NavMeshGenerator::NavMeshGenerator(rcContext* ctx) :
m_ctx(ctx),
m_keepInterResults(true),
m_totalBuildTimeMs(0),
m_solid(0),
m_chf(0),
m_cset(0),
m_pmesh(0),
m_dmesh(0),
m_navMesh(0)
{
m_cellSize = 0.3f;
m_cellHeight = 0.2f;
m_agentHeight = 2.0f;
m_agentRadius = 0.6f;
m_agentMaxClimb = 0.9f;
m_agentMaxSlope = 45.0f;
m_regionMinSize = 8;
m_regionMergeSize = 20;
m_edgeMaxLen = 12.0f;
m_edgeMaxError = 1.3f;
m_vertsPerPoly = 6.0f;
m_detailSampleDist = 6.0f;
m_detailSampleMaxError = 1.0f;
m_partitionType = 0; //SAMPLE_PARTITION_WATERSHED;
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
}
void NavMesh::InitMesh()
{
// common setting
m_cellSize = 0.3f;
m_cellHeight = 0.2f;
m_agentHeight = 2.0f;
m_agentRadius = 0.6f;
m_agentMaxClimb = 0.9f;
m_agentMaxSlope = 45.0f;
m_regionMinSize = 8;
m_regionMergeSize = 20;
m_edgeMaxLen = 12.0f;
m_edgeMaxError = 1.3f;
m_vertsPerPoly = 6.0f;
m_detailSampleDist = 6.0f;
m_detailSampleMaxError = 1.0f;
//
m_geom = 0;
m_navMesh = 0;
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
m_tileCache = 0;
m_maxTiles = 0;
m_maxPolysPerTile = 0;
m_tileSize = 48;
m_talloc = new LinearAllocator(32000);
m_tcomp = new FastLZCompressor;
m_tmproc = new MeshProcess;
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_crowd(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_crowd(0),
m_navMeshDrawFlags(DU_DRAWNAVMESH_OFFMESHCONS|DU_DRAWNAVMESH_CLOSEDLIST),
m_tool(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_crowd(0),
m_navMeshDrawFlags(DU_DRAWNAVMESH_OFFMESHCONS|DU_DRAWNAVMESH_CLOSEDLIST),
m_tool(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
for (int i = 0; i < MAX_TOOLS; i++)
m_toolStates[i] = 0;
}
void UCrowdManager::CreateCrowdManager()
{
ARecastNavMesh* RecastNavData = Cast<ARecastNavMesh>(MyNavData);
FPImplRecastNavMesh* PImplNavMesh = RecastNavData ? RecastNavData->RecastNavMeshImpl : NULL;
dtNavMesh* NavMeshPtr = PImplNavMesh ? PImplNavMesh->GetRecastMesh() : NULL;
if (NavMeshPtr)
{
DetourCrowd = dtAllocCrowd();
}
if (DetourCrowd)
{
DetourCrowd->init(MaxAgents, MaxAgentRadius, NavMeshPtr);
DetourCrowd->setAgentCheckInterval(NavmeshCheckInterval);
DetourCrowd->setSingleAreaVisibilityOptimization(bSingleAreaVisibilityOptimization);
DetourCrowd->setPruneStartedOffmeshConnections(bPruneStartedOffmeshConnections);
DetourCrowd->setEarlyReachTestOptimization(bEarlyReachTestOptimization);
DetourCrowd->initAvoidance(MaxAvoidedAgents, MaxAvoidedWalls, FMath::Max(SamplingPatterns.Num(), 1));
for (int32 Idx = 0; Idx < SamplingPatterns.Num(); Idx++)
{
const FCrowdAvoidanceSamplingPattern& Info = SamplingPatterns[Idx];
if (Info.Angles.Num() > 0 && Info.Angles.Num() == Info.Radii.Num())
{
DetourCrowd->setObstacleAvoidancePattern(Idx, Info.Angles.GetData(), Info.Radii.GetData(), Info.Angles.Num());
}
}
UpdateAvoidanceConfig();
AgentFlags.Reset();
AgentFlags.AddZeroed(MaxAgents);
for (auto It = ActiveAgents.CreateIterator(); It; ++It)
{
AddAgent(It.Key(), It.Value());
}
}
}
OgreDetourCrowd::OgreDetourCrowd(OgreRecast *recast)
: m_crowd(0),
m_recast(recast),
m_targetRef(0),
m_activeAgents(0)
{
m_crowd = dtAllocCrowd();
if(!m_crowd)
Ogre::LogManager::getSingletonPtr()->logMessage("Error: Could not allocate crowd instance.");
// Set default agent parameters
m_anticipateTurns = true;
m_optimizeVis = true;
m_optimizeTopo = true;
m_obstacleAvoidance = true;
m_separation = false;
m_obstacleAvoidanceType = 3.0f;
m_separationWeight = 2.0f;
memset(m_trails, 0, sizeof(m_trails));
m_vod = dtAllocObstacleAvoidanceDebugData();
m_vod->init(2048);
memset(&m_agentDebug, 0, sizeof(m_agentDebug));
m_agentDebug.idx = -1;
m_agentDebug.vod = m_vod;
dtNavMesh* nav = recast->m_navMesh;
dtCrowd* crowd = m_crowd;
if (nav && crowd && crowd->getAgentCount() == 0)
{
crowd->init(MAX_AGENTS, m_recast->getAgentRadius(), nav);
// Make polygons with 'disabled' flag invalid.
crowd->getEditableFilter()->setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED);
// Create different avoidance settings presets. The crowd object can store multiple, identified by an index number.
// Setup local avoidance params to different qualities.
dtObstacleAvoidanceParams params;
// Use mostly default settings, copy from dtCrowd.
memcpy(¶ms, crowd->getObstacleAvoidanceParams(0), sizeof(dtObstacleAvoidanceParams));
// Low (11)
params.velBias = 0.5f;
params.adaptiveDivs = 5;
params.adaptiveRings = 2;
params.adaptiveDepth = 1;
crowd->setObstacleAvoidanceParams(0, ¶ms);
// Medium (22)
params.velBias = 0.5f;
params.adaptiveDivs = 5;
params.adaptiveRings = 2;
params.adaptiveDepth = 2;
crowd->setObstacleAvoidanceParams(1, ¶ms);
// Good (45)
params.velBias = 0.5f;
params.adaptiveDivs = 7;
params.adaptiveRings = 2;
params.adaptiveDepth = 3;
crowd->setObstacleAvoidanceParams(2, ¶ms);
// High (66)
params.velBias = 0.5f;
params.adaptiveDivs = 7;
params.adaptiveRings = 3;
params.adaptiveDepth = 3;
crowd->setObstacleAvoidanceParams(3, ¶ms);
}
}
bool NavMesh::loadNavMeshFile()
{
auto data = FileUtils::getInstance()->getDataFromFile(_navFilePath);
if (data.isNull()) return false;
// Read header.
unsigned int offset = 0;
TileCacheSetHeader header = *((TileCacheSetHeader*)(data.getBytes() + offset));
offset += sizeof(TileCacheSetHeader);
if (header.magic != TILECACHESET_MAGIC)
{
return false;
}
if (header.version != TILECACHESET_VERSION)
{
return false;
}
_navMesh = dtAllocNavMesh();
if (!_navMesh)
{
return false;
}
dtStatus status = _navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
return false;
}
_tileCache = dtAllocTileCache();
if (!_tileCache)
{
return false;
}
_allocator = new LinearAllocator(32000);
_compressor = new FastLZCompressor;
_meshProcess = new MeshProcess(_geomData);
status = _tileCache->init(&header.cacheParams, _allocator, _compressor, _meshProcess);
if (dtStatusFailed(status))
{
return false;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader = *((TileCacheTileHeader*)(data.getBytes() + offset));
offset += sizeof(TileCacheTileHeader);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* tileData = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!tileData) break;
memcpy(tileData, (data.getBytes() + offset), tileHeader.dataSize);
offset += tileHeader.dataSize;
dtCompressedTileRef tile = 0;
_tileCache->addTile(tileData, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
_tileCache->buildNavMeshTile(tile, _navMesh);
}
//create crowed
_crowed = dtAllocCrowd();
_crowed->init(MAX_AGENTS, header.cacheParams.walkableRadius, _navMesh);
//create NavMeshQuery
_navMeshQuery = dtAllocNavMeshQuery();
_navMeshQuery->init(_navMesh, 2048);
_agentList.assign(MAX_AGENTS, nullptr);
_obstacleList.assign(header.cacheParams.maxObstacles, nullptr);
//duDebugDrawNavMesh(&_debugDraw, *_navMesh, DU_DRAWNAVMESH_OFFMESHCONS);
return true;
}