1773 lines
41 KiB
C++
1773 lines
41 KiB
C++
#include "DetourTiledNavMesh.h"
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#include <math.h>
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#include <float.h>
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#include <string.h>
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#include <stdio.h>
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//////////////////////////////////////////////////////////////////////////////////////////
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template<class T> inline void swap(T& a, T& b) { T t = a; a = b; b = t; }
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template<class T> inline T min(T a, T b) { return a < b ? a : b; }
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template<class T> inline T max(T a, T b) { return a > b ? a : b; }
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template<class T> inline T abs(T a) { return a < 0 ? -a : a; }
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template<class T> inline T sqr(T a) { return a*a; }
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template<class T> inline T clamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
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// Some vector utils
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inline void vcross(float* dest, const float* v1, const float* v2)
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{
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dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
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dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
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dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
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}
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inline float vdot(const float* v1, const float* v2)
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{
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return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
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}
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inline void vsub(float* dest, const float* v1, const float* v2)
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{
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dest[0] = v1[0]-v2[0];
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dest[1] = v1[1]-v2[1];
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dest[2] = v1[2]-v2[2];
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}
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inline void vmin(float* mn, const float* v)
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{
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mn[0] = min(mn[0], v[0]);
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mn[1] = min(mn[1], v[1]);
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mn[2] = min(mn[2], v[2]);
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}
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inline void vmax(float* mx, const float* v)
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{
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mx[0] = max(mx[0], v[0]);
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mx[1] = max(mx[1], v[1]);
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mx[2] = max(mx[2], v[2]);
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}
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inline void vcopy(float* dest, const float* a)
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{
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dest[0] = a[0];
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dest[1] = a[1];
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dest[2] = a[2];
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}
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inline float vdistSqr(const float* v1, const float* v2)
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{
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float dx = v2[0] - v1[0];
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float dy = v2[1] - v1[1];
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float dz = v2[2] - v1[2];
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return dx*dx + dy*dy + dz*dz;
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}
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inline void vnormalize(float* v)
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{
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float d = 1.0f / sqrtf(sqr(v[0]) + sqr(v[1]) + sqr(v[2]));
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v[0] *= d;
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v[1] *= d;
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v[2] *= d;
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}
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inline bool vequal(const float* p0, const float* p1)
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{
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static const float thr = sqr(1.0f/16384.0f);
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const float d = vdistSqr(p0, p1);
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return d < thr;
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}
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inline float vdot2D(const float* u, const float* v)
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{
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return u[0]*v[0] + u[2]*v[2];
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}
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inline float vperp2D(const float* u, const float* v)
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{
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return u[2]*v[0] - u[0]*v[2];
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}
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inline float triArea2D(const float* a, const float* b, const float* c)
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{
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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;
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}
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static float distancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t)
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{
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float pqx = q[0] - p[0];
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float pqz = q[2] - p[2];
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float dx = pt[0] - p[0];
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float dz = pt[2] - p[2];
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float d = pqx*pqx + pqz*pqz;
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t = pqx*dx + pqz*dz;
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if (d > 0)
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t /= d;
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if (t < 0)
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t = 0;
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else if (t > 1)
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t = 1;
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dx = p[0] + t*pqx - pt[0];
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dz = p[2] + t*pqz - pt[2];
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return dx*dx + dz*dz;
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}
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static bool intersectSegmentPoly2D(const float* p0, const float* p1,
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const float* verts, int nverts,
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float& tmin, float& tmax,
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int& segMin, int& segMax)
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{
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static const float EPS = 0.00000001f;
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tmin = 0;
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tmax = 1;
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segMin = -1;
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segMax = -1;
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float dir[3];
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vsub(dir, p1, p0);
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for (int i = 0, j = nverts-1; i < nverts; j=i++)
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{
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float edge[3], diff[3];
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vsub(edge, &verts[i*3], &verts[j*3]);
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vsub(diff, p0, &verts[j*3]);
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float n = vperp2D(edge, diff);
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float d = -vperp2D(edge, dir);
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if (fabs(d) < EPS)
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{
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// S is nearly parallel to this edge
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if (n < 0)
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return false;
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else
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continue;
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}
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float t = n / d;
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if (d < 0)
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{
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// segment S is entering across this edge
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if (t > tmin)
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{
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tmin = t;
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segMin = j;
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// S enters after leaving polygon
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if (tmin > tmax)
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return false;
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}
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}
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else
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{
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// segment S is leaving across this edge
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if (t < tmax)
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{
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tmax = t;
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segMax = j;
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// S leaves before entering polygon
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if (tmax < tmin)
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return false;
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}
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}
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}
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return true;
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}
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static void calcPolyCenter(float* tc, const dtTilePoly* p, const float* verts)
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{
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tc[0] = 0.0f;
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tc[1] = 0.0f;
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tc[2] = 0.0f;
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for (int j = 0; j < (int)p->nv; ++j)
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{
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const float* v = &verts[p->v[j]*3];
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tc[0] += v[0];
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tc[1] += v[1];
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tc[2] += v[2];
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}
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const float s = 1.0f / p->nv;
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tc[0] *= s;
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tc[1] *= s;
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tc[2] *= s;
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}
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static void closestPtPointTriangle(float* closest, const float* p,
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const float* a, const float* b, const float* c)
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{
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// Check if P in vertex region outside A
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float ab[3], ac[3], ap[3];
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vsub(ab, b, a);
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vsub(ac, c, a);
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vsub(ap, p, a);
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float d1 = vdot(ab, ap);
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float d2 = vdot(ac, ap);
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if (d1 <= 0.0f && d2 <= 0.0f)
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{
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// barycentric coordinates (1,0,0)
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vcopy(closest, a);
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return;
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}
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// Check if P in vertex region outside B
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float bp[3];
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vsub(bp, p, b);
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float d3 = vdot(ab, bp);
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float d4 = vdot(ac, bp);
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if (d3 >= 0.0f && d4 <= d3)
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{
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// barycentric coordinates (0,1,0)
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vcopy(closest, b);
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return;
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}
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// Check if P in edge region of AB, if so return projection of P onto AB
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float vc = d1*d4 - d3*d2;
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if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
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{
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// barycentric coordinates (1-v,v,0)
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float v = d1 / (d1 - d3);
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closest[0] = a[0] + v * ab[0];
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closest[1] = a[1] + v * ab[1];
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closest[2] = a[2] + v * ab[2];
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return;
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}
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// Check if P in vertex region outside C
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float cp[3];
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vsub(cp, p, c);
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float d5 = vdot(ab, cp);
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float d6 = vdot(ac, cp);
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if (d6 >= 0.0f && d5 <= d6)
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{
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// barycentric coordinates (0,0,1)
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vcopy(closest, c);
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return;
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}
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// Check if P in edge region of AC, if so return projection of P onto AC
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float vb = d5*d2 - d1*d6;
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if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
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{
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// barycentric coordinates (1-w,0,w)
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float w = d2 / (d2 - d6);
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closest[0] = a[0] + w * ac[0];
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closest[1] = a[1] + w * ac[1];
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closest[2] = a[2] + w * ac[2];
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return;
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}
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// Check if P in edge region of BC, if so return projection of P onto BC
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float va = d3*d6 - d5*d4;
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if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
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{
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// barycentric coordinates (0,1-w,w)
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float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
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closest[0] = b[0] + w * (c[0] - b[0]);
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closest[1] = b[1] + w * (c[1] - b[1]);
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closest[2] = b[2] + w * (c[2] - b[2]);
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return;
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}
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// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
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float denom = 1.0f / (va + vb + vc);
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float v = vb * denom;
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float w = vc * denom;
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closest[0] = a[0] + ab[0] * v + ac[0] * w;
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closest[1] = a[1] + ab[1] * v + ac[1] * w;
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closest[2] = a[2] + ab[2] * v + ac[2] * w;
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}
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inline bool overlapRects(const float* amin, const float* amax,
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const float* bmin, const float* bmax)
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{
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bool overlap = true;
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overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
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overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
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return overlap;
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}
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inline bool overlapBounds(const float* amin, const float* amax,
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const float* bmin, const float* bmax)
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{
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bool overlap = true;
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overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
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overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
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overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
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return overlap;
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}
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inline int opposite(int side) { return (side+2) & 0x3; }
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static void calcBounds(const float* va, const float* vb,
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float* bmin, float* bmax,
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int side, float padx, float pady)
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{
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if ((side&1) == 0)
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{
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bmin[0] = min(va[2],vb[2]) + padx;
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bmin[1] = min(va[1],vb[1]) - pady;
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bmax[0] = max(va[2],vb[2]) - padx;
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bmax[1] = max(va[1],vb[1]) + pady;
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}
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else
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{
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bmin[0] = min(va[0],vb[0]) + padx;
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bmin[1] = min(va[1],vb[1]) - pady;
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bmax[0] = max(va[0],vb[0]) - padx;
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bmax[1] = max(va[1],vb[1]) + pady;
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}
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}
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//////////////////////////////////////////////////////////////////////////////////////////
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struct dtTileNode
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{
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enum dtTileNodeFlags
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{
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OPEN = 0x01,
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CLOSED = 0x02,
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};
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dtTileNode* parent;
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float cost;
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float total;
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unsigned int id;
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unsigned char flags; // TODO: merge to id or parent?
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};
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class dtTileNodePool
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{
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public:
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dtTileNodePool(int maxNodes, int hashSize);
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~dtTileNodePool();
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inline void operator=(const dtTileNodePool&) {}
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void clear();
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dtTileNode* getNode(unsigned short id);
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const dtTileNode* findNode(unsigned short id) const;
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inline int getMemUsed() const
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{
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return sizeof(*this) +
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sizeof(dtTileNode)*m_maxNodes +
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sizeof(unsigned short)*m_maxNodes +
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sizeof(unsigned short)*m_hashSize;
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}
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private:
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inline unsigned int hashint(unsigned int a) const
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{
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a += ~(a<<15);
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a ^= (a>>10);
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a += (a<<3);
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a ^= (a>>6);
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a += ~(a<<11);
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a ^= (a>>16);
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return a;
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}
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dtTileNode* m_nodes;
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unsigned short* m_first;
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unsigned short* m_next;
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const int m_maxNodes;
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const int m_hashSize;
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int m_nodeCount;
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};
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dtTileNodePool::dtTileNodePool(int maxNodes, int hashSize) :
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m_maxNodes(maxNodes),
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m_hashSize(hashSize),
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m_nodes(0),
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m_first(0),
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m_next(0)
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{
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m_nodes = new dtTileNode[m_maxNodes];
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m_next = new unsigned short[m_maxNodes];
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m_first = new unsigned short[hashSize];
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memset(m_first, 0xff, sizeof(unsigned short)*m_hashSize);
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memset(m_next, 0xff, sizeof(unsigned short)*m_maxNodes);
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}
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dtTileNodePool::~dtTileNodePool()
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{
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delete [] m_nodes;
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delete [] m_next;
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delete [] m_first;
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}
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void dtTileNodePool::clear()
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{
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memset(m_first, 0xff, sizeof(unsigned short)*m_hashSize);
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m_nodeCount = 0;
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}
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const dtTileNode* dtTileNodePool::findNode(unsigned short id) const
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{
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unsigned int bucket = hashint((unsigned int)id) & (m_hashSize-1);
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unsigned short i = m_first[bucket];
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while (i != 0xffff)
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{
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if (m_nodes[i].id == id)
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return &m_nodes[i];
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i = m_next[i];
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}
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return 0;
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}
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dtTileNode* dtTileNodePool::getNode(unsigned short id)
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{
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unsigned int bucket = hashint((unsigned int)id) & (m_hashSize-1);
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unsigned short i = m_first[bucket];
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dtTileNode* node = 0;
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while (i != 0xffff)
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{
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if (m_nodes[i].id == id)
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return &m_nodes[i];
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i = m_next[i];
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}
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if (m_nodeCount >= m_maxNodes)
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return 0;
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i = (unsigned short)m_nodeCount;
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m_nodeCount++;
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// Init node
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node = &m_nodes[i];
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node->parent = 0;
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node->cost = 0;
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node->total = 0;
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node->id = id;
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node->flags = 0;
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m_next[i] = m_first[bucket];
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m_first[bucket] = i;
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return node;
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}
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//////////////////////////////////////////////////////////////////////////////////////////
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class dtTileNodeQueue
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{
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public:
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dtTileNodeQueue(int n);
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~dtTileNodeQueue();
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inline void operator=(dtTileNodeQueue&) {}
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inline void clear()
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{
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m_size = 0;
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}
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inline dtTileNode* top()
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{
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return m_heap[0];
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}
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inline dtTileNode* pop()
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{
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dtTileNode* result = m_heap[0];
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m_size--;
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trickleDown(0, m_heap[m_size]);
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return result;
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}
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inline void push(dtTileNode* node)
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{
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m_size++;
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bubbleUp(m_size-1, node);
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}
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inline void modify(dtTileNode* node)
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{
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for (int i = 0; i < m_size; ++i)
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{
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if (m_heap[i] == node)
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{
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bubbleUp(i, node);
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return;
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}
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}
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}
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inline bool empty() const { return m_size == 0; }
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inline int getMemUsed() const
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{
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return sizeof(*this) +
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sizeof(dtTileNode*)*(m_capacity+1);
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}
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private:
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void bubbleUp(int i, dtTileNode* node);
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void trickleDown(int i, dtTileNode* node);
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dtTileNode** m_heap;
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const int m_capacity;
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int m_size;
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};
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dtTileNodeQueue::dtTileNodeQueue(int n) :
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m_capacity(n),
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m_size(0),
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m_heap(0)
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{
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m_heap = new dtTileNode*[m_capacity+1];
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}
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dtTileNodeQueue::~dtTileNodeQueue()
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{
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delete [] m_heap;
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|
}
|
|
|
|
void dtTileNodeQueue::bubbleUp(int i, dtTileNode* node)
|
|
{
|
|
int parent = (i-1)/2;
|
|
// note: (index > 0) means there is a parent
|
|
while ((i > 0) && (m_heap[parent]->total > node->total))
|
|
{
|
|
m_heap[i] = m_heap[parent];
|
|
i = parent;
|
|
parent = (i-1)/2;
|
|
}
|
|
m_heap[i] = node;
|
|
}
|
|
|
|
void dtTileNodeQueue::trickleDown(int i, dtTileNode* node)
|
|
{
|
|
int child = (i*2)+1;
|
|
while (child < m_size)
|
|
{
|
|
if (((child+1) < m_size) &&
|
|
(m_heap[child]->total > m_heap[child+1]->total))
|
|
{
|
|
child++;
|
|
}
|
|
m_heap[i] = m_heap[child];
|
|
i = child;
|
|
child = (i*2)+1;
|
|
}
|
|
bubbleUp(i, node);
|
|
}
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////
|
|
dtTiledNavMesh::dtTiledNavMesh() :
|
|
m_tileSize(0),
|
|
m_portalHeight(0),
|
|
m_nextFree(0),
|
|
m_tmpLinks(0),
|
|
m_ntmpLinks(0),
|
|
m_nodePool(0),
|
|
m_openList(0)
|
|
{
|
|
}
|
|
|
|
dtTiledNavMesh::~dtTiledNavMesh()
|
|
{
|
|
// TODO! the mesh should not handle the tile memory!
|
|
for (int i = 0; i < DT_MAX_TILES; ++i)
|
|
{
|
|
if (m_tiles[i].header)
|
|
{
|
|
delete [] (unsigned char*)m_tiles[i].header;
|
|
m_tiles[i].header = 0;
|
|
}
|
|
}
|
|
|
|
delete [] m_tmpLinks;
|
|
|
|
delete m_nodePool;
|
|
delete m_openList;
|
|
}
|
|
|
|
bool dtTiledNavMesh::init(const float* orig, float tileSize, float portalHeight)
|
|
{
|
|
vcopy(m_orig, orig);
|
|
m_tileSize = tileSize;
|
|
m_portalHeight = portalHeight;
|
|
|
|
// Init tiles
|
|
memset(m_tiles, 0, sizeof(dtTile)*DT_MAX_TILES);
|
|
memset(m_posLookup, 0, sizeof(dtTile*)*DT_TILE_LOOKUP_SIZE);
|
|
m_nextFree = 0;
|
|
for (int i = DT_MAX_TILES-1; i >= 0; --i)
|
|
{
|
|
m_tiles[i].next = m_nextFree;
|
|
m_nextFree = &m_tiles[i];
|
|
}
|
|
|
|
m_nodePool = new dtTileNodePool(2048, 256);
|
|
if (!m_nodePool)
|
|
return false;
|
|
|
|
m_openList = new dtTileNodeQueue(2048);
|
|
if (!m_openList)
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
int dtTiledNavMesh::getPolyNeighbours(dtTilePolyRef ref, dtTilePolyRef* nei, int maxNei) const
|
|
{
|
|
int salt, it, ip;
|
|
decodeId(ref, salt, it, ip);
|
|
if (it >= DT_MAX_TILES) return 0;
|
|
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
|
|
const dtTileHeader* h = m_tiles[it].header;
|
|
|
|
if (ip >= h->npolys) return 0;
|
|
const dtTilePoly* poly = &h->polys[ip];
|
|
|
|
int n = 0;
|
|
for (int i = 0; i < poly->nlinks; ++i)
|
|
if (n < maxNei) nei[n++] = h->links[poly->links+i].ref;
|
|
|
|
return n;
|
|
}
|
|
|
|
int dtTiledNavMesh::findConnectingPolys(const float* va, const float* vb,
|
|
dtTile* tile, int side,
|
|
dtTilePolyRef* con, float* conarea, int maxcon)
|
|
{
|
|
if (!tile) return 0;
|
|
dtTileHeader* h = tile->header;
|
|
|
|
float amin[2], amax[2];
|
|
calcBounds(va,vb, amin,amax, side, 0.01f, m_portalHeight);
|
|
|
|
// Remove links pointing to 'side' and compact the links array.
|
|
float bmin[2], bmax[2];
|
|
unsigned short m = 0x8000 | (unsigned short)side;
|
|
int n = 0;
|
|
|
|
dtTilePolyRef base = getTileId(tile);
|
|
|
|
for (int i = 0; i < h->npolys; ++i)
|
|
{
|
|
dtTilePoly* poly = &h->polys[i];
|
|
for (int j = 0; j < poly->nv; ++j)
|
|
{
|
|
// Skip edges which do not point to the right side.
|
|
if (poly->n[j] != m) continue;
|
|
// Check if the segments touch.
|
|
const float* vc = &h->verts[poly->v[j]*3];
|
|
const float* vd = &h->verts[poly->v[(j+1) % (int)poly->nv]*3];
|
|
calcBounds(vc,vd, bmin,bmax, side, 0.01f, m_portalHeight);
|
|
if (!overlapRects(amin,amax, bmin,bmax)) continue;
|
|
// Add return value.
|
|
if (n < maxcon)
|
|
{
|
|
conarea[n*2+0] = max(amin[0], bmin[0]);
|
|
conarea[n*2+1] = min(amax[0], bmax[0]);
|
|
con[n] = base | (unsigned int)i;
|
|
n++;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
return n;
|
|
}
|
|
|
|
void dtTiledNavMesh::removeExtLinks(dtTile* tile, int side)
|
|
{
|
|
if (!tile) return;
|
|
dtTileHeader* h = tile->header;
|
|
|
|
// Remove links pointing to 'side' and compact the links array.
|
|
dtTileLink* pool = m_tmpLinks;
|
|
int nlinks = 0;
|
|
for (int i = 0; i < h->npolys; ++i)
|
|
{
|
|
dtTilePoly* poly = &h->polys[i];
|
|
int plinks = nlinks;
|
|
int nplinks = 0;
|
|
for (int j = 0; j < poly->nlinks; ++j)
|
|
{
|
|
dtTileLink* link = &h->links[poly->links+j];
|
|
if ((int)link->side != side)
|
|
{
|
|
if (nlinks < h->maxlinks)
|
|
{
|
|
dtTileLink* dst = &pool[nlinks++];
|
|
memcpy(dst, link, sizeof(dtTileLink));
|
|
nplinks++;
|
|
}
|
|
}
|
|
}
|
|
poly->links = plinks;
|
|
poly->nlinks = nplinks;
|
|
}
|
|
h->nlinks = nlinks;
|
|
if (h->nlinks)
|
|
memcpy(h->links, m_tmpLinks, sizeof(dtTileLink)*nlinks);
|
|
}
|
|
|
|
void dtTiledNavMesh::buildExtLinks(dtTile* tile, dtTile* target, int side)
|
|
{
|
|
if (!tile) return;
|
|
dtTileHeader* h = tile->header;
|
|
|
|
// Remove links pointing to 'side' and compact the links array.
|
|
dtTileLink* pool = m_tmpLinks;
|
|
int nlinks = 0;
|
|
for (int i = 0; i < h->npolys; ++i)
|
|
{
|
|
dtTilePoly* poly = &h->polys[i];
|
|
int plinks = nlinks;
|
|
int nplinks = 0;
|
|
// Copy internal and other external links.
|
|
for (int j = 0; j < poly->nlinks; ++j)
|
|
{
|
|
dtTileLink* link = &h->links[poly->links+j];
|
|
if ((int)link->side != side)
|
|
{
|
|
if (nlinks < h->maxlinks)
|
|
{
|
|
dtTileLink* dst = &pool[nlinks++];
|
|
memcpy(dst, link, sizeof(dtTileLink));
|
|
nplinks++;
|
|
}
|
|
}
|
|
}
|
|
// Create new links.
|
|
unsigned short m = 0x8000 | (unsigned short)side;
|
|
for (int j = 0; j < poly->nv; ++j)
|
|
{
|
|
// Skip edges which do not point to the right side.
|
|
if (poly->n[j] != m) continue;
|
|
|
|
// Create new links
|
|
const float* va = &h->verts[poly->v[j]*3];
|
|
const float* vb = &h->verts[poly->v[(j+1)%(int)poly->nv]*3];
|
|
dtTilePolyRef nei[4];
|
|
float neia[4*2];
|
|
int nnei = findConnectingPolys(va,vb, target, opposite(side), nei,neia,4);
|
|
for (int k = 0; k < nnei; ++k)
|
|
{
|
|
if (nlinks < h->maxlinks)
|
|
{
|
|
dtTileLink* link = &pool[nlinks++];
|
|
link->ref = nei[k];
|
|
link->p = (unsigned short)i;
|
|
link->e = (unsigned char)j;
|
|
link->side = (unsigned char)side;
|
|
link->bmin = neia[k*2+0];
|
|
link->bmax = neia[k*2+1];
|
|
nplinks++;
|
|
}
|
|
}
|
|
}
|
|
|
|
poly->links = plinks;
|
|
poly->nlinks = nplinks;
|
|
}
|
|
h->nlinks = nlinks;
|
|
if (h->nlinks)
|
|
memcpy(h->links, m_tmpLinks, sizeof(dtTileLink)*nlinks);
|
|
}
|
|
|
|
void dtTiledNavMesh::buildIntLinks(dtTile* tile)
|
|
{
|
|
if (!tile) return;
|
|
dtTileHeader* h = tile->header;
|
|
|
|
dtTilePolyRef base = getTileId(tile);
|
|
dtTileLink* pool = h->links;
|
|
int nlinks = 0;
|
|
for (int i = 0; i < h->npolys; ++i)
|
|
{
|
|
dtTilePoly* poly = &h->polys[i];
|
|
poly->links = nlinks;
|
|
poly->nlinks = 0;
|
|
for (int j = 0; j < poly->nv; ++j)
|
|
{
|
|
// Skip hard and non-internal edges.
|
|
if (poly->n[j] == 0 || (poly->n[j] & 0x8000)) continue;
|
|
|
|
if (nlinks < h->maxlinks)
|
|
{
|
|
dtTileLink* link = &pool[nlinks++];
|
|
link->ref = base | (unsigned int)(poly->n[j]-1);
|
|
link->p = (unsigned short)i;
|
|
link->e = (unsigned char)j;
|
|
link->side = 0xff;
|
|
link->bmin = link->bmax = 0;
|
|
poly->nlinks++;
|
|
}
|
|
}
|
|
}
|
|
h->nlinks = nlinks;
|
|
}
|
|
|
|
inline int computeTileHash(int x, int y)
|
|
{
|
|
const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
|
|
const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
|
|
unsigned int n = h1 * x + h2 * y;
|
|
return (int)(n & (DT_TILE_LOOKUP_SIZE-1));
|
|
}
|
|
|
|
bool dtTiledNavMesh::addTile(int x, int y, unsigned char* data, int dataSize)
|
|
{
|
|
// Remove any old tile at this location.
|
|
removeTile(x,y);
|
|
// Make sure there is enough space for new tile.
|
|
if (!m_nextFree)
|
|
return false;
|
|
// Make sure the data is in right format.
|
|
dtTileHeader* header = (dtTileHeader*)data;
|
|
if (header->magic != DT_TILE_NAVMESH_MAGIC)
|
|
return false;
|
|
if (header->version != DT_TILE_NAVMESH_VERSION)
|
|
return false;
|
|
|
|
// Make sure the tmp link array is large enough.
|
|
if (header->maxlinks > m_ntmpLinks)
|
|
{
|
|
m_ntmpLinks = header->maxlinks;
|
|
delete [] m_tmpLinks;
|
|
m_tmpLinks = 0;
|
|
m_tmpLinks = new dtTileLink[m_ntmpLinks];
|
|
}
|
|
if (!m_tmpLinks)
|
|
return false;
|
|
|
|
// Allocate a tile.
|
|
dtTile* tile = m_nextFree;
|
|
m_nextFree = tile->next;
|
|
tile->next = 0;
|
|
|
|
// Insert tile into the position lut.
|
|
int h = computeTileHash(x,y);
|
|
tile->next = m_posLookup[h];
|
|
m_posLookup[h] = tile;
|
|
|
|
// Patch header pointers.
|
|
const int headerSize = sizeof(dtTileHeader);
|
|
const int vertsSize = sizeof(float)*3*header->nverts;
|
|
const int polysSize = sizeof(dtTilePoly)*header->npolys;
|
|
header->verts = (float*)(data + headerSize);
|
|
header->polys = (dtTilePoly*)(data + headerSize + vertsSize);
|
|
header->links = (dtTileLink*)(data + headerSize + vertsSize + polysSize);
|
|
|
|
// Init tile.
|
|
tile->header = header;
|
|
tile->x = x;
|
|
tile->y = y;
|
|
|
|
buildIntLinks(tile);
|
|
|
|
// Create connections connections.
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
dtTile* nei = getNeighbourTile(x,y,i);
|
|
tile->header->nei[i] = nei;
|
|
if (tile->header->nei[i])
|
|
{
|
|
nei->header->nei[opposite(i)] = tile;
|
|
buildExtLinks(tile, nei, i);
|
|
buildExtLinks(nei, tile, opposite(i));
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
dtTile* dtTiledNavMesh::getTile(int x, int y)
|
|
{
|
|
// Find tile based on hash.
|
|
int h = computeTileHash(x,y);
|
|
dtTile* tile = m_posLookup[h];
|
|
while (tile)
|
|
{
|
|
if (tile->x == x && tile->y == y)
|
|
return tile;
|
|
tile = tile->next;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
dtTile* dtTiledNavMesh::getNeighbourTile(int x, int y, int side)
|
|
{
|
|
switch (side)
|
|
{
|
|
case 0: x++; break;
|
|
case 1: y++; break;
|
|
case 2: x--; break;
|
|
case 3: y--; break;
|
|
};
|
|
return getTile(x,y);
|
|
}
|
|
|
|
bool dtTiledNavMesh::removeTile(int x, int y)
|
|
{
|
|
dtTile* tile = getTile(x, y);
|
|
if (!tile)
|
|
return false;
|
|
|
|
// Remove connections to neighbour tiles.
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
dtTile* nei = getNeighbourTile(x,y,i);
|
|
if (!nei) continue;
|
|
nei->header->nei[opposite(i)] = 0;
|
|
removeExtLinks(nei, opposite(i));
|
|
}
|
|
|
|
// Reset tile.
|
|
unsigned char* data = (unsigned char*)tile->header;
|
|
tile->header = 0;
|
|
tile->x = -1;
|
|
tile->y = -1;
|
|
tile->salt++;
|
|
|
|
// TODO! the mesh should not handle the tile memory!
|
|
delete [] data;
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
bool dtTiledNavMesh::closestPointToPoly(dtTilePolyRef ref, const float* pos, float* closest) const
|
|
{
|
|
int salt, it, ip;
|
|
decodeId(ref, salt, it, ip);
|
|
if (it >= DT_MAX_TILES) return false;
|
|
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
|
|
const dtTileHeader* h = m_tiles[it].header;
|
|
|
|
if (ip >= h->npolys) return false;
|
|
const dtTilePoly* poly = &h->polys[ip];
|
|
|
|
float closestDistSqr = FLT_MAX;
|
|
|
|
for (int i = 2; i < (int)poly->nv; ++i)
|
|
{
|
|
const float* v0 = &h->verts[poly->v[0]*3];
|
|
const float* v1 = &h->verts[poly->v[i-1]*3];
|
|
const float* v2 = &h->verts[poly->v[i]*3];
|
|
|
|
float pt[3];
|
|
closestPtPointTriangle(pt, pos, v0, v1, v2);
|
|
float d = vdistSqr(pos, pt);
|
|
if (d < closestDistSqr)
|
|
{
|
|
vcopy(closest, pt);
|
|
closestDistSqr = d;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
dtTilePolyRef dtTiledNavMesh::findNearestPoly(const float* center, const float* extents)
|
|
{
|
|
// Get nearby polygons from proximity grid.
|
|
dtTilePolyRef polys[128];
|
|
int npolys = queryPolygons(center, extents, polys, 128);
|
|
|
|
// Find nearest polygon amongst the nearby polygons.
|
|
dtTilePolyRef nearest = 0;
|
|
float nearestDistanceSqr = FLT_MAX;
|
|
for (int i = 0; i < npolys; ++i)
|
|
{
|
|
dtTilePolyRef ref = polys[i];
|
|
float closest[3];
|
|
if (!closestPointToPoly(ref, center, closest))
|
|
continue;
|
|
float d = vdistSqr(center, closest);
|
|
if (d < nearestDistanceSqr)
|
|
{
|
|
nearestDistanceSqr = d;
|
|
nearest = ref;
|
|
}
|
|
}
|
|
|
|
return nearest;
|
|
}
|
|
|
|
dtTilePolyRef dtTiledNavMesh::getTileId(dtTile* tile)
|
|
{
|
|
if (!tile) return 0;
|
|
const unsigned int it = tile - m_tiles;
|
|
return encodeId(tile->salt, it, 0);
|
|
}
|
|
|
|
int dtTiledNavMesh::queryTilePolygons(dtTile* tile,
|
|
const float* qmin, const float* qmax,
|
|
dtTilePolyRef* polys, const int maxPolys)
|
|
{
|
|
float bmin[3], bmax[3];
|
|
const dtTileHeader* header = tile->header;
|
|
int n = 0;
|
|
dtTilePolyRef base = getTileId(tile);
|
|
for (int i = 0; i < header->npolys; ++i)
|
|
{
|
|
// Calc polygon bounds.
|
|
dtTilePoly* p = &header->polys[i];
|
|
const float* v = &header->verts[p->v[0]*3];
|
|
vcopy(bmin, v);
|
|
vcopy(bmax, v);
|
|
for (int j = 1; j < p->nv; ++j)
|
|
{
|
|
v = &header->verts[p->v[j]*3];
|
|
vmin(bmin, v);
|
|
vmax(bmax, v);
|
|
}
|
|
if (overlapBounds(qmin,qmax, bmin,bmax))
|
|
{
|
|
if (n < maxPolys)
|
|
polys[n++] = base | (dtTilePolyRef)i;
|
|
}
|
|
}
|
|
return n;
|
|
}
|
|
|
|
int dtTiledNavMesh::queryPolygons(const float* center, const float* extents,
|
|
dtTilePolyRef* polys, const int maxPolys)
|
|
{
|
|
float bmin[3], bmax[3];
|
|
bmin[0] = center[0] - extents[0];
|
|
bmin[1] = center[1] - extents[1];
|
|
bmin[2] = center[2] - extents[2];
|
|
|
|
bmax[0] = center[0] + extents[0];
|
|
bmax[1] = center[1] + extents[1];
|
|
bmax[2] = center[2] + extents[2];
|
|
|
|
// Find tiles the query touches.
|
|
const int minx = (int)floorf((bmin[0]-m_orig[0]) / m_tileSize);
|
|
const int maxx = (int)ceilf((bmax[0]-m_orig[0]) / m_tileSize);
|
|
|
|
const int miny = (int)floorf((bmin[2]-m_orig[2]) / m_tileSize);
|
|
const int maxy = (int)ceilf((bmax[2]-m_orig[2]) / m_tileSize);
|
|
|
|
int n = 0;
|
|
for (int y = miny; y < maxy; ++y)
|
|
{
|
|
for (int x = minx; x < maxx; ++x)
|
|
{
|
|
dtTile* tile = getTile(x,y);
|
|
if (!tile) continue;
|
|
n += queryTilePolygons(tile, bmin, bmax, polys+n, maxPolys-n);
|
|
if (n >= maxPolys) return n;
|
|
}
|
|
}
|
|
|
|
return n;
|
|
}
|
|
|
|
float dtTiledNavMesh::getCost(dtTilePolyRef prev, dtTilePolyRef from, dtTilePolyRef to) const
|
|
{
|
|
int salt, it, ip;
|
|
if (prev) from = prev;
|
|
// The API input has been cheked already, skip checking internal data.
|
|
decodeId(from, salt, it, ip);
|
|
const dtTileHeader* fromHeader = m_tiles[it].header;
|
|
const dtTilePoly* fromPoly = &fromHeader->polys[ip];
|
|
decodeId(to, salt, it, ip);
|
|
const dtTileHeader* toHeader = m_tiles[it].header;
|
|
const dtTilePoly* toPoly = &toHeader->polys[ip];
|
|
|
|
float fromPc[3], toPc[3];
|
|
calcPolyCenter(fromPc, fromPoly, fromHeader->verts);
|
|
calcPolyCenter(toPc, toPoly, toHeader->verts);
|
|
|
|
float dx = fromPc[0]-toPc[0];
|
|
float dy = fromPc[1]-toPc[1];
|
|
float dz = fromPc[2]-toPc[2];
|
|
|
|
return sqrtf(dx*dx + dy*dy + dz*dz);
|
|
}
|
|
|
|
float dtTiledNavMesh::getHeuristic(dtTilePolyRef from, dtTilePolyRef to) const
|
|
{
|
|
int salt, it, ip;
|
|
// The API input has been cheked already, skip checking internal data.
|
|
decodeId(from, salt, it, ip);
|
|
const dtTileHeader* fromHeader = m_tiles[it].header;
|
|
const dtTilePoly* fromPoly = &fromHeader->polys[ip];
|
|
decodeId(to, salt, it, ip);
|
|
const dtTileHeader* toHeader = m_tiles[it].header;
|
|
const dtTilePoly* toPoly = &toHeader->polys[ip];
|
|
|
|
float fromPc[3], toPc[3];
|
|
calcPolyCenter(fromPc, fromPoly, fromHeader->verts);
|
|
calcPolyCenter(toPc, toPoly, toHeader->verts);
|
|
|
|
float dx = fromPc[0]-toPc[0];
|
|
float dy = fromPc[1]-toPc[1];
|
|
float dz = fromPc[2]-toPc[2];
|
|
|
|
return sqrtf(dx*dx + dy*dy + dz*dz) * 2.0f;
|
|
}
|
|
|
|
int dtTiledNavMesh::findPath(dtTilePolyRef startRef, dtTilePolyRef endRef,
|
|
dtTilePolyRef* path, const int maxPathSize)
|
|
{
|
|
if (!startRef || !endRef)
|
|
return 0;
|
|
|
|
if (!maxPathSize)
|
|
return 0;
|
|
|
|
if (!getPolyByRef(startRef) || !getPolyByRef(endRef))
|
|
return 0;
|
|
|
|
if (startRef == endRef)
|
|
{
|
|
path[0] = startRef;
|
|
return 1;
|
|
}
|
|
|
|
if (!m_nodePool || !m_openList)
|
|
return 0;
|
|
|
|
m_nodePool->clear();
|
|
m_openList->clear();
|
|
|
|
dtTileNode* startNode = m_nodePool->getNode(startRef);
|
|
startNode->parent = 0;
|
|
startNode->cost = 0;
|
|
startNode->total = getHeuristic(startRef, endRef);
|
|
startNode->id = startRef;
|
|
startNode->flags = dtTileNode::OPEN;
|
|
m_openList->push(startNode);
|
|
|
|
dtTileNode* lastBestNode = startNode;
|
|
float lastBestNodeCost = startNode->total;
|
|
while (!m_openList->empty())
|
|
{
|
|
dtTileNode* bestNode = m_openList->pop();
|
|
|
|
if (bestNode->id == endRef)
|
|
{
|
|
lastBestNode = bestNode;
|
|
break;
|
|
}
|
|
|
|
// Get poly and tile.
|
|
int salt, it, ip;
|
|
decodeId(bestNode->id, salt, it, ip);
|
|
// The API input has been cheked already, skip checking internal data.
|
|
const dtTileHeader* h = m_tiles[it].header;
|
|
const dtTilePoly* poly = &h->polys[ip];
|
|
|
|
for (int i = 0; i < poly->nlinks; ++i)
|
|
{
|
|
dtTilePolyRef neighbour = h->links[poly->links+i].ref;
|
|
if (neighbour)
|
|
{
|
|
// Skip parent node.
|
|
if (bestNode->parent && bestNode->parent->id == neighbour)
|
|
continue;
|
|
|
|
dtTileNode newNode;
|
|
newNode.parent = bestNode;
|
|
newNode.id = neighbour;
|
|
newNode.cost = bestNode->cost + getCost(newNode.parent->parent ? newNode.parent->parent->id : 0, newNode.parent->id, newNode.id);
|
|
float h = getHeuristic(newNode.id, endRef);
|
|
newNode.total = newNode.cost + h;
|
|
|
|
dtTileNode* actualNode = m_nodePool->getNode(newNode.id);
|
|
if (!actualNode)
|
|
continue;
|
|
|
|
if (!((actualNode->flags & dtTileNode::OPEN) && newNode.total > actualNode->total) &&
|
|
!((actualNode->flags & dtTileNode::CLOSED) && newNode.total > actualNode->total))
|
|
{
|
|
actualNode->flags &= dtTileNode::CLOSED;
|
|
actualNode->parent = newNode.parent;
|
|
actualNode->cost = newNode.cost;
|
|
actualNode->total = newNode.total;
|
|
|
|
if (h < lastBestNodeCost)
|
|
{
|
|
lastBestNodeCost = h;
|
|
lastBestNode = actualNode;
|
|
}
|
|
|
|
if (actualNode->flags & dtTileNode::OPEN)
|
|
{
|
|
m_openList->modify(actualNode);
|
|
}
|
|
else
|
|
{
|
|
actualNode->flags = dtTileNode::OPEN;
|
|
m_openList->push(actualNode);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Reverse the path.
|
|
dtTileNode* prev = 0;
|
|
dtTileNode* node = lastBestNode;
|
|
do
|
|
{
|
|
dtTileNode* next = node->parent;
|
|
node->parent = prev;
|
|
prev = node;
|
|
node = next;
|
|
}
|
|
while (node);
|
|
|
|
// Store path
|
|
node = prev;
|
|
int n = 0;
|
|
do
|
|
{
|
|
path[n++] = node->id;
|
|
node = node->parent;
|
|
}
|
|
while (node && n < maxPathSize);
|
|
|
|
return n;
|
|
}
|
|
|
|
int dtTiledNavMesh::findStraightPath(const float* startPos, const float* endPos,
|
|
const dtTilePolyRef* path, const int pathSize,
|
|
float* straightPath, const int maxStraightPathSize)
|
|
{
|
|
if (!maxStraightPathSize)
|
|
return 0;
|
|
|
|
if (!path[0])
|
|
return 0;
|
|
|
|
int straightPathSize = 0;
|
|
|
|
float closestStartPos[3];
|
|
if (!closestPointToPoly(path[0], startPos, closestStartPos))
|
|
return 0;
|
|
|
|
// Add start point.
|
|
vcopy(&straightPath[straightPathSize*3], closestStartPos);
|
|
straightPathSize++;
|
|
if (straightPathSize >= maxStraightPathSize)
|
|
return straightPathSize;
|
|
|
|
float closestEndPos[3];
|
|
if (!closestPointToPoly(path[pathSize-1], endPos, closestEndPos))
|
|
return 0;
|
|
|
|
float portalApex[3], portalLeft[3], portalRight[3];
|
|
|
|
if (pathSize > 1)
|
|
{
|
|
vcopy(portalApex, closestStartPos);
|
|
vcopy(portalLeft, portalApex);
|
|
vcopy(portalRight, portalApex);
|
|
int apexIndex = 0;
|
|
int leftIndex = 0;
|
|
int rightIndex = 0;
|
|
|
|
for (int i = 0; i < pathSize; ++i)
|
|
{
|
|
float left[3], right[3];
|
|
if (i < pathSize-1)
|
|
{
|
|
// Next portal.
|
|
if (!getPortalPoints(path[i], path[i+1], left, right))
|
|
{
|
|
if (!closestPointToPoly(path[i], endPos, closestEndPos))
|
|
return 0;
|
|
vcopy(&straightPath[straightPathSize*3], closestEndPos);
|
|
straightPathSize++;
|
|
return straightPathSize;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// End of the path.
|
|
vcopy(left, closestEndPos);
|
|
vcopy(right, closestEndPos);
|
|
}
|
|
|
|
// Right vertex.
|
|
if (vequal(portalApex, portalRight))
|
|
{
|
|
vcopy(portalRight, right);
|
|
rightIndex = i;
|
|
}
|
|
else
|
|
{
|
|
if (triArea2D(portalApex, portalRight, right) <= 0.0f)
|
|
{
|
|
if (triArea2D(portalApex, portalLeft, right) > 0.0f)
|
|
{
|
|
vcopy(portalRight, right);
|
|
rightIndex = i;
|
|
}
|
|
else
|
|
{
|
|
vcopy(portalApex, portalLeft);
|
|
apexIndex = leftIndex;
|
|
|
|
if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
|
|
{
|
|
vcopy(&straightPath[straightPathSize*3], portalApex);
|
|
straightPathSize++;
|
|
if (straightPathSize >= maxStraightPathSize)
|
|
return straightPathSize;
|
|
}
|
|
|
|
vcopy(portalLeft, portalApex);
|
|
vcopy(portalRight, portalApex);
|
|
leftIndex = apexIndex;
|
|
rightIndex = apexIndex;
|
|
|
|
// Restart
|
|
i = apexIndex;
|
|
|
|
continue;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Left vertex.
|
|
if (vequal(portalApex, portalLeft))
|
|
{
|
|
vcopy(portalLeft, left);
|
|
leftIndex = i;
|
|
}
|
|
else
|
|
{
|
|
if (triArea2D(portalApex, portalLeft, left) >= 0.0f)
|
|
{
|
|
if (triArea2D(portalApex, portalRight, left) < 0.0f)
|
|
{
|
|
vcopy(portalLeft, left);
|
|
leftIndex = i;
|
|
}
|
|
else
|
|
{
|
|
vcopy(portalApex, portalRight);
|
|
apexIndex = rightIndex;
|
|
|
|
if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
|
|
{
|
|
vcopy(&straightPath[straightPathSize*3], portalApex);
|
|
straightPathSize++;
|
|
if (straightPathSize >= maxStraightPathSize)
|
|
return straightPathSize;
|
|
}
|
|
|
|
vcopy(portalLeft, portalApex);
|
|
vcopy(portalRight, portalApex);
|
|
leftIndex = apexIndex;
|
|
rightIndex = apexIndex;
|
|
|
|
// Restart
|
|
i = apexIndex;
|
|
|
|
continue;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Add end point.
|
|
vcopy(&straightPath[straightPathSize*3], closestEndPos);
|
|
straightPathSize++;
|
|
|
|
return straightPathSize;
|
|
}
|
|
|
|
// Returns portal points between two polygons.
|
|
bool dtTiledNavMesh::getPortalPoints(dtTilePolyRef from, dtTilePolyRef to, float* left, float* right) const
|
|
{
|
|
int salt, it, ip;
|
|
decodeId(from, salt, it, ip);
|
|
if (it >= DT_MAX_TILES) return false;
|
|
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
|
|
if (ip >= m_tiles[it].header->npolys) return false;
|
|
const dtTileHeader* fromHeader = m_tiles[it].header;
|
|
const dtTilePoly* fromPoly = &fromHeader->polys[ip];
|
|
|
|
for (int i = 0; i < fromPoly->nlinks; ++i)
|
|
{
|
|
const dtTileLink* link = &fromHeader->links[fromPoly->links+i];
|
|
if (link->ref == to)
|
|
{
|
|
// Find portal vertices.
|
|
const int v0 = fromPoly->v[link->e];
|
|
const int v1 = fromPoly->v[(link->e+1) % fromPoly->nv];
|
|
vcopy(left, &fromHeader->verts[v0*3]);
|
|
vcopy(right, &fromHeader->verts[v1*3]);
|
|
// If the link is at tile boundary, clamp the vertices to
|
|
// the link width.
|
|
if (link->side == 0 || link->side == 2)
|
|
{
|
|
left[2] = max(left[2],link->bmin);
|
|
left[2] = min(left[2],link->bmax);
|
|
right[2] = max(right[2],link->bmin);
|
|
right[2] = min(right[2],link->bmax);
|
|
}
|
|
else if (link->side == 1 || link->side == 3)
|
|
{
|
|
left[0] = max(left[0],link->bmin);
|
|
left[0] = min(left[0],link->bmax);
|
|
right[0] = max(right[0],link->bmin);
|
|
right[0] = min(right[0],link->bmax);
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
int dtTiledNavMesh::raycast(dtTilePolyRef centerRef, const float* startPos, const float* endPos,
|
|
float& t, dtTilePolyRef* path, const int pathSize)
|
|
{
|
|
t = 0;
|
|
|
|
if (!centerRef || !getPolyByRef(centerRef))
|
|
return 0;
|
|
|
|
dtTilePolyRef curRef = centerRef;
|
|
float verts[DT_TILE_VERTS_PER_POLYGON*3];
|
|
int n = 0;
|
|
|
|
while (curRef)
|
|
{
|
|
// Cast ray against current polygon.
|
|
|
|
// The API input has been cheked already, skip checking internal data.
|
|
int salt, it, ip;
|
|
decodeId(curRef, salt, it, ip);
|
|
const dtTileHeader* h = m_tiles[it].header;
|
|
const dtTilePoly* poly = &h->polys[ip];
|
|
|
|
// Collect vertices.
|
|
int nv = 0;
|
|
for (int i = 0; i < (int)poly->nv; ++i)
|
|
{
|
|
vcopy(&verts[nv*3], &h->verts[poly->v[i]*3]);
|
|
nv++;
|
|
}
|
|
if (nv < 3)
|
|
{
|
|
// Hit bad polygon, report hit.
|
|
return n;
|
|
}
|
|
|
|
float tmin, tmax;
|
|
int segMin, segMax;
|
|
if (!intersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax))
|
|
{
|
|
// Could not hit the polygon, keep the old t and report hit.
|
|
return n;
|
|
}
|
|
// Keep track of furthest t so far.
|
|
if (tmax > t)
|
|
t = tmax;
|
|
|
|
if (n < pathSize)
|
|
path[n++] = curRef;
|
|
|
|
// Follow neighbours.
|
|
dtTilePolyRef nextRef = 0;
|
|
for (int i = 0; i < poly->nlinks; ++i)
|
|
{
|
|
const dtTileLink* link = &h->links[poly->links+i];
|
|
if ((int)link->e == segMax)
|
|
{
|
|
// If the link is internal, just return the ref.
|
|
if (link->side == 0xff)
|
|
{
|
|
nextRef = link->ref;
|
|
break;
|
|
}
|
|
// If the link is at tile boundary,
|
|
// Check that the intersection lies inside the portal.
|
|
if (link->side == 0 || link->side == 2)
|
|
{
|
|
// Find Z intersection.
|
|
float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
|
|
if (z >= link->bmin && z <= link->bmax)
|
|
{
|
|
nextRef = link->ref;
|
|
break;
|
|
}
|
|
}
|
|
else if (link->side == 1 || link->side == 3)
|
|
{
|
|
// Find X intersection.
|
|
float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
|
|
if (x >= link->bmin && x <= link->bmax)
|
|
{
|
|
nextRef = link->ref;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!nextRef)
|
|
{
|
|
// No neighbour, we hit a wall.
|
|
return n;
|
|
}
|
|
|
|
// No hit, advance to neighbour polygon.
|
|
curRef = nextRef;
|
|
}
|
|
|
|
return n;
|
|
}
|
|
|
|
int dtTiledNavMesh::findPolysAround(dtTilePolyRef centerRef, const float* centerPos, float radius,
|
|
dtTilePolyRef* resultRef, dtTilePolyRef* resultParent,
|
|
float* resultCost, unsigned short* resultDepth,
|
|
const int maxResult)
|
|
{
|
|
if (!centerRef) return 0;
|
|
if (!getPolyByRef(centerRef)) return 0;
|
|
if (!m_nodePool || !m_openList) return 0;
|
|
|
|
m_nodePool->clear();
|
|
m_openList->clear();
|
|
|
|
dtTileNode* startNode = m_nodePool->getNode(centerRef);
|
|
startNode->parent = 0;
|
|
startNode->cost = 0;
|
|
startNode->total = 0;
|
|
startNode->id = centerRef;
|
|
startNode->flags = dtTileNode::OPEN;
|
|
m_openList->push(startNode);
|
|
|
|
int n = 0;
|
|
if (n < maxResult)
|
|
{
|
|
if (resultRef)
|
|
resultRef[n] = startNode->id;
|
|
if (resultParent)
|
|
resultParent[n] = 0;
|
|
if (resultCost)
|
|
resultCost[n] = 0;
|
|
if (resultDepth)
|
|
resultDepth[n] = 0;
|
|
++n;
|
|
}
|
|
|
|
const float radiusSqr = sqr(radius);
|
|
|
|
while (!m_openList->empty())
|
|
{
|
|
dtTileNode* bestNode = m_openList->pop();
|
|
|
|
// Get poly and tile.
|
|
int salt, it, ip;
|
|
decodeId(bestNode->id, salt, it, ip);
|
|
// The API input has been cheked already, skip checking internal data.
|
|
const dtTileHeader* h = m_tiles[it].header;
|
|
const dtTilePoly* poly = &h->polys[ip];
|
|
|
|
for (int i = 0; i < poly->nlinks; ++i)
|
|
{
|
|
const dtTileLink* link = &h->links[poly->links+i];
|
|
dtTilePolyRef neighbour = link->ref;
|
|
if (neighbour)
|
|
{
|
|
// Skip parent node.
|
|
if (bestNode->parent && bestNode->parent->id == neighbour)
|
|
continue;
|
|
|
|
// Calc distance to the edge.
|
|
const float* va = &h->verts[poly->v[link->e]*3];
|
|
const float* vb = &h->verts[poly->v[(link->e+1)%poly->nv]*3];
|
|
float tseg;
|
|
float distSqr = distancePtSegSqr2D(centerPos, va, vb, tseg);
|
|
|
|
// If the circle is not touching the next polygon, skip it.
|
|
if (distSqr > radiusSqr)
|
|
continue;
|
|
|
|
dtTileNode newNode;
|
|
newNode.parent = bestNode;
|
|
newNode.id = neighbour;
|
|
newNode.cost = bestNode->cost + 1; // Depth
|
|
newNode.total = bestNode->total + getCost(newNode.parent->parent ? newNode.parent->parent->id : 0, newNode.parent->id, newNode.id);
|
|
|
|
dtTileNode* actualNode = m_nodePool->getNode(newNode.id);
|
|
if (!actualNode)
|
|
continue;
|
|
|
|
if (!((actualNode->flags & dtTileNode::OPEN) && newNode.total > actualNode->total) &&
|
|
!((actualNode->flags & dtTileNode::CLOSED) && newNode.total > actualNode->total))
|
|
{
|
|
actualNode->flags &= ~dtTileNode::CLOSED;
|
|
actualNode->parent = newNode.parent;
|
|
actualNode->cost = newNode.cost;
|
|
actualNode->total = newNode.total;
|
|
|
|
if (actualNode->flags & dtTileNode::OPEN)
|
|
{
|
|
m_openList->modify(actualNode);
|
|
}
|
|
else
|
|
{
|
|
if (n < maxResult)
|
|
{
|
|
if (resultRef)
|
|
resultRef[n] = actualNode->id;
|
|
if (resultParent)
|
|
resultParent[n] = actualNode->parent->id;
|
|
if (resultCost)
|
|
resultCost[n] = actualNode->total;
|
|
if (resultDepth)
|
|
resultDepth[n] = (unsigned short)actualNode->cost;
|
|
++n;
|
|
}
|
|
actualNode->flags = dtTileNode::OPEN;
|
|
m_openList->push(actualNode);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return n;
|
|
}
|
|
|
|
float dtTiledNavMesh::findDistanceToWall(dtTilePolyRef centerRef, const float* centerPos, float maxRadius,
|
|
float* hitPos, float* hitNormal)
|
|
{
|
|
if (!centerRef) return 0;
|
|
if (!getPolyByRef(centerRef)) return 0;
|
|
if (!m_nodePool || !m_openList) return 0;
|
|
|
|
m_nodePool->clear();
|
|
m_openList->clear();
|
|
|
|
dtTileNode* startNode = m_nodePool->getNode(centerRef);
|
|
startNode->parent = 0;
|
|
startNode->cost = 0;
|
|
startNode->total = 0;
|
|
startNode->id = centerRef;
|
|
startNode->flags = dtTileNode::OPEN;
|
|
m_openList->push(startNode);
|
|
|
|
float radiusSqr = sqr(maxRadius);
|
|
|
|
while (!m_openList->empty())
|
|
{
|
|
dtTileNode* bestNode = m_openList->pop();
|
|
|
|
// Get poly and tile.
|
|
int salt, it, ip;
|
|
decodeId(bestNode->id, salt, it, ip);
|
|
// The API input has been cheked already, skip checking internal data.
|
|
const dtTileHeader* h = m_tiles[it].header;
|
|
const dtTilePoly* poly = &h->polys[ip];
|
|
|
|
// Hit test walls.
|
|
for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
|
|
{
|
|
// Skip non-solid edges.
|
|
if (poly->n[j] & 0x8000)
|
|
{
|
|
// Tile border.
|
|
bool solid = true;
|
|
for (int i = 0; i < poly->nlinks; ++i)
|
|
{
|
|
const dtTileLink* link = &h->links[poly->links+i];
|
|
if (link->e == j && link->ref != 0)
|
|
{
|
|
solid = false;
|
|
break;
|
|
}
|
|
}
|
|
if (!solid) continue;
|
|
}
|
|
else if (poly->n[j])
|
|
{
|
|
// Internal edge
|
|
continue;
|
|
}
|
|
|
|
// Calc distance to the edge.
|
|
const float* vj = &h->verts[poly->v[j]*3];
|
|
const float* vi = &h->verts[poly->v[i]*3];
|
|
float tseg;
|
|
float distSqr = distancePtSegSqr2D(centerPos, vj, vi, tseg);
|
|
|
|
// Edge is too far, skip.
|
|
if (distSqr > radiusSqr)
|
|
continue;
|
|
|
|
// Hit wall, update radius.
|
|
radiusSqr = distSqr;
|
|
// Calculate hit pos.
|
|
hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg;
|
|
hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg;
|
|
hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg;
|
|
}
|
|
|
|
for (int i = 0; i < poly->nlinks; ++i)
|
|
{
|
|
const dtTileLink* link = &h->links[poly->links+i];
|
|
dtTilePolyRef neighbour = link->ref;
|
|
if (neighbour)
|
|
{
|
|
// Skip parent node.
|
|
if (bestNode->parent && bestNode->parent->id == neighbour)
|
|
continue;
|
|
|
|
// Calc distance to the edge.
|
|
const float* va = &h->verts[poly->v[link->e]*3];
|
|
const float* vb = &h->verts[poly->v[(link->e+1)%poly->nv]*3];
|
|
float tseg;
|
|
float distSqr = distancePtSegSqr2D(centerPos, va, vb, tseg);
|
|
|
|
// If the circle is not touching the next polygon, skip it.
|
|
if (distSqr > radiusSqr)
|
|
continue;
|
|
|
|
dtTileNode newNode;
|
|
newNode.parent = bestNode;
|
|
newNode.id = neighbour;
|
|
newNode.cost = bestNode->cost + 1; // Depth
|
|
newNode.total = bestNode->total + getCost(newNode.parent->parent ? newNode.parent->parent->id : 0, newNode.parent->id, newNode.id);
|
|
|
|
dtTileNode* actualNode = m_nodePool->getNode(newNode.id);
|
|
if (!actualNode)
|
|
continue;
|
|
|
|
if (!((actualNode->flags & dtTileNode::OPEN) && newNode.total > actualNode->total) &&
|
|
!((actualNode->flags & dtTileNode::CLOSED) && newNode.total > actualNode->total))
|
|
{
|
|
actualNode->flags &= ~dtTileNode::CLOSED;
|
|
actualNode->parent = newNode.parent;
|
|
actualNode->cost = newNode.cost;
|
|
actualNode->total = newNode.total;
|
|
|
|
if (actualNode->flags & dtTileNode::OPEN)
|
|
{
|
|
m_openList->modify(actualNode);
|
|
}
|
|
else
|
|
{
|
|
actualNode->flags = dtTileNode::OPEN;
|
|
m_openList->push(actualNode);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Calc hit normal.
|
|
vsub(hitNormal, centerPos, hitPos);
|
|
vnormalize(hitNormal);
|
|
|
|
return sqrtf(radiusSqr);
|
|
}
|
|
|