1

cpp/navigation.cc

@@ -2,6 +2,7 @@
 
 #include "behaviac/behaviac.h"
 #include "navigation.h"
+#include "navigation_handle.h"
 
 namespace f8
 {
@@ -15,6 +16,16 @@ namespace f8
 
     }
 
+    f8::NavigationHandle* Navigation::NewNavigation(std::string& unique_str)
+    {
+        if (HasNavigation(unique_str)) {
+            abort();
+        }
+        f8::NavigationHandle* handle = new f8::NavigationHandle;
+        navhandles_[unique_str] = handle;
+        return handle;
+    }
+
     f8::NavigationHandle* Navigation::LoadNavigation(const std::string& res_path,
                                                      const std::map<int, std::string>& params)
     {

cpp/navigation.h

@@ -13,6 +13,7 @@ namespace f8
         void Init();
         void UnInit();
 
+        f8::NavigationHandle* NewNavigation(std::string& unique_str);
         f8::NavigationHandle* LoadNavigation(const std::string& res_path,
                                              const std::map<int, std::string>& params);
         bool HasNavigation(const std::string& res_path);

cpp/navigation_handle.cc

@@ -4,22 +4,100 @@
 
 namespace f8
 {
-    int NavigationHandle::FindStraightPath(int layer, const a8::Vec3& start, const a8::Vec3& end,
+
-                                           std::vector<a8::Vec3>& path_list)
+    int NavMeshLayer::FindStraightPath(const a8::Vec3& start, const a8::Vec3& end,
+                                       std::vector<a8::Vec3>& path_list)
     {
         return 0;
     }
 
-    int NavigationHandle::FindRandomPointAroundCircle(int layer, const a8::Vec3& center_pos,
+    int NavMeshLayer::FindRandomPointAroundCircle(const a8::Vec3& center_pos,
-                                                      std::vector<a8::Vec3>& points, int max_points, float max_radius)
+                                                  std::vector<a8::Vec3>& points,
+                                                  int max_points, float max_radius)
     {
         return 0;
     }
 
-    int NavigationHandle::Raycast(int layer, const a8::Vec3& start, const a8::Vec3& end,
+    int NavMeshLayer::Raycast(const a8::Vec3& start, const a8::Vec3& end,
-                                  std::vector<a8::Vec3>& hit_points)
+                              std::vector<a8::Vec3>& hit_points)
     {
         return 0;
     }
 
+    bool NavMeshLayer::AddObstacle(a8::Vec3& pos, const float radius, const float height,
+                                       ObstacleRef* obstacle_ref)
+    {
+        if (obstacle_ref) {
+            *obstacle_ref = 0;
+        }
+        float p[3];
+        p[0] = pos.x;
+        p[1] = pos.y;
+        p[2] = pos.z;
+        dtStatus status = tile_cache_->addObstacle(p, radius, height, obstacle_ref);
+        return status == DT_SUCCESS || status == DT_IN_PROGRESS;
+    }
+
+    bool NavMeshLayer::AddBoxObstacle(a8::Vec3& bmin, a8::Vec3& bmax,
+                                          ObstacleRef* obstacle_ref)
+    {
+        if (obstacle_ref) {
+            *obstacle_ref = 0;
+        }
+        float pmin[3];
+        pmin[0] = bmin.x;
+        pmin[1] = bmin.y;
+        pmin[2] = bmin.z;
+
+        float pmax[3];
+        pmax[0] = bmax.x;
+        pmax[1] = bmax.y;
+        pmax[2] = bmax.z;
+
+        dtStatus status = tile_cache_->addBoxObstacle(pmin, pmax, obstacle_ref);
+        return status == DT_SUCCESS || status == DT_IN_PROGRESS;
+    }
+
+    bool NavMeshLayer::RemoveObstacle(const ObstacleRef& obstacle_ref)
+    {
+        dtStatus status = tile_cache_->removeObstacle(obstacle_ref);
+        return status == DT_SUCCESS || status == DT_IN_PROGRESS;
+    }
+
+    void NavMeshLayer::WaitRebuildOk()
+    {
+        while (!Update()) {}
+    }
+
+    bool NavMeshLayer::Update()
+    {
+        bool up_to_date = false;
+        tile_cache_->update(0, navmesh_, &up_to_date);
+        return up_to_date;
+    }
+
+    NavMeshLayer* NavigationHandle::GetLayer(int layer)
+    {
+        auto itr = navmesh_layers_.find(layer);
+        return itr != navmesh_layers_.end() ? &itr->second : nullptr;
+    }
+
+    void NavigationHandle::WaitRebuildOk()
+    {
+        for (auto& pair : navmesh_layers_) {
+            pair.second.WaitRebuildOk();
+        }
+    }
+
+    bool NavigationHandle::Update()
+    {
+        bool up_to_date = true;
+        for (auto& pair : navmesh_layers_) {
+            if (!pair.second.Update() && up_to_date) {
+                up_to_date = false;
+            }
+        }
+        return up_to_date;
+    }
+
 }

cpp/navigation_handle.h

@@ -2,19 +2,51 @@
 
 #include <a8/vec3.h>
 
+#include "DetourTileCache.h"
+
+class dtTileCache;
+class dtNavMesh;
+class dtNavMeshQuery;
 namespace f8
 {
+
+    typedef dtObstacleRef ObstacleRef;
+
+    class NavMeshLayer
+    {
+    public:
+        int FindStraightPath(const a8::Vec3& start, const a8::Vec3& end,
+                             std::vector<a8::Vec3>& path_list);
+        int FindRandomPointAroundCircle(const a8::Vec3& center_pos,
+                                        std::vector<a8::Vec3>& points, int max_points, float max_radius);
+        int Raycast(const a8::Vec3& start, const a8::Vec3& end,
+                    std::vector<a8::Vec3>& hit_points);
+
+        bool AddObstacle(a8::Vec3& pos, const float radius, const float height, ObstacleRef* obstacle_ref);
+        bool AddBoxObstacle(a8::Vec3& bmin, a8::Vec3& bmax, ObstacleRef* obstacle_ref);
+        bool RemoveObstacle(const ObstacleRef& obstacle_ref);
+        void WaitRebuildOk();
+        bool Update();
+
+    private:
+
+        dtNavMesh* navmesh_ = nullptr;
+        dtTileCache* tile_cache_ = nullptr;
+        dtNavMeshQuery* navmesh_query_ = nullptr;
+    };
+
     class NavigationHandle
     {
     public:
         NavigationHandle() {};
         ~NavigationHandle() {};
 
-        int FindStraightPath(int layer, const a8::Vec3& start, const a8::Vec3& end,
+        NavMeshLayer* GetLayer(int layer);
-                             std::vector<a8::Vec3>& path_list);
+        void WaitRebuildOk();
-        int FindRandomPointAroundCircle(int layer, const a8::Vec3& center_pos,
+        bool Update();
-                                        std::vector<a8::Vec3>& points, int max_points, float max_radius);
+
-        int Raycast(int layer, const a8::Vec3& start, const a8::Vec3& end,
+    private:
-                    std::vector<a8::Vec3>& hit_points);
+        std::map<int, NavMeshLayer> navmesh_layers_;
     };
+
 }