void NavigationMesh::CollectGeometries(Vector<NavigationGeometryInfo>& geometryList)
{
ATOMIC_PROFILE(CollectNavigationGeometry);
// Get Navigable components from child nodes, not from whole scene. This makes it possible to partition
// the scene into several navigation meshes
PODVector<Navigable*> navigables;
node_->GetComponents<Navigable>(navigables, true);
HashSet<Node*> processedNodes;
for (unsigned i = 0; i < navigables.Size(); ++i)
{
if (navigables[i]->IsEnabledEffective())
CollectGeometries(geometryList, navigables[i]->GetNode(), processedNodes, navigables[i]->IsRecursive());
}
// Get offmesh connections
Matrix3x4 inverse = node_->GetWorldTransform().Inverse();
PODVector<OffMeshConnection*> connections;
node_->GetComponents<OffMeshConnection>(connections, true);
for (unsigned i = 0; i < connections.Size(); ++i)
{
OffMeshConnection* connection = connections[i];
if (connection->IsEnabledEffective() && connection->GetEndPoint())
{
const Matrix3x4& transform = connection->GetNode()->GetWorldTransform();
NavigationGeometryInfo info;
info.component_ = connection;
info.boundingBox_ = BoundingBox(Sphere(transform.Translation(), connection->GetRadius())).Transformed(inverse);
geometryList.Push(info);
}
}
// Get nav area volumes
PODVector<NavArea*> navAreas;
node_->GetComponents<NavArea>(navAreas, true);
areas_.Clear();
for (unsigned i = 0; i < navAreas.Size(); ++i)
{
NavArea* area = navAreas[i];
if (area->IsEnabledEffective())
{
NavigationGeometryInfo info;
info.component_ = area;
info.boundingBox_ = area->GetWorldBoundingBox();
geometryList.Push(info);
areas_.Push(WeakPtr<NavArea>(area));
}
}
}
void DynamicNavigationMesh::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
{
if (!debug || !navMesh_ || !node_)
return;
const Matrix3x4& worldTransform = node_->GetWorldTransform();
const dtNavMesh* navMesh = navMesh_;
for (int z = 0; z < numTilesZ_; ++z)
{
for (int x = 0; x < numTilesX_; ++x)
{
// Get the layers from the tile-cache
const dtMeshTile* tiles[TILECACHE_MAXLAYERS];
int tileCount = navMesh->getTilesAt(x, z, tiles, TILECACHE_MAXLAYERS);
for (int i = 0; i < tileCount; ++i)
{
const dtMeshTile* tile = tiles[i];
if (!tile)
continue;
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* poly = tile->polys + i;
for (unsigned j = 0; j < poly->vertCount; ++j)
{
debug->AddLine(
worldTransform * *reinterpret_cast<const Vector3*>(&tile->verts[poly->verts[j] * 3]),
worldTransform * *reinterpret_cast<const Vector3*>(&tile->verts[poly->verts[(j + 1) % poly->vertCount] * 3]),
Color::YELLOW,
depthTest
);
}
}
}
}
}
Scene* scene = GetScene();
if (scene)
{
// Draw Obstacle components
if (drawObstacles_)
{
PODVector<Node*> obstacles;
scene->GetChildrenWithComponent<Obstacle>(obstacles, true);
for (unsigned i = 0; i < obstacles.Size(); ++i)
{
Obstacle* obstacle = obstacles[i]->GetComponent<Obstacle>();
if (obstacle && obstacle->IsEnabledEffective())
obstacle->DrawDebugGeometry(debug, depthTest);
}
}
// Draw OffMeshConnection components
if (drawOffMeshConnections_)
{
PODVector<Node*> connections;
scene->GetChildrenWithComponent<OffMeshConnection>(connections, true);
for (unsigned i = 0; i < connections.Size(); ++i)
{
OffMeshConnection* connection = connections[i]->GetComponent<OffMeshConnection>();
if (connection && connection->IsEnabledEffective())
connection->DrawDebugGeometry(debug, depthTest);
}
}
// Draw NavArea components
if (drawNavAreas_)
{
PODVector<Node*> areas;
scene->GetChildrenWithComponent<NavArea>(areas, true);
for (unsigned i = 0; i < areas.Size(); ++i)
{
NavArea* area = areas[i]->GetComponent<NavArea>();
if (area && area->IsEnabledEffective())
area->DrawDebugGeometry(debug, depthTest);
}
}
}
}
void NavigationMesh::GetTileGeometry(NavBuildData* build, Vector<NavigationGeometryInfo>& geometryList, BoundingBox& box)
{
Matrix3x4 inverse = node_->GetWorldTransform().Inverse();
for (unsigned i = 0; i < geometryList.Size(); ++i)
{
if (box.IsInsideFast(geometryList[i].boundingBox_) != OUTSIDE)
{
const Matrix3x4& transform = geometryList[i].transform_;
if (geometryList[i].component_->GetType() == OffMeshConnection::GetTypeStatic())
{
OffMeshConnection* connection = static_cast<OffMeshConnection*>(geometryList[i].component_);
Vector3 start = inverse * connection->GetNode()->GetWorldPosition();
Vector3 end = inverse * connection->GetEndPoint()->GetWorldPosition();
build->offMeshVertices_.Push(start);
build->offMeshVertices_.Push(end);
build->offMeshRadii_.Push(connection->GetRadius());
build->offMeshFlags_.Push((unsigned short)connection->GetMask());
build->offMeshAreas_.Push((unsigned char)connection->GetAreaID());
build->offMeshDir_.Push((unsigned char)(connection->IsBidirectional() ? DT_OFFMESH_CON_BIDIR : 0));
continue;
}
else if (geometryList[i].component_->GetType() == NavArea::GetTypeStatic())
{
NavArea* area = static_cast<NavArea*>(geometryList[i].component_);
NavAreaStub stub;
stub.areaID_ = (unsigned char)area->GetAreaID();
stub.bounds_ = area->GetWorldBoundingBox();
build->navAreas_.Push(stub);
continue;
}
#ifdef ATOMIC_PHYSICS
CollisionShape* shape = dynamic_cast<CollisionShape*>(geometryList[i].component_);
if (shape)
{
switch (shape->GetShapeType())
{
case SHAPE_TRIANGLEMESH:
{
Model* model = shape->GetModel();
if (!model)
continue;
unsigned lodLevel = shape->GetLodLevel();
for (unsigned j = 0; j < model->GetNumGeometries(); ++j)
AddTriMeshGeometry(build, model->GetGeometry(j, lodLevel), transform);
}
break;
case SHAPE_CONVEXHULL:
{
ConvexData* data = static_cast<ConvexData*>(shape->GetGeometryData());
if (!data)
continue;
unsigned numVertices = data->vertexCount_;
unsigned numIndices = data->indexCount_;
unsigned destVertexStart = build->vertices_.Size();
for (unsigned j = 0; j < numVertices; ++j)
build->vertices_.Push(transform * data->vertexData_[j]);
for (unsigned j = 0; j < numIndices; ++j)
build->indices_.Push(data->indexData_[j] + destVertexStart);
}
break;
case SHAPE_BOX:
{
unsigned destVertexStart = build->vertices_.Size();
build->vertices_.Push(transform * Vector3(-0.5f, 0.5f, -0.5f));
build->vertices_.Push(transform * Vector3(0.5f, 0.5f, -0.5f));
build->vertices_.Push(transform * Vector3(0.5f, -0.5f, -0.5f));
build->vertices_.Push(transform * Vector3(-0.5f, -0.5f, -0.5f));
build->vertices_.Push(transform * Vector3(-0.5f, 0.5f, 0.5f));
build->vertices_.Push(transform * Vector3(0.5f, 0.5f, 0.5f));
build->vertices_.Push(transform * Vector3(0.5f, -0.5f, 0.5f));
build->vertices_.Push(transform * Vector3(-0.5f, -0.5f, 0.5f));
const unsigned indices[] = {
0, 1, 2, 0, 2, 3, 1, 5, 6, 1, 6, 2, 4, 5, 1, 4, 1, 0, 5, 4, 7, 5, 7, 6,
4, 0, 3, 4, 3, 7, 1, 0, 4, 1, 4, 5
};
for (unsigned j = 0; j < 36; ++j)
build->indices_.Push(indices[j] + destVertexStart);
}
break;
default:
break;
}
continue;
}
#endif
Drawable* drawable = dynamic_cast<Drawable*>(geometryList[i].component_);
if (drawable)
{
const Vector<SourceBatch>& batches = drawable->GetBatches();
for (unsigned j = 0; j < batches.Size(); ++j)
AddTriMeshGeometry(build, drawable->GetLodGeometry(j, geometryList[i].lodLevel_), transform);
}
}
}
}
void NavigationMesh::FindPath(PODVector<NavigationPathPoint>& dest, const Vector3& start, const Vector3& end,
const Vector3& extents, const dtQueryFilter* filter)
{
ATOMIC_PROFILE(FindPath);
dest.Clear();
if (!InitializeQuery())
return;
// Navigation data is in local space. Transform path points from world to local
const Matrix3x4& transform = node_->GetWorldTransform();
Matrix3x4 inverse = transform.Inverse();
Vector3 localStart = inverse * start;
Vector3 localEnd = inverse * end;
const dtQueryFilter* queryFilter = filter ? filter : queryFilter_.Get();
dtPolyRef startRef;
dtPolyRef endRef;
navMeshQuery_->findNearestPoly(&localStart.x_, &extents.x_, queryFilter, &startRef, 0);
navMeshQuery_->findNearestPoly(&localEnd.x_, &extents.x_, queryFilter, &endRef, 0);
if (!startRef || !endRef)
return;
int numPolys = 0;
int numPathPoints = 0;
navMeshQuery_->findPath(startRef, endRef, &localStart.x_, &localEnd.x_, queryFilter, pathData_->polys_, &numPolys,
MAX_POLYS);
if (!numPolys)
return;
Vector3 actualLocalEnd = localEnd;
// If full path was not found, clamp end point to the end polygon
if (pathData_->polys_[numPolys - 1] != endRef)
navMeshQuery_->closestPointOnPoly(pathData_->polys_[numPolys - 1], &localEnd.x_, &actualLocalEnd.x_, 0);
navMeshQuery_->findStraightPath(&localStart.x_, &actualLocalEnd.x_, pathData_->polys_, numPolys,
&pathData_->pathPoints_[0].x_, pathData_->pathFlags_, pathData_->pathPolys_, &numPathPoints, MAX_POLYS);
// Transform path result back to world space
for (int i = 0; i < numPathPoints; ++i)
{
NavigationPathPoint pt;
pt.position_ = transform * pathData_->pathPoints_[i];
pt.flag_ = (NavigationPathPointFlag)pathData_->pathFlags_[i];
// Walk through all NavAreas and find nearest
unsigned nearestNavAreaID = 0; // 0 is the default nav area ID
float nearestDistance = M_LARGE_VALUE;
for (unsigned j = 0; j < areas_.Size(); j++)
{
NavArea* area = areas_[j].Get();
if (area && area->IsEnabledEffective())
{
BoundingBox bb = area->GetWorldBoundingBox();
if (bb.IsInside(pt.position_) == INSIDE)
{
Vector3 areaWorldCenter = area->GetNode()->GetWorldPosition();
float distance = (areaWorldCenter - pt.position_).LengthSquared();
if (distance < nearestDistance)
{
nearestDistance = distance;
nearestNavAreaID = area->GetAreaID();
}
}
}
}
pt.areaID_ = (unsigned char)nearestNavAreaID;
dest.Push(pt);
}
}
Vector<WorldCoordinates>* PathFinderManager::findPathFromWorldToWorld(const WorldCoordinates& pointA, Vector<WorldCoordinates>& endPoints, Zone* zone, bool allowPartial) {
Vector<WorldCoordinates>* finalpath = new Vector<WorldCoordinates>();
float finalLengthSq = FLT_MAX;
#ifdef PROFILE_PATHING
Timer t;
t.start();
#endif
for (const WorldCoordinates& pointB : endPoints) {
const Vector3& startTemp = pointA.getPoint();
const Vector3& targetTemp = pointB.getPoint();
SortedVector<ManagedReference<NavArea*> > areas;
Vector3 mid = startTemp + ((targetTemp-startTemp) * 0.5f);
zone->getInRangeNavMeshes(mid.getX(), mid.getY(), &areas, true);
SortedVector<NavCollision*> collisions;
getNavMeshCollisions(&collisions, &areas, pointA.getWorldPosition(), pointB.getWorldPosition());
// Collisions are sorted by distance from the start of the line. This is done so that we can chain our path from
// one navmesh to another if a path spans multiple meshes.
Vector<WorldCoordinates> *path = new Vector<WorldCoordinates>();
float len = 0.0f;
try {
int collisionSize = collisions.size();
if (collisionSize == 1) { // we're entering/exiting a navmesh
NavCollision* collision = collisions.get(0);
NavArea *area = collision->getNavArea();
Vector3 position = collision->getPosition();
position.setZ(CollisionManager::getWorldFloorCollision(position.getX(), position.getY(), zone, true));
if (area->containsPoint(startTemp.getX(), startTemp.getY())) {
if (!getRecastPath(startTemp, position, area, path, len, allowPartial)) { // exiting navmesh
delete collision;
if (path != NULL) delete path;
continue;
}
path->add(pointB);
} else {
path->add(pointA);
if (!getRecastPath(position, targetTemp, area, path, len, allowPartial)) { // entering navmesh
delete collision;
if (path != NULL) delete path;
continue;
}
}
if (len > 0 && len < finalLengthSq) {
if (finalpath)
delete finalpath;
finalLengthSq = len;
finalpath = path;
path = NULL;
}
} else if (collisionSize == 0) { // we're already inside a navmesh (or there are no navmeshes around)
for (int i = 0; i < areas.size(); i++) {
if (!getRecastPath(startTemp, targetTemp, areas.get(i), path, len, allowPartial)) {
continue;
}
if (len > 0 && len < finalLengthSq) {
if (finalpath)
delete finalpath;
finalLengthSq = len;
finalpath = path;
path = new Vector<WorldCoordinates>();
}
}
} else if (collisionSize == 2) { // we're crossing over a mesh or dealing with multiple meshes
NavCollision* collision1 = collisions.get(0);
NavArea *area1 = collision1->getNavArea();
NavCollision* collision2 = collisions.get(1);
NavArea *area2 = collision2->getNavArea();
if (area1 == area2) { // crossing same mesh
path->add(pointA);
Vector3 position1 = collision1->getPosition();
position1.setZ(CollisionManager::getWorldFloorCollision(position1.getX(), position1.getY(), zone, false));
Vector3 position2 = collision2->getPosition();
position2.setZ(CollisionManager::getWorldFloorCollision(position2.getX(), position2.getY(), zone, false));
if (!getRecastPath(position1, position2, area1, path, len, allowPartial)) {
delete collision1;
delete collision2;
if (path != NULL) delete path;
continue;
}
path->add(pointB);
if (len > 0 && len < finalLengthSq) {
if (finalpath)
delete finalpath;
finalLengthSq = len;
finalpath = path;
path = NULL;
}
} else { // TODO: handle multiple meshes
}
} else { // TODO: handle multiple meshes
}
} catch (...) {
error("Unhandled pathing exception");
for (int i=collisions.size()-1; i>=0; i--) {
NavCollision *collision = collisions.remove(i);
delete collision;
}
delete path;
path = NULL;
}
for (int i=collisions.size()-1; i>=0; i--) {
NavCollision *collision = collisions.remove(i);
delete collision;
}
if (path != NULL)
delete path;
}
if (finalpath && finalpath->size() < 2) { // path could not be evaluated, just return the start/end position
finalpath->removeAll();
finalpath->add(pointA);
finalpath->add(endPoints.get(0));
}
#ifdef PROFILE_PATHING
t.stop();
totalTime.add(t.getElapsedTime());
info("Spent " + String::valueOf(totalTime.get()) + " in recast", true);
#endif
return finalpath;
}
