server_common/recastnavigation_v1.6.0
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

changed path planner to Theta*, changed the raycast function to emit a cost based on the actual traversal cost

Browse Source
This commit is contained in:
axelrodR 2014-02-16 16:51:29 +02:00
parent 72b7123e72
commit 120de6256f
3 changed files with 207 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Detour/Include/DetourNavMeshQuery.h
View File

@ -318,10 +318,13 @@ public:
/// @param[out] path The reference ids of the visited polygons. [opt]
/// @param[out] pathCount The number of visited polygons. [opt]
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
/// @param[out] pathCost The cost of the path until hit.
/// @param[in] prevRef [optional]: cost calculation allow for an additional parent ref. Used during pathfinding
/// @returns The status flags for the query.
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath,
float* pathCost=0, dtPolyRef prevRef=0) const;
/// Finds the distance from the specified position to the nearest polygon wall.
/// @param[in] startRef The reference id of the polygon containing @p centerPos.

6
Detour/Include/DetourNode.h
View File

@ -25,6 +25,7 @@ enum dtNodeFlags
{
DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02,
DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not connected. Found using raycast.
};
typedef unsigned short dtNodeIndex;
@ -35,13 +36,14 @@ struct dtNode
float pos[3]; ///< Position of the node.
float cost; ///< Cost from previous node to current node.
float total; ///< Cost up to the node.
unsigned int pidx : 28; ///< Index to parent node.
unsigned int pidx : 24; ///< Index to parent node.
unsigned int state : 2; ///< extra state information. A polyRef can have multiple nodes with different extra info.
unsigned int flags : 2; ///< Node flags 0/open/closed.
unsigned int flags : 3; ///< Node flags 0/open/closed.
dtPolyRef id; ///< Polygon ref the node corresponds to.
};
class dtNodePool
{
public:

252
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -1016,20 +1016,30 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
// Get current poly and tile.
// The API input has been cheked already, skip checking internal data.
const dtPolyRef bestRef = bestNode->id;
dtPolyRef bestRef = bestNode->id;
const dtMeshTile* bestTile = 0;
const dtPoly* bestPoly = 0;
m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
// Get parent poly and tile.
dtPolyRef parentRef = 0;
// Get parent and grand parent poly and tile.
dtPolyRef parentRef = 0, grandpaRef = 0;
const dtMeshTile* parentTile = 0;
const dtPoly* parentPoly = 0;
dtNode* parentNode = 0;
if (bestNode->pidx)
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
{
parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx);
parentRef = parentNode->id;
if (parentNode->pidx)
grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id;
}
if (parentRef)
m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
// decide whether to test raycast to previous nodes
const float rayCutDist = 30.0f; // TODO: maybe this needs to be on the filter?
bool tryLOS = (parentRef != 0) && (dtVdistSqr(parentNode->pos, bestNode->pos) < dtSqr(rayCutDist));
for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
{
dtPolyRef neighbourRef = bestTile->links[i].ref;
@ -1060,6 +1070,10 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
continue;
}
// do not expand to nodes that were already visited from the same parent
if (neighbourNode->pidx != 0 && neighbourNode->pidx == bestNode->pidx)
continue;
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
{
@ -1072,30 +1086,37 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
float cost = 0;
float heuristic = 0;
// Special case for last node.
if (neighbourRef == endRef)
// raycast parent
float t = 0;
if (tryLOS)
{
// Cost
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
const float endCost = filter->getCost(neighbourNode->pos, endPos,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
cost = bestNode->cost + curCost + endCost;
heuristic = 0;
float normal[3], curCost;
raycast(parentRef, parentNode->pos, neighbourNode->pos, filter, &t, normal, 0, 0, 0, &curCost, grandpaRef);
cost = parentNode->cost + curCost;
}
else
if (t < 1.0f) // hit
{
// Cost
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
cost = bestNode->cost + curCost;
}
// Special case for last node.
if (neighbourRef == endRef)
{
const float endCost = filter->getCost(neighbourNode->pos, endPos,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
cost = cost + endCost;
heuristic = 0;
}
else
{
heuristic = dtVdist(neighbourNode->pos, endPos)*H_SCALE;
}
@ -1109,11 +1130,13 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
continue;
// Add or update the node.
neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
neighbourNode->pidx = t < 1.0f ? m_nodePool->getNodeIdx(bestNode) : bestNode->pidx;
neighbourNode->id = neighbourRef;
neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED));
neighbourNode->cost = cost;
neighbourNode->total = total;
if (t >= 1.0f)
neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED);
if (neighbourNode->flags & DT_NODE_OPEN)
{
@ -1142,10 +1165,14 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
// Reverse the path.
dtNode* prev = 0;
dtNode* node = lastBestNode;
int prevRay = 0;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
node->pidx = m_nodePool->getNodeIdx(prev);
int nextRay = node->flags & DT_NODE_PARENT_DETACHED;
node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay;
prevRay = nextRay;
prev = node;
node = next;
}
@ -1155,14 +1182,30 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
node = prev;
int n = 0;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
dtStatus status2 = 0;
if (node->flags & DT_NODE_PARENT_DETACHED)
{
float t, normal[3];
int m;
status2 = raycast(node->id, node->pos, next->pos, filter, &t, normal, path+n, &m, maxPath-n);
n += m;
}
else
{
path[n++] = node->id;
if (n >= maxPath)
status2 = DT_BUFFER_TOO_SMALL;
}
if (status2 & DT_STATUS_DETAIL_MASK)
{
status |= DT_BUFFER_TOO_SMALL;
status |= status2 & DT_STATUS_DETAIL_MASK;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
node = next;
}
while (node);
@ -1275,15 +1318,22 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
return m_query.status;
}
// Get parent poly and tile.
dtPolyRef parentRef = 0;
// Get parent and grand parent poly and tile.
dtPolyRef parentRef = 0, grandpaRef = 0;
const dtMeshTile* parentTile = 0;
const dtPoly* parentPoly = 0;
dtNode* parentNode = 0;
if (bestNode->pidx)
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
{
parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx);
parentRef = parentNode->id;
if (parentNode->pidx)
grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id;
}
if (parentRef)
{
if (dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)))
bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly));
if (invalidParent || (grandpaRef && dtStatusFailed(m_nav->isValidPolyRef(grandpaRef))) )
{
// The polygon has disappeared during the sliced query, fail.
m_query.status = DT_FAILURE;
@ -1293,6 +1343,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
}
}
// decide whether to test raycast to previous nodes
const float rayCutDist = 30.0f; // TODO: maybe this needs to be on the filter?
bool tryLOS = (parentRef != 0) && (dtVdistSqr(parentNode->pos, bestNode->pos) < dtSqr(rayCutDist));
for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
{
dtPolyRef neighbourRef = bestTile->links[i].ref;
@ -1322,6 +1376,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
continue;
}
// do not expand to nodes that were already visited from the same parent
if (neighbourNode->pidx != 0 && neighbourNode->pidx == bestNode->pidx)
continue;
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
{
@ -1334,30 +1392,37 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
float cost = 0;
float heuristic = 0;
// Special case for last node.
if (neighbourRef == m_query.endRef)
// raycast parent
float t = 0;
if (tryLOS)
{
// Cost
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
cost = bestNode->cost + curCost + endCost;
heuristic = 0;
float normal[3], curCost;
raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, &t, normal, 0, 0, 0, &curCost, grandpaRef);
cost = parentNode->cost + curCost;
}
else
if (t < 1.0f) // hit
{
// Cost
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
cost = bestNode->cost + curCost;
}
// Special case for last node.
if (neighbourRef == m_query.endRef)
{
const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
cost = cost + endCost;
heuristic = 0;
}
else
{
heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE;
}
@ -1371,11 +1436,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
continue;
// Add or update the node.
neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
neighbourNode->pidx = t < 1.0f ? m_nodePool->getNodeIdx(bestNode) : bestNode->pidx;
neighbourNode->id = neighbourRef;
neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED));
neighbourNode->cost = cost;
neighbourNode->total = total;
if (t >= 1.0f)
neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED);
if (neighbourNode->flags & DT_NODE_OPEN)
{
@ -1439,11 +1506,15 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
dtNode* prev = 0;
dtNode* node = m_query.lastBestNode;
int prevRay = 0;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
node->pidx = m_nodePool->getNodeIdx(prev);
prev = node;
int nextRay = node->flags & DT_NODE_PARENT_DETACHED;
node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay;
prevRay = nextRay;
node = next;
}
while (node);
@ -1451,14 +1522,29 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
// Store path
node = prev;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
dtStatus status = 0;
if (node->flags & DT_NODE_PARENT_DETACHED)
{
float t, normal[3];
int m;
status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n);
n += m;
}
else
{
path[n++] = node->id;
if (n >= maxPath)
status = DT_BUFFER_TOO_SMALL;
}
if (status & DT_STATUS_DETAIL_MASK)
{
m_query.status |= DT_BUFFER_TOO_SMALL;
m_query.status |= status & DT_STATUS_DETAIL_MASK;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
node = next;
}
while (node);
}
@ -2248,37 +2334,51 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly,
///
dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath,
float* pathCost, dtPolyRef prevRef) const
{
dtAssert(m_nav);
*t = 0;
if (pathCount)
*pathCount = 0;
if (pathCost)
*pathCost = 0;
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
if (prevRef && !m_nav->isValidPolyRef(prevRef))
return DT_FAILURE | DT_INVALID_PARAM;
dtPolyRef curRef = startRef;
float verts[DT_VERTS_PER_POLYGON*3];
float dir[3], curPos[3], lastPos[3];
float verts[DT_VERTS_PER_POLYGON*3+3];
int n = 0;
hitNormal[0] = 0;
hitNormal[1] = 0;
hitNormal[2] = 0;
dtVcopy(curPos, startPos);
dtVsub(dir, endPos, startPos);
dtVset(hitNormal, 0, 0, 0);
dtStatus status = DT_SUCCESS;
const dtMeshTile* prevTile, *tile, *nextTile;
const dtPoly* prevPoly, *poly, *nextPoly;
dtPolyRef curRef, nextRef;
// The API input has been checked already, skip checking internal data.
nextRef = curRef = startRef;
tile = 0;
poly = 0;
m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly);
nextTile = prevTile = tile;
nextPoly = prevPoly = poly;
if (prevRef)
m_nav->getTileAndPolyByRefUnsafe(prevRef, &tile, &poly);
while (curRef)
{
// Cast ray against current polygon.
// The API input has been cheked already, skip checking internal data.
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly);
// Collect vertices.
int nv = 0;
for (int i = 0; i < (int)poly->vertCount; ++i)
@ -2286,6 +2386,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]);
nv++;
}
dtVcopy(&verts[nv*3], &tile->verts[poly->verts[0]*3]);
float tmin, tmax;
int segMin, segMax;
@ -2312,11 +2413,15 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
*t = FLT_MAX;
if (pathCount)
*pathCount = n;
// add the cost
if (pathCost)
*pathCost += filter->getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly);
return status;
}
// Follow neighbours.
dtPolyRef nextRef = 0;
nextRef = 0;
for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
{
@ -2327,8 +2432,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
continue;
// Get pointer to the next polygon.
const dtMeshTile* nextTile = 0;
const dtPoly* nextPoly = 0;
nextTile = 0;
nextPoly = 0;
m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly);
// Skip off-mesh connections.
@ -2396,6 +2501,24 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
}
}
// add the cost
if (pathCost)
{
// compute the intersection point at the furthest end of the polygon
// and correct the height (since the raycast moves in 2d)
dtVcopy(lastPos, curPos);
dtVmad(curPos, startPos, dir, *t);
float* e1 = &verts[segMax*3];
float* e2 = &verts[(segMax+1)*3]; // no need to modulu nv, seg[nv+1] was added earlier
float eDir[3], diff[3];
dtVsub(eDir, e2, e1);
dtVsub(diff, curPos, e1);
float s = dtSqr(eDir[0]) > dtSqr(eDir[2]) ? diff[0] / eDir[0] : diff[2] / eDir[2];
curPos[1] = e1[1] + eDir[1] * s;
*pathCost += filter->getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly);
}
if (!nextRef)
{
// No neighbour, we hit a wall.
@ -2418,7 +2541,12 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
}
// No hit, advance to neighbour polygon.
prevRef = curRef;
curRef = nextRef;
prevTile = tile;
tile = nextTile;
prevPoly = poly;
poly = nextPoly;
}
if (pathCount)