bool NavigationMesh::makeSpline(PointPath& path) { if( path.size() < 2 ) return false; PointPath::iterator p0, p1, p2, p3; p0 = p1 = path.begin(); ++p1; Ogre::Vector3 pextra = *p0 - ((*p1 - *p0).normalise() * 0.5); path.push_front(pextra); p0 = p1 = path.end(); --p1; --p0; --p0; pextra = *p1 + ((*p1 - *p0).normalise() * 0.5); path.push_back(pextra); int dotsPerUnit = 2; p0 = path.begin(); p1 = p0; ++p1; p2 = p1; ++p2; p3 = p2; ++p3; while( p3 != path.end() ){ int n = (*p1 - *p2).length() * dotsPerUnit; Ogre::Real step = 1.0/n; Ogre::Real s = step; for(int i = 1; i < n; ++i) { path.insert(p2, CatmullRollSpline(*p0, *p1, *p2, *p3, s)); s += step; } p0 = p1; p1 = p2; ++p2; ++p3; } path.pop_front(); path.pop_back(); return true; }
bool NavigationMesh::buildPath(PointPath& path, const Ogre::Vector3& startPos, const Ogre::Vector3& endPos, Cell* startCell, Cell* endCell) { if (!startCell) startCell = findCell(startPos); if (!endCell) endCell = findCell(endPos); if (!startCell || !endCell) { cout << "Celdas no pertenecen a la rejilla" << endl; return false; } int startId = startCell->getId(); int endId = endCell->getId(); if (_graph[startId * _cellNumber + endId] == Ogre::Math::POS_INFINITY) { cout << "No se ha encontrado camino" << endl; return false; } CellPath cellPath; recoverPath(startId, endId, cellPath); path.clear(); for(CellPath::iterator i = cellPath.begin(); i != cellPath.end(); ++i) path.push_back((*i)->getCenter()); path.push_front(startPos); path.push_back(endPos); makeSpline(path); return true; }