server_common/recastnavigation_v1.6.0
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More robust path iteration code.

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This commit is contained in:
Mikko Mononen 2010-02-12 13:04:55 +00:00
parent 668484eb14
commit 5ade5a3052
16 changed files with 2480 additions and 420 deletions
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6
Detour/Include/DetourCommon.h
View File

@ -158,7 +158,11 @@ inline float vperp2D(const float* u, const float* v)
inline float triArea2D(const float* a, const float* b, const float* c)
{
return ((b[0]*a[2] - a[0]*b[2]) + (c[0]*b[2] - b[0]*c[2]) + (a[0]*c[2] - c[0]*a[2])) * 0.5f;
const float abx = b[0] - a[0];
const float abz = b[2] - a[2];
const float acx = c[0] - a[0];
const float acz = c[2] - a[2];
return acx*abz - abx*acz;
}
inline bool checkOverlapBox(const unsigned short amin[3], const unsigned short amax[3],

8
Detour/Source/DetourNavMesh.cpp
View File

@ -1353,6 +1353,14 @@ int dtNavMesh::findStraightPath(const float* startPos, const float* endPos,
return straightPathSize;
}
// If starting really close the portal, advance.
if (i == 0)
{
float t;
if (distancePtSegSqr2D(portalApex, left, right, t) < (0.001*0.001f))
continue;
}
}
else
{

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
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Binary file not shown.

2422
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
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File diff suppressed because it is too large Load Diff

154
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -3,7 +3,7 @@
<plist version="1.0">
<dict>
<key>ActivePerspectiveName</key>
<string>Debug</string>
<string>Project</string>
<key>AllowedModules</key>
<array>
<dict>
@ -281,14 +281,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>30</integer>
<integer>21</integer>
<integer>50</integer>
<integer>44</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 188}, {358, 643}}</string>
<string>{{0, 334}, {358, 643}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -304,6 +304,8 @@
<string>MainColumn</string>
<real>358</real>
</array>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXSmartGroupTreeModule</string>
@ -314,12 +316,14 @@
<key>Dock</key>
<array>
<dict>
<key>BecomeActive</key>
<true/>
<key>ContentConfiguration</key>
<dict>
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>RecastMeshDetail.cpp</string>
<string>NavMeshTesterTool.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -327,18 +331,16 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>RecastMeshDetail.cpp</string>
<string>NavMeshTesterTool.cpp</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6B324E59112563F300EBD2FD</string>
<string>6B324F471125894D00EBD2FD</string>
<key>history</key>
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<string>6B324F3E1125891F00EBD2FD</string>
</array>
<key>prevStack</key>
<array>
@ -402,13 +406,11 @@
<string>6BBB87E510EA97CC008FEA1F</string>
<string>6BBB883F10EA9B6F008FEA1F</string>
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@ -425,7 +427,6 @@
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@ -435,19 +436,14 @@
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@ -470,7 +466,6 @@
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@ -489,7 +484,6 @@
<string>6B324B7D111C1C8200EBD2FD</string>
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@ -503,33 +497,20 @@
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@ -556,16 +537,10 @@
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@ -574,7 +549,32 @@
<string>6B324E3E11255BA700EBD2FD</string>
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<key>SplitCount</key>
@ -588,16 +588,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {876, 497}}</string>
<string>{{0, 0}, {876, 514}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>497pt</string>
<string>514pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>159pt</string>
<string>142pt</string>
<key>Tabs</key>
<array>
<dict>
@ -627,7 +629,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {876, 72}}</string>
<string>{{10, 27}, {876, 192}}</string>
</dict>
<key>Module</key>
<string>PBXProjectFindModule</string>
@ -665,7 +667,9 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {876, 132}}</string>
<string>{{10, 27}, {876, 115}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXBuildResultsModule</string>
@ -748,14 +752,12 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {1256, 193}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
<string>{{0, 0}, {1256, 132}}</string>
</dict>
<key>Module</key>
<string>PBXDebugCLIModule</string>
<key>Proportion</key>
<string>193pt</string>
<string>132pt</string>
</dict>
<dict>
<key>ContentConfiguration</key>
@ -774,8 +776,8 @@
<string>yes</string>
<key>sizes</key>
<array>
<string>{{0, 0}, {628, 121}}</string>
<string>{{628, 0}, {628, 121}}</string>
<string>{{0, 0}, {628, 82}}</string>
<string>{{628, 0}, {628, 82}}</string>
</array>
</dict>
<key>VerticalSplitView</key>
@ -790,8 +792,8 @@
<string>yes</string>
<key>sizes</key>
<array>
<string>{{0, 0}, {1256, 121}}</string>
<string>{{0, 121}, {1256, 342}}</string>
<string>{{0, 0}, {1256, 82}}</string>
<string>{{0, 82}, {1256, 442}}</string>
</array>
</dict>
</dict>
@ -811,7 +813,7 @@
<key>DebugSTDIOWindowFrame</key>
<string>{{200, 200}, {500, 300}}</string>
<key>Frame</key>
<string>{{0, 198}, {1256, 463}}</string>
<string>{{0, 137}, {1256, 524}}</string>
<key>PBXDebugSessionStackFrameViewKey</key>
<dict>
<key>DebugVariablesTableConfiguration</key>
@ -824,17 +826,13 @@
<real>398</real>
</array>
<key>Frame</key>
<string>{{628, 0}, {628, 121}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
<string>{{628, 0}, {628, 82}}</string>
</dict>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXDebugSessionModule</string>
<key>Proportion</key>
<string>463pt</string>
<string>524pt</string>
</dict>
</array>
<key>Name</key>

1
RecastDemo/Include/ConvexVolumeTool.h
View File

@ -45,6 +45,7 @@ public:
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* p, bool shift);
virtual void handleStep();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
};

10
RecastDemo/Include/NavMeshTesterTool.h
View File

@ -64,6 +64,15 @@ class NavMeshTesterTool : public SampleTool
float m_distanceToWall;
bool m_sposSet;
bool m_eposSet;
int m_pathIterNum;
const dtPolyRef* m_pathIterPolys;
int m_pathIterPolyCount;
float m_prevIterPos[3], m_iterPos[3], m_steerPos[3], m_targetPos[3];
static const int MAX_STEER_POINTS = 10;
float m_steerPoints[MAX_STEER_POINTS*3];
int m_steerPointCount;
public:
NavMeshTesterTool();
@ -74,6 +83,7 @@ public:
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* p, bool shift);
virtual void handleStep();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);

1
RecastDemo/Include/OffMeshConnectionTool.h
View File

@ -40,6 +40,7 @@ public:
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* p, bool shift);
virtual void handleStep();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
};

2
RecastDemo/Include/Sample.h
View File

@ -75,6 +75,7 @@ struct SampleTool
virtual void handleClick(const float* p, bool shift) = 0;
virtual void handleRender() = 0;
virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
virtual void handleStep() = 0;
};
@ -111,6 +112,7 @@ public:
virtual void handleTools();
virtual void handleDebugMode();
virtual void handleClick(const float* p, bool shift);
virtual void handleStep();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleMeshChanged(class InputGeom* geom);

13
RecastDemo/Source/ConvexVolumeTool.cpp
View File

@ -39,9 +39,14 @@
// Returns true if 'c' is left of line 'a'-'b'.
inline bool left(const float* a, const float* b, const float* c)
{
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) < 0;
{
const float u1 = b[0] - a[0];
const float v1 = b[2] - a[2];
const float u2 = c[0] - a[0];
const float v2 = c[2] - a[2];
return u1 * v2 - v1 * u2 < 0;
}
// Returns true if 'a' is more lower-left than 'b'.
inline bool cmppt(const float* a, const float* b)
{
@ -225,6 +230,10 @@ void ConvexVolumeTool::handleClick(const float* p, bool shift)
}
void ConvexVolumeTool::handleStep()
{
}
void ConvexVolumeTool::handleRender()
{
DebugDrawGL dd;

264
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -46,6 +46,51 @@ 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 bool getSteerTarget(dtNavMesh* navMesh, const float* startPos, const float* endPos,
const float minTargetDist,
const dtPolyRef* path, const int pathSize,
float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef,
float* outPoints = 0, int* outPointCount = 0)
{
// Find steer target.
static const int MAX_STEER_POINTS = 3;
float steerPath[MAX_STEER_POINTS*3];
unsigned char steerPathFlags[MAX_STEER_POINTS];
dtPolyRef steerPathPolys[MAX_STEER_POINTS];
int nsteerPath = navMesh->findStraightPath(startPos, endPos, path, pathSize,
steerPath, steerPathFlags, steerPathPolys, MAX_STEER_POINTS);
if (!nsteerPath)
return false;
if (outPoints && outPointCount)
{
*outPointCount = nsteerPath;
for (int i = 0; i < nsteerPath; ++i)
vcopy(&outPoints[i*3], &steerPath[i*3]);
}
// Find vertex far enough to steer to.
int ns = 0;
while (ns < nsteerPath)
{
// Stop at Off-Mesh link or when point is further than slop away.
if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ||
!inRange(&steerPath[ns*3], startPos, minTargetDist, 1000.0f))
break;
ns++;
}
// Failed to find good point to steer to.
if (ns >= nsteerPath)
return false;
vcopy(steerPos, &steerPath[ns*3]);
steerPosFlag = steerPathFlags[ns];
steerPosRef = steerPathPolys[ns];
return true;
}
NavMeshTesterTool::NavMeshTesterTool() :
m_sample(0),
@ -58,7 +103,9 @@ NavMeshTesterTool::NavMeshTesterTool() :
m_nsmoothPath(0),
m_distanceToWall(0),
m_sposSet(false),
m_eposSet(false)
m_eposSet(false),
m_pathIterNum(0),
m_steerPointCount(0)
{
m_filter.includeFlags = SAMPLE_POLYFLAGS_ALL;
m_filter.excludeFlags = 0;
@ -220,6 +267,153 @@ void NavMeshTesterTool::handleClick(const float* p, bool shift)
recalc();
}
void NavMeshTesterTool::handleStep()
{
// TODO: merge separate to a path iterator. Use same code in recalc() too.
if (m_toolMode != TOOLMODE_PATHFIND_ITER)
return;
if (!m_sposSet || !m_eposSet || !m_startRef || !m_endRef)
return;
static const float STEP_SIZE = 0.5f;
static const float SLOP = 0.01f;
if (m_pathIterNum == 0)
{
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)
{
// Iterate over the path to find smooth path on the detail mesh surface.
m_navMesh->closestPointOnPolyBoundary(m_startRef, m_spos, m_iterPos);
m_navMesh->closestPointOnPolyBoundary(m_pathIterPolys[m_pathIterPolyCount-1], m_epos, m_targetPos);
m_nsmoothPath = 0;
vcopy(&m_smoothPath[m_nsmoothPath*3], m_iterPos);
m_nsmoothPath++;
}
}
vcopy(m_prevIterPos, m_iterPos);
m_pathIterNum++;
if (!m_pathIterPolyCount)
return;
if (m_nsmoothPath >= MAX_SMOOTH)
return;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
// Find location to steer towards.
float steerPos[3];
unsigned char steerPosFlag;
dtPolyRef steerPosRef;
if (!getSteerTarget(m_navMesh, m_iterPos, m_targetPos, SLOP,
m_pathIterPolys, m_pathIterPolyCount, steerPos, steerPosFlag, steerPosRef,
m_steerPoints, &m_steerPointCount))
return;
vcopy(m_steerPos, steerPos);
bool endOfPath = (steerPosFlag & DT_STRAIGHTPATH_END) ? true : false;
bool offMeshConnection = (steerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ? true : false;
// Find movement delta.
float delta[3], len;
vsub(delta, steerPos, m_iterPos);
len = sqrtf(vdot(delta,delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
float moveTgt[3];
vmad(moveTgt, m_iterPos, delta, len);
// Move
float result[3];
int n = m_navMesh->moveAlongPathCorridor(m_iterPos, moveTgt, result, m_pathIterPolys, m_pathIterPolyCount);
float h = 0;
m_navMesh->getPolyHeight(m_pathIterPolys[n], result, &h);
result[1] = h;
// Shrink path corridor if advanced.
if (n)
{
m_pathIterPolys += n;
m_pathIterPolyCount -= n;
}
// Update position.
vcopy(m_iterPos, result);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(m_iterPos, steerPos, SLOP, 1.0f))
{
// Reached end of path.
vcopy(m_iterPos, m_targetPos);
if (m_nsmoothPath < MAX_SMOOTH)
{
vcopy(&m_smoothPath[m_nsmoothPath*3], m_iterPos);
m_nsmoothPath++;
}
return;
}
else if (offMeshConnection && inRange(m_iterPos, steerPos, SLOP, 1.0f))
{
// Reached off-mesh connection.
float startPos[3], endPos[3];
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0, polyRef = m_pathIterPolys[0];
while (m_pathIterPolyCount && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = m_pathIterPolys[0];
m_pathIterPolys++;
m_pathIterPolyCount--;
}
// Handle the connection.
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))
{
if (m_nsmoothPath < MAX_SMOOTH)
{
vcopy(&m_smoothPath[m_nsmoothPath*3], startPos);
m_nsmoothPath++;
// Hack to make the dotted path not visible during off-mesh connection.
if (m_nsmoothPath & 1)
{
vcopy(&m_smoothPath[m_nsmoothPath*3], startPos);
m_nsmoothPath++;
}
}
// Move position at the other side of the off-mesh link.
vcopy(m_iterPos, endPos);
float h;
m_navMesh->getPolyHeight(m_pathIterPolys[0], m_iterPos, &h);
m_iterPos[1] = h;
}
}
// Store results.
if (m_nsmoothPath < MAX_SMOOTH)
{
vcopy(&m_smoothPath[m_nsmoothPath*3], m_iterPos);
m_nsmoothPath++;
}
}
void NavMeshTesterTool::reset()
{
m_startRef = 0;
@ -232,42 +426,6 @@ void NavMeshTesterTool::reset()
m_distanceToWall = 0;
}
static bool getSteerTarget(dtNavMesh* navMesh, const float* startPos, const float* endPos,
const float minTargetDist,
const dtPolyRef* path, const int pathSize,
float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef)
{
// Find steer target.
static const int MAX_STEER_POINTS = 3;
float steerPath[MAX_STEER_POINTS*3];
unsigned char steerPathFlags[MAX_STEER_POINTS];
dtPolyRef steerPathPolys[MAX_STEER_POINTS];
int nsteerPath = navMesh->findStraightPath(startPos, endPos, path, pathSize,
steerPath, steerPathFlags, steerPathPolys, MAX_STEER_POINTS);
if (!nsteerPath)
return false;
// Find vertex far enough to steer to.
int ns = 0;
while (ns < nsteerPath)
{
// Stop at Off-Mesh link or when point is further than slop away.
if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ||
!inRange(&steerPath[ns*3], startPos, minTargetDist, 1000.0f))
break;
ns++;
}
// Failed to find good point to steer to.
if (ns >= nsteerPath)
return false;
vcopy(steerPos, &steerPath[ns*3]);
steerPosFlag = steerPathFlags[ns];
steerPosRef = steerPathPolys[ns];
return true;
}
void NavMeshTesterTool::recalc()
{
@ -286,6 +444,7 @@ void NavMeshTesterTool::recalc()
if (m_toolMode == TOOLMODE_PATHFIND_ITER)
{
m_pathIterNum = 0;
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
#ifdef DUMP_REQS
@ -567,6 +726,37 @@ void NavMeshTesterTool::handleRender()
dd.vertex(m_smoothPath[i*3], m_smoothPath[i*3+1]+0.1f, m_smoothPath[i*3+2], pathCol);
dd.end();
}
if (m_pathIterNum)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_pathIterPolys[0], duRGBA(255,255,255,128));
dd.begin(DU_DRAW_LINES, 1.0f);
const unsigned int prevCol = duRGBA(255,192,0,220);
const unsigned int curCol = duRGBA(255,255,255,220);
const unsigned int steerCol = duRGBA(0,192,255,220);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]-0.3f,m_prevIterPos[2], prevCol);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], prevCol);
dd.vertex(m_iterPos[0],m_iterPos[1]-0.3f,m_iterPos[2], curCol);
dd.vertex(m_iterPos[0],m_iterPos[1]+0.3f,m_iterPos[2], curCol);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], prevCol);
dd.vertex(m_iterPos[0],m_iterPos[1]+0.3f,m_iterPos[2], prevCol);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], steerCol);
dd.vertex(m_steerPos[0],m_steerPos[1]+0.3f,m_steerPos[2], steerCol);
for (int i = 0; i < m_steerPointCount-1; ++i)
{
dd.vertex(m_steerPoints[i*3+0],m_steerPoints[i*3+1]+0.2f,m_steerPoints[i*3+2], duDarkenColor(steerCol));
dd.vertex(m_steerPoints[(i+1)*3+0],m_steerPoints[(i+1)*3+1]+0.2f,m_steerPoints[(i+1)*3+2], duDarkenColor(steerCol));
}
dd.end();
}
}
else if (m_toolMode == TOOLMODE_PATHFIND_STRAIGHT)
{

4
RecastDemo/Source/OffMeshConnectionTool.cpp
View File

@ -132,6 +132,10 @@ void OffMeshConnectionTool::handleClick(const float* p, bool shift)
}
void OffMeshConnectionTool::handleStep()
{
}
void OffMeshConnectionTool::handleRender()
{
DebugDrawGL dd;

6
RecastDemo/Source/Sample.cpp
View File

@ -205,6 +205,12 @@ void Sample::handleClick(const float* p, bool shift)
m_tool->handleClick(p, shift);
}
void Sample::handleStep()
{
if (m_tool)
m_tool->handleStep();
}
bool Sample::handleBuild()
{
return true;

2
RecastDemo/Source/Sample_SoloMeshTiled.cpp
View File

@ -85,6 +85,8 @@ public:
m_sample->setHighlightedTile(m_hitPos);
}
virtual void handleStep() {}
virtual void handleRender()
{
if (m_hitPosSet)

2
RecastDemo/Source/Sample_TileMesh.cpp
View File

@ -123,6 +123,8 @@ public:
m_sample->buildTile(m_hitPos);
}
}
virtual void handleStep() {}
virtual void handleRender()
{

5
RecastDemo/Source/main.cpp
View File

@ -256,6 +256,11 @@ int main(int argc, char *argv[])
showTestCases = true;
scanDirectory("Tests", ".txt", files);
}
else if (event.key.keysym.sym == SDLK_SPACE)
{
if (sample)
sample->handleStep();
}
else if (event.key.keysym.sym == SDLK_1)
{
if (geom)