Off-Mesh Link progress (not fully working).
This commit is contained in:
Mikko Mononen
parent
6c76919ab9
commit
5c4f1ed0bd
@ -28,6 +28,8 @@ static const int DT_VERTS_PER_POLYGON = 6;
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static const int DT_NAVMESH_MAGIC = 'DNAV';
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static const int DT_NAVMESH_VERSION = 2;
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static const unsigned char DT_POLY_OFFMESH_LINK = 1;
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// Structure describing the navigation polygon data.
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struct dtPoly
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{
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@ -36,7 +38,7 @@ struct dtPoly
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unsigned short links; // Base index to header 'links' array.
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unsigned char nlinks; // Number of links for
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unsigned char nv; // Number of vertices.
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unsigned char flags; // Flags (not used).
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unsigned char flags; // Flags.
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};
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// Stucture describing polygon detail triangles.
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@ -64,6 +66,13 @@ struct dtBVNode
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int i; // Index to item or if negative, escape index.
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};
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struct dtOffMeshLink
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{
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dtPolyRef ref[2]; // Endpoint polys.
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unsigned short p; // Poly Id
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unsigned char side; // TODO
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};
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struct dtMeshHeader
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{
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int magic; // Magic number, used to identify the data.
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@ -76,6 +85,7 @@ struct dtMeshHeader
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int ndverts; // Number of detail vertices.
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int ndtris; // Number of detail triangles.
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int nbvtree; // Number of BVtree nodes.
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int nomlinks; // Number of Off-Mesh links.
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float bmin[3], bmax[3]; // Bounding box of the tile.
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float bvquant; // BVtree quantization factor (world to bvnode coords)
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dtPoly* polys; // Pointer to the polygons (will be updated when tile is added).
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@ -85,6 +95,7 @@ struct dtMeshHeader
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float* dverts; // Pointer to detail vertices (will be updated when tile added).
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unsigned char* dtris; // Pointer to detail triangles (will be updated when tile added).
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dtBVNode* bvtree; // Pointer to BVtree nodes (will be updated when tile added).
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dtOffMeshLink* omlinks; // Pointer to Off-Mesh links. (will be updated when tile added).
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};
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struct dtMeshTile
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@ -23,6 +23,7 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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const unsigned short* polys, const int npolys, const int nvp,
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const unsigned short* dmeshes, const float* dverts, const int ndverts,
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const unsigned char* dtris, const int ndtris,
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const float* omverts, const int nomlinks,
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const float* bmin, const float* bmax, float cs, float ch, int tileSize, int walkableClimb,
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unsigned char** outData, int* outDataSize);
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@ -354,11 +354,71 @@ void dtNavMesh::buildIntLinks(dtMeshTile* tile)
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dtPolyRef base = getTileId(tile);
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dtLink* pool = h->links;
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int nlinks = 0;
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unsigned int salt, it, ip, tileIdx;
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dtDecodePolyId(base, salt, tileIdx, ip);
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// Find Off-mesh link end points.
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for (int i = 0; i < h->nomlinks; ++i)
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{
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dtOffMeshLink* link = &h->omlinks[i];
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dtPoly* poly = &h->polys[link->p];
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link->ref[0] = 0;
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link->ref[1] = 0;
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const float ext[3] = { 0.1f, 0.3f, 0.1f }; //m_portalHeight }; // TODO: save agent size with mesh.
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for (int j = 0; j < 2; ++j)
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{
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const float* v = &h->verts[poly->v[j]*3];
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dtPolyRef ref = findNearestPoly(v, ext);
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// Make sure the location is on current mesh.
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// TODO: Handle cross tile links.
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dtDecodePolyId(ref, salt, it, ip);
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if (it != tileIdx)
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continue;
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link->ref[j] = ref;
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}
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}
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for (int i = 0; i < h->npolys; ++i)
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{
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dtPoly* poly = &h->polys[i];
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poly->links = nlinks;
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poly->nlinks = 0;
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if (poly->flags & DT_POLY_OFFMESH_LINK)
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{
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// Find Off-Mesh link and fill in information.
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dtOffMeshLink* omlink = 0;
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for (int j = 0; j < h->nomlinks; ++j)
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{
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if ((int)h->omlinks[j].p == i)
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{
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omlink = &h->omlinks[j];
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break;
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}
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}
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if (!omlink)
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continue;
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for (int j = 0; j < 2; ++j)
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{
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if (nlinks < h->maxlinks)
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{
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dtLink* link = &pool[nlinks++];
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link->ref = omlink->ref[j];
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link->p = (unsigned short)i;
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link->e = (unsigned char)j;
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link->side = 0xff;
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link->bmin = link->bmax = 0;
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poly->nlinks++;
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}
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}
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}
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else
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{
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// Polygon edges.
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for (int j = 0; j < poly->nv; ++j)
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{
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// Skip hard and non-internal edges.
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@ -375,7 +435,32 @@ void dtNavMesh::buildIntLinks(dtMeshTile* tile)
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poly->nlinks++;
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}
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}
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// Off-Mesh link targets.
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dtPolyRef curRef = base | (unsigned int)i;
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for (int j = 0; j < h->nomlinks; ++j)
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{
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const dtOffMeshLink* omlink = &h->omlinks[j];
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for (int k = 0; k < 2; ++k)
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{
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if (omlink->ref[k] == curRef)
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{
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if (nlinks < h->maxlinks)
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{
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dtLink* link = &pool[nlinks++];
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link->ref = base | (dtPolyRef)omlink->p;
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link->p = (unsigned short)i;
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link->e = 0;
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link->side = 0xff;
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link->bmin = link->bmax = 0;
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poly->nlinks++;
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}
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}
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}
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}
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}
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}
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h->nlinks = nlinks;
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}
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@ -423,6 +508,7 @@ bool dtNavMesh::addTileAt(int x, int y, unsigned char* data, int dataSize, bool
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const int detailVertsSize = align4(sizeof(float)*3*header->ndverts);
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const int detailTrisSize = align4(sizeof(unsigned char)*4*header->ndtris);
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const int bvtreeSize = header->nbvtree ? align4(sizeof(dtBVNode)*header->npolys*2) : 0;
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const int offMeshLinksSize = align4(sizeof(dtOffMeshLink)*header->nomlinks);
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unsigned char* d = data + headerSize;
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header->verts = (float*)d; d += vertsSize;
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@ -431,6 +517,7 @@ bool dtNavMesh::addTileAt(int x, int y, unsigned char* data, int dataSize, bool
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header->dmeshes = (dtPolyDetail*)d; d += detailMeshesSize;
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header->dverts = (float*)d; d += detailVertsSize;
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header->dtris = (unsigned char*)d; d += detailTrisSize;
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header->omlinks = (dtOffMeshLink*)d; d += offMeshLinksSize;
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header->bvtree = header->nbvtree ? (dtBVNode*)d : 0; d += bvtreeSize;
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// Init tile.
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@ -1224,8 +1311,35 @@ bool dtNavMesh::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float
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for (int i = 0; i < fromPoly->nlinks; ++i)
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{
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const dtLink* link = &fromHeader->links[fromPoly->links+i];
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if (link->ref == to)
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if (link->ref != to)
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continue;
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if (fromPoly->flags & DT_POLY_OFFMESH_LINK)
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{
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// const int v = fromPoly->v[link->e];
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const int v = fromHeader->links[fromPoly->links+0].ref == to ? 0 : 1;
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vcopy(left, &fromHeader->verts[fromPoly->v[v]*3]);
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vcopy(right, &fromHeader->verts[fromPoly->v[v]*3]);
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return true;
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}
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else
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{
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dtDecodePolyId(to, salt, it, ip);
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if (it >= (unsigned int)m_maxTiles) return false;
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if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
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if (ip >= (unsigned int)m_tiles[it].header->npolys) return false;
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const dtMeshHeader* toHeader = m_tiles[it].header;
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const dtPoly* toPoly = &toHeader->polys[ip];
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if (toPoly->flags & DT_POLY_OFFMESH_LINK)
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{
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const int v = toHeader->links[toPoly->links+0].ref == from ? 0 : 1;
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vcopy(left, &toHeader->verts[toPoly->v[v]*3]);
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vcopy(right, &toHeader->verts[toPoly->v[v]*3]);
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return true;
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}
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}
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// Find portal vertices.
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const int v0 = fromPoly->v[link->e];
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const int v1 = fromPoly->v[(link->e+1) % fromPoly->nv];
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@ -1261,7 +1375,6 @@ bool dtNavMesh::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float
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}
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return true;
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}
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}
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return false;
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}
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@ -209,11 +209,139 @@ static int createBVTree(const unsigned short* verts, const int nverts,
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return curNode;
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}
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/*
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static int queryPolygons(dtMeshHeader* header,
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const float* qmin, const float* qmax,
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unsigned short* polys, const int maxPolys)
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{
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const dtBVNode* node = &header->bvtree[0];
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const dtBVNode* end = &header->bvtree[header->nbvtree];
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// Calculate quantized box
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unsigned short bmin[3], bmax[3];
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// Clamp query box to world box.
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float minx = clamp(qmin[0], header->bmin[0], header->bmax[0]) - header->bmin[0];
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float miny = clamp(qmin[1], header->bmin[1], header->bmax[1]) - header->bmin[1];
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float minz = clamp(qmin[2], header->bmin[2], header->bmax[2]) - header->bmin[2];
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float maxx = clamp(qmax[0], header->bmin[0], header->bmax[0]) - header->bmin[0];
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float maxy = clamp(qmax[1], header->bmin[1], header->bmax[1]) - header->bmin[1];
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float maxz = clamp(qmax[2], header->bmin[2], header->bmax[2]) - header->bmin[2];
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// Quantize
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bmin[0] = (unsigned short)(header->bvquant * minx) & 0xfffe;
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bmin[1] = (unsigned short)(header->bvquant * miny) & 0xfffe;
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bmin[2] = (unsigned short)(header->bvquant * minz) & 0xfffe;
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bmax[0] = (unsigned short)(header->bvquant * maxx + 1) | 1;
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bmax[1] = (unsigned short)(header->bvquant * maxy + 1) | 1;
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bmax[2] = (unsigned short)(header->bvquant * maxz + 1) | 1;
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// Traverse tree
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dtPolyRef base = getTileId(tile);
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int n = 0;
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while (node < end)
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{
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bool overlap = checkOverlapBox(bmin, bmax, node->bmin, node->bmax);
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bool isLeafNode = node->i >= 0;
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if (isLeafNode && overlap)
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{
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if (n < maxPolys)
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polys[n++] = base | (dtPolyRef)node->i;
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}
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if (overlap || isLeafNode)
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node++;
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else
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{
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const int escapeIndex = -node->i;
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node += escapeIndex;
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}
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}
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return n;
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}
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dtMeshHeader* header
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{
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bool dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const
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{
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unsigned int salt, it, ip;
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dtDecodePolyId(ref, salt, it, ip);
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if (it >= (unsigned int)m_maxTiles) return false;
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if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
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const dtMeshHeader* header = m_tiles[it].header;
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if (ip >= (unsigned int)header->npolys) return false;
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const dtPoly* poly = &header->polys[ip];
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float closestDistSqr = FLT_MAX;
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const dtPolyDetail* pd = &header->dmeshes[ip];
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for (int j = 0; j < pd->ntris; ++j)
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{
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const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
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const float* v[3];
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for (int k = 0; k < 3; ++k)
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{
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if (t[k] < poly->nv)
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v[k] = &header->verts[poly->v[t[k]]*3];
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else
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v[k] = &header->dverts[(pd->vbase+(t[k]-poly->nv))*3];
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}
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float pt[3];
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closestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
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float d = vdistSqr(pos, pt);
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if (d < closestDistSqr)
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{
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vcopy(closest, pt);
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closestDistSqr = d;
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}
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}
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return true;
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}
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}
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unsigned short findNearestPoly(dtMeshHeader* header, const float* center, const float* extents)
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{
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// Get nearby polygons from proximity grid.
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float bmin[3], bmax[3];
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bmin[0] = center[0] - extents[0];
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bmin[1] = center[1] - extents[1];
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bmin[2] = center[2] - extents[2];
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bmax[0] = center[0] + extents[0];
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bmax[1] = center[1] + extents[1];
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bmax[2] = center[2] + extents[2];
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unsigned short polys[128];
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int npolys = queryPolygons(header, bmin, bmax, polys, 128);
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// Find nearest polygon amongst the nearby polygons.
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unsigned short nearest = 0xffff;
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float nearestDistanceSqr = FLT_MAX;
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for (int i = 0; i < npolys; ++i)
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{
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dtPolyRef ref = polys[i];
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float closest[3];
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if (!closestPointOnPoly(ref, center, closest))
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continue;
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float d = vdistSqr(center, closest);
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if (d < nearestDistanceSqr)
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{
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nearestDistanceSqr = d;
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nearest = ref;
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}
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}
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return nearest;
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}
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*/
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bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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const unsigned short* polys, const int npolys, const int nvp,
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const unsigned short* dmeshes, const float* dverts, const int ndverts,
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const unsigned char* dtris, const int ndtris,
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const float* omverts, const int nomlinks,
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const float* bmin, const float* bmax, float cs, float ch, int tileSize, int walkableClimb,
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unsigned char** outData, int* outDataSize)
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{
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@ -229,6 +357,10 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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if (!dmeshes || !dverts || ! dtris)
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return false;
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// Off-mesh links are stored as polygons, adjust values.
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const int totpolys = npolys + nomlinks;
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const int totverts = nverts + nomlinks*2;
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// Find portal edges which are at tile borders.
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int nedges = 0;
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int nportals = 0;
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@ -259,7 +391,7 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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}
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}
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const int maxLinks = nedges + nportals*2;
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const int maxLinks = nedges + nportals*2 + nomlinks*4;
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// Find unique detail vertices.
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@ -283,16 +415,19 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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// Calculate data size
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const int headerSize = align4(sizeof(dtMeshHeader));
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const int vertsSize = align4(sizeof(float)*3*nverts);
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const int polysSize = align4(sizeof(dtPoly)*npolys);
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const int vertsSize = align4(sizeof(float)*3*totverts);
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const int polysSize = align4(sizeof(dtPoly)*totpolys);
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const int linksSize = align4(sizeof(dtLink)*maxLinks);
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const int detailMeshesSize = align4(sizeof(dtPolyDetail)*npolys);
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const int detailVertsSize = align4(sizeof(float)*3*uniqueDetailVerts);
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const int detailTrisSize = align4(sizeof(unsigned char)*4*ndtris);
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const int bvtreeSize = align4(sizeof(dtBVNode)*npolys*2);
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const int offMeshLinksSize = align4(sizeof(dtOffMeshLink)*nomlinks);
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const int dataSize = headerSize + vertsSize + polysSize + linksSize +
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detailMeshesSize + detailVertsSize + detailTrisSize + bvtreeSize;
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detailMeshesSize + detailVertsSize + detailTrisSize +
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bvtreeSize + offMeshLinksSize;
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unsigned char* data = new unsigned char[dataSize];
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if (!data)
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return false;
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@ -306,14 +441,15 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
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float* navDVerts = (float*)d; d += detailVertsSize;
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unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
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dtOffMeshLink* offMeshLinks = (dtOffMeshLink*)d; d += offMeshLinksSize;
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dtBVNode* navBvtree = (dtBVNode*)d; d += bvtreeSize;
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// Store header
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header->magic = DT_NAVMESH_MAGIC;
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header->version = DT_NAVMESH_VERSION;
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header->npolys = npolys;
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header->nverts = nverts;
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header->npolys = totpolys;
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header->nverts = totverts;
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header->maxlinks = maxLinks;
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header->bmin[0] = bmin[0];
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header->bmin[1] = bmin[1];
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@ -325,8 +461,11 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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header->ndverts = uniqueDetailVerts;
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header->ndtris = ndtris;
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header->bvquant = 1.0f/cs;
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header->nomlinks = nomlinks;
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header->nbvtree = npolys*2;
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// Store vertices
|
||||
// Mesh vertices
|
||||
for (int i = 0; i < nverts; ++i)
|
||||
{
|
||||
const unsigned short* iv = &verts[i*3];
|
||||
@ -335,8 +474,17 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
|
||||
v[1] = bmin[1] + iv[1] * ch;
|
||||
v[2] = bmin[2] + iv[2] * cs;
|
||||
}
|
||||
// Off-mesh link vertices.
|
||||
for (int i = 0; i < nomlinks; ++i)
|
||||
{
|
||||
const float* linkv = &omverts[i*2*3];
|
||||
float* v = &navVerts[(nverts+i*2)*3];
|
||||
vcopy(&v[0], &linkv[0]);
|
||||
vcopy(&v[3], &linkv[3]);
|
||||
}
|
||||
|
||||
// Store polygons
|
||||
// Mesh polys
|
||||
const unsigned short* src = polys;
|
||||
for (int i = 0; i < npolys; ++i)
|
||||
{
|
||||
@ -351,6 +499,16 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
|
||||
}
|
||||
src += nvp*2;
|
||||
}
|
||||
// Off-mesh link vertices.
|
||||
const int omvbase = nverts; // first off-mesh link vertex.
|
||||
for (int i = 0; i < nomlinks; ++i)
|
||||
{
|
||||
dtPoly* p = &navPolys[npolys+i];
|
||||
p->nv = 2;
|
||||
p->v[0] = (unsigned short)(omvbase + i*2+0);
|
||||
p->v[1] = (unsigned short)(omvbase + i*2+1);
|
||||
p->flags = DT_POLY_OFFMESH_LINK; // Off-mesh link poly.
|
||||
}
|
||||
|
||||
// Store portal edges.
|
||||
if (tileSize > 0)
|
||||
@ -404,8 +562,14 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
|
||||
|
||||
// Store and create BVtree.
|
||||
// TODO: take detail mesh into account! use byte per bbox extent?
|
||||
header->nbvtree = createBVTree(verts, nverts, polys, npolys, nvp,
|
||||
cs, ch, npolys*2, navBvtree);
|
||||
createBVTree(verts, nverts, polys, npolys, nvp, cs, ch, npolys*2, navBvtree);
|
||||
|
||||
// Store Off-Mesh links.
|
||||
for (int i = 0; i < nomlinks; ++i)
|
||||
{
|
||||
dtOffMeshLink* link = &offMeshLinks[i];
|
||||
link->p = npolys + i;
|
||||
}
|
||||
|
||||
*outData = data;
|
||||
*outDataSize = dataSize;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user