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converting ... test navmesh tool

This commit is contained in:
ikpil 2023-06-29 22:50:55 +09:00
parent 8325d05760
commit 52fbaeac7f
2 changed files with 249 additions and 173 deletions
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194
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -15,7 +15,6 @@ namespace DotRecast.Recast.Demo.Tools;
public class TestNavmeshTool : IRcTool public class TestNavmeshTool : IRcTool
{ {
private const int MAX_POLYS = 256; private const int MAX_POLYS = 256;
private const int MAX_SMOOTH = 2048;
private readonly TestNavmeshToolImpl _impl; private readonly TestNavmeshToolImpl _impl;
@ -185,132 +184,19 @@ public class TestNavmeshTool : IRcTool
var option = _impl.GetOption(); var option = _impl.GetOption();
DtNavMesh m_navMesh = _impl.GetSample().GetNavMesh();
if (option.mode == TestNavmeshToolMode.PATHFIND_FOLLOW) if (option.mode == TestNavmeshToolMode.PATHFIND_FOLLOW)
{ {
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{ {
m_polys = new(); var polys = new List<long>();
m_navQuery.FindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, ref m_polys, var smoothPath = new List<RcVec3f>();
new(option.enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue)); var status = _impl.FindFollowPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, option.enableRaycast,
if (0 < m_polys.Count) ref polys, ref smoothPath);
{
// Iterate over the path to find smooth path on the detail mesh surface.
m_navQuery.ClosestPointOnPoly(m_startRef, m_spos, out var iterPos, out var _);
m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var targetPos, out var _);
float STEP_SIZE = 0.5f;
float SLOP = 0.01f;
m_smoothPath = new();
m_smoothPath.Add(iterPos);
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (0 < m_polys.Count && m_smoothPath.Count < MAX_SMOOTH)
{
// Find location to steer towards.
SteerTarget steerTarget = PathUtils.GetSteerTarget(m_navQuery, iterPos, targetPos, SLOP, m_polys);
if (null == steerTarget)
{
break;
}
bool endOfPath = (steerTarget.steerPosFlag & DtNavMeshQuery.DT_STRAIGHTPATH_END) != 0
? true
: false;
bool offMeshConnection = (steerTarget.steerPosFlag
& DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
? true
: false;
// Find movement delta.
RcVec3f delta = steerTarget.steerPos.Subtract(iterPos);
float len = (float)Math.Sqrt(RcVec3f.Dot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{
len = 1;
}
else
{
len = STEP_SIZE / len;
}
RcVec3f moveTgt = RcVec3f.Mad(iterPos, delta, len);
// Move
m_navQuery.MoveAlongSurface(m_polys[0], iterPos, moveTgt, m_filter, out var result, out var visited);
iterPos = result;
m_polys = PathUtils.MergeCorridorStartMoved(m_polys, visited);
m_polys = PathUtils.FixupShortcuts(m_polys, m_navQuery);
var status = m_navQuery.GetPolyHeight(m_polys[0], result, out var h);
if (status.Succeeded()) if (status.Succeeded())
{ {
iterPos.y = h; m_polys = polys;
} m_smoothPath = smoothPath;
// Handle end of path and off-mesh links when close enough.
if (endOfPath && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{
// Reached end of path.
iterPos = targetPos;
if (m_smoothPath.Count < MAX_SMOOTH)
{
m_smoothPath.Add(iterPos);
}
break;
}
else if (offMeshConnection && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{
// Reached off-mesh connection.
RcVec3f startPos = RcVec3f.Zero;
RcVec3f endPos = RcVec3f.Zero;
// Advance the path up to and over the off-mesh connection.
long prevRef = 0;
long polyRef = m_polys[0];
int npos = 0;
while (npos < m_polys.Count && polyRef != steerTarget.steerPosRef)
{
prevRef = polyRef;
polyRef = m_polys[npos];
npos++;
}
m_polys = m_polys.GetRange(npos, m_polys.Count - npos);
// Handle the connection.
var status2 = m_navMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPos, ref endPos);
if (status2.Succeeded())
{
if (m_smoothPath.Count < MAX_SMOOTH)
{
m_smoothPath.Add(startPos);
// Hack to make the dotted path not visible during off-mesh connection.
if ((m_smoothPath.Count & 1) != 0)
{
m_smoothPath.Add(startPos);
}
}
// Move position at the other side of the off-mesh link.
iterPos = endPos;
m_navQuery.GetPolyHeight(m_polys[0], iterPos, out var eh);
iterPos.y = eh;
}
}
// Store results.
if (m_smoothPath.Count < MAX_SMOOTH)
{
m_smoothPath.Add(iterPos);
}
}
} }
} }
else else
@ -323,23 +209,15 @@ public class TestNavmeshTool : IRcTool
{ {
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
{ {
m_polys = new(); var polys = new List<long>();
m_navQuery.FindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, ref m_polys, var straightPath = new List<StraightPathItem>();
new(option.enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue)); var status = _impl.FindStraightPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, option.enableRaycast,
if (0 < m_polys.Count) ref polys, ref straightPath, option.straightPathOptions);
{
// In case of partial path, make sure the end point is clamped to the last polygon.
var epos = RcVec3f.Of(m_epos.x, m_epos.y, m_epos.z);
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 _);
if (result.Succeeded())
{
epos = closest;
}
}
m_navQuery.FindStraightPath(m_spos, epos, m_polys, ref m_straightPath, MAX_POLYS, option.straightPathOptions); if (status.Succeeded())
{
m_polys = polys;
m_straightPath = straightPath;
} }
} }
else else
@ -354,8 +232,7 @@ public class TestNavmeshTool : IRcTool
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) 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, m_pathFindStatus = _impl.InitSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, option.enableRaycast);
option.enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
} }
} }
else if (option.mode == TestNavmeshToolMode.RAYCAST) else if (option.mode == TestNavmeshToolMode.RAYCAST)
@ -363,39 +240,18 @@ public class TestNavmeshTool : IRcTool
m_straightPath = null; m_straightPath = null;
if (m_sposSet && m_eposSet && m_startRef != 0) if (m_sposSet && m_eposSet && m_startRef != 0)
{ {
{ var polys = new List<long>();
var status = m_navQuery.Raycast(m_startRef, m_spos, m_epos, m_filter, 0, 0, out var rayHit); var straightPath = new List<StraightPathItem>();
var status = _impl.Raycast(m_startRef, m_spos, m_epos, m_filter,
ref polys, ref straightPath, out var hitPos, out var hitNormal, out var hitResult);
if (status.Succeeded()) if (status.Succeeded())
{ {
m_polys = rayHit.path; m_polys = polys;
if (rayHit.t > 1) m_straightPath = straightPath;
{ m_hitPos = hitPos;
// No hit m_hitNormal = hitNormal;
m_hitPos = m_epos; m_hitResult = hitResult;
m_hitResult = false;
}
else
{
// Hit
m_hitPos = RcVec3f.Lerp(m_spos, m_epos, rayHit.t);
m_hitNormal = rayHit.hitNormal;
m_hitResult = true;
}
// Adjust height.
if (rayHit.path.Count > 0)
{
var result = m_navQuery.GetPolyHeight(rayHit.path[rayHit.path.Count - 1], m_hitPos, out var h);
if (result.Succeeded())
{
m_hitPos.y = h;
}
}
}
m_straightPath = new();
m_straightPath.Add(new StraightPathItem(m_spos, 0, 0));
m_straightPath.Add(new StraightPathItem(m_hitPos, 0, 0));
} }
} }
} }

222
src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
View File

@ -1,7 +1,15 @@
namespace DotRecast.Recast.DemoTool.Tools using System;
using System.Collections.Generic;
using DotRecast.Core;
using DotRecast.Detour;
namespace DotRecast.Recast.DemoTool.Tools
{ {
public class TestNavmeshToolImpl : ISampleTool public class TestNavmeshToolImpl : ISampleTool
{ {
private const int MAX_POLYS = 256;
private const int MAX_SMOOTH = 2048;
private Sample _sample; private Sample _sample;
private readonly TestNavmeshToolOption _option; private readonly TestNavmeshToolOption _option;
@ -30,5 +38,217 @@
{ {
return _option; return _option;
} }
public DtStatus FindFollowPath(long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
ref List<long> polys, ref List<RcVec3f> smoothPath)
{
var navMesh = _sample.GetNavMesh();
var navQuery = _sample.GetNavMeshQuery();
navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref polys,
new DtFindPathOption(enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue));
if (0 >= polys.Count)
return DtStatus.DT_FAILURE;
// Iterate over the path to find smooth path on the detail mesh surface.
navQuery.ClosestPointOnPoly(startRef, startPt, out var iterPos, out var _);
navQuery.ClosestPointOnPoly(polys[polys.Count - 1], endPt, out var targetPos, out var _);
float STEP_SIZE = 0.5f;
float SLOP = 0.01f;
smoothPath.Clear();
smoothPath.Add(iterPos);
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH)
{
// Find location to steer towards.
SteerTarget steerTarget = PathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP, polys);
if (null == steerTarget)
{
break;
}
bool endOfPath = (steerTarget.steerPosFlag & DtNavMeshQuery.DT_STRAIGHTPATH_END) != 0
? true
: false;
bool offMeshConnection = (steerTarget.steerPosFlag
& DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
? true
: false;
// Find movement delta.
RcVec3f delta = steerTarget.steerPos.Subtract(iterPos);
float len = (float)Math.Sqrt(RcVec3f.Dot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{
len = 1;
}
else
{
len = STEP_SIZE / len;
}
RcVec3f moveTgt = RcVec3f.Mad(iterPos, delta, len);
// Move
navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, out var visited);
iterPos = result;
polys = PathUtils.MergeCorridorStartMoved(polys, visited);
polys = PathUtils.FixupShortcuts(polys, navQuery);
var status = navQuery.GetPolyHeight(polys[0], result, out var h);
if (status.Succeeded())
{
iterPos.y = h;
}
// Handle end of path and off-mesh links when close enough.
if (endOfPath && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{
// Reached end of path.
iterPos = targetPos;
if (smoothPath.Count < MAX_SMOOTH)
{
smoothPath.Add(iterPos);
}
break;
}
else if (offMeshConnection && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{
// Reached off-mesh connection.
RcVec3f startPos = RcVec3f.Zero;
RcVec3f endPos = RcVec3f.Zero;
// Advance the path up to and over the off-mesh connection.
long prevRef = 0;
long polyRef = polys[0];
int npos = 0;
while (npos < polys.Count && polyRef != steerTarget.steerPosRef)
{
prevRef = polyRef;
polyRef = polys[npos];
npos++;
}
polys = polys.GetRange(npos, polys.Count - npos);
// Handle the connection.
var status2 = navMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPos, ref endPos);
if (status2.Succeeded())
{
if (smoothPath.Count < MAX_SMOOTH)
{
smoothPath.Add(startPos);
// Hack to make the dotted path not visible during off-mesh connection.
if ((smoothPath.Count & 1) != 0)
{
smoothPath.Add(startPos);
}
}
// Move position at the other side of the off-mesh link.
iterPos = endPos;
navQuery.GetPolyHeight(polys[0], iterPos, out var eh);
iterPos.y = eh;
}
}
// Store results.
if (smoothPath.Count < MAX_SMOOTH)
{
smoothPath.Add(iterPos);
}
}
return DtStatus.DT_SUCCSESS;
}
public DtStatus FindStraightPath(long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
ref List<long> polys, ref List<StraightPathItem> straightPath, int straightPathOptions)
{
var navQuery = _sample.GetNavMeshQuery();
navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref polys,
new DtFindPathOption(enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue));
if (0 >= polys.Count)
return DtStatus.DT_FAILURE;
// In case of partial path, make sure the end point is clamped to the last polygon.
var epos = RcVec3f.Of(endPt.x, endPt.y, endPt.z);
if (polys[polys.Count - 1] != endRef)
{
var result = navQuery.ClosestPointOnPoly(polys[polys.Count - 1], endPt, out var closest, out var _);
if (result.Succeeded())
{
epos = closest;
}
}
navQuery.FindStraightPath(startPt, epos, polys, ref straightPath, MAX_POLYS, straightPathOptions);
return DtStatus.DT_SUCCSESS;
}
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f m_epos, IDtQueryFilter filter, bool enableRaycast)
{
var navQuery = _sample.GetNavMeshQuery();
return navQuery.InitSlicedFindPath(startRef, endRef, startPos, m_epos, filter,
enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0,
float.MaxValue
);
}
public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
ref List<long> polys, ref List<StraightPathItem> straightPath, out RcVec3f hitPos, out RcVec3f hitNormal, out bool hitResult)
{
hitPos = RcVec3f.Zero;
hitNormal = RcVec3f.Zero;
hitResult = false;
var navQuery = _sample.GetNavMeshQuery();
var status = navQuery.Raycast(startRef, startPos, endPos, filter, 0, 0, out var rayHit);
if (!status.Succeeded())
return status;
polys = rayHit.path;
if (rayHit.t > 1)
{
// No hit
hitPos = endPos;
hitResult = false;
}
else
{
// Hit
hitPos = RcVec3f.Lerp(startPos, endPos, rayHit.t);
hitNormal = rayHit.hitNormal;
hitResult = true;
}
// Adjust height.
if (rayHit.path.Count > 0)
{
var result = navQuery.GetPolyHeight(rayHit.path[rayHit.path.Count - 1], hitPos, out var h);
if (result.Succeeded())
{
hitPos.y = h;
}
}
straightPath.Clear();
straightPath.Add(new StraightPathItem(startPos, 0, 0));
straightPath.Add(new StraightPathItem(hitPos, 0, 0));
return status;
}
} }
} }