SAINode* ESceneAIMapTool::GetNode(Fvector vAt, bool bIC) // return node's index
{
// *** Test if we can travel this path
SnapXZ (vAt,m_Params.fPatchSize);
// *** set up xr_new<node
SAINode* N = xr_new<SAINode>();
SAINode* R = 0;
if (CreateNode(vAt,*N,bIC)){
R = FindNode(N->Pos);
xr_delete (N);
}
xr_delete(N);
return R;
}
SAINode* ESceneAIMapTool::FindNeighbor(SAINode* N, int side, bool bIgnoreConstraints)
{
Fvector Pos;
Pos.set (N->Pos);
SnapXZ (Pos,m_Params.fPatchSize);
switch (side){
case 0: Pos.x -= m_Params.fPatchSize; break;
case 1: Pos.z += m_Params.fPatchSize; break;
case 2: Pos.x += m_Params.fPatchSize; break;
case 3: Pos.z -= m_Params.fPatchSize; break;
}
AINodeVec* nodes = HashMap(Pos);
SAINode* R = 0;
if (nodes)
if (bIgnoreConstraints){
float dy= flt_max;
for (AINodeIt I=nodes->begin(); I!=nodes->end(); I++)
if (fsimilar((*I)->Pos.x,Pos.x,EPS_L)&&fsimilar((*I)->Pos.z,Pos.z,EPS_L)){
float _dy = _abs((*I)->Pos.y-Pos.y);
if (_dy<dy){dy=_dy; R=*I;}
}
}else{
SAINode* R_up = 0;
SAINode* R_down = 0;
float dy_up = flt_max;
float dy_down = flt_max;
for (AINodeIt I=nodes->begin(); I!=nodes->end(); I++){
if (fsimilar((*I)->Pos.x,Pos.x,EPS_L)&&fsimilar((*I)->Pos.z,Pos.z,EPS_L)){
float _dy = (*I)->Pos.y-Pos.y;
float _ady= _abs(_dy);
if (_dy>=0.f){
if ((_ady<m_Params.fCanUP)&&(_ady<dy_up)) {dy_up=_ady; R_up=*I;}
}else{
if ((_ady<m_Params.fCanDOWN)&&(_ady<dy_down)) {dy_down=_ady; R_down=*I;}
}
}
}
if (dy_down<=dy_up) R = R_down;
else R = R_up;
}
return R;
}
u32 BuildNode(Fvector& vFrom, Fvector& vAt) // return node's index
{
// *** Test if we can travel this path
SnapXZ (vAt);
if (!CanTravel(vFrom, vAt)) return InvalidNode;
// *** set up xr_new<node
vertex N;
if (CreateNode(vAt,N)) {
//*** check if similar node exists
u32 old = FindNode(N.Pos);
if (old==InvalidNode)
{
// register xr_new<node
RegisterNode(N);
return g_nodes.size()-1;
} else {
// where already was node - return it
return old;
}
} else return InvalidNode;
}
SAINode* ESceneAIMapTool::BuildNode(Fvector& vFrom, Fvector& vAt, bool bIC, bool bSuperIC) // return node's index
{
// *** Test if we can travel this path
SnapXZ (vAt,m_Params.fPatchSize);
if (!(bIC||CanTravel(vFrom, vAt))) return 0;
// *** set up node
SAINode N;
BOOL bRes = CreateNode(vAt,N,bIC);
if (!bRes&&bIC&&bSuperIC){
Fvector D = {0,1,0};
N.Plane.build(vAt,D); // build plane
N.Plane.intersectRayPoint(vAt,D,N.Pos); // "project" position
bRes = TRUE;
}
if (bRes) {
//*** check if similar node exists
SAINode* old = FindNode(N.Pos);
if (!old){
// register xr_new<node
AINodeVec* V = HashMap(N.Pos);
if (V){
m_Nodes.push_back (xr_new<SAINode>(N));
V->push_back (m_Nodes.back());
return m_Nodes.back();
}else return 0;
}else{
// where already was node - return it
return old;
}
}else{
return 0;
}
}
void xrBuildNodes()
{
// begin
XRC.box_options (CDB::OPT_FULL_TEST);
XRC.ray_options (CDB::OPT_CULL | CDB::OPT_ONLYNEAREST);
g_nodes.reserve (1024*1024);
// Initialize hash
hash_Initialize ();
for (u32 em=0; em<Emitters.size(); em++)
{
// Align emitter
Fvector Pos = Emitters[em];
SnapXZ (Pos);
Pos.y +=1;
Fvector Dir; Dir.set(0,-1,0);
XRC.ray_query (&Level,Pos,Dir,3);
if (XRC.r_count()==0) {
Msg ("Can't align emitter");
abort ();
} else {
CDB::RESULT& R = *XRC.r_begin();
Pos.y = Pos.y - R.range;
}
// Build first node
int oldcount = g_nodes.size();
int start = BuildNode (Pos,Pos);
if (start==InvalidNode) continue;
if (start<oldcount) continue;
// Estimate nodes
Fvector LevelSize;
LevelBB.getsize (LevelSize);
u32 estimated_nodes = iFloor(LevelSize.x/g_params.fPatchSize)*iFloor(LevelSize.z/g_params.fPatchSize);
// General cycle
for (u32 i=0; i<g_nodes.size(); i++)
{
// left
if (g_nodes[i].n1==UnkonnectedNode)
{
Pos.set (g_nodes[i].Pos);
Pos.x -= g_params.fPatchSize;
int id = BuildNode(g_nodes[i].Pos,Pos);
g_nodes[i].n1 = id;
}
// fwd
if (g_nodes[i].n2==UnkonnectedNode)
{
Pos.set (g_nodes[i].Pos);
Pos.z += g_params.fPatchSize;
int id = BuildNode(g_nodes[i].Pos,Pos);
g_nodes[i].n2 = id;
}
// right
if (g_nodes[i].n3==UnkonnectedNode)
{
Pos.set (g_nodes[i].Pos);
Pos.x += g_params.fPatchSize;
int id = BuildNode(g_nodes[i].Pos,Pos);
g_nodes[i].n3 = id;
}
// back
if (g_nodes[i].n4==UnkonnectedNode)
{
Pos.set (g_nodes[i].Pos);
Pos.z -= g_params.fPatchSize;
int id = BuildNode(g_nodes[i].Pos,Pos);
g_nodes[i].n4 = id;
}
if (i%512==0) {
Status("%d / %d nodes created.",g_nodes.size()-i,g_nodes.size());
float p1 = float(i)/float(g_nodes.size());
float p2 = float(g_nodes.size())/estimated_nodes;
float p = 0.1f*p1+0.9f*p2;
clamp (p,0.f,1.f);
Progress(p);
}
}
}
Msg("Freeing memory...");
hash_Destroy ();
}
BOOL CreateNode(Fvector& vAt, vertex& N)
{
// *** Query and cache polygons for ray-casting
Fvector PointUp; PointUp.set(vAt); PointUp.y += RCAST_Depth; SnapXZ (PointUp);
Fvector PointDown; PointDown.set(vAt); PointDown.y -= RCAST_Depth; SnapXZ (PointDown);
Fbox BB; BB.set (PointUp,PointUp); BB.grow(g_params.fPatchSize/2); // box 1
Fbox B2; B2.set (PointDown,PointDown); B2.grow(g_params.fPatchSize/2); // box 2
BB.merge(B2 );
BoxQuery(BB,false );
u32 dwCount = XRC.r_count();
if (dwCount==0) {
// Log("chasm1");
return FALSE; // chasm?
}
// *** Transfer triangles and compute sector
R_ASSERT(dwCount<RCAST_MaxTris);
static svector<tri,RCAST_MaxTris> tris; tris.clear();
for (u32 i=0; i<dwCount; i++)
{
tri& D = tris.last();
CDB::RESULT &rp = XRC.r_begin()[i];
CDB::TRI& T = *(Level.get_tris()+rp.id);
D.v[0].set (rp.verts[0]);
D.v[1].set (rp.verts[1]);
D.v[2].set (rp.verts[2]);
D.sector = T.sector;
D.N.mknormal(D.v[0],D.v[1],D.v[2]);
if (D.N.y<=0) continue;
tris.inc ();
}
if (tris.size()==0) {
// Log("chasm2");
return FALSE; // chasm?
}
// *** Perform ray-casts and calculate sector
WORD Sector = 0xfffe; // mark as first time
static svector<Fvector,RCAST_Total> points; points.clear();
static svector<Fvector,RCAST_Total> normals; normals.clear();
Fvector P,D; D.set(0,-1,0);
float coeff = 0.5f*g_params.fPatchSize/float(RCAST_Count);
for (int x=-RCAST_Count; x<=RCAST_Count; x++)
{
P.x = vAt.x + coeff*float(x);
for (int z=-RCAST_Count; z<=RCAST_Count; z++) {
P.z = vAt.z + coeff*float(z);
P.y = vAt.y + 10.f;
float tri_min_range = flt_max;
int tri_selected = -1;
float range,u,v;
for (i=0; i<u32(tris.size()); i++)
{
if (CDB::TestRayTri(P,D,tris[i].v,u,v,range,false))
{
if (range<tri_min_range) {
tri_min_range = range;
tri_selected = i;
}
}
}
if (tri_selected>=0) {
P.y -= tri_min_range;
points.push_back(P);
normals.push_back(tris[tri_selected].N);
WORD TS = WORD(tris[tri_selected].sector);
if (Sector==0xfffe) Sector = TS;
else if (Sector!=TS) Sector=InvalidSector;
}
}
}
if (points.size()<3) {
// Msg ("Failed to create node at [%f,%f,%f].",vAt.x,vAt.y,vAt.z);
return FALSE;
}
if (float(points.size())/float(RCAST_Total) < 0.7f) {
// Msg ("Partial chasm at [%f,%f,%f].",vAt.x,vAt.y,vAt.z);
return FALSE;
}
// *** Calc normal
Fvector vNorm;
vNorm.set(0,0,0);
for (u32 n=0; n<normals.size(); n++)
vNorm.add(normals[n]);
vNorm.div(float(normals.size()));
vNorm.normalize();
/*
{
// second algorithm (Magic)
Fvector N,O;
N.set(vNorm);
O.set(points[0]);
Mgc::OrthogonalPlaneFit(
points.size(),(Mgc::Vector3*)points.begin(),
*((Mgc::Vector3*)&O),
*((Mgc::Vector3*)&N)
);
if (N.y<0) N.invert();
N.normalize();
vNorm.lerp(vNorm,N,.3f);
vNorm.normalize();
}
*/
// *** Align plane
Fvector vOffs;
vOffs.set(0,-1000,0);
Fplane PL; PL.build(vOffs,vNorm);
for (u32 p=0; p<points.size(); p++)
{
float dist = PL.classify(points[p]);
if (dist>0) {
vOffs = points[p];
PL.build(vOffs,vNorm);
}
}
// *** Create node and register it
N.Sector =Sector; // sector
N.Plane.build (vOffs,vNorm); // build plane
D.set (0,1,0);
N.Plane.intersectRayPoint(PointDown,D,N.Pos); // "project" position
// *** Validate results
vNorm.set(0,1,0);
if (vNorm.dotproduct(N.Plane.n)<_cos(deg2rad(60.f))) return FALSE;
float y_old = vAt.y;
float y_new = N.Pos.y;
if (y_old>y_new) {
// down
if (y_old-y_new > g_params.fCanDOWN ) return FALSE;
} else {
// up
if (y_new-y_old > g_params.fCanUP ) return FALSE;
}
// *** Validate plane
{
Fvector PLP; D.set(0,-1,0);
int num_successed_rays = 0;
for (int x=-RCAST_Count; x<=RCAST_Count; x++)
{
P.x = N.Pos.x + coeff*float(x);
for (int z=-RCAST_Count; z<=RCAST_Count; z++) {
P.z = N.Pos.z + coeff*float(z);
P.y = N.Pos.y;
N.Plane.intersectRayPoint(P,D,PLP); // "project" position
P.y = PLP.y+RCAST_VALID*0.01f;
float tri_min_range = flt_max;
int tri_selected = -1;
float range,u,v;
for (i=0; i<float(tris.size()); i++)
{
if (CDB::TestRayTri(P,D,tris[i].v,u,v,range,false))
{
if (range<tri_min_range) {
tri_min_range = range;
tri_selected = i;
}
}
}
if (tri_selected>=0) {
if (tri_min_range<RCAST_VALID) num_successed_rays++;
}
}
}
float perc = float(num_successed_rays)/float(RCAST_Total);
if (perc < 0.5f) {
// Msg ("Floating node.");
return FALSE;
}
}
// *** Mask check
// ???
return TRUE;
}
int ESceneAIMapTool::BuildNodes(const Fvector& pos, int sz, bool bIC)
{
// Align emitter
Fvector Pos = pos;
SnapXZ (Pos,m_Params.fPatchSize);
Pos.y += 1;
Fvector Dir; Dir.set(0,-1,0);
int cnt = 0;
if (m_CFModel)
cnt=Scene->RayQuery(PQ,Pos,Dir,3,CDB::OPT_ONLYNEAREST|CDB::OPT_CULL,m_CFModel);
else
cnt=Scene->RayQuery(PQ,Pos,Dir,3,CDB::OPT_ONLYNEAREST|CDB::OPT_CULL,GetSnapList());
if (0==cnt) {
ELog.Msg (mtInformation,"Can't align position.");
return 0;
} else {
Pos.y = Pos.y - PQ.r_begin()->range;
}
// Build first node
int oldcount = m_Nodes.size();
SAINode* start = BuildNode(Pos,Pos,bIC);
if (!start) return 0;
// Estimate nodes
float estimated_nodes = (2*sz-1)*(2*sz-1);
SPBItem* pb = 0;
if (estimated_nodes>1024) pb = UI->ProgressStart(1, "Building nodes...");
float radius = sz*m_Params.fPatchSize-EPS_L;
// General cycle
for (int k=0; k<(int)m_Nodes.size(); k++){
SAINode* N = m_Nodes[k];
// left
if (0==N->n1){
Pos.set (N->Pos);
Pos.x -= m_Params.fPatchSize;
if (Pos.distance_to(start->Pos)<=radius)
N->n1 = BuildNode(N->Pos,Pos,bIC);
}
// fwd
if (0==N->n2){
Pos.set (N->Pos);
Pos.z += m_Params.fPatchSize;
if (Pos.distance_to(start->Pos)<=radius)
N->n2 = BuildNode(N->Pos,Pos,bIC);
}
// right
if (0==N->n3){
Pos.set (N->Pos);
Pos.x += m_Params.fPatchSize;
if (Pos.distance_to(start->Pos)<=radius)
N->n3 = BuildNode(N->Pos,Pos,bIC);
}
// back
if (0==N->n4){
Pos.set (N->Pos);
Pos.z -= m_Params.fPatchSize;
if (Pos.distance_to(start->Pos)<=radius)
N->n4 = BuildNode(N->Pos,Pos,bIC);
}
if (estimated_nodes>1024){
if (k%128==0) {
float p1 = float(k)/float(m_Nodes.size());
float p2 = float(m_Nodes.size())/estimated_nodes;
float p = 0.1f*p1+0.9f*p2;
clamp (p,0.f,1.f);
pb->Update(p);
// check need abort && redraw
if (UI->NeedAbort()) break;
}
}
}
if (estimated_nodes>1024) UI->ProgressEnd(pb);
return oldcount-m_Nodes.size();
}
BOOL ESceneAIMapTool::CreateNode(Fvector& vAt, SAINode& N, bool bIC)
{
// *** Query and cache polygons for ray-casting
Fvector PointUp; PointUp.set(vAt); PointUp.y += RCAST_Depth; SnapXZ (PointUp,m_Params.fPatchSize);
Fvector PointDown; PointDown.set(vAt); PointDown.y -= RCAST_Depth; SnapXZ (PointDown,m_Params.fPatchSize);
Fbox BB; BB.set (PointUp,PointUp); BB.grow(m_Params.fPatchSize/2); // box 1
Fbox B2; B2.set (PointDown,PointDown); B2.grow(m_Params.fPatchSize/2); // box 2
BB.merge (B2);
if (m_CFModel)
{
/*
for(u32 i=0; i<m_CFModel->get_tris_count(); ++i)
{
CDB::TRI* tri = (m_CFModel->get_tris()+i);
if(tri->material!=0)
Msg("non-default material");
}
*/
Scene->BoxQuery(PQ,BB,CDB::OPT_FULL_TEST,m_CFModel);
}else
Scene->BoxQuery(PQ,BB,CDB::OPT_FULL_TEST,GetSnapList());
DWORD dwCount = PQ.r_count();
if (dwCount==0){
// Log("chasm1");
return FALSE; // chasm?
}
// *** Transfer triangles and compute sector
// R_ASSERT(dwCount<RCAST_MaxTris);
static xr_vector<tri> tris; tris.reserve(RCAST_MaxTris); tris.clear();
for (DWORD i=0; i<dwCount; i++)
{
SPickQuery::SResult* R = PQ.r_begin()+i;
if (R->e_obj&&R->e_mesh)
{
CSurface* surf = R->e_mesh->GetSurfaceByFaceID(R->tag);
//. SGameMtl* mtl = GMLib.GetMaterialByID(surf->_GameMtl());
//. if (mtl->Flags.is(SGameMtl::flPassable))continue;
Shader_xrLC* c_sh = Device.ShaderXRLC.Get(surf->_ShaderXRLCName());
if (!c_sh->flags.bCollision) continue;
}
/*
if(m_CFModel)
{
u16 mtl_id = R->material;
if(std::find(m_ignored_materials.begin(), m_ignored_materials.end(), mtl_id) != m_ignored_materials.end() )
{
//. Msg("--ignore");
continue;
}
}
*/
tris.push_back (tri());
tri& D = tris.back();
Fvector* V = R->verts;
D.v[0] = &V[0];
D.v[1] = &V[1];
D.v[2] = &V[2];
D.N.mknormal(*D.v[0],*D.v[1],*D.v[2]);
if (D.N.y<=0) tris.pop_back ();
}
if (tris.size()==0){
// Log("chasm2");
return FALSE; // chasm?
}
static xr_vector<Fvector> points; points.reserve(RCAST_Total); points.clear();
static xr_vector<Fvector> normals; normals.reserve(RCAST_Total);normals.clear();
Fvector P,D; D.set(0,-1,0);
float coeff = 0.5f*m_Params.fPatchSize/float(RCAST_Count);
for (int x=-RCAST_Count; x<=RCAST_Count; x++)
{
P.x = vAt.x + coeff*float(x);
for (int z=-RCAST_Count; z<=RCAST_Count; z++) {
P.z = vAt.z + coeff*float(z);
P.y = vAt.y + 10.f;
float tri_min_range = flt_max;
int tri_selected = -1;
float range,u,v;
for (i=0; i<DWORD(tris.size()); i++){
if (ETOOLS::TestRayTriA(P,D,tris[i].v,u,v,range,false)){
if (range<tri_min_range){
tri_min_range = range;
tri_selected = i;
}
}
}
if (tri_selected>=0) {
P.y -= tri_min_range;
points.push_back(P);
normals.push_back(tris[tri_selected].N);
}
}
}
if (points.size()<3) {
// Msg ("Failed to create node at [%f,%f,%f].",vAt.x,vAt.y,vAt.z);
return FALSE;
}
//.
float rc_lim = bIC?0.015f:0.7f;
if (float(points.size())/float(RCAST_Total) < rc_lim) {
// Msg ("Partial chasm at [%f,%f,%f].",vAt.x,vAt.y,vAt.z);
return FALSE;
}
// *** Calc normal
Fvector vNorm;
vNorm.set(0,0,0);
for (DWORD n=0; n<normals.size(); n++)
vNorm.add(normals[n]);
vNorm.div(float(normals.size()));
vNorm.normalize();
/*
{
// second algorithm (Magic)
Fvector N,O;
N.set(vNorm);
O.set(points[0]);
Mgc::OrthogonalPlaneFit(
points.size(),(Mgc::Vector3*)points.begin(),
*((Mgc::Vector3*)&O),
*((Mgc::Vector3*)&N)
);
if (N.y<0) N.invert();
N.normalize();
vNorm.lerp(vNorm,N,.3f);
vNorm.normalize();
}
*/
// *** Align plane
Fvector vOffs;
vOffs.set(0,-1000,0);
Fplane PL; PL.build(vOffs,vNorm);
for (DWORD p=0; p<points.size(); p++)
{
float dist = PL.classify(points[p]);
if (dist>0) {
vOffs = points[p];
PL.build(vOffs,vNorm);
}
}
// *** Create node and register it
N.Plane.build (vOffs,vNorm); // build plane
D.set (0,1,0);
N.Plane.intersectRayPoint(PointDown,D,N.Pos); // "project" position
// *** Validate results
vNorm.set(0,1,0);
if (vNorm.dotproduct(N.Plane.n)<_cos(deg2rad(60.f))) return FALSE;
float y_old = vAt.y;
float y_new = N.Pos.y;
if (y_old>y_new) {
// down
if (y_old-y_new > m_Params.fCanDOWN ) return FALSE;
} else {
// up
if (y_new-y_old > m_Params.fCanUP ) return FALSE;
}
// *** Validate plane
{
Fvector PLP; D.set(0,-1,0);
int num_successed_rays = 0;
for (int x=-RCAST_Count; x<=RCAST_Count; x++)
{
P.x = N.Pos.x + coeff*float(x);
for (int z=-RCAST_Count; z<=RCAST_Count; z++) {
P.z = N.Pos.z + coeff*float(z);
P.y = N.Pos.y;
N.Plane.intersectRayPoint(P,D,PLP); // "project" position
P.y = PLP.y+RCAST_VALID*0.01f;
float tri_min_range = flt_max;
int tri_selected = -1;
float range,u,v;
for (i=0; i<tris.size(); i++){
if (ETOOLS::TestRayTriA(P,D,tris[i].v,u,v,range,false)){
if (range<tri_min_range){
tri_min_range = range;
tri_selected = i;
}
}
}
if (tri_selected>=0){
if (tri_min_range<RCAST_VALID) num_successed_rays++;
}
}
}
float perc = float(num_successed_rays)/float(RCAST_Total);
//. if (!bIC&&(perc < 0.5f)){
float perc_lim = bIC?0.015f:0.5f;
if (perc < perc_lim){
// Msg ("Floating node.");
return FALSE;
}
}
// *** Mask check
// ???
return TRUE;
}
