qboolean BotSetupNav( const botClass_t *botClass, qhandle_t *navHandle )
{
cvar_t *maxNavNodes = Cvar_Get( "bot_maxNavNodes", "4096", CVAR_ARCHIVE | CVAR_LATCH );
if ( !numNavData )
{
vec3_t clearVec = { 0, 0, 0 };
dtAllocSetCustom( dtAllocCustom, dtFreeCustom );
for ( int i = 0; i < MAX_CLIENTS; i++ )
{
// should only init the corridor once
if ( !agents[ i ].corridor.getPath() )
{
if ( !agents[ i ].corridor.init( MAX_BOT_PATH ) )
{
return qfalse;
}
}
agents[ i ].corridor.reset( 0, clearVec );
agents[ i ].clientNum = i;
agents[ i ].needReplan = true;
agents[ i ].nav = NULL;
agents[ i ].offMesh = false;
memset( agents[ i ].routeResults, 0, sizeof( agents[ i ].routeResults ) );
}
#ifndef DEDICATED
NavEditInit();
#endif
}
if ( numNavData == MAX_NAV_DATA )
{
Com_Printf( "^3ERROR: maximum number of navigation meshes exceeded\n" );
return qfalse;
}
NavData_t *nav = &BotNavData[ numNavData ];
const char *filename = botClass->name;
if ( !BotLoadNavMesh( filename, *nav ) )
{
BotShutdownNav();
return qfalse;
}
Q_strncpyz( nav->name, botClass->name, sizeof( nav->name ) );
nav->query = dtAllocNavMeshQuery();
if ( !nav->query )
{
Com_Printf( "Could not allocate Detour Navigation Mesh Query for navmesh %s\n", filename );
BotShutdownNav();
return qfalse;
}
if ( dtStatusFailed( nav->query->init( nav->mesh, maxNavNodes->integer ) ) )
{
Com_Printf( "Could not init Detour Navigation Mesh Query for navmesh %s\n", filename );
BotShutdownNav();
return qfalse;
}
nav->filter.setIncludeFlags( botClass->polyFlagsInclude );
nav->filter.setExcludeFlags( botClass->polyFlagsExclude );
*navHandle = numNavData;
numNavData++;
return qtrue;
}
int main()
{
rcAllocSetCustom(allocCustom<rcAllocHint>, freeCustom);
dtAllocSetCustom(allocCustom<dtAllocHint>, freeCustom);
BuildContext ctx;
InputGeom geom;
geom.load(&ctx, "./geomset.txt");
ArMeshDataBuilder builder(&ctx, &geom, meshProcess);
builder.setAgentMaxClimb(1.8f);
ArMeshDataPtr data = builder.build();
if (!data)
{
ctx.log(RC_LOG_ERROR, "Build ArMeshData failed.");
return -1;
}
ctx.log(RC_LOG_PROGRESS, "Total build time: %d ms", ctx.getAccumulatedTime(RC_TIMER_TOTAL));
if (!save(&ctx, data))
{
return -1;
}
FILE* in = fopen("./all_tiles_navmesh.bin", "rb");
if (!in)
{
ctx.log(RC_LOG_ERROR, "Open all_tiles_navmesh.bin failed.");
return -1;
}
ArMeshDataFileReader reader(in);
if (!reader.serialize(*data))
{
ctx.log(RC_LOG_ERROR, "Read ArMeshData failed.");
fclose(in);
return -1;
}
fclose(in);
ArMesh mesh;
ArMeshImporter importer(mesh);
if (!importer.serialize(*data))
{
ctx.log(RC_LOG_ERROR, "Import ArMeshData failed.");
return -1;
}
ArQuery query;
if (dtStatusFailed(query.init(&mesh, 2048)))
{
ctx.log(RC_LOG_ERROR, "Init ArQuery failed.");
return -1;
}
float sp[3];
printf("start: ");
scanf("%f%f%f", sp, sp + 1, sp + 2);
float ep[3];
printf("end: ");
scanf("%f%f%f", ep, ep + 1, ep + 2);
float ext[3] = {2, 4, 2};
dtQueryFilter filter;
filter.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
filter.setAreaCost(SAMPLE_POLYAREA_WATER, 10.0f);
filter.setAreaCost(SAMPLE_POLYAREA_ROAD, 1.0f);
filter.setAreaCost(SAMPLE_POLYAREA_DOOR, 1.0f);
filter.setAreaCost(SAMPLE_POLYAREA_GRASS, 2.0f);
filter.setAreaCost(SAMPLE_POLYAREA_JUMP, 1.5f);
dtPolyRef sr;
query.backend()->findNearestPoly(sp, ext, &filter, &sr, 0);
dtPolyRef er;
query.backend()->findNearestPoly(ep, ext, &filter, &er, 0);
dtPolyRef polys[256];
int npolys;
query.backend()->findPath(sr, er, sp, ep, &filter, polys, &npolys, 256);
float path[256 * 3];
dtPolyRef pathPolys[256];
unsigned char pathFlags[256];
int pathLen;
query.backend()->findStraightPath(sp, ep, polys, npolys, path, pathFlags, pathPolys, &pathLen, 256, 0);
printf("path:\n%d\n", pathLen);
for (int i = 0; i < pathLen; ++i)
{
printf("%f %f %f\n", path[i * 3], path[i * 3 + 1], path[i * 3 + 2]);
}
if (!exportMesh(&ctx, mesh))
{
return -1;
}
return 0;
}
