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DotRecastNetSim
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This commit is contained in:
ikpil 2023-08-21 23:56:17 +09:00
parent 356a4c4e0d
commit c07a2c9b80
2 changed files with 66 additions and 75 deletions
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134
src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
View File

@ -20,6 +20,7 @@ public class TestNavmeshSampleTool : ISampleTool
private const int MAX_POLYS = 256;
private DemoSample _sample;
private readonly RcTestNavmeshToolOption _option;
private readonly RcTestNavMeshTool _tool;
private bool m_sposSet;
@ -50,6 +51,8 @@ public class TestNavmeshSampleTool : ISampleTool
public TestNavmeshSampleTool()
{
_tool = new();
_option = new RcTestNavmeshToolOption();
m_filter = new DtQueryDefaultFilter(
SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
@ -91,47 +94,46 @@ public class TestNavmeshSampleTool : ISampleTool
public void Layout()
{
var option = _tool.GetOption();
var previousToolMode = option.mode;
int previousStraightPathOptions = option.straightPathOptions;
var previousToolMode = _option.mode;
int previousStraightPathOptions = _option.straightPathOptions;
int previousIncludeFlags = m_filter.GetIncludeFlags();
int previousExcludeFlags = m_filter.GetExcludeFlags();
bool previousConstrainByCircle = option.constrainByCircle;
bool previousConstrainByCircle = _option.constrainByCircle;
ImGui.Text("Mode");
ImGui.Separator();
ImGui.RadioButton(RcTestNavmeshToolMode.PATHFIND_FOLLOW.Label, ref option.modeIdx, RcTestNavmeshToolMode.PATHFIND_FOLLOW.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.PATHFIND_STRAIGHT.Label, ref option.modeIdx, RcTestNavmeshToolMode.PATHFIND_STRAIGHT.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.PATHFIND_SLICED.Label, ref option.modeIdx, RcTestNavmeshToolMode.PATHFIND_SLICED.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.DISTANCE_TO_WALL.Label, ref option.modeIdx, RcTestNavmeshToolMode.DISTANCE_TO_WALL.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.RAYCAST.Label, ref option.modeIdx, RcTestNavmeshToolMode.RAYCAST.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Label, ref option.modeIdx, RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Label, ref option.modeIdx, RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Label, ref option.modeIdx, RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Label, ref option.modeIdx, RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.PATHFIND_FOLLOW.Label, ref _option.modeIdx, RcTestNavmeshToolMode.PATHFIND_FOLLOW.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.PATHFIND_STRAIGHT.Label, ref _option.modeIdx, RcTestNavmeshToolMode.PATHFIND_STRAIGHT.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.PATHFIND_SLICED.Label, ref _option.modeIdx, RcTestNavmeshToolMode.PATHFIND_SLICED.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.DISTANCE_TO_WALL.Label, ref _option.modeIdx, RcTestNavmeshToolMode.DISTANCE_TO_WALL.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.RAYCAST.Label, ref _option.modeIdx, RcTestNavmeshToolMode.RAYCAST.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Label, ref _option.modeIdx, RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Label, ref _option.modeIdx, RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Label, ref _option.modeIdx, RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Idx);
ImGui.RadioButton(RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Label, ref _option.modeIdx, RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Idx);
ImGui.NewLine();
// selecting mode
ImGui.Text(option.mode.Label);
ImGui.Text(_option.mode.Label);
ImGui.Separator();
ImGui.NewLine();
if (option.mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
if (_option.mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
{
}
if (option.mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
if (_option.mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
{
ImGui.Text("Vertices at crossings");
ImGui.Separator();
ImGui.RadioButton("None", ref option.straightPathOptions, 0);
ImGui.RadioButton("Area", ref option.straightPathOptions, DtNavMeshQuery.DT_STRAIGHTPATH_AREA_CROSSINGS);
ImGui.RadioButton("All", ref option.straightPathOptions, DtNavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS);
ImGui.RadioButton("None", ref _option.straightPathOptions, 0);
ImGui.RadioButton("Area", ref _option.straightPathOptions, DtNavMeshQuery.DT_STRAIGHTPATH_AREA_CROSSINGS);
ImGui.RadioButton("All", ref _option.straightPathOptions, DtNavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS);
}
if (option.mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
if (_option.mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
{
ImGui.Checkbox("Constrained", ref option.constrainByCircle);
ImGui.Checkbox("Constrained", ref _option.constrainByCircle);
}
ImGui.Text("Common");
@ -139,30 +141,30 @@ public class TestNavmeshSampleTool : ISampleTool
ImGui.Text("Include Flags");
ImGui.Separator();
ImGui.CheckboxFlags("Walk", ref option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
ImGui.CheckboxFlags("Swim", ref option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
ImGui.CheckboxFlags("Door", ref option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
ImGui.CheckboxFlags("Jump", ref option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
ImGui.CheckboxFlags("Walk", ref _option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
ImGui.CheckboxFlags("Swim", ref _option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
ImGui.CheckboxFlags("Door", ref _option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
ImGui.CheckboxFlags("Jump", ref _option.includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
ImGui.NewLine();
m_filter.SetIncludeFlags(option.includeFlags);
m_filter.SetIncludeFlags(_option.includeFlags);
ImGui.Text("Exclude Flags");
ImGui.Separator();
ImGui.CheckboxFlags("Walk", ref option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
ImGui.CheckboxFlags("Swim", ref option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
ImGui.CheckboxFlags("Door", ref option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
ImGui.CheckboxFlags("Jump", ref option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
ImGui.CheckboxFlags("Walk", ref _option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
ImGui.CheckboxFlags("Swim", ref _option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
ImGui.CheckboxFlags("Door", ref _option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
ImGui.CheckboxFlags("Jump", ref _option.excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
ImGui.NewLine();
m_filter.SetExcludeFlags(option.excludeFlags);
m_filter.SetExcludeFlags(_option.excludeFlags);
bool previousEnableRaycast = option.enableRaycast;
ImGui.Checkbox("Raycast shortcuts", ref option.enableRaycast);
bool previousEnableRaycast = _option.enableRaycast;
ImGui.Checkbox("Raycast shortcuts", ref _option.enableRaycast);
if (previousToolMode != option.mode || option.straightPathOptions != previousStraightPathOptions
|| previousIncludeFlags != option.includeFlags || previousExcludeFlags != option.excludeFlags
|| previousEnableRaycast != option.enableRaycast || previousConstrainByCircle != option.constrainByCircle)
if (previousToolMode != _option.mode || _option.straightPathOptions != previousStraightPathOptions
|| previousIncludeFlags != _option.includeFlags || previousExcludeFlags != _option.excludeFlags
|| previousEnableRaycast != _option.enableRaycast || previousConstrainByCircle != _option.constrainByCircle)
{
Recalc();
}
@ -197,16 +199,14 @@ public class TestNavmeshSampleTool : ISampleTool
m_endRef = 0;
}
var option = _tool.GetOption();
if (option.mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
if (_option.mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
{
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{
var polys = new List<long>();
var smoothPath = new List<RcVec3f>();
var status = _tool.FindFollowPath(navMesh, navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, option.enableRaycast,
var status = _tool.FindFollowPath(navMesh, navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _option.enableRaycast,
ref polys, ref smoothPath);
if (status.Succeeded())
@ -221,14 +221,14 @@ public class TestNavmeshSampleTool : ISampleTool
m_smoothPath = null;
}
}
else if (option.mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
else if (_option.mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
{
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{
var polys = new List<long>();
var straightPath = new List<StraightPathItem>();
var status = _tool.FindStraightPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, option.enableRaycast,
ref polys, ref straightPath, option.straightPathOptions);
var status = _tool.FindStraightPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _option.enableRaycast,
ref polys, ref straightPath, _option.straightPathOptions);
if (status.Succeeded())
{
@ -241,17 +241,17 @@ public class TestNavmeshSampleTool : ISampleTool
m_straightPath = null;
}
}
else if (option.mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
else if (_option.mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
{
m_polys = null;
m_straightPath = null;
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{
m_pathFindStatus = _tool.InitSlicedFindPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, option.enableRaycast);
m_pathFindStatus = _tool.InitSlicedFindPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _option.enableRaycast);
}
}
else if (option.mode == RcTestNavmeshToolMode.RAYCAST)
else if (_option.mode == RcTestNavmeshToolMode.RAYCAST)
{
m_straightPath = null;
if (m_sposSet && m_eposSet && m_startRef != 0)
@ -271,7 +271,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
}
}
else if (option.mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
else if (_option.mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
{
m_distanceToWall = 0;
if (m_sposSet && m_startRef != 0)
@ -285,7 +285,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
}
}
else if (option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
else if (_option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
{
if (m_sposSet && m_startRef != 0 && m_eposSet)
{
@ -300,7 +300,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
}
}
else if (option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
else if (_option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
{
if (m_sposSet && m_startRef != 0 && m_eposSet)
{
@ -316,7 +316,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
}
}
else if (option.mode == RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
else if (_option.mode == RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
{
if (m_sposSet && m_startRef != 0)
{
@ -331,13 +331,13 @@ public class TestNavmeshSampleTool : ISampleTool
}
}
}
else if (option.mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
else if (_option.mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
{
randomPoints.Clear();
if (m_sposSet && m_startRef != 0 && m_eposSet)
{
var points = new List<RcVec3f>();
_tool.FindRandomPointAroundCircle(navQuery, m_startRef, m_spos, m_epos, m_filter, option.constrainByCircle, 500, ref points);
_tool.FindRandomPointAroundCircle(navQuery, m_startRef, m_spos, m_epos, m_filter, _option.constrainByCircle, 500, ref points);
randomPoints.AddRange(points);
}
}
@ -373,8 +373,7 @@ public class TestNavmeshSampleTool : ISampleTool
return;
}
var option = _tool.GetOption();
if (option.mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
if (_option.mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DebugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
@ -440,7 +439,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
*/
}
else if (option.mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT || option.mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
else if (_option.mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT || _option.mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DebugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
@ -510,7 +509,7 @@ public class TestNavmeshSampleTool : ISampleTool
dd.DepthMask(true);
}
}
else if (option.mode == RcTestNavmeshToolMode.RAYCAST)
else if (_option.mode == RcTestNavmeshToolMode.RAYCAST)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
@ -562,7 +561,7 @@ public class TestNavmeshSampleTool : ISampleTool
dd.DepthMask(true);
}
}
else if (option.mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
else if (_option.mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DepthMask(false);
@ -582,7 +581,7 @@ public class TestNavmeshSampleTool : ISampleTool
dd.DepthMask(true);
}
else if (option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
else if (_option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
{
if (m_polys != null)
{
@ -615,7 +614,7 @@ public class TestNavmeshSampleTool : ISampleTool
dd.DepthMask(true);
}
}
else if (option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
else if (_option.mode == RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
{
if (m_polys != null)
{
@ -652,7 +651,7 @@ public class TestNavmeshSampleTool : ISampleTool
dd.DepthMask(true);
}
}
else if (option.mode == RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
else if (_option.mode == RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
{
if (m_polys != null)
{
@ -739,7 +738,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
}
}
else if (option.mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
else if (_option.mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
{
dd.DepthMask(false);
dd.Begin(POINTS, 4.0f);
@ -791,18 +790,17 @@ public class TestNavmeshSampleTool : ISampleTool
public void HandleUpdate(float dt)
{
// TODO Auto-generated method stub
var option = _tool.GetOption();
if (option.mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
if (_option.mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
{
DtNavMeshQuery m_navQuery = _sample.GetNavMeshQuery();
DtNavMeshQuery navQuery = _sample.GetNavMeshQuery();
if (m_pathFindStatus.InProgress())
{
m_pathFindStatus = m_navQuery.UpdateSlicedFindPath(1, out var _);
m_pathFindStatus = navQuery.UpdateSlicedFindPath(1, out var _);
}
if (m_pathFindStatus.Succeeded())
{
m_navQuery.FinalizeSlicedFindPath(ref m_polys);
navQuery.FinalizeSlicedFindPath(ref m_polys);
m_straightPath = null;
if (m_polys != null)
{
@ -811,7 +809,7 @@ public class TestNavmeshSampleTool : ISampleTool
epos = m_epos;
if (m_polys[m_polys.Count - 1] != m_endRef)
{
var result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var closest, out var _);
var result = navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var closest, out var _);
if (result.Succeeded())
{
epos = closest;
@ -819,7 +817,7 @@ public class TestNavmeshSampleTool : ISampleTool
}
m_straightPath = new(MAX_POLYS);
m_navQuery.FindStraightPath(m_spos, epos, m_polys, ref m_straightPath, MAX_POLYS, DtNavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS);
navQuery.FindStraightPath(m_spos, epos, m_polys, ref m_straightPath, MAX_POLYS, DtNavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS);
}
m_pathFindStatus = DtStatus.DT_FAILURE;

7
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
View File

@ -10,11 +10,9 @@ namespace DotRecast.Recast.Toolset.Tools
public const int MAX_POLYS = 256;
public const int MAX_SMOOTH = 2048;
private readonly RcTestNavmeshToolOption _option;
public RcTestNavMeshTool()
{
_option = new RcTestNavmeshToolOption();
}
public string GetName()
@ -22,11 +20,6 @@ namespace DotRecast.Recast.Toolset.Tools
return "Test Navmesh";
}
public RcTestNavmeshToolOption GetOption()
{
return _option;
}
public DtStatus FindFollowPath(DtNavMesh navMesh, DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
ref List<long> polys, ref List<RcVec3f> smoothPath)
{