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work on navmesh loading

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This commit is contained in:
KimLS 2017-07-29 15:05:56 -07:00
parent ff13f162ce
commit 832c31a41a
2 changed files with 61 additions and 53 deletions
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113
zone/pathfinder_nav_mesh.cpp
View File

@ -20,100 +20,107 @@ PathfinderNavmesh::PathfinderNavmesh(const std::string &path)
m_impl.reset(new Implementation());
m_impl->nav_mesh = nullptr;
m_impl->query = nullptr;
Load(path);
}
PathfinderNavmesh::~PathfinderNavmesh()
{
if (m_impl->nav_mesh) {
dtFreeNavMesh(m_impl->nav_mesh);
}
if (m_impl->query) {
dtFreeNavMeshQuery(m_impl->query);
}
Clear();
}
IPathfinder::IPath PathfinderNavmesh::FindRoute(const glm::vec3 &start, const glm::vec3 &end)
{
if (!m_impl->nav_mesh || !m_impl->query) {
if (!m_impl->nav_mesh) {
IPath Route;
Route.push_back(start);
Route.push_back(end);
return Route;
}
glm::vec3 ext(15.0f, 100.0f, 15.0f);
if (!m_impl->query) {
m_impl->query = dtAllocNavMeshQuery();
m_impl->query->init(m_impl->nav_mesh, 32768);
}
glm::vec3 current_location(start.x, start.z, start.y);
glm::vec3 dest_location(end.x, end.z, end.y);
dtQueryFilter filter;
filter.setIncludeFlags(65535U);
filter.setAreaCost(0, 1.0f); //Normal
filter.setAreaCost(0, 1.0f); //Water
filter.setAreaCost(0, 1.0f); //Lava
filter.setAreaCost(0, 1.0f); //PvP
filter.setAreaCost(0, 1.0f); //Slime
filter.setAreaCost(0, 1.0f); //Ice
filter.setAreaCost(0, 1.0f); //V Water (Frigid Water)
filter.setAreaCost(0, 1.0f); //General Area
filter.setAreaCost(0, 1.0f); //Portal
filter.setAreaCost(1, 1.0f); //Water
filter.setAreaCost(2, 1.0f); //Lava
filter.setAreaCost(4, 1.0f); //PvP
filter.setAreaCost(5, 1.0f); //Slime
filter.setAreaCost(6, 1.0f); //Ice
filter.setAreaCost(7, 1.0f); //V Water (Frigid Water)
filter.setAreaCost(8, 1.0f); //General Area
filter.setAreaCost(9, 1.0f); //Portal
dtPolyRef start_ref;
dtPolyRef end_ref;
glm::vec3 ext(15.0f, 15.0f, 15.0f);
m_impl->query->findNearestPoly(&start[0], &ext[0], &filter, &start_ref, 0);
m_impl->query->findNearestPoly(&end[0], &ext[0], &filter, &end_ref, 0);
m_impl->query->findNearestPoly(&current_location[0], &ext[0], &filter, &start_ref, 0);
m_impl->query->findNearestPoly(&dest_location[0], &ext[0], &filter, &end_ref, 0);
if (!start_ref || !end_ref) {
IPath Route;
Route.push_back(start);
Route.push_back(end);
return Route;
}
int npoly = 0;
dtPolyRef path[1024] = { 0 };
m_impl->query->findPath(start_ref, end_ref, &start[0], &end[0], &filter, path, &npoly, 1024);
dtPolyRef path[512] = { 0 };
auto status = m_impl->query->findPath(start_ref, end_ref, &current_location[0], &dest_location[0], &filter, path, &npoly, 512);
if (npoly) {
glm::vec3 epos = end;
if (path[npoly - 1] != end_ref)
m_impl->query->closestPointOnPoly(path[npoly - 1], &end[0], &epos[0], 0);
glm::vec3 epos = dest_location;
if (path[npoly - 1] != end_ref) {
m_impl->query->closestPointOnPoly(path[npoly - 1], &dest_location[0], &epos[0], 0);
}
float straight_path[512 * 3];
unsigned char straight_path_flags[512];
float straight_path[2048 * 3];
unsigned char straight_path_flags[2048];
int n_straight_polys;
dtPolyRef straight_path_polys[2048];
m_impl->query->findStraightPath(&start[0], &epos[0], path, npoly,
dtPolyRef straight_path_polys[512];
status = m_impl->query->findStraightPath(&current_location[0], &epos[0], path, npoly,
straight_path, straight_path_flags,
straight_path_polys, &n_straight_polys, 2048, DT_STRAIGHTPATH_ALL_CROSSINGS);
straight_path_polys, &n_straight_polys, 512, DT_STRAIGHTPATH_ALL_CROSSINGS);
if (status & DT_OUT_OF_NODES) {
IPath Route;
Route.push_back(end);
return Route;
}
if (n_straight_polys) {
IPath Route;
for (int i = 0; i < n_straight_polys; ++i)
{
glm::vec3 node;
node.x = straight_path[i * 3];
node.z = straight_path[i * 3 + 1];
node.y = straight_path[i * 3 + 2];
for (int i = 0; i < n_straight_polys - 1; ++i) {
glm::vec3 color(1.0f, 1.0f, 0.0f);
unsigned short flag = 0;
if (dtStatusSucceed(m_impl->nav_mesh->getPolyFlags(straight_path_polys[i], &flag))) {
if (flag & 512) { //Portal
if (flag & 512) {
Route.push_back(true);
}
}
Route.push_back(glm::vec3(straight_path[i * 3], straight_path[i * 3 + 1] + 0.4f, straight_path[i * 3 + 2]));
Route.push_back(node);
}
return Route;
}
}
IPath Route;
Route.push_back(start);
Route.push_back(end);
return Route;
}
else {
IPath Route;
Route.push_back(start);
Route.push_back(end);
return Route;
}
IPath Route;
Route.push_back(end);
return Route;
}
glm::vec3 PathfinderNavmesh::GetRandomLocation()
@ -143,17 +150,20 @@ void PathfinderNavmesh::DebugCommand(Client *c, const Seperator *sep)
}
}
void PathfinderNavmesh::Load(const std::string &path)
void PathfinderNavmesh::Clear()
{
if (m_impl->nav_mesh) {
dtFreeNavMesh(m_impl->nav_mesh);
m_impl->nav_mesh = nullptr;
}
if (m_impl->query) {
dtFreeNavMeshQuery(m_impl->query);
m_impl->query = nullptr;
}
}
void PathfinderNavmesh::Load(const std::string &path)
{
Clear();
FILE *f = fopen(path.c_str(), "rb");
if (f) {
@ -175,7 +185,7 @@ void PathfinderNavmesh::Load(const std::string &path)
return;
}
if (version != 2U) {
if (version != 2) {
fclose(f);
return;
}
@ -241,9 +251,6 @@ void PathfinderNavmesh::Load(const std::string &path)
m_impl->nav_mesh->addTile(data, data_size, DT_TILE_FREE_DATA, tile_ref, 0);
}
m_impl->query = dtAllocNavMeshQuery();
m_impl->query->init(m_impl->nav_mesh, 32768);
}
}

1
zone/pathfinder_nav_mesh.h
View File

@ -14,6 +14,7 @@ public:
virtual void DebugCommand(Client *c, const Seperator *sep);
private:
void Clear();
void Load(const std::string &path);
void ShowPath(Client *c, const glm::vec3 &start, const glm::vec3 &end);