Nav mesh progress

CodeWalker.Core/CodeWalker.Core.csproj

@@ -48,6 +48,8 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="GameFiles\FileTypes\AwcFile.cs" />
+    <Compile Include="GameFiles\FileTypes\Builders\YndBuilder.cs" />
+    <Compile Include="GameFiles\FileTypes\Builders\YnvBuilder.cs" />
     <Compile Include="GameFiles\FileTypes\CacheDatFile.cs" />
     <Compile Include="GameFiles\FileTypes\CutFile.cs" />
     <Compile Include="GameFiles\FileTypes\DlcContentFile.cs" />

CodeWalker.Core/GameFiles/FileTypes/Builders/YndBuilder.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace CodeWalker.Core.GameFiles.FileTypes.Builders
+{
+    public class YndBuilder
+    {
+    }
+}

CodeWalker.Core/GameFiles/FileTypes/Builders/YnvBuilder.cs

@@ -0,0 +1,443 @@
+using CodeWalker.GameFiles;
+using CodeWalker.World;
+using SharpDX;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace CodeWalker.Core.GameFiles.FileTypes.Builders
+{
+    public class YnvBuilder
+    {
+
+
+        private List<YnvPoly> PolyList = new List<YnvPoly>();
+
+        private SpaceNavGrid NavGrid = null;
+        private List<YnvFile> YnvFiles = null;
+
+        public YnvPoly AddPoly(Vector3[] verts)
+        {
+            if ((verts == null) || (verts.Length < 3))
+            { return null; }
+
+            YnvPoly poly = new YnvPoly();
+            poly.AreaID = 0x3FFF;
+            poly.Index = PolyList.Count;
+            poly.Vertices = verts;
+
+            PolyList.Add(poly);
+
+            return poly;
+        }
+
+
+
+
+
+
+        public List<YnvFile> Build(bool forVehicle)
+        {
+            NavGrid = new SpaceNavGrid();
+            YnvFiles = new List<YnvFile>();
+
+            if (forVehicle) //for vehicle YNV, only need a single ynv, no splitting
+            {
+                //TODO!
+            }
+            else //for static world ynv, need to split polys and generate a set of ynv's.
+            {
+                //1: split polys going over nav grid borders, first by X then by Y
+                var splitpolysX = SplitPolys(PolyList, true);
+                var splitpolysY = SplitPolys(splitpolysX, false);
+
+                //2: assign polys into their new ynv's
+                AddPolysIntoGrid(splitpolysY);
+
+
+                //3: fix up generated ynv's
+                FinalizeYnvs(YnvFiles);
+
+            }
+
+            return YnvFiles;
+        }
+
+
+
+
+
+        private List<YnvPoly> SplitPolys(List<YnvPoly> polys, bool xaxis)
+        {
+            var newpolys = new List<YnvPoly>();
+
+            var verts1 = new List<Vector3>();
+            var verts2 = new List<Vector3>();
+            var edges1 = new List<YnvEdge>();
+            var edges2 = new List<YnvEdge>();
+
+            var polysplits = new Dictionary<YnvPoly, YnvPolySplit>();
+
+            foreach (var poly in polys)  //split along borders
+            {
+                var verts = poly.Vertices;
+                if (verts == null)
+                { continue; }//ignore empty polys..
+                if (verts.Length < 3)
+                { continue; }//not enough verts for a triangle!
+
+                Vector2I gprev = NavGrid.GetCellPos(verts[0]);
+                int split1 = 0;
+                int split2 = 0;
+                for (int i = 1; i < verts.Length; i++)
+                {
+                    Vector2I g = NavGrid.GetCellPos(verts[i]);
+                    int g1 = xaxis ? g.X : g.Y;
+                    int g2 = xaxis ? gprev.X : gprev.Y;
+                    if (g1 != g2) //this poly is crossing a border
+                    {
+                        if (split1 == 0) { split1 = i; }
+                        else { split2 = i; break; }
+                    }
+                    gprev = g;
+                }
+                if (split1 > 0)
+                {
+                    var split2beg = (split2 > 0) ? split2 - 1 : verts.Length - 1;
+                    var split2end = split2beg + 1;
+                    var sv11 = verts[split1 - 1];
+                    var sv12 = verts[split1];
+                    var sv21 = verts[split2beg];
+                    var sv22 = verts[split2];
+                    var sp1 = GetSplitPos(sv11, sv12, xaxis);
+                    var sp2 = GetSplitPos(sv21, sv22, xaxis);
+
+                    //if ((sp1 == sp2) || (sp1 == sv11) || (sp1 == sv12) || (sp2 == sv21) || (sp2 == sv22))
+                    if (!IsValidSplit(sp1, sp2, sv11, sv12, sv21, sv22))
+                    {
+                        //split did nothing, just leave this poly alone
+                        newpolys.Add(poly);
+                    }
+                    else
+                    {
+                        //split it!
+                        var poly1 = new YnvPoly();
+                        var poly2 = new YnvPoly();
+                        poly1.RawData = poly.RawData;
+                        poly2.RawData = poly.RawData;
+                        verts1.Clear();
+                        verts2.Clear();
+
+                        for (int i = 0; i < split1; i++) verts1.Add(verts[i]);
+                        verts1.Add(sp1);
+                        verts1.Add(sp2);
+                        for (int i = split2end; i < verts.Length; i++) verts1.Add(verts[i]);
+
+                        verts2.Add(sp1);
+                        for (int i = split1; i < split2end; i++) verts2.Add(verts[i]);
+                        verts2.Add(sp2);
+
+                        poly1.Vertices = verts1.ToArray();
+                        poly2.Vertices = verts2.ToArray();
+
+
+                        //save this information for the edge splitting pass
+                        var polysplit = new YnvPolySplit();
+                        polysplit.Orig = poly;
+                        polysplit.New1 = poly1;
+                        polysplit.New2 = poly2;
+                        polysplit.Split1 = split1;
+                        polysplit.Split2 = split2end;
+                        polysplits[poly] = polysplit;
+
+
+                        newpolys.Add(poly1);
+                        newpolys.Add(poly2);
+                    }
+                }
+                else
+                {
+                    //no need to split
+                    newpolys.Add(poly);
+                }
+            }
+
+
+            foreach (var polysplit in polysplits.Values) //build new edges for split polys
+            {
+                //the two edges that were split each need to be turned into two new edges (1 for each poly).
+                //also, the split itself needs to be added as a new edge to the original poly.
+
+                var poly = polysplit.Orig;
+                var poly1 = polysplit.New1;
+                var poly2 = polysplit.New2;
+                var edges = poly.Edges;
+                var verts = poly.Vertices;
+                var ec = edges?.Length ?? 0;
+                if (ec <= 0)
+                { continue; }//shouldn't happen - no edges?
+                if (ec != poly.Vertices?.Length)
+                { continue; }//shouldn't happen
+
+                var split1beg = polysplit.Split1 - 1;
+                var split1end = polysplit.Split1;
+                var split2beg = polysplit.Split2 - 1;
+                var split2end = polysplit.Split2;
+
+                edges1.Clear();
+                edges2.Clear();
+
+                var se1 = edges[split1beg]; //the two original edges that got split 
+                var se2 = edges[split2beg];
+                var sp1 = TryGetSplit(polysplits, se1.Poly1);//could use Poly2, but they should be the same..
+                var sp2 = TryGetSplit(polysplits, se2.Poly1);
+                var sv1a = verts[split1beg];
+                var sv2a = verts[split2beg];
+                var sp1a = sp1?.GetNearest(sv1a);
+                var sp1b = sp1?.GetOther(sp1a);
+                var sp2b = sp2?.GetNearest(sv2a);
+                var sp2a = sp2?.GetOther(sp2b);
+                var edge1a = new YnvEdge(se1, sp1a);
+                var edge1b = new YnvEdge(se1, sp1b);
+                var edge2a = new YnvEdge(se2, sp2a);
+                var edge2b = new YnvEdge(se2, sp2b);
+                var splita = new YnvEdge(se1, poly2);
+                var splitb = new YnvEdge(se1, poly1);
+
+                for (int i = 0; i < split1beg; i++) edges1.Add(edges[i]);//untouched edges
+                edges1.Add(edge1a);
+                edges1.Add(splita);
+                edges1.Add(edge2a);
+                for (int i = split2end; i < ec; i++) edges1.Add(edges[i]);//untouched edges
+
+                edges2.Add(edge1b);
+                for (int i = split1end; i < split2beg; i++) edges2.Add(edges[i]);//untouched edges
+                edges2.Add(edge2b);
+                edges2.Add(splitb);
+
+
+                poly1.Edges = edges1.ToArray();
+                poly2.Edges = edges2.ToArray();
+
+                if (poly1.Edges.Length != poly1.Vertices.Length)
+                { }//debug
+                if (poly2.Edges.Length != poly2.Vertices.Length)
+                { }//debug
+
+            }
+
+            foreach (var poly in newpolys) //fix any untouched edges that joined to split polys
+            {
+                if (poly.Edges?.Length != poly.Vertices?.Length)
+                { continue; }//shouldn't happen (no edges?)
+                for (int i = 0; i < poly.Edges.Length; i++)
+                {
+                    var edge = poly.Edges[i];
+                    var vert = poly.Vertices[i];
+                    if (edge == null)
+                    { continue; }//shouldn't happen
+                    if (edge.Poly1 != edge.Poly2)
+                    { continue; }//shouldn't happen?
+                    if (edge.Poly1 == null)
+                    { continue; }//probably this edge joins to nothing
+
+
+                    YnvPolySplit polysplit;
+                    if (polysplits.TryGetValue(edge.Poly1, out polysplit))
+                    {
+                        var newpoly = polysplit.GetNearest(vert);
+                        if (newpoly == null)
+                        { }//debug
+                        edge.Poly1 = newpoly;
+                        edge.Poly2 = newpoly;
+                    }
+
+                }
+            }
+
+
+            return newpolys;
+        }
+
+        private Vector3 GetSplitPos(Vector3 a, Vector3 b, bool xaxis)
+        {
+            Vector3 ca = NavGrid.GetCellRel(a);
+            Vector3 cb = NavGrid.GetCellRel(b);
+            float fa = xaxis ? ca.X : ca.Y;
+            float fb = xaxis ? cb.X : cb.Y;
+            float f = 0;
+            if (fb > fa)
+            {
+                float ib = (float)Math.Floor(fb);
+                f = (ib - fa) / (fb - fa);
+            }
+            else
+            {
+                float ia = (float)Math.Floor(fa);
+                f = (fa - ia) / (fa - fb);
+            }
+            if (f < 0.0f)
+            { }//debug
+            if (f > 1.0f)
+            { }//debug
+            return a + (b - a) * Math.Min(Math.Max(f, 0.0f), 1.0f);
+        }
+
+        private bool IsValidSplit(Vector3 s1, Vector3 s2, Vector3 v1a, Vector3 v1b, Vector3 v2a, Vector3 v2b)
+        {
+            if (XYEqual(s1, s2)) return false;
+            if (XYEqual(s1, v1a)) return false;
+            if (XYEqual(s1, v1b)) return false;
+            if (XYEqual(s2, v2a)) return false;
+            if (XYEqual(s2, v2b)) return false;
+            return true;
+        }
+
+        private bool XYEqual(Vector3 v1, Vector3 v2)
+        {
+            return ((v1.X == v2.X) && (v1.Y == v2.Y));
+        }
+
+        private class YnvPolySplit
+        {
+            public YnvPoly Orig;
+            public YnvPoly New1;
+            public YnvPoly New2;
+            public int Split1;
+            public int Split2;
+            public YnvPoly GetNearest(Vector3 v)
+            {
+                if (New1?.Vertices == null) return New2;
+                if (New2?.Vertices == null) return New1;
+                float len1 = float.MaxValue;
+                float len2 = float.MaxValue;
+                for (int i = 0; i < New1.Vertices.Length; i++)
+                {
+                    len1 = Math.Min(len1, (v - New1.Vertices[i]).LengthSquared());
+                }
+                if (len1 == 0.0f) return New1;
+                for (int i = 0; i < New2.Vertices.Length; i++)
+                {
+                    len2 = Math.Min(len2, (v - New2.Vertices[i]).LengthSquared());
+                }
+                if (len2 == 0.0f) return New2;
+                return (len1 <= len2) ? New1 : New2;
+            }
+            public YnvPoly GetOther(YnvPoly p)
+            {
+                if (p == New1) return New2;
+                return New1;
+            }
+        }
+        private YnvPolySplit TryGetSplit(Dictionary<YnvPoly, YnvPolySplit> polysplits, YnvPoly poly)
+        {
+            if (poly == null) return null;
+            YnvPolySplit r = null;
+            polysplits.TryGetValue(poly, out r);
+            return r;
+        }
+
+
+
+        private void AddPolysIntoGrid(List<YnvPoly> polys)
+        {
+            foreach (var poly in polys)
+            {
+                poly.CalculatePosition();
+                var pos = poly.Position;
+                var cell = NavGrid.GetCell(pos);
+
+                var ynv = cell.Ynv;
+                if (ynv == null)
+                {
+                    ynv = new YnvFile();
+                    ynv.Name = "navmesh[" + cell.FileX.ToString() + "][" + cell.FileY.ToString() + "]";
+                    ynv.Nav = new NavMesh();
+                    ynv.Nav.SetDefaults(false);
+                    ynv.Nav.AABBSize = new Vector3(NavGrid.CellSize, NavGrid.CellSize, 0.0f);
+                    ynv.Nav.SectorTree = new NavMeshSector();
+                    ynv.Nav.SectorTree.AABBMin = new Vector4(NavGrid.GetCellMin(cell), 0.0f);
+                    ynv.Nav.SectorTree.AABBMax = new Vector4(NavGrid.GetCellMax(cell), 0.0f);
+                    ynv.AreaID = cell.X + cell.Y * 100;
+                    ynv.Polys = new List<YnvPoly>();
+                    cell.Ynv = ynv;
+                    YnvFiles.Add(ynv);
+                }
+
+                poly.AreaID = (ushort)ynv.AreaID;
+                poly.Index = ynv.Polys.Count;
+                poly.Ynv = ynv;
+                ynv.Polys.Add(poly);
+
+            }
+        }
+
+        private void FinalizeYnvs(List<YnvFile> ynvs)
+        {
+
+            foreach (var ynv in ynvs)
+            {
+                //find zmin and zmax and update AABBSize and SectorTree root
+                float zmin = float.MaxValue;
+                float zmax = float.MinValue;
+                foreach (var poly in ynv.Polys)
+                {
+                    foreach (var vert in poly.Vertices)
+                    {
+                        zmin = Math.Min(zmin, vert.Z);
+                        zmax = Math.Max(zmax, vert.Z);
+                    }
+                }
+                var yn = ynv.Nav;
+                var ys = yn.SectorTree;
+                yn.AABBSize = new Vector3(yn.AABBSize.X, yn.AABBSize.Y, zmax - zmin);
+                ys.AABBMin = new Vector4(ys.AABBMin.X, ys.AABBMin.Y, zmin, 0.0f);
+                ys.AABBMax = new Vector4(ys.AABBMax.X, ys.AABBMax.Y, zmax, 0.0f);
+
+
+                ynv.UpdateContentFlags(false);
+
+
+
+                //fix up flags on edges that cross ynv borders
+                foreach (var poly in ynv.Polys)
+                {
+                    bool border = false;
+                    if (poly.Edges == null)
+                    { continue; }
+                    foreach (var edge in poly.Edges)
+                    {
+                        if (edge.Poly1 != null)
+                        {
+                            if (edge.Poly1.AreaID != poly.AreaID)
+                            {
+                                //edge._RawData._Poly2.Unk3 = 4;// edge._RawData._Poly2.Unk3 | 4;
+
+                                //DEBUG don't join edges
+                                edge.Poly1 = null;
+                                edge.Poly2 = null;
+                                edge.AreaID1 = 0x3FFF;
+                                edge.AreaID2 = 0x3FFF;
+                                edge._RawData._Poly1.PolyID = 0x3FFF;
+                                edge._RawData._Poly2.PolyID = 0x3FFF;
+                                edge._RawData._Poly1.Unk2 = 1;
+                                edge._RawData._Poly2.Unk2 = 1;
+                                edge._RawData._Poly1.Unk3 = 0;
+                                edge._RawData._Poly2.Unk3 = 0;
+
+                                //border = true;
+                            }
+                        }
+                    }
+                    poly.B19_IsCellEdge = border;
+                }
+
+
+            }
+
+        }
+
+    }
+}

CodeWalker.Core/GameFiles/FileTypes/YnvFile.cs

@@ -14,7 +14,7 @@ namespace CodeWalker.GameFiles
 
         public List<Vector3> Vertices { get; set; }
         public List<ushort> Indices { get; set; }
-        public List<NavMeshEdge> Edges { get; set; }
+        public List<YnvEdge> Edges { get; set; }
         public List<YnvPoly> Polys { get; set; }
         public List<YnvPortal> Portals { get; set; }
         public List<YnvPoint> Points { get; set; }
@@ -103,7 +103,14 @@ namespace CodeWalker.GameFiles
                 }
                 if (Nav.Edges != null)
                 {
-                    Edges = Nav.Edges.GetFullList();
+                    var edges = Nav.Edges.GetFullList();
+                    Edges = new List<YnvEdge>(edges.Count);
+                    for (int i = 0; i < edges.Count; i++)
+                    {
+                        YnvEdge edge = new YnvEdge();
+                        edge.Init(this, edges[i]);
+                        Edges.Add(edge);
+                    }
                 }
                 if (Nav.Polys != null)
                 {
@@ -207,9 +214,8 @@ namespace CodeWalker.GameFiles
             var portallinks = new List<ushort>();
 
             var vertdict = new Dictionary<Vector3, ushort>();
-            var blankedgepart1 = new NavMeshEdgePart() { Value = 0x0FFFE1 };//1, -, 1, 0 
+            var areadict = new Dictionary<uint, uint>();
-            var blankedgepart2 = new NavMeshEdgePart() { Value = 0x2FFFE1 };//1, -, 1, 1
+            var arealist = new List<uint>();
-            var blankedge = new NavMeshEdge() { Unknown_0h = blankedgepart1, Unknown_4h = blankedgepart2 };
 
             if (Polys != null) //rebuild vertices, indices, edges and polys lists from poly data.
             {
@@ -217,10 +223,12 @@ namespace CodeWalker.GameFiles
                 {
                     var poly = Polys[i];
                     var vc = poly.Vertices?.Length ?? 0;
+                    //poly.AreaID = (ushort)Nav.AreaID;
+                    poly._RawData.IndexID = (ushort)indslist.Count;
                     for (int n = 0; n < vc; n++)
                     {
                         Vector3 v = poly.Vertices[n];
-                        NavMeshEdge e = ((poly.Edges != null) && (n < poly.Edges.Length)) ? poly.Edges[n] : blankedge;
+                        YnvEdge e = ((poly.Edges != null) && (n < poly.Edges.Length)) ? poly.Edges[n] : null;
                         ushort ind;
                         if (!vertdict.TryGetValue(v, out ind))
                         {
@@ -233,7 +241,40 @@ namespace CodeWalker.GameFiles
                             poly.Indices[n] = ind;
                         }
                         indslist.Add(ind);
-                        edgelist.Add(e);
+
+                        NavMeshEdge edge;
+                        if (e != null)
+                        {
+                            if (e.Poly1 != null)
+                            {
+                                e.PolyID1 = (uint)e.Poly1.Index;
+                                e.AreaID1 = e.Poly1.AreaID;
+                                if (e.AreaID1 == 0x3FFF)
+                                { }//debug
+                            }
+                            if (e.Poly2 != null)
+                            {
+                                e.PolyID2 = (uint)e.Poly2.Index;
+                                e.AreaID2 = e.Poly2.AreaID;
+                                if (e.AreaID2 == 0x3FFF)
+                                { }//debug
+                            }
+                            if ((e.AreaID1 == 0) || (e.AreaID2 == 0))
+                            { }//debug
+                            e._RawData._Poly1.AreaIDInd = EnsureEdgeAreaID(e.AreaID1, areadict, arealist);
+                            e._RawData._Poly2.AreaIDInd = EnsureEdgeAreaID(e.AreaID2, areadict, arealist);
+                            edge = e.RawData;
+                        }
+                        else
+                        {
+                            var areaind = EnsureEdgeAreaID(0x3FFF, areadict, arealist);
+                            edge = new NavMeshEdge();//create an empty edge
+                            edge._Poly1.PolyID = 0x3FFF;
+                            edge._Poly2.PolyID = 0x3FFF;
+                            edge._Poly1.AreaIDInd = areaind;
+                            edge._Poly2.AreaIDInd = areaind;
+                        }
+                        edgelist.Add(edge);
                     }
                     poly._RawData.IndexCount = vc;
                     poly._RawData.PortalLinkID = (uint)portallinks.Count;//these shouldn't be directly editable!
@@ -243,6 +284,7 @@ namespace CodeWalker.GameFiles
                         portallinks.AddRange(poly.PortalLinks);
                     }
                     poly.Index = i;//this should be redundant...
+                    poly.CalculateAABB();//make sure this is up to date!
                     polylist.Add(poly.RawData);
                 }
             }
@@ -293,18 +335,25 @@ namespace CodeWalker.GameFiles
 
 
             Nav.Vertices.RebuildList(vertlist);
+            Nav.VerticesCount = Nav.Vertices.ItemCount;
 
             Nav.Indices.RebuildList(indslist);
 
             Nav.Edges.RebuildList(edgelist);
+            Nav.EdgesIndicesCount = Nav.Indices.ItemCount;
 
             Nav.Polys.RebuildList(polylist);
+            Nav.PolysCount = Nav.Polys.ItemCount;
 
             Nav.Portals = (portallist.Count > 0) ? portallist.ToArray() : null;
             Nav.PortalsCount = (uint)(Nav.Portals?.Length ?? 0);
             Nav.PortalLinks = (portallinks.Count > 0) ? portallinks.ToArray() : null;
             Nav.PortalLinksCount = (uint)(Nav.PortalLinks?.Length ?? 0);
 
+            var adjAreaIds = new NavMeshUintArray();
+            adjAreaIds.Set(arealist.ToArray());
+            Nav.AdjAreaIDs = adjAreaIds;
+
 
             for (int i = 0; i < Nav.Polys.ListParts.Count; i++) //reassign part id's on all the polys...
             {
@@ -337,12 +386,27 @@ namespace CodeWalker.GameFiles
 
         }
 
+        private uint EnsureEdgeAreaID(uint areaid, Dictionary<uint, uint> areadict, List<uint> arealist)
+        {
+            uint ind;
+            if (!areadict.TryGetValue(areaid, out ind))
+            {
+                ind = (uint)arealist.Count;
+                areadict[areaid] = ind;
+                arealist.Add(areaid);
+            }
+            return ind;
+        }
+
+
         private void BuildSectorTree(NavMeshSector node, int depth, ref uint pointindex)
         {
             Vector3 min = node.AABBMin.XYZ();
             Vector3 max = node.AABBMax.XYZ();
             Vector3 cen = (min + max) * 0.5f;
 
+            //totbytes += (uint)node.BlockLength;
+
             if (depth <= 0)
             {
                 //go through polys and points and create new lists for this node
@@ -351,6 +415,8 @@ namespace CodeWalker.GameFiles
 
                 data.PointsStartID = pointindex;
 
+                //totbytes += (uint)data.BlockLength;
+
                 if (Polys != null)
                 {
                     List<ushort> polyids = new List<ushort>();
@@ -367,6 +433,7 @@ namespace CodeWalker.GameFiles
                     {
                         data.PolyIDs = polyids.ToArray();
                     }
+                    //totbytes += (uint)(polyids.Count * 2);
                 }
 
                 if (Points != null)
@@ -385,6 +452,7 @@ namespace CodeWalker.GameFiles
                         data.Points = points.ToArray();
                         pointindex += (uint)points.Count;
                     }
+                    //totbytes += (uint)(points.Count * 8);
                 }
 
             }
@@ -441,6 +509,18 @@ namespace CodeWalker.GameFiles
 
 
 
+        public void UpdateContentFlags(bool vehicle)
+        {
+            NavMeshFlags f = NavMeshFlags.None;
+            //if (Nav.VerticesCount > 0) f = f | NavMeshFlags.Vertices;
+            //if (Nav.PortalsCount > 0) f = f | NavMeshFlags.Portals;
+            if (Polys?.Count > 0) f = f | NavMeshFlags.Vertices;
+            if (Portals?.Count > 0) f = f | NavMeshFlags.Portals;
+            if (vehicle) f = f | NavMeshFlags.Vehicle;
+            else f = f | NavMeshFlags.Unknown8;
+            Nav.ContentFlags = f;
+        }
+
 
 
         public void UpdateAllNodePositions()
@@ -566,9 +646,9 @@ namespace CodeWalker.GameFiles
     [TypeConverter(typeof(ExpandableObjectConverter))] public class YnvPoly
     {
         public NavMeshPoly _RawData;
+        public NavMeshPoly RawData { get { return _RawData; } set { _RawData = value; } }
 
         public YnvFile Ynv { get; set; }
-        public NavMeshPoly RawData { get { return _RawData; } set { _RawData = value; } }
 
         public ushort AreaID { get { return _RawData.AreaID; } set { _RawData.AreaID = value; } }
         public ushort PartID { get { return _RawData.PartID; } set { _RawData.PartID = value; } }
@@ -620,7 +700,7 @@ namespace CodeWalker.GameFiles
 
         public ushort[] Indices { get; set; }
         public Vector3[] Vertices { get; set; }
-        public NavMeshEdge[] Edges { get; set; }
+        public YnvEdge[] Edges { get; set; }
         public ushort[] PortalLinks { get; set; }
 
 
@@ -656,7 +736,7 @@ namespace CodeWalker.GameFiles
 
             Indices = new ushort[ic];
             Vertices = new Vector3[ic];
-            Edges = new NavMeshEdge[ic];
+            Edges = new YnvEdge[ic];
 
             int i = 0;
             for (int id = startid; id < endid; id++)
@@ -781,9 +861,28 @@ namespace CodeWalker.GameFiles
                     pcenter += Vertices[i];
                 }
             }
-            Position = pcenter * (1.0f / ((float)Vertices?.Length));
+            float c = ((float)Vertices?.Length);
+            if (c == 0.0f) c = 1.0f;
+            Position = pcenter * (1.0f / c);
         }
 
+        public void CalculateAABB()
+        {
+            Vector3 min = Vector3.Zero;
+            Vector3 max = Vector3.Zero;
+            if ((Vertices != null) && (Vertices.Length > 0))
+            {
+                min = new Vector3(float.MaxValue);
+                max = new Vector3(float.MinValue);
+                for (int i = 0; i < Vertices.Length; i++)
+                {
+                    min = Vector3.Min(min, Vertices[i]);
+                    max = Vector3.Max(max, Vertices[i]);
+                }
+            }
+
+            _RawData.CellAABB = new NavMeshAABB() { Min = min, Max = max };
+        }
 
 
         public override string ToString()
@@ -919,4 +1018,57 @@ namespace CodeWalker.GameFiles
 
     }
 
+
+
+    [TypeConverter(typeof(ExpandableObjectConverter))] public class YnvEdge
+    {
+        public NavMeshEdge _RawData;
+        public NavMeshEdge RawData { get { return _RawData; } set { _RawData = value; } }
+        public YnvFile Ynv { get; set; }
+
+
+        public uint AreaID1 { get; set; }
+        public uint AreaID2 { get; set; }
+        public uint PolyID1 { get { return _RawData._Poly1.PolyID; } set { _RawData._Poly1.PolyID = value; } }
+        public uint PolyID2 { get { return _RawData._Poly2.PolyID; } set { _RawData._Poly2.PolyID = value; } }
+        public YnvPoly Poly1 { get; set; }
+        public YnvPoly Poly2 { get; set; }
+
+
+        public YnvEdge() { }
+        public YnvEdge(YnvEdge copy, YnvPoly poly)
+        {
+            _RawData = copy._RawData;
+            _RawData._Poly1.PolyID = 0x3FFF;
+            _RawData._Poly2.PolyID = 0x3FFF;
+            Poly1 = poly;
+            Poly2 = poly;
+            AreaID1 = 0x3FFF;
+            AreaID2 = 0x3FFF;
+        }
+
+        public void Init(YnvFile ynv, NavMeshEdge edge)
+        {
+            Ynv = ynv;
+            RawData = edge;
+
+            if (ynv.Nav == null) return;
+            var n = ynv.Nav;
+
+            var ai1 = edge.Poly1.AreaIDInd;
+            var ai2 = edge.Poly2.AreaIDInd;
+
+            AreaID1 = (ai1 < n.AdjAreaIDs.Count) ? n.AdjAreaIDs.Get(ai1) : 16383;
+            AreaID2 = (ai2 < n.AdjAreaIDs.Count) ? n.AdjAreaIDs.Get(ai2) : 16383;
+
+        }
+
+        public override string ToString()
+        {
+            return AreaID1.ToString() + ", " + AreaID2.ToString() + ", " + PolyID1.ToString() + ", " + PolyID2.ToString() + ", " +
+                _RawData._Poly1.Unk2.ToString() + ", " + _RawData._Poly2.Unk2.ToString() + ", " +
+                _RawData._Poly1.Unk3.ToString() + ", " + _RawData._Poly2.Unk3.ToString();
+        }
+
+    }
 }

CodeWalker.Core/GameFiles/Resources/Nav.cs

@@ -158,6 +158,39 @@ namespace CodeWalker.GameFiles
 
 
 
+            //uint totbytes = 0;
+            //Stack<NavMeshSector> sectorstack = new Stack<NavMeshSector>();
+            //if (SectorTree != null) sectorstack.Push(SectorTree);
+            //while (sectorstack.Count > 0)
+            //{
+            //    var sector = sectorstack.Pop();
+            //    if (sector.SubTree1 != null) sectorstack.Push(sector.SubTree1);
+            //    if (sector.SubTree2 != null) sectorstack.Push(sector.SubTree2);
+            //    if (sector.SubTree3 != null) sectorstack.Push(sector.SubTree3);
+            //    if (sector.SubTree4 != null) sectorstack.Push(sector.SubTree4);
+            //    if (sector.Data != null)
+            //    {
+            //        var sdata = sector.Data;
+            //        totbytes += (uint)(sdata.PolyIDsBlock?.BlockLength ?? 0);
+            //        totbytes += (uint)(sdata.PointsBlock?.BlockLength ?? 0);
+            //    }
+            //}
+            //totbytes += PadSize(VerticesCount * (uint)Vertices.ItemSize);
+            //totbytes += PadSize(EdgesIndicesCount * (uint)Indices.ItemSize);
+            //totbytes += PadSize(EdgesIndicesCount * (uint)Edges.ItemSize);
+            //totbytes += PadSize(PolysCount * (uint)Polys.ItemSize);
+            ////totbytes += (uint)BlockLength;
+            //totbytes += (uint)Vertices.ListParts.BlockLength;//Vertices.ListPartsCount * 16;
+            //totbytes += (uint)Indices.ListParts.BlockLength;//Indices.ListPartsCount * 16;
+            //totbytes += (uint)Edges.ListParts.BlockLength;//Edges.ListPartsCount * 16;
+            //totbytes += (uint)Polys.ListParts.BlockLength;//Polys.ListPartsCount * 16;
+            //totbytes += (uint)(PortalsBlock?.BlockLength ?? 0);//PortalsCount * 28;
+            //totbytes += (uint)(PortalLinksBlock?.BlockLength ?? 0);//PortalLinksCount * 2;
+            //int remaining = ((int)TotalBytes) - ((int)totbytes);
+            //if (totbytes != TotalBytes)
+            //{ }
+
+
             writer.Write((uint)ContentFlags);
             writer.Write(VersionUnk1);
             writer.Write(Unused_018h);
@@ -192,6 +225,12 @@ namespace CodeWalker.GameFiles
             writer.Write(Unused_16Ch);
         }
 
+        private uint PadSize(uint s)
+        {
+            const uint align = 16;
+            if ((s % align) != 0) s += (align - (s % align));
+            return s;
+        }
 
         public override IResourceBlock[] GetReferences()
         {
@@ -221,6 +260,15 @@ namespace CodeWalker.GameFiles
         }
 
 
+
+        public void SetDefaults(bool vehicle)
+        {
+            VersionUnk1 = 0x00010011;
+            VersionUnk2 = vehicle ? 0 : 0x85CB3561;
+            Transform = Matrix.Identity;
+        }
+
+
         public override string ToString()
         {
             return "(Size: " + FloatUtil.GetVector3String(AABBSize) + ")";
@@ -325,6 +373,50 @@ namespace CodeWalker.GameFiles
             }
         }
 
+        public uint Get(uint i)
+        {
+            switch (i)
+            {
+                default:
+                case 0: return v00;
+                case 1: return v01;
+                case 2: return v02;
+                case 3: return v03;
+                case 4: return v04;
+                case 5: return v05;
+                case 6: return v06;
+                case 7: return v07;
+                case 8: return v08;
+                case 9: return v09;
+                case 10: return v10;
+                case 11: return v11;
+                case 12: return v12;
+                case 13: return v13;
+                case 14: return v14;
+                case 15: return v15;
+                case 16: return v16;
+                case 17: return v17;
+                case 18: return v18;
+                case 19: return v19;
+                case 20: return v20;
+                case 21: return v21;
+                case 22: return v22;
+                case 23: return v23;
+                case 24: return v24;
+                case 25: return v25;
+                case 26: return v26;
+                case 27: return v27;
+                case 28: return v28;
+                case 29: return v29;
+                case 30: return v30;
+                case 31: return v31;
+            }
+        }
+
+        public void Set(uint[] arr)
+        {
+            Values = arr;
+        }
 
         public override string ToString()
         {
@@ -459,7 +551,7 @@ namespace CodeWalker.GameFiles
             }
             ListParts = parts;
             ListOffsets = offsets.ToArray();
-
+            ItemCount = (uint)items.Count;
         }
 
 
@@ -594,13 +686,15 @@ namespace CodeWalker.GameFiles
 
     [TypeConverter(typeof(ExpandableObjectConverter))] public struct NavMeshEdge
     {
-        public NavMeshEdgePart Unknown_0h { get; set; }
+        public NavMeshEdgePart _Poly1;
-        public NavMeshEdgePart Unknown_4h { get; set; }
+        public NavMeshEdgePart _Poly2;
+        public NavMeshEdgePart Poly1 { get { return _Poly1; } set { _Poly1 = value; } }
+        public NavMeshEdgePart Poly2 { get { return _Poly2; } set { _Poly2 = value; } }
 
         public override string ToString()
         {
-            return //Unknown_0h.Bin + " | " + Unknown_4h.Bin + " | " + 
+            return //Poly1.Bin + " | " + Poly2.Bin + " | " + 
-                   Unknown_0h.ToString() + " | " + Unknown_4h.ToString();
+                   _Poly1.ToString() + " | " + _Poly2.ToString();
         }
     }
 
@@ -616,10 +710,10 @@ namespace CodeWalker.GameFiles
             }
         }
 
-        public uint AreaIDInd { get { return (Value >> 0) & 0x1F; } }
+        public uint AreaIDInd { get { return (Value >> 0) & 0x1F; } set { Value = (Value & 0xFFFFFFE0) | (value & 0x1F); } }
-        public uint PolyID { get { return (Value >> 5) & 0x3FFF; } }
+        public uint PolyID { get { return (Value >> 5) & 0x3FFF; } set { Value = (Value & 0xFFF8001F) | ((value & 0x3FFF) << 5); } }
-        public uint Unk2 { get { return (Value >> 19) & 0x3; } }
+        public uint Unk2 { get { return (Value >> 19) & 0x3; } set { Value = (Value & 0xFFE7FFFF) | ((value & 0x3) << 19); } }
-        public uint Unk3 { get { return (Value >> 21) & 0x7FF; } }
+        public uint Unk3 { get { return (Value >> 21) & 0x7FF; } set { Value = (Value & 0x001FFFFF) | ((value & 0x7FF) << 21); } }
 
         public override string ToString()
         {
@@ -791,8 +885,8 @@ namespace CodeWalker.GameFiles
         public ushort[] PolyIDs { get; set; }
         public NavMeshPoint[] Points { get; set; }
 
-        private ResourceSystemStructBlock<ushort> PolyIDsBlock = null;
+        public ResourceSystemStructBlock<ushort> PolyIDsBlock = null;
-        private ResourceSystemStructBlock<NavMeshPoint> PointsBlock = null;
+        public ResourceSystemStructBlock<NavMeshPoint> PointsBlock = null;
 
         public override void Read(ResourceDataReader reader, params object[] parameters)
         {

CodeWalker.Core/World/Space.cs

@@ -2043,7 +2043,10 @@ namespace CodeWalker.World
         }
 
 
-
+        public Vector3 GetCellRel(Vector3 p)//float value in cell coords
+        {
+            return (p - new Vector3(CornerX, CornerY, 0)) * CellSizeInv;
+        }
         public Vector2I GetCellPos(Vector3 p)
         {
             Vector3 ind = (p - new Vector3(CornerX, CornerY, 0)) * CellSizeInv;
@@ -2069,7 +2072,15 @@ namespace CodeWalker.World
         }
 
 
-
+        public Vector3 GetCellMin(SpaceNavGridCell cell)
+        {
+            Vector3 c = new Vector3(cell.X, cell.Y, 0);
+            return new Vector3(CornerX, CornerY, 0) + (c * CellSize);
+        }
+        public Vector3 GetCellMax(SpaceNavGridCell cell)
+        {
+            return GetCellMin(cell) + new Vector3(CellSize, CellSize, 0.0f);
+        }
 
     }
     public class SpaceNavGridCell