Removed moveAlongPathCorridor() and added more generic moveAlongSurface().
This commit is contained in:
Mikko Mononen
parent
b38ebc888f
commit
1c4755012f
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Load Diff
@ -283,14 +283,14 @@
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<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
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<array>
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<integer>55</integer>
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<integer>49</integer>
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<integer>14</integer>
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<integer>11</integer>
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<integer>1</integer>
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<integer>0</integer>
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</array>
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</array>
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<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
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<string>{{0, 409}, {264, 632}}</string>
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<string>{{0, 0}, {264, 632}}</string>
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</dict>
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<key>PBXTopSmartGroupGIDs</key>
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<array/>
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@ -325,7 +325,7 @@
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<key>PBXProjectModuleGUID</key>
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<string>6B8632A30F78115100E2684A</string>
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<key>PBXProjectModuleLabel</key>
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<string>NavMeshTesterTool.cpp</string>
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<string>DetourNavMesh.h</string>
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<key>PBXSplitModuleInNavigatorKey</key>
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<dict>
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<key>Split0</key>
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@ -333,11 +333,11 @@
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<key>PBXProjectModuleGUID</key>
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<string>6B8632A40F78115100E2684A</string>
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<key>PBXProjectModuleLabel</key>
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<string>NavMeshTesterTool.cpp</string>
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<string>DetourNavMesh.h</string>
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<key>_historyCapacity</key>
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<integer>0</integer>
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<key>bookmark</key>
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<string>6BCE5B9E11F6D4DB00FB894B</string>
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<key>history</key>
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@ -358,63 +358,61 @@
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</array>
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<key>prevStack</key>
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@ -451,18 +449,13 @@
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@ -479,33 +472,75 @@
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||||
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||||
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||||
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@ -519,18 +554,18 @@
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<key>GeometryConfiguration</key>
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<dict>
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||||
<key>Frame</key>
|
||||
<string>{{0, 0}, {887, 568}}</string>
|
||||
<string>{{0, 0}, {887, 567}}</string>
|
||||
<key>RubberWindowFrame</key>
|
||||
<string>33 87 1173 691 0 0 1280 778 </string>
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</dict>
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||||
<key>Module</key>
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||||
<string>PBXNavigatorGroup</string>
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||||
<key>Proportion</key>
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||||
<string>568pt</string>
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||||
<string>567pt</string>
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||||
</dict>
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<dict>
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<key>Proportion</key>
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||||
<string>77pt</string>
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||||
<string>79pt</string>
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@ -544,7 +579,7 @@
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<key>GeometryConfiguration</key>
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<dict>
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<key>Frame</key>
|
||||
<string>{{10, 27}, {887, 66}}</string>
|
||||
<string>{{10, 27}, {887, 50}}</string>
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||||
</dict>
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||||
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||||
<string>XCDetailModule</string>
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@ -560,7 +595,7 @@
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||||
<dict>
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||||
<key>Frame</key>
|
||||
<string>{{10, 27}, {887, 175}}</string>
|
||||
<string>{{10, 27}, {887, 61}}</string>
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||||
</dict>
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||||
<key>Module</key>
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||||
<string>PBXProjectFindModule</string>
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@ -598,7 +633,7 @@
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<key>GeometryConfiguration</key>
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<dict>
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||||
<key>Frame</key>
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||||
<string>{{10, 27}, {887, 50}}</string>
|
||||
<string>{{10, 27}, {887, 52}}</string>
|
||||
<key>RubberWindowFrame</key>
|
||||
<string>33 87 1173 691 0 0 1280 778 </string>
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||||
</dict>
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||||
@ -628,11 +663,11 @@
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||||
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||||
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||||
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||||
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||||
@ -683,12 +718,12 @@
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<key>GeometryConfiguration</key>
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||||
<dict>
|
||||
<key>Frame</key>
|
||||
<string>{{0, 0}, {1173, 380}}</string>
|
||||
<string>{{0, 0}, {1173, 344}}</string>
|
||||
</dict>
|
||||
<key>Module</key>
|
||||
<string>PBXDebugCLIModule</string>
|
||||
<key>Proportion</key>
|
||||
<string>380pt</string>
|
||||
<string>344pt</string>
|
||||
</dict>
|
||||
<dict>
|
||||
<key>ContentConfiguration</key>
|
||||
@ -707,8 +742,8 @@
|
||||
<string>yes</string>
|
||||
<key>sizes</key>
|
||||
<array>
|
||||
<string>{{0, 0}, {532, 93}}</string>
|
||||
<string>{{532, 0}, {641, 93}}</string>
|
||||
<string>{{0, 0}, {532, 119}}</string>
|
||||
<string>{{532, 0}, {641, 119}}</string>
|
||||
</array>
|
||||
</dict>
|
||||
<key>VerticalSplitView</key>
|
||||
@ -723,8 +758,8 @@
|
||||
<string>yes</string>
|
||||
<key>sizes</key>
|
||||
<array>
|
||||
<string>{{0, 0}, {1173, 93}}</string>
|
||||
<string>{{0, 93}, {1173, 172}}</string>
|
||||
<string>{{0, 0}, {1173, 119}}</string>
|
||||
<string>{{0, 119}, {1173, 182}}</string>
|
||||
</array>
|
||||
</dict>
|
||||
</dict>
|
||||
@ -744,7 +779,7 @@
|
||||
<key>DebugSTDIOWindowFrame</key>
|
||||
<string>{{200, 200}, {500, 300}}</string>
|
||||
<key>Frame</key>
|
||||
<string>{{0, 385}, {1173, 265}}</string>
|
||||
<string>{{0, 349}, {1173, 301}}</string>
|
||||
<key>PBXDebugSessionStackFrameViewKey</key>
|
||||
<dict>
|
||||
<key>DebugVariablesTableConfiguration</key>
|
||||
@ -757,13 +792,13 @@
|
||||
<real>348</real>
|
||||
</array>
|
||||
<key>Frame</key>
|
||||
<string>{{532, 0}, {641, 93}}</string>
|
||||
<string>{{532, 0}, {641, 119}}</string>
|
||||
</dict>
|
||||
</dict>
|
||||
<key>Module</key>
|
||||
<string>PBXDebugSessionModule</string>
|
||||
<key>Proportion</key>
|
||||
<string>265pt</string>
|
||||
<string>301pt</string>
|
||||
</dict>
|
||||
</array>
|
||||
<key>Name</key>
|
||||
@ -781,14 +816,14 @@
|
||||
</array>
|
||||
<key>TableOfContents</key>
|
||||
<array>
|
||||
<string>6BCE5B7111F6CBF700FB894B</string>
|
||||
<string>6BAF37DB11FEAC16008CFCDF</string>
|
||||
<string>1CCC7628064C1048000F2A68</string>
|
||||
<string>1CCC7629064C1048000F2A68</string>
|
||||
<string>6BCE5B7211F6CBF700FB894B</string>
|
||||
<string>6BCE5B7311F6CBF700FB894B</string>
|
||||
<string>6BCE5B7411F6CBF700FB894B</string>
|
||||
<string>6BCE5B7511F6CBF700FB894B</string>
|
||||
<string>6BCE5B7611F6CBF700FB894B</string>
|
||||
<string>6BAF37DC11FEAC16008CFCDF</string>
|
||||
<string>6BAF37DD11FEAC16008CFCDF</string>
|
||||
<string>6BAF37DE11FEAC16008CFCDF</string>
|
||||
<string>6BAF37DF11FEAC16008CFCDF</string>
|
||||
<string>6BAF37E011FEAC16008CFCDF</string>
|
||||
</array>
|
||||
<key>ToolbarConfigUserDefaultsMinorVersion</key>
|
||||
<string>2</string>
|
||||
@ -820,6 +855,8 @@
|
||||
<integer>5</integer>
|
||||
<key>WindowOrderList</key>
|
||||
<array>
|
||||
<string>6BAF394F120FF023008CFCDF</string>
|
||||
<string>6BAF3950120FF023008CFCDF</string>
|
||||
<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
|
||||
</array>
|
||||
<key>WindowString</key>
|
||||
|
||||
@ -69,7 +69,7 @@ class NavMeshTesterTool : public SampleTool
|
||||
bool m_eposSet;
|
||||
|
||||
int m_pathIterNum;
|
||||
const dtPolyRef* m_pathIterPolys;
|
||||
dtPolyRef m_pathIterPolys[MAX_POLYS];
|
||||
int m_pathIterPolyCount;
|
||||
float m_prevIterPos[3], m_iterPos[3], m_steerPos[3], m_targetPos[3];
|
||||
|
||||
|
||||
@ -34,8 +34,6 @@ protected:
|
||||
float m_totalBuildTimeMs;
|
||||
bool m_drawPortals;
|
||||
|
||||
int m_smin, m_smax;
|
||||
|
||||
unsigned char* m_triareas;
|
||||
rcHeightfield* m_solid;
|
||||
rcCompactHeightfield* m_chf;
|
||||
|
||||
@ -26,6 +26,7 @@
|
||||
#include "NavMeshTesterTool.h"
|
||||
#include "Sample.h"
|
||||
#include "Recast.h"
|
||||
#include "RecastTimer.h"
|
||||
#include "RecastDebugDraw.h"
|
||||
#include "DetourNavMesh.h"
|
||||
#include "DetourNavMeshBuilder.h"
|
||||
@ -46,6 +47,52 @@ inline bool inRange(const float* v1, const float* v2, const float r, const float
|
||||
return (dx*dx + dz*dz) < r*r && fabsf(dy) < h;
|
||||
}
|
||||
|
||||
|
||||
static int fixupCorridor(dtPolyRef* path, const int npath, const int maxPath,
|
||||
const dtPolyRef* visited, const int nvisited)
|
||||
{
|
||||
int furthestPath = -1;
|
||||
int furthestVisited = -1;
|
||||
|
||||
// Find furthest common polygon.
|
||||
for (int i = npath-1; i >= 0; --i)
|
||||
{
|
||||
bool found = false;
|
||||
for (int j = nvisited-1; j >= 0; --j)
|
||||
{
|
||||
if (path[i] == visited[j])
|
||||
{
|
||||
furthestPath = i;
|
||||
furthestVisited = j;
|
||||
found = true;
|
||||
}
|
||||
}
|
||||
if (found)
|
||||
break;
|
||||
}
|
||||
|
||||
// If no intersection found just return current path.
|
||||
if (furthestPath == -1 || furthestVisited == -1)
|
||||
return npath;
|
||||
|
||||
// Concatenate paths.
|
||||
|
||||
// Adjust beginning of the buffer to include the visited.
|
||||
const int req = nvisited - furthestVisited;
|
||||
const int orig = rcMin(furthestPath+1, npath);
|
||||
int size = rcMax(0, npath-orig);
|
||||
if (req+size > maxPath)
|
||||
size = maxPath-req;
|
||||
if (size)
|
||||
memmove(path+req, path+orig, size*sizeof(dtPolyRef));
|
||||
|
||||
// Store visited
|
||||
for (int i = 0; i < req; ++i)
|
||||
path[i] = visited[(nvisited-1)-i];
|
||||
|
||||
return req+size;
|
||||
}
|
||||
|
||||
static bool getSteerTarget(dtNavMesh* navMesh, const float* startPos, const float* endPos,
|
||||
const float minTargetDist,
|
||||
const dtPolyRef* path, const int pathSize,
|
||||
@ -290,8 +337,9 @@ void NavMeshTesterTool::handleStep()
|
||||
m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, MAX_POLYS);
|
||||
m_nsmoothPath = 0;
|
||||
|
||||
m_pathIterPolys = m_polys;
|
||||
m_pathIterPolyCount = m_npolys;
|
||||
if (m_pathIterPolyCount)
|
||||
memcpy(m_pathIterPolys, m_polys, sizeof(dtPolyRef)*m_pathIterPolyCount);
|
||||
|
||||
if (m_pathIterPolyCount)
|
||||
{
|
||||
@ -349,17 +397,13 @@ void NavMeshTesterTool::handleStep()
|
||||
|
||||
// Move
|
||||
float result[3];
|
||||
int n = m_navMesh->moveAlongPathCorridor(m_iterPos, moveTgt, result, m_pathIterPolys, m_pathIterPolyCount);
|
||||
dtPolyRef visited[16];
|
||||
int nvisited = m_navMesh->moveAlongSurface(m_pathIterPolys[0], m_iterPos, moveTgt, &m_filter,
|
||||
result, visited, 16);
|
||||
m_pathIterPolyCount = fixupCorridor(m_pathIterPolys, m_pathIterPolyCount, MAX_POLYS, visited, nvisited);
|
||||
float h = 0;
|
||||
m_navMesh->getPolyHeight(m_pathIterPolys[n], result, &h);
|
||||
m_navMesh->getPolyHeight(m_pathIterPolys[0], result, &h);
|
||||
result[1] = h;
|
||||
// Shrink path corridor if advanced.
|
||||
if (n)
|
||||
{
|
||||
m_pathIterPolys += n;
|
||||
m_pathIterPolyCount -= n;
|
||||
}
|
||||
// Update position.
|
||||
rcVcopy(m_iterPos, result);
|
||||
|
||||
// Handle end of path and off-mesh links when close enough.
|
||||
@ -381,13 +425,16 @@ void NavMeshTesterTool::handleStep()
|
||||
|
||||
// Advance the path up to and over the off-mesh connection.
|
||||
dtPolyRef prevRef = 0, polyRef = m_pathIterPolys[0];
|
||||
while (m_pathIterPolyCount && polyRef != steerPosRef)
|
||||
int npos = 0;
|
||||
while (npos < m_pathIterPolyCount && polyRef != steerPosRef)
|
||||
{
|
||||
prevRef = polyRef;
|
||||
polyRef = m_pathIterPolys[0];
|
||||
m_pathIterPolys++;
|
||||
m_pathIterPolyCount--;
|
||||
polyRef = m_pathIterPolys[npos];
|
||||
npos++;
|
||||
}
|
||||
for (int i = npos; i < m_pathIterPolyCount; ++i)
|
||||
m_pathIterPolys[i-npos] = m_pathIterPolys[i];
|
||||
m_pathIterPolyCount -= npos;
|
||||
|
||||
// Handle the connection.
|
||||
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))
|
||||
@ -466,7 +513,8 @@ void NavMeshTesterTool::recalc()
|
||||
if (m_npolys)
|
||||
{
|
||||
// Iterate over the path to find smooth path on the detail mesh surface.
|
||||
const dtPolyRef* polys = m_polys;
|
||||
dtPolyRef polys[MAX_POLYS];
|
||||
memcpy(polys, m_polys, sizeof(dtPolyRef)*m_npolys);
|
||||
int npolys = m_npolys;
|
||||
|
||||
float iterPos[3], targetPos[3];
|
||||
@ -511,17 +559,15 @@ void NavMeshTesterTool::recalc()
|
||||
|
||||
// Move
|
||||
float result[3];
|
||||
int n = m_navMesh->moveAlongPathCorridor(iterPos, moveTgt, result, polys, npolys);
|
||||
dtPolyRef visited[16];
|
||||
|
||||
int nvisited = m_navMesh->moveAlongSurface(polys[0], iterPos, moveTgt, &m_filter,
|
||||
result, visited, 16);
|
||||
|
||||
npolys = fixupCorridor(polys, npolys, MAX_POLYS, visited, nvisited);
|
||||
float h = 0;
|
||||
m_navMesh->getPolyHeight(polys[n], result, &h);
|
||||
m_navMesh->getPolyHeight(polys[0], result, &h);
|
||||
result[1] = h;
|
||||
// Shrink path corridor if advanced.
|
||||
if (n)
|
||||
{
|
||||
polys += n;
|
||||
npolys -= n;
|
||||
}
|
||||
// Update position.
|
||||
rcVcopy(iterPos, result);
|
||||
|
||||
// Handle end of path and off-mesh links when close enough.
|
||||
@ -543,13 +589,16 @@ void NavMeshTesterTool::recalc()
|
||||
|
||||
// Advance the path up to and over the off-mesh connection.
|
||||
dtPolyRef prevRef = 0, polyRef = polys[0];
|
||||
while (npolys && polyRef != steerPosRef)
|
||||
int npos = 0;
|
||||
while (npos < npolys && polyRef != steerPosRef)
|
||||
{
|
||||
prevRef = polyRef;
|
||||
polyRef = polys[0];
|
||||
polys++;
|
||||
npolys--;
|
||||
polyRef = polys[npos];
|
||||
npos++;
|
||||
}
|
||||
for (int i = npos; i < npolys; ++i)
|
||||
polys[i-npos] = polys[i];
|
||||
npolys -= npos;
|
||||
|
||||
// Handle the connection.
|
||||
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))
|
||||
@ -686,6 +735,7 @@ void NavMeshTesterTool::recalc()
|
||||
#endif
|
||||
m_npolys = m_navMesh->findPolysAroundCircle(m_startRef, m_spos, dist, &m_filter,
|
||||
m_polys, m_parent, 0, MAX_POLYS);
|
||||
|
||||
}
|
||||
}
|
||||
else if (m_toolMode == TOOLMODE_FIND_POLYS_IN_POLY)
|
||||
@ -747,6 +797,8 @@ static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
|
||||
center[2] *= s;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void NavMeshTesterTool::handleRender()
|
||||
{
|
||||
DebugDrawGL dd;
|
||||
@ -1005,7 +1057,7 @@ void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, c
|
||||
{
|
||||
DebugDrawGL dd;
|
||||
|
||||
glDepthMask(GL_FALSE);
|
||||
dd.depthMask(false);
|
||||
|
||||
// Agent dimensions.
|
||||
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col, 2.0f);
|
||||
@ -1022,5 +1074,5 @@ void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, c
|
||||
dd.vertex(pos[0], pos[1]+0.02f, pos[2]+r/2, colb);
|
||||
dd.end();
|
||||
|
||||
glDepthMask(GL_TRUE);
|
||||
dd.depthMask(true);
|
||||
}
|
||||
|
||||
@ -133,6 +133,26 @@ Sample_Debug::Sample_Debug() :
|
||||
vcopy(m_center, center);*/
|
||||
|
||||
|
||||
{
|
||||
m_cset = rcAllocContourSet();
|
||||
if (m_cset)
|
||||
{
|
||||
FileIO io;
|
||||
if (io.openForRead("test.cset"))
|
||||
{
|
||||
duReadContourSet(*m_cset, &io);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("could not open test.cset\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Could not alloc cset\n");
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Sample_Debug::~Sample_Debug()
|
||||
@ -169,15 +189,15 @@ void Sample_Debug::handleRender()
|
||||
if (m_ref && m_navMesh)
|
||||
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_ref, duRGBA(255,0,0,128));
|
||||
|
||||
float bmin[3], bmax[3];
|
||||
/* float bmin[3], bmax[3];
|
||||
rcVsub(bmin, m_center, m_ext);
|
||||
rcVadd(bmax, m_center, m_ext);
|
||||
duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
|
||||
duDebugDrawCross(&dd, m_center[0], m_center[1], m_center[2], 1.0f, duRGBA(255,255,255,128), 2.0f);
|
||||
duDebugDrawCross(&dd, m_center[0], m_center[1], m_center[2], 1.0f, duRGBA(255,255,255,128), 2.0f);*/
|
||||
|
||||
if (m_cset)
|
||||
duDebugDrawRawContours(&dd, *m_cset);
|
||||
|
||||
/*
|
||||
dd.depthMask(false);
|
||||
{
|
||||
const float bmin[3] = {-32.000004f,-11.488281f,-115.343544f};
|
||||
@ -272,7 +292,7 @@ void Sample_Debug::handleRender()
|
||||
dd.end();
|
||||
|
||||
}
|
||||
dd.depthMask(true);
|
||||
dd.depthMask(true);*/
|
||||
}
|
||||
|
||||
void Sample_Debug::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)
|
||||
@ -316,22 +336,26 @@ void Sample_Debug::handleStep()
|
||||
|
||||
bool Sample_Debug::handleBuild()
|
||||
{
|
||||
delete m_cset;
|
||||
m_cset = 0;
|
||||
|
||||
// Create contours.
|
||||
m_cset = rcAllocContourSet();
|
||||
if (!m_cset)
|
||||
if (m_chf)
|
||||
{
|
||||
if (rcGetLog())
|
||||
rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
|
||||
return false;
|
||||
}
|
||||
if (!rcBuildContours(*m_chf, /*m_cfg.maxSimplificationError*/1.3f, /*m_cfg.maxEdgeLen*/12, *m_cset))
|
||||
{
|
||||
if (rcGetLog())
|
||||
rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
|
||||
return false;
|
||||
rcFreeContourSet(m_cset);
|
||||
m_cset = 0;
|
||||
|
||||
// Create contours.
|
||||
m_cset = rcAllocContourSet();
|
||||
if (!m_cset)
|
||||
{
|
||||
if (rcGetLog())
|
||||
rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
|
||||
return false;
|
||||
}
|
||||
if (!rcBuildContours(*m_chf, /*m_cfg.maxSimplificationError*/1.3f, /*m_cfg.maxEdgeLen*/12, *m_cset))
|
||||
{
|
||||
if (rcGetLog())
|
||||
rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
@ -189,9 +189,6 @@ Sample_TileMesh::Sample_TileMesh() :
|
||||
memset(m_tileBmax, 0, sizeof(m_tileBmax));
|
||||
|
||||
setTool(new NavMeshTileTool);
|
||||
|
||||
m_smin = 0x0fffffff;
|
||||
m_smax = -0xfffffff;
|
||||
}
|
||||
|
||||
Sample_TileMesh::~Sample_TileMesh()
|
||||
@ -812,26 +809,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
|
||||
m_triareas = 0;
|
||||
}
|
||||
|
||||
{
|
||||
const int w = m_solid->width;
|
||||
const int h = m_solid->height;
|
||||
int spanCount = 0;
|
||||
for (int y = 0; y < h; ++y)
|
||||
{
|
||||
for (int x = 0; x < w; ++x)
|
||||
{
|
||||
for (rcSpan* s = m_solid->spans[x + y*w]; s; s = s->next)
|
||||
{
|
||||
m_smin = rcMin(m_smin, (int)s->smin);
|
||||
m_smax = rcMax(m_smax, (int)s->smax);
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("smin=%d smax=%d\n", m_smin, m_smax);
|
||||
}
|
||||
|
||||
|
||||
// Once all geoemtry is rasterized, we do initial pass of filtering to
|
||||
// Once all geometry is rasterized, we do initial pass of filtering to
|
||||
// remove unwanted overhangs caused by the conservative rasterization
|
||||
// as well as filter spans where the character cannot possibly stand.
|
||||
rcFilterLowHangingWalkableObstacles(m_cfg.walkableClimb, *m_solid);
|
||||
|
||||
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Reference in New Issue
Block a user