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DotRecastNetSim
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test navmesh tool, impl

This commit is contained in:
ikpil 2023-06-28 23:29:50 +09:00
parent ddcf05b213
commit d2661a4318
4 changed files with 121 additions and 76 deletions
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129
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -19,8 +19,6 @@ public class TestNavmeshTool : IRcTool
private readonly TestNavmeshToolImpl _impl;
private int m_toolModeIdx = TestNavmeshToolMode.PATHFIND_FOLLOW.Idx;
private TestNavmeshToolMode m_toolMode => TestNavmeshToolMode.Values[m_toolModeIdx];
private bool m_sposSet;
private bool m_eposSet;
private RcVec3f m_spos;
@ -33,7 +31,6 @@ public class TestNavmeshTool : IRcTool
private float m_distanceToWall;
private RcVec3f m_hitNormal;
private List<StraightPathItem> m_straightPath;
private int m_straightPathOptions;
private List<long> m_polys;
private bool m_hitResult;
private List<long> m_parent;
@ -41,12 +38,7 @@ public class TestNavmeshTool : IRcTool
private readonly float[] m_queryPoly = new float[12];
private List<RcVec3f> m_smoothPath;
private DtStatus m_pathFindStatus = DtStatus.DT_FAILURE;
private bool enableRaycast = true;
private readonly List<RcVec3f> randomPoints = new();
private bool constrainByCircle;
private int includeFlags = SampleAreaModifications.SAMPLE_POLYFLAGS_ALL;
private int excludeFlags = 0;
public TestNavmeshTool()
{
@ -87,46 +79,47 @@ public class TestNavmeshTool : IRcTool
public void Layout()
{
var previousToolMode = m_toolMode;
int previousStraightPathOptions = m_straightPathOptions;
var option = _impl.GetOption();
var previousToolMode = option.mode;
int previousStraightPathOptions = option.straightPathOptions;
int previousIncludeFlags = m_filter.GetIncludeFlags();
int previousExcludeFlags = m_filter.GetExcludeFlags();
bool previousConstrainByCircle = constrainByCircle;
bool previousConstrainByCircle = option.constrainByCircle;
ImGui.Text("Mode");
ImGui.Separator();
ImGui.RadioButton(TestNavmeshToolMode.PATHFIND_FOLLOW.Label, ref m_toolModeIdx, TestNavmeshToolMode.PATHFIND_FOLLOW.Idx);
ImGui.RadioButton(TestNavmeshToolMode.PATHFIND_STRAIGHT.Label, ref m_toolModeIdx, TestNavmeshToolMode.PATHFIND_STRAIGHT.Idx);
ImGui.RadioButton(TestNavmeshToolMode.PATHFIND_SLICED.Label, ref m_toolModeIdx, TestNavmeshToolMode.PATHFIND_SLICED.Idx);
ImGui.RadioButton(TestNavmeshToolMode.DISTANCE_TO_WALL.Label, ref m_toolModeIdx, TestNavmeshToolMode.DISTANCE_TO_WALL.Idx);
ImGui.RadioButton(TestNavmeshToolMode.RAYCAST.Label, ref m_toolModeIdx, TestNavmeshToolMode.RAYCAST.Idx);
ImGui.RadioButton(TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Label, ref m_toolModeIdx, TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Idx);
ImGui.RadioButton(TestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Label, ref m_toolModeIdx, TestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Idx);
ImGui.RadioButton(TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Label, ref m_toolModeIdx, TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Idx);
ImGui.RadioButton(TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Label, ref m_toolModeIdx, TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Idx);
ImGui.RadioButton(TestNavmeshToolMode.PATHFIND_FOLLOW.Label, ref option.modeIdx, TestNavmeshToolMode.PATHFIND_FOLLOW.Idx);
ImGui.RadioButton(TestNavmeshToolMode.PATHFIND_STRAIGHT.Label, ref option.modeIdx, TestNavmeshToolMode.PATHFIND_STRAIGHT.Idx);
ImGui.RadioButton(TestNavmeshToolMode.PATHFIND_SLICED.Label, ref option.modeIdx, TestNavmeshToolMode.PATHFIND_SLICED.Idx);
ImGui.RadioButton(TestNavmeshToolMode.DISTANCE_TO_WALL.Label, ref option.modeIdx, TestNavmeshToolMode.DISTANCE_TO_WALL.Idx);
ImGui.RadioButton(TestNavmeshToolMode.RAYCAST.Label, ref option.modeIdx, TestNavmeshToolMode.RAYCAST.Idx);
ImGui.RadioButton(TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Label, ref option.modeIdx, TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE.Idx);
ImGui.RadioButton(TestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Label, ref option.modeIdx, TestNavmeshToolMode.FIND_POLYS_IN_SHAPE.Idx);
ImGui.RadioButton(TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Label, ref option.modeIdx, TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD.Idx);
ImGui.RadioButton(TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Label, ref option.modeIdx, TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE.Idx);
ImGui.NewLine();
// selecting mode
ImGui.Text(m_toolMode.Label);
ImGui.Text(option.mode.Label);
ImGui.Separator();
ImGui.NewLine();
if (m_toolMode == TestNavmeshToolMode.PATHFIND_FOLLOW)
if (option.mode == TestNavmeshToolMode.PATHFIND_FOLLOW)
{
}
if (m_toolMode == TestNavmeshToolMode.PATHFIND_STRAIGHT)
if (option.mode == TestNavmeshToolMode.PATHFIND_STRAIGHT)
{
ImGui.Text("Vertices at crossings");
ImGui.Separator();
ImGui.RadioButton("None", ref m_straightPathOptions, 0);
ImGui.RadioButton("Area", ref m_straightPathOptions, DtNavMeshQuery.DT_STRAIGHTPATH_AREA_CROSSINGS);
ImGui.RadioButton("All", ref m_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 (m_toolMode == TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
if (option.mode == TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
{
ImGui.Checkbox("Constrained", ref constrainByCircle);
ImGui.Checkbox("Constrained", ref option.constrainByCircle);
}
ImGui.Text("Common");
@ -134,30 +127,30 @@ public class TestNavmeshTool : IRcTool
ImGui.Text("Include Flags");
ImGui.Separator();
ImGui.CheckboxFlags("Walk", ref includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
ImGui.CheckboxFlags("Swim", ref includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
ImGui.CheckboxFlags("Door", ref includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
ImGui.CheckboxFlags("Jump", ref 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(includeFlags);
m_filter.SetIncludeFlags(option.includeFlags);
ImGui.Text("Exclude Flags");
ImGui.Separator();
ImGui.CheckboxFlags("Walk", ref excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
ImGui.CheckboxFlags("Swim", ref excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
ImGui.CheckboxFlags("Door", ref excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
ImGui.CheckboxFlags("Jump", ref 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(excludeFlags);
m_filter.SetExcludeFlags(option.excludeFlags);
bool previousEnableRaycast = enableRaycast;
ImGui.Checkbox("Raycast shortcuts", ref enableRaycast);
bool previousEnableRaycast = option.enableRaycast;
ImGui.Checkbox("Raycast shortcuts", ref option.enableRaycast);
if (previousToolMode != m_toolMode || m_straightPathOptions != previousStraightPathOptions
|| previousIncludeFlags != includeFlags || previousExcludeFlags != excludeFlags
|| previousEnableRaycast != enableRaycast || previousConstrainByCircle != constrainByCircle)
if (previousToolMode != option.mode || option.straightPathOptions != previousStraightPathOptions
|| previousIncludeFlags != option.includeFlags || previousExcludeFlags != option.excludeFlags
|| previousEnableRaycast != option.enableRaycast || previousConstrainByCircle != option.constrainByCircle)
{
Recalc();
}
@ -190,14 +183,16 @@ public class TestNavmeshTool : IRcTool
m_endRef = 0;
}
var option = _impl.GetOption();
DtNavMesh m_navMesh = _impl.GetSample().GetNavMesh();
if (m_toolMode == TestNavmeshToolMode.PATHFIND_FOLLOW)
if (option.mode == TestNavmeshToolMode.PATHFIND_FOLLOW)
{
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{
m_polys = new();
m_navQuery.FindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, ref m_polys,
new(enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue));
new(option.enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue));
if (0 < m_polys.Count)
{
// Iterate over the path to find smooth path on the detail mesh surface.
@ -324,13 +319,13 @@ public class TestNavmeshTool : IRcTool
m_smoothPath = null;
}
}
else if (m_toolMode == TestNavmeshToolMode.PATHFIND_STRAIGHT)
else if (option.mode == TestNavmeshToolMode.PATHFIND_STRAIGHT)
{
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{
m_polys = new();
m_navQuery.FindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, ref m_polys,
new(enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue));
new(option.enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue));
if (0 < m_polys.Count)
{
// In case of partial path, make sure the end point is clamped to the last polygon.
@ -344,7 +339,7 @@ public class TestNavmeshTool : IRcTool
}
}
m_navQuery.FindStraightPath(m_spos, epos, m_polys, ref m_straightPath, MAX_POLYS, m_straightPathOptions);
m_navQuery.FindStraightPath(m_spos, epos, m_polys, ref m_straightPath, MAX_POLYS, option.straightPathOptions);
}
}
else
@ -352,7 +347,7 @@ public class TestNavmeshTool : IRcTool
m_straightPath = null;
}
}
else if (m_toolMode == TestNavmeshToolMode.PATHFIND_SLICED)
else if (option.mode == TestNavmeshToolMode.PATHFIND_SLICED)
{
m_polys = null;
m_straightPath = null;
@ -360,10 +355,10 @@ public class TestNavmeshTool : IRcTool
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{
m_pathFindStatus = m_navQuery.InitSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter,
enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
option.enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
}
}
else if (m_toolMode == TestNavmeshToolMode.RAYCAST)
else if (option.mode == TestNavmeshToolMode.RAYCAST)
{
m_straightPath = null;
if (m_sposSet && m_eposSet && m_startRef != 0)
@ -404,7 +399,7 @@ public class TestNavmeshTool : IRcTool
}
}
}
else if (m_toolMode == TestNavmeshToolMode.DISTANCE_TO_WALL)
else if (option.mode == TestNavmeshToolMode.DISTANCE_TO_WALL)
{
m_distanceToWall = 0;
if (m_sposSet && m_startRef != 0)
@ -419,7 +414,7 @@ public class TestNavmeshTool : IRcTool
}
}
}
else if (m_toolMode == TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
else if (option.mode == TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
{
if (m_sposSet && m_startRef != 0 && m_eposSet)
{
@ -434,7 +429,7 @@ public class TestNavmeshTool : IRcTool
}
}
}
else if (m_toolMode == TestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
else if (option.mode == TestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
{
if (m_sposSet && m_startRef != 0 && m_eposSet)
{
@ -466,7 +461,7 @@ public class TestNavmeshTool : IRcTool
}
}
}
else if (m_toolMode == TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
else if (option.mode == TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
{
if (m_sposSet && m_startRef != 0)
{
@ -474,7 +469,7 @@ public class TestNavmeshTool : IRcTool
m_navQuery.FindLocalNeighbourhood(m_startRef, m_spos, m_neighbourhoodRadius, m_filter, ref m_polys, ref m_parent);
}
}
else if (m_toolMode == TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
else if (option.mode == TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
{
randomPoints.Clear();
if (m_sposSet && m_startRef != 0 && m_eposSet)
@ -482,7 +477,7 @@ public class TestNavmeshTool : IRcTool
float dx = m_epos.x - m_spos.x;
float dz = m_epos.z - m_spos.z;
float dist = (float)Math.Sqrt(dx * dx + dz * dz);
IPolygonByCircleConstraint constraint = constrainByCircle
IPolygonByCircleConstraint constraint = option.constrainByCircle
? StrictPolygonByCircleConstraint.Strict
: NoOpPolygonByCircleConstraint.Noop;
@ -533,7 +528,8 @@ public class TestNavmeshTool : IRcTool
return;
}
if (m_toolMode == TestNavmeshToolMode.PATHFIND_FOLLOW)
var option = _impl.GetOption();
if (option.mode == TestNavmeshToolMode.PATHFIND_FOLLOW)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DebugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
@ -599,7 +595,7 @@ public class TestNavmeshTool : IRcTool
}
*/
}
else if (m_toolMode == TestNavmeshToolMode.PATHFIND_STRAIGHT || m_toolMode == TestNavmeshToolMode.PATHFIND_SLICED)
else if (option.mode == TestNavmeshToolMode.PATHFIND_STRAIGHT || option.mode == TestNavmeshToolMode.PATHFIND_SLICED)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DebugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
@ -669,7 +665,7 @@ public class TestNavmeshTool : IRcTool
dd.DepthMask(true);
}
}
else if (m_toolMode == TestNavmeshToolMode.RAYCAST)
else if (option.mode == TestNavmeshToolMode.RAYCAST)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
@ -721,7 +717,7 @@ public class TestNavmeshTool : IRcTool
dd.DepthMask(true);
}
}
else if (m_toolMode == TestNavmeshToolMode.DISTANCE_TO_WALL)
else if (option.mode == TestNavmeshToolMode.DISTANCE_TO_WALL)
{
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DepthMask(false);
@ -741,7 +737,7 @@ public class TestNavmeshTool : IRcTool
dd.DepthMask(true);
}
else if (m_toolMode == TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
else if (option.mode == TestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
{
if (m_polys != null)
{
@ -774,7 +770,7 @@ public class TestNavmeshTool : IRcTool
dd.DepthMask(true);
}
}
else if (m_toolMode == TestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
else if (option.mode == TestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
{
if (m_polys != null)
{
@ -811,7 +807,7 @@ public class TestNavmeshTool : IRcTool
dd.DepthMask(true);
}
}
else if (m_toolMode == TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
else if (option.mode == TestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
{
if (m_polys != null)
{
@ -898,7 +894,7 @@ public class TestNavmeshTool : IRcTool
}
}
}
else if (m_toolMode == TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
else if (option.mode == TestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
{
dd.DepthMask(false);
dd.Begin(POINTS, 4.0f);
@ -972,7 +968,8 @@ public class TestNavmeshTool : IRcTool
public void HandleUpdate(float dt)
{
// TODO Auto-generated method stub
if (m_toolMode == TestNavmeshToolMode.PATHFIND_SLICED)
var option = _impl.GetOption();
if (option.mode == TestNavmeshToolMode.PATHFIND_SLICED)
{
DtNavMeshQuery m_navQuery = _impl.GetSample().GetNavMeshQuery();
if (m_pathFindStatus.InProgress())

34
src/DotRecast.Recast.DemoTool/Tools/JumpLinkBuilderToolImpl.cs
View File

@ -46,7 +46,7 @@ namespace DotRecast.Recast.DemoTool.Tools
{
return _option;
}
public JumpLinkBuilder GetAnnotationBuilder()
{
return _annotationBuilder;
@ -84,19 +84,37 @@ namespace DotRecast.Recast.DemoTool.Tools
if ((_option.buildTypes & JumpLinkType.EDGE_CLIMB_DOWN.Bit) != 0)
{
JumpLinkBuilderConfig config = new JumpLinkBuilderConfig(cellSize, cellHeight, agentRadius,
agentHeight, agentClimb, _option.groundTolerance, -agentRadius * 0.2f,
JumpLinkBuilderConfig config = new JumpLinkBuilderConfig(
cellSize,
cellHeight,
agentRadius,
agentHeight,
agentClimb,
_option.groundTolerance,
-agentRadius * 0.2f,
cellSize + 2 * agentRadius + _option.climbDownDistance,
-_option.climbDownMaxHeight, -_option.climbDownMinHeight, 0);
-_option.climbDownMaxHeight,
-_option.climbDownMinHeight,
0
);
_links.AddRange(_annotationBuilder.Build(config, JumpLinkType.EDGE_CLIMB_DOWN));
}
if ((_option.buildTypes & JumpLinkType.EDGE_JUMP.Bit) != 0)
{
JumpLinkBuilderConfig config = new JumpLinkBuilderConfig(cellSize, cellHeight, agentRadius,
agentHeight, agentClimb, _option.groundTolerance, -agentRadius * 0.2f,
_option.edgeJumpEndDistance, -_option.edgeJumpDownMaxHeight,
_option.edgeJumpUpMaxHeight, _option.edgeJumpHeight);
JumpLinkBuilderConfig config = new JumpLinkBuilderConfig(
cellSize,
cellHeight,
agentRadius,
agentHeight,
agentClimb,
_option.groundTolerance,
-agentRadius * 0.2f,
_option.edgeJumpEndDistance,
-_option.edgeJumpDownMaxHeight,
_option.edgeJumpUpMaxHeight,
_option.edgeJumpHeight
);
_links.AddRange(_annotationBuilder.Build(config, JumpLinkType.EDGE_JUMP));
}

16
src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
View File

@ -2,12 +2,20 @@
{
public class TestNavmeshToolImpl : ISampleTool
{
private Sample _sample;
private readonly TestNavmeshToolOption _option;
public TestNavmeshToolImpl()
{
_option = new TestNavmeshToolOption();
}
public string GetName()
{
return "Test Navmesh";
}
private Sample _sample;
public void SetSample(Sample sample)
{
_sample = sample;
@ -18,5 +26,9 @@
return _sample;
}
public TestNavmeshToolOption GetOption()
{
return _option;
}
}
}

18
src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolOption.cs Normal file
View File

@ -0,0 +1,18 @@
using DotRecast.Recast.DemoTool.Builder;
namespace DotRecast.Recast.DemoTool.Tools
{
public class TestNavmeshToolOption
{
public int modeIdx = TestNavmeshToolMode.PATHFIND_FOLLOW.Idx;
public TestNavmeshToolMode mode => TestNavmeshToolMode.Values[modeIdx];
public int straightPathOptions;
public bool constrainByCircle;
public int includeFlags = SampleAreaModifications.SAMPLE_POLYFLAGS_ALL;
public int excludeFlags = 0;
public bool enableRaycast = true;
}
}