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Rule for setting max navmesh nodes, default set higher than current to improve accuracy

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This commit is contained in:
KimLS 2020-02-02 20:19:37 -08:00
parent c2300d514c
commit d65a97e556
3 changed files with 57 additions and 62 deletions
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1
common/ruletypes.h
View File

@ -293,6 +293,7 @@ RULE_BOOL(Pathing, Find, true, "Enable pathing for FindPerson requests from the
RULE_BOOL(Pathing, Fear, true, "Enable pathing for fear")
RULE_REAL(Pathing, NavmeshStepSize, 100.0f, "")
RULE_REAL(Pathing, ShortMovementUpdateRange, 130.0f, "")
RULE_INT(Pathing, MaxNavmeshNodes, 4092)
RULE_CATEGORY_END()
RULE_CATEGORY(Watermap)

9
zone/mob_movement_manager.cpp
View File

@ -1300,7 +1300,9 @@ void MobMovementManager::PushEvadeCombat(MobMovementEntry &mob_movement_entry)
*/
void MobMovementManager::HandleStuckBehavior(Mob *who, float x, float y, float z, MobMovementMode mob_movement_mode)
{
auto sb = who->GetStuckBehavior();
LogDebug("Handle stuck behavior for {0} at ({1}, {2}, {3}) with movement_mode {4}", who->GetName(), x, y, z, mob_movement_mode);
auto sb = who->GetStuckBehavior();
MobStuckBehavior behavior = RunToTarget;
if (sb >= 0 && sb < MaxStuckBehavior) {
@ -1308,7 +1310,7 @@ void MobMovementManager::HandleStuckBehavior(Mob *who, float x, float y, float z
}
auto eiter = _impl->Entries.find(who);
auto &ent = (*eiter);
auto &ent = (*eiter);
switch (sb) {
case RunToTarget:
@ -1323,8 +1325,7 @@ void MobMovementManager::HandleStuckBehavior(Mob *who, float x, float y, float z
PushStopMoving(ent.second);
break;
case EvadeCombat:
//PushEvadeCombat(ent.second);
PushStopMoving(ent.second);
PushEvadeCombat(ent.second);
break;
}
}

109
zone/pathfinder_nav_mesh.cpp
View File

@ -12,8 +12,6 @@
extern Zone *zone;
const int MaxNavmeshNodes = 1024;
struct PathfinderNavmesh::Implementation
{
dtNavMesh *nav_mesh;
@ -36,19 +34,19 @@ PathfinderNavmesh::~PathfinderNavmesh()
IPathfinder::IPath PathfinderNavmesh::FindRoute(const glm::vec3 &start, const glm::vec3 &end, bool &partial, bool &stuck, int flags)
{
partial = false;
if (!m_impl->nav_mesh) {
return IPath();
}
if (!m_impl->query) {
m_impl->query = dtAllocNavMeshQuery();
}
m_impl->query->init(m_impl->nav_mesh, MaxNavmeshNodes);
m_impl->query->init(m_impl->nav_mesh, RuleI(Pathing, MaxNavmeshNodes));
glm::vec3 current_location(start.x, start.z, start.y);
glm::vec3 dest_location(end.x, end.z, end.y);
dtQueryFilter filter;
filter.setIncludeFlags(flags);
filter.setAreaCost(0, 1.0f); //Normal
@ -61,48 +59,48 @@ IPathfinder::IPath PathfinderNavmesh::FindRoute(const glm::vec3 &start, const gl
filter.setAreaCost(8, 1.0f); //General Area
filter.setAreaCost(9, 0.1f); //Portal
filter.setAreaCost(10, 0.1f); //Prefer
dtPolyRef start_ref;
dtPolyRef end_ref;
glm::vec3 ext(5.0f, 100.0f, 5.0f);
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) {
return IPath();
}
int npoly = 0;
dtPolyRef path[1024] = { 0 };
auto status = m_impl->query->findPath(start_ref, end_ref, &current_location[0], &dest_location[0], &filter, path, &npoly, 1024);
if (npoly) {
glm::vec3 epos = dest_location;
if (path[npoly - 1] != end_ref) {
m_impl->query->closestPointOnPoly(path[npoly - 1], &dest_location[0], &epos[0], 0);
partial = true;
auto dist = DistanceSquared(epos, current_location);
if (dist < 10000.0f) {
stuck = true;
}
}
float straight_path[2048 * 3];
unsigned char straight_path_flags[2048];
int n_straight_polys;
dtPolyRef straight_path_polys[2048];
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_AREA_CROSSINGS);
if (dtStatusFailed(status)) {
return IPath();
}
if (n_straight_polys) {
IPath Route;
for (int i = 0; i < n_straight_polys; ++i)
@ -111,9 +109,9 @@ IPathfinder::IPath PathfinderNavmesh::FindRoute(const glm::vec3 &start, const gl
node.x = straight_path[i * 3];
node.z = straight_path[i * 3 + 1];
node.y = straight_path[i * 3 + 2];
Route.push_back(node);
unsigned short flag = 0;
if (dtStatusSucceed(m_impl->nav_mesh->getPolyFlags(straight_path_polys[i], &flag))) {
if (flag & 512) {
@ -121,11 +119,11 @@ IPathfinder::IPath PathfinderNavmesh::FindRoute(const glm::vec3 &start, const gl
}
}
}
return Route;
}
}
IPath Route;
Route.push_back(end);
return Route;
@ -134,19 +132,19 @@ IPathfinder::IPath PathfinderNavmesh::FindRoute(const glm::vec3 &start, const gl
IPathfinder::IPath PathfinderNavmesh::FindPath(const glm::vec3 &start, const glm::vec3 &end, bool &partial, bool &stuck, const PathfinderOptions &opts)
{
partial = false;
if (!m_impl->nav_mesh) {
return IPath();
}
if (!m_impl->query) {
m_impl->query = dtAllocNavMeshQuery();
}
m_impl->query->init(m_impl->nav_mesh, MaxNavmeshNodes);
m_impl->query->init(m_impl->nav_mesh, RuleI(Pathing, MaxNavmeshNodes));
glm::vec3 current_location(start.x, start.z, start.y);
glm::vec3 dest_location(end.x, end.z, end.y);
dtQueryFilter filter;
filter.setIncludeFlags(opts.flags);
filter.setAreaCost(0, opts.flag_cost[0]); //Normal
@ -159,83 +157,78 @@ IPathfinder::IPath PathfinderNavmesh::FindPath(const glm::vec3 &start, const glm
filter.setAreaCost(8, opts.flag_cost[7]); //General Area
filter.setAreaCost(9, opts.flag_cost[8]); //Portal
filter.setAreaCost(10, opts.flag_cost[9]); //Prefer
static const int max_polys = 256;
dtPolyRef start_ref;
dtPolyRef end_ref;
glm::vec3 ext(10.0f, 200.0f, 10.0f);
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) {
return IPath();
}
int npoly = 0;
dtPolyRef path[max_polys] = { 0 };
m_impl->query->findPath(start_ref, end_ref, &current_location[0], &dest_location[0], &filter, path, &npoly, max_polys);
auto status = m_impl->query->findPath(start_ref, end_ref, &current_location[0], &dest_location[0], &filter, path, &npoly, max_polys);
if (npoly) {
glm::vec3 epos = dest_location;
if (path[npoly - 1] != end_ref) {
m_impl->query->closestPointOnPoly(path[npoly - 1], &dest_location[0], &epos[0], 0);
partial = true;
auto dist = DistanceSquared(epos, current_location);
if (dist < 10000.0f) {
stuck = true;
}
}
int n_straight_polys;
glm::vec3 straight_path[max_polys];
unsigned char straight_path_flags[max_polys];
dtPolyRef straight_path_polys[max_polys];
auto status = m_impl->query->findStraightPath(&current_location[0], &epos[0], path, npoly,
(float*)&straight_path[0], straight_path_flags,
straight_path_polys, &n_straight_polys, 2048, DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS);
if (dtStatusFailed(status)) {
return IPath();
}
if (n_straight_polys) {
if (opts.smooth_path) {
IPath Route;
//Add the first point
{
auto &flag = straight_path_flags[0];
if (flag & DT_STRAIGHTPATH_OFFMESH_CONNECTION) {
auto &p = straight_path[0];
Route.push_back(glm::vec3(p.x, p.z, p.y));
}
else {
auto &p = straight_path[0];
float h = 0.0f;
if (dtStatusSucceed(GetPolyHeightOnPath(path, npoly, p, &h))) {
p.y = h + opts.offset;
}
Route.push_back(glm::vec3(p.x, p.z, p.y));
}
}
for (int i = 0; i < n_straight_polys - 1; ++i)
{
auto &flag = straight_path_flags[i];
if (flag & DT_STRAIGHTPATH_OFFMESH_CONNECTION) {
auto &poly = straight_path_polys[i];
auto &p2 = straight_path[i + 1];
glm::vec3 node(p2.x, p2.z, p2.y);
Route.push_back(node);
unsigned short pflag = 0;
if (dtStatusSucceed(m_impl->nav_mesh->getPolyFlags(straight_path_polys[i], &pflag))) {
if (pflag & 512) {
@ -250,12 +243,12 @@ IPathfinder::IPath PathfinderNavmesh::FindPath(const glm::vec3 &start, const glm
auto dir = glm::normalize(p2 - p1);
float total = 0.0f;
glm::vec3 previous_pt = p1;
while (total < dist) {
glm::vec3 current_pt;
float dist_to_move = opts.step_size;
float ff = opts.step_size / 2.0f;
if (total + dist_to_move + ff >= dist) {
current_pt = p2;
total = dist;
@ -264,18 +257,18 @@ IPathfinder::IPath PathfinderNavmesh::FindPath(const glm::vec3 &start, const glm
total += dist_to_move;
current_pt = p1 + dir * total;
}
float h = 0.0f;
if (dtStatusSucceed(GetPolyHeightOnPath(path, npoly, current_pt, &h))) {
current_pt.y = h + opts.offset;
}
Route.push_back(glm::vec3(current_pt.x, current_pt.z, current_pt.y));
previous_pt = current_pt;
}
}
}
return Route;
}
else {
@ -285,7 +278,7 @@ IPathfinder::IPath PathfinderNavmesh::FindPath(const glm::vec3 &start, const glm
auto &current = straight_path[i];
glm::vec3 node(current.x, current.z, current.y);
Route.push_back(node);
unsigned short flag = 0;
if (dtStatusSucceed(m_impl->nav_mesh->getPolyFlags(straight_path_polys[i], &flag))) {
if (flag & 512) {
@ -293,7 +286,7 @@ IPathfinder::IPath PathfinderNavmesh::FindPath(const glm::vec3 &start, const glm
}
}
}
return Route;
}
}
@ -313,7 +306,7 @@ glm::vec3 PathfinderNavmesh::GetRandomLocation(const glm::vec3 &start)
if (!m_impl->query) {
m_impl->query = dtAllocNavMeshQuery();
m_impl->query->init(m_impl->nav_mesh, MaxNavmeshNodes);
m_impl->query->init(m_impl->nav_mesh, RuleI(Pathing, MaxNavmeshNodes));
}
dtQueryFilter filter;