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Add support for AABB shaped obstacles to dtTileCache (#215)

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This commit is contained in:
cmf028 2016-07-13 08:20:28 -05:00 committed by Graham Pentheny
parent 76db7aa47b
commit 9052db45d8
4 changed files with 133 additions and 12 deletions
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29
DetourTileCache/Include/DetourTileCache.h
View File

@ -35,13 +35,38 @@ enum ObstacleState
DT_OBSTACLE_REMOVING,
};
enum ObstacleType
{
DT_OBSTACLE_CYLINDER,
DT_OBSTACLE_BOX,
};
struct dtObstacleCylinder
{
float pos[ 3 ];
float radius;
float height;
};
struct dtObstacleBox
{
float bmin[ 3 ];
float bmax[ 3 ];
};
static const int DT_MAX_TOUCHED_TILES = 8;
struct dtTileCacheObstacle
{
float pos[3], radius, height;
union
{
dtObstacleCylinder cylinder;
dtObstacleBox box;
};
dtCompressedTileRef touched[DT_MAX_TOUCHED_TILES];
dtCompressedTileRef pending[DT_MAX_TOUCHED_TILES];
unsigned short salt;
unsigned char type;
unsigned char state;
unsigned char ntouched;
unsigned char npending;
@ -106,6 +131,8 @@ public:
dtStatus removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize);
dtStatus addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result);
dtStatus addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result);
dtStatus removeObstacle(const dtObstacleRef ref);
dtStatus queryTiles(const float* bmin, const float* bmax,

3
DetourTileCache/Include/DetourTileCacheBuilder.h
View File

@ -127,6 +127,9 @@ void dtFreeTileCachePolyMesh(dtTileCacheAlloc* alloc, dtTileCachePolyMesh* lmesh
dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* pos, const float radius, const float height, const unsigned char areaId);
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* bmin, const float* bmax, const unsigned char areaId);
dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc,
dtTileCacheLayer& layer,
const int walkableClimb);

75
DetourTileCache/Source/DetourTileCache.cpp
View File

@ -370,9 +370,44 @@ dtStatus dtTileCache::addObstacle(const float* pos, const float radius, const fl
memset(ob, 0, sizeof(dtTileCacheObstacle));
ob->salt = salt;
ob->state = DT_OBSTACLE_PROCESSING;
dtVcopy(ob->pos, pos);
ob->radius = radius;
ob->height = height;
ob->type = DT_OBSTACLE_CYLINDER;
dtVcopy(ob->cylinder.pos, pos);
ob->cylinder.radius = radius;
ob->cylinder.height = height;
ObstacleRequest* req = &m_reqs[m_nreqs++];
memset(req, 0, sizeof(ObstacleRequest));
req->action = REQUEST_ADD;
req->ref = getObstacleRef(ob);
if (result)
*result = req->ref;
return DT_SUCCESS;
}
dtStatus dtTileCache::addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result)
{
if (m_nreqs >= MAX_REQUESTS)
return DT_FAILURE | DT_BUFFER_TOO_SMALL;
dtTileCacheObstacle* ob = 0;
if (m_nextFreeObstacle)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = ob->next;
ob->next = 0;
}
if (!ob)
return DT_FAILURE | DT_OUT_OF_MEMORY;
unsigned short salt = ob->salt;
memset(ob, 0, sizeof(dtTileCacheObstacle));
ob->salt = salt;
ob->state = DT_OBSTACLE_PROCESSING;
ob->type = DT_OBSTACLE_BOX;
dtVcopy(ob->box.bmin, bmin);
dtVcopy(ob->box.bmax, bmax);
ObstacleRequest* req = &m_reqs[m_nreqs++];
memset(req, 0, sizeof(ObstacleRequest));
@ -607,8 +642,16 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
continue;
if (contains(ob->touched, ob->ntouched, ref))
{
dtMarkCylinderArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
ob->pos, ob->radius, ob->height, 0);
if (ob->type == DT_OBSTACLE_CYLINDER)
{
dtMarkCylinderArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
ob->cylinder.pos, ob->cylinder.radius, ob->cylinder.height, 0);
}
else if (ob->type == DT_OBSTACLE_BOX)
{
dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
ob->box.bmin, ob->box.bmax, 0);
}
}
}
@ -702,10 +745,20 @@ void dtTileCache::calcTightTileBounds(const dtTileCacheLayerHeader* header, floa
void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const
{
bmin[0] = ob->pos[0] - ob->radius;
bmin[1] = ob->pos[1];
bmin[2] = ob->pos[2] - ob->radius;
bmax[0] = ob->pos[0] + ob->radius;
bmax[1] = ob->pos[1] + ob->height;
bmax[2] = ob->pos[2] + ob->radius;
if (ob->type == DT_OBSTACLE_CYLINDER)
{
const dtObstacleCylinder &cl = ob->cylinder;
bmin[0] = cl.pos[0] - cl.radius;
bmin[1] = cl.pos[1];
bmin[2] = cl.pos[2] - cl.radius;
bmax[0] = cl.pos[0] + cl.radius;
bmax[1] = cl.pos[1] + cl.height;
bmax[2] = cl.pos[2] + cl.radius;
}
else if (ob->type == DT_OBSTACLE_BOX)
{
dtVcopy(bmin, ob->box.bmin);
dtVcopy(bmax, ob->box.bmax);
}
}

38
DetourTileCache/Source/DetourTileCacheBuilder.cpp
View File

@ -2002,6 +2002,44 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
return DT_SUCCESS;
}
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* bmin, const float* bmax, const unsigned char areaId)
{
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
const float ics = 1.0f/cs;
const float ich = 1.0f/ch;
int minx = (int)floorf((bmin[0]-orig[0])*ics);
int miny = (int)floorf((bmin[1]-orig[1])*ich);
int minz = (int)floorf((bmin[2]-orig[2])*ics);
int maxx = (int)floorf((bmax[0]-orig[0])*ics);
int maxy = (int)floorf((bmax[1]-orig[1])*ich);
int maxz = (int)floorf((bmax[2]-orig[2])*ics);
if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS;
if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0;
if (maxz >= h) maxz = h-1;
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const int y = layer.heights[x+z*w];
if (y < miny || y > maxy)
continue;
layer.areas[x+z*w] = areaId;
}
}
return DT_SUCCESS;
}
dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp,
dtTileCacheLayerHeader* header,