float WorldSize(float screensize, Camera camera, Vector3 p){if (!camera.orthographic){Vector3 localPos = camera.transform.InverseTransformPoint(p);float height = Mathf.Tan(camera.fieldOfView * Mathf.Deg2Rad * 0.5f) * localPos.z;return height * screensize / camera.pixelHeight;}else{return camera.orthographicSize * screensize / camera.pixelHeight;}}static float DistanceRayVsPoint(Ray mouseRay, Vector3 pos){Vector3 v = pos - mouseRay.origin;return Mathf.Sqrt(Vector3.Dot(v, v) - Vector3.Dot(mouseRay.direction, v) * Vector3.Dot(mouseRay.direction, v));}static Vector3 IntersectPlane(Vector3 inNormal, Vector3 inPoint, Ray mouseRay){Plane p = new Plane(inNormal, inPoint);float dstToDrawPlane = p.GetDistanceToPoint(mouseRay.origin);return mouseRay.origin + mouseRay.direction * (dstToDrawPlane / Vector3.Dot(-p.normal, mouseRay.direction));}}
#endif
}

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