From 855366c72b9c563cff262f879acc7fbc6e2663db Mon Sep 17 00:00:00 2001
From: Aron Granberg <aron.granberg@gmail.com>
Date: Mon, 18 Jan 2016 22:58:26 +0100
Subject: [PATCH 1/2] Fixed objects being rasterized 0.5 voxels from where they
 should be rasterized.

---
 .../Generators/Utilities/Voxels/VoxelRasterization.cs     | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelRasterization.cs b/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelRasterization.cs
index 42113f4..d8ada90 100644
--- a/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelRasterization.cs
+++ b/Assets/AstarPathfindingProject/Generators/Utilities/Voxels/VoxelRasterization.cs
@@ -73,13 +73,13 @@ namespace Pathfinding.Voxels {
        public Vector3 voxelOffset;

        public Vector3 CompactSpanToVector (int x, int z, int i) {
-           return voxelOffset+new Vector3(x*cellSize, voxelArea.compactSpans[i].y*cellHeight, z*cellSize);
+           return voxelOffset+new Vector3((x+0.5f)*cellSize, voxelArea.compactSpans[i].y*cellHeight, (z+0.5f)*cellSize);
        }

        public void VectorToIndex (Vector3 p, out int x, out int z) {
            p -= voxelOffset;
-           x = Mathf.RoundToInt(p.x / cellSize);
-           z = Mathf.RoundToInt(p.z / cellSize);
+           x = Mathf.RoundToInt((p.x / cellSize) - 0.5f);
+           z = Mathf.RoundToInt((p.z / cellSize) - 0.5f);
        }

        #endregion
@@ -164,12 +164,10 @@ namespace Pathfinding.Voxels {

            AstarProfiler.StartProfile("Voxelizing - Step 1");

-
-           //Debug.DrawLine (forcedBounds.min,forcedBounds.max,Color.blue);
-
            Vector3 min = forcedBounds.min;
            voxelOffset = min;

+           // Scale factor from world space to voxel space
            float ics = 1F/cellSize;
            float ich = 1F/cellHeight;

@@ -179,6 +177,7 @@ namespace Pathfinding.Voxels {

            float slopeLimit = Mathf.Cos(Mathf.Atan(Mathf.Tan(maxSlope*Mathf.Deg2Rad)*(ich*cellSize)));

+           // Temporary arrays used for rasterization
            float[] vTris = new float[3*3];
            float[] vOut = new float[7*3];
            float[] vRow = new float[7*3];
@@ -197,7 +196,9 @@ namespace Pathfinding.Voxels {
            //Create buffer, here vertices will be stored multiplied with the local-to-voxel-space matrix
            Vector3[] verts = new Vector3[maxVerts];

-           Matrix4x4 voxelMatrix = Matrix4x4.Scale(new Vector3(ics, ich, ics)) * Matrix4x4.TRS(-min, Quaternion.identity, Vector3.one);
+           // First subtract min, then scale to voxel space (one unit equals one voxel along the x and z axes)
+           // then subtract half a voxel to fix rounding
+           Matrix4x4 voxelMatrix = Matrix4x4.TRS(-new Vector3(0.5f, 0, 0.5f), Quaternion.identity, Vector3.one) * Matrix4x4.Scale(new Vector3(ics, ich, ics)) * Matrix4x4.TRS(-min, Quaternion.identity, Vector3.one);

            AstarProfiler.EndProfile("Voxelizing - Step 2 - Init");
            AstarProfiler.StartProfile("Voxelizing - Step 2");
--
2.6.4