mirror of
https://gitlab.com/OpenMW/openmw.git
synced 2025-08-03 07:16:31 -04:00
Build path over navmesh for wandering actors
Using a path over pathgrid as checkpoints. This allows to avoid having paths going through obstacles if they are placed over pathgrid points.
This commit is contained in:
elsid
parent
5dfda0090b
commit
4433e3c2de
@ -139,7 +139,7 @@ namespace
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TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
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{
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::NavMeshNotFound);
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EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
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}
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@ -147,7 +147,7 @@ namespace
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TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
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{
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::StartPolygonNotFound);
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}
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@ -156,7 +156,7 @@ namespace
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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mNavigator->removeAgent(mAgentBounds);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::StartPolygonNotFound);
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}
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@ -172,7 +172,7 @@ namespace
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updateGuard.reset();
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mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -194,7 +194,7 @@ namespace
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updateGuard.reset();
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mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mStart, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mStart, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125))) << mPath;
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@ -218,7 +218,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -237,7 +237,7 @@ namespace
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mPath.clear();
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mOut = std::back_inserter(mPath);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -265,7 +265,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -285,7 +285,7 @@ namespace
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mPath.clear();
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mOut = std::back_inserter(mPath);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -318,7 +318,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -386,7 +386,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -421,7 +421,7 @@ namespace
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mEnd.x() = 256;
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mEnd.z() = 300;
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -453,8 +453,8 @@ namespace
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mStart.x() = 256;
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mEnd.x() = 256;
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EXPECT_EQ(
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findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance,
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{}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -487,8 +487,8 @@ namespace
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mStart.x() = 256;
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mEnd.x() = 256;
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EXPECT_EQ(
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findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance,
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{}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -520,7 +520,7 @@ namespace
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mStart.x() = 256;
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mEnd.x() = 256;
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -549,7 +549,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -577,7 +577,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -658,7 +658,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -781,7 +781,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -806,7 +806,7 @@ namespace
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::PartialPath);
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EXPECT_THAT(mPath,
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@ -834,7 +834,7 @@ namespace
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const float endTolerance = 1000.0f;
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, endTolerance, mOut),
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, endTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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@ -979,6 +979,146 @@ namespace
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EXPECT_EQ(usedNavMeshTiles, 854);
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}
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TEST_F(DetourNavigatorNavigatorTest, find_path_should_return_path_around_steep_mountains)
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{
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const std::array<float, 5 * 5> heightfieldData{ {
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0, 0, 0, 0, 0, // row 0
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0, 0, 0, 0, 0, // row 1
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0, 0, 1000, 0, 0, // row 2
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0, 0, 0, 0, 0, // row 3
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0, 0, 0, 0, 0, // row 4
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} };
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const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
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const int cellSize = heightfieldTileSize * static_cast<int>(surface.mSize - 1);
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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const osg::Vec3f start(56, 56, 12);
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const osg::Vec3f end(464, 464, 12);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, start, end, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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ElementsAre( //
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Vec3fEq(56.66664886474609375, 56.66664886474609375, 11.33333301544189453125),
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Vec3fEq(396.666656494140625, 79.33331298828125, 11.33333301544189453125),
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Vec3fEq(430.666656494140625, 113.33331298828125, 11.33333301544189453125),
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Vec3fEq(463.999969482421875, 463.999969482421875, 11.33333301544189453125)))
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<< mPath;
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}
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TEST_F(DetourNavigatorNavigatorTest, find_path_should_return_path_around_steep_cliffs)
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{
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const std::array<float, 5 * 5> heightfieldData{ {
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0, 0, 0, 0, 0, // row 0
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0, 0, 0, 0, 0, // row 1
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0, 0, -1000, 0, 0, // row 2
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0, 0, 0, 0, 0, // row 3
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0, 0, 0, 0, 0, // row 4
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} };
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const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
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const int cellSize = heightfieldTileSize * static_cast<int>(surface.mSize - 1);
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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const osg::Vec3f start(56, 56, 12);
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const osg::Vec3f end(464, 464, 12);
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EXPECT_EQ(findPath(*mNavigator, mAgentBounds, start, end, Flag_walk, mAreaCosts, mEndTolerance, {}, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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ElementsAre( //
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Vec3fEq(56.66664886474609375, 56.66664886474609375, 8.66659259796142578125),
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Vec3fEq(385.33331298828125, 79.33331298828125, 8.66659259796142578125),
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Vec3fEq(430.666656494140625, 124.66664886474609375, 8.66659259796142578125),
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Vec3fEq(463.999969482421875, 463.999969482421875, 8.66659259796142578125)))
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<< mPath;
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}
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TEST_F(DetourNavigatorNavigatorTest, find_path_should_return_path_with_checkpoints)
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{
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const std::array<float, 5 * 5> heightfieldData{ {
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0, 0, 0, 0, 0, // row 0
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0, 0, 0, 0, 0, // row 1
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0, 0, 1000, 0, 0, // row 2
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0, 0, 0, 0, 0, // row 3
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0, 0, 0, 0, 0, // row 4
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} };
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const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
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const int cellSize = heightfieldTileSize * static_cast<int>(surface.mSize - 1);
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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const std::vector<osg::Vec3f> checkpoints = {
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osg::Vec3f(400, 70, 12),
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};
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const osg::Vec3f start(56, 56, 12);
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const osg::Vec3f end(464, 464, 12);
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EXPECT_EQ(
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findPath(*mNavigator, mAgentBounds, start, end, Flag_walk, mAreaCosts, mEndTolerance, checkpoints, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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ElementsAre( //
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Vec3fEq(56.66664886474609375, 56.66664886474609375, 11.33333301544189453125),
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Vec3fEq(400, 70, 11.33333301544189453125),
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Vec3fEq(430.666656494140625, 113.33331298828125, 11.33333301544189453125),
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Vec3fEq(463.999969482421875, 463.999969482421875, 11.33333301544189453125)))
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<< mPath;
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}
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TEST_F(DetourNavigatorNavigatorTest, find_path_should_skip_unreachable_checkpoints)
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{
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const std::array<float, 5 * 5> heightfieldData{ {
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0, 0, 0, 0, 0, // row 0
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0, 0, 0, 0, 0, // row 1
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0, 0, 1000, 0, 0, // row 2
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0, 0, 0, 0, 0, // row 3
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0, 0, 0, 0, 0, // row 4
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} };
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const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
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const int cellSize = heightfieldTileSize * static_cast<int>(surface.mSize - 1);
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ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
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mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
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mNavigator->update(mPlayerPosition, nullptr);
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mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
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const std::vector<osg::Vec3f> checkpoints = {
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osg::Vec3f(400, 70, 10000),
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osg::Vec3f(256, 256, 1000),
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osg::Vec3f(-1000, -1000, 0),
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};
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const osg::Vec3f start(56, 56, 12);
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const osg::Vec3f end(464, 464, 12);
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EXPECT_EQ(
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findPath(*mNavigator, mAgentBounds, start, end, Flag_walk, mAreaCosts, mEndTolerance, checkpoints, mOut),
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Status::Success);
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EXPECT_THAT(mPath,
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ElementsAre( //
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Vec3fEq(56.66664886474609375, 56.66664886474609375, 11.33333301544189453125),
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Vec3fEq(396.666656494140625, 79.33331298828125, 11.33333301544189453125),
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Vec3fEq(430.666656494140625, 113.33331298828125, 11.33333301544189453125),
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Vec3fEq(463.999969482421875, 463.999969482421875, 11.33333301544189453125)))
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<< mPath;
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}
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struct DetourNavigatorNavigatorNotSupportedAgentBoundsTest : TestWithParam<AgentBounds>
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{
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};
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@ -233,6 +233,7 @@ namespace MWLua
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DetourNavigator::Flags includeFlags = defaultIncludeFlags;
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DetourNavigator::AreaCosts areaCosts{};
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float destinationTolerance = 1;
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std::vector<osg::Vec3f> checkpoints;
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if (options.has_value())
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{
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@ -258,13 +259,24 @@ namespace MWLua
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}
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if (const auto& v = options->get<sol::optional<float>>("destinationTolerance"))
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destinationTolerance = *v;
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if (const auto& t = options->get<sol::optional<sol::table>>("checkpoints"))
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{
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for (const auto& [k, v] : *t)
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{
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const int index = k.as<int>();
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const osg::Vec3f position = v.as<osg::Vec3f>();
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if (index != static_cast<int>(checkpoints.size() + 1))
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throw std::runtime_error("checkpoints is not an array");
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checkpoints.push_back(position);
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}
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}
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}
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std::vector<osg::Vec3f> path;
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||||
|
||||
const DetourNavigator::Status status
|
||||
= DetourNavigator::findPath(*MWBase::Environment::get().getWorld()->getNavigator(), agentBounds,
|
||||
source, destination, includeFlags, areaCosts, destinationTolerance, std::back_inserter(path));
|
||||
const DetourNavigator::Status status = DetourNavigator::findPath(
|
||||
*MWBase::Environment::get().getWorld()->getNavigator(), agentBounds, source, destination,
|
||||
includeFlags, areaCosts, destinationTolerance, checkpoints, std::back_inserter(path));
|
||||
|
||||
sol::table result(lua, sol::create);
|
||||
LuaUtil::copyVectorToTable(path, result);
|
||||
|
||||
@ -501,7 +501,11 @@ DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld::
|
||||
result |= DetourNavigator::Flag_swim;
|
||||
|
||||
if (actorClass.canWalk(actor) && actor.getClass().getWalkSpeed(actor) > 0)
|
||||
result |= DetourNavigator::Flag_walk | DetourNavigator::Flag_usePathgrid;
|
||||
{
|
||||
result |= DetourNavigator::Flag_walk;
|
||||
if (getTypeId() != AiPackageTypeId::Wander)
|
||||
result |= DetourNavigator::Flag_usePathgrid;
|
||||
}
|
||||
|
||||
if (canOpenDoors(actor) && getTypeId() != AiPackageTypeId::Wander)
|
||||
result |= DetourNavigator::Flag_openDoor;
|
||||
|
||||
@ -242,20 +242,12 @@ namespace MWMechanics
|
||||
{
|
||||
const ESM::Pathgrid* pathgrid
|
||||
= MWBase::Environment::get().getESMStore()->get<ESM::Pathgrid>().search(*actor.getCell()->getCell());
|
||||
if (mUsePathgrid)
|
||||
{
|
||||
mPathFinder.buildPathByPathgrid(
|
||||
pos.asVec3(), mDestination, actor.getCell(), getPathGridGraph(pathgrid));
|
||||
}
|
||||
else
|
||||
{
|
||||
const auto agentBounds = MWBase::Environment::get().getWorld()->getPathfindingAgentBounds(actor);
|
||||
constexpr float endTolerance = 0;
|
||||
const DetourNavigator::Flags navigatorFlags = getNavigatorFlags(actor);
|
||||
const DetourNavigator::AreaCosts areaCosts = getAreaCosts(actor, navigatorFlags);
|
||||
mPathFinder.buildPath(actor, pos.asVec3(), mDestination, getPathGridGraph(pathgrid), agentBounds,
|
||||
navigatorFlags, areaCosts, endTolerance, PathType::Full);
|
||||
}
|
||||
|
||||
if (mPathFinder.isPathConstructed())
|
||||
storage.setState(AiWanderStorage::Wander_Walking, !mUsePathgrid);
|
||||
@ -633,20 +625,50 @@ namespace MWMechanics
|
||||
void AiWander::setPathToAnAllowedPosition(
|
||||
const MWWorld::Ptr& actor, AiWanderStorage& storage, const ESM::Position& actorPos)
|
||||
{
|
||||
auto world = MWBase::Environment::get().getWorld();
|
||||
auto& prng = world->getPrng();
|
||||
MWBase::World& world = *MWBase::Environment::get().getWorld();
|
||||
Misc::Rng::Generator& prng = world.getPrng();
|
||||
const std::size_t randomAllowedPositionIndex
|
||||
= static_cast<std::size_t>(Misc::Rng::rollDice(storage.mAllowedPositions.size(), prng));
|
||||
const osg::Vec3f randomAllowedPosition = storage.mAllowedPositions[randomAllowedPositionIndex];
|
||||
|
||||
const osg::Vec3f start = actorPos.asVec3();
|
||||
|
||||
// don't take shortcuts for wandering
|
||||
const ESM::Pathgrid* pathgrid = world->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->getCell());
|
||||
mPathFinder.buildPathByPathgrid(start, randomAllowedPosition, actor.getCell(), getPathGridGraph(pathgrid));
|
||||
const MWWorld::Cell& cell = *actor.getCell()->getCell();
|
||||
const ESM::Pathgrid* pathgrid = world.getStore().get<ESM::Pathgrid>().search(cell);
|
||||
const PathgridGraph& pathgridGraph = getPathGridGraph(pathgrid);
|
||||
|
||||
if (mPathFinder.isPathConstructed())
|
||||
const Misc::CoordinateConverter converter = Misc::makeCoordinateConverter(cell);
|
||||
std::deque<ESM::Pathgrid::Point> path
|
||||
= pathgridGraph.aStarSearch(Misc::getClosestPoint(*pathgrid, converter.toLocalVec3(start)),
|
||||
Misc::getClosestPoint(*pathgrid, converter.toLocalVec3(randomAllowedPosition)));
|
||||
|
||||
// Choose a different position and delete this one from possible positions because it is uncreachable:
|
||||
if (path.empty())
|
||||
{
|
||||
storage.mAllowedPositions.erase(storage.mAllowedPositions.begin() + randomAllowedPositionIndex);
|
||||
return;
|
||||
}
|
||||
|
||||
// Drop nearest pathgrid point.
|
||||
path.pop_front();
|
||||
|
||||
std::vector<osg::Vec3f> checkpoints(path.size());
|
||||
for (std::size_t i = 0; i < path.size(); ++i)
|
||||
checkpoints[i] = Misc::Convert::makeOsgVec3f(converter.toWorldPoint(path[i]));
|
||||
|
||||
const DetourNavigator::AgentBounds agentBounds = world.getPathfindingAgentBounds(actor);
|
||||
const DetourNavigator::Flags flags = getNavigatorFlags(actor);
|
||||
const DetourNavigator::AreaCosts areaCosts = getAreaCosts(actor, flags);
|
||||
constexpr float endTolerance = 0;
|
||||
mPathFinder.buildPath(actor, start, randomAllowedPosition, pathgridGraph, agentBounds, flags, areaCosts,
|
||||
endTolerance, PathType::Full, checkpoints);
|
||||
|
||||
if (!mPathFinder.isPathConstructed())
|
||||
{
|
||||
storage.mAllowedPositions.erase(storage.mAllowedPositions.begin() + randomAllowedPositionIndex);
|
||||
return;
|
||||
}
|
||||
|
||||
mDestination = randomAllowedPosition;
|
||||
mHasDestination = true;
|
||||
mUsePathgrid = true;
|
||||
@ -662,10 +684,6 @@ namespace MWMechanics
|
||||
|
||||
storage.setState(AiWanderStorage::Wander_Walking);
|
||||
}
|
||||
// Choose a different position and delete this one from possible positions because it is uncreachable:
|
||||
else
|
||||
storage.mAllowedPositions.erase(storage.mAllowedPositions.begin() + randomAllowedPositionIndex);
|
||||
}
|
||||
|
||||
void AiWander::stopWalking(const MWWorld::Ptr& actor)
|
||||
{
|
||||
|
||||
@ -360,26 +360,16 @@ namespace MWMechanics
|
||||
mConstructed = true;
|
||||
}
|
||||
|
||||
void PathFinder::buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
|
||||
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph)
|
||||
{
|
||||
mPath.clear();
|
||||
mCell = cell;
|
||||
|
||||
buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath));
|
||||
|
||||
mConstructed = !mPath.empty();
|
||||
}
|
||||
|
||||
void PathFinder::buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
|
||||
const osg::Vec3f& endPoint, const DetourNavigator::AgentBounds& agentBounds, const DetourNavigator::Flags flags,
|
||||
const DetourNavigator::AreaCosts& areaCosts, float endTolerance, PathType pathType)
|
||||
const DetourNavigator::AreaCosts& areaCosts, float endTolerance, PathType pathType,
|
||||
std::span<const osg::Vec3f> checkpoints)
|
||||
{
|
||||
mPath.clear();
|
||||
|
||||
// If it's not possible to build path over navmesh due to disabled navmesh generation fallback to straight path
|
||||
DetourNavigator::Status status = buildPathByNavigatorImpl(actor, startPoint, endPoint, agentBounds, flags,
|
||||
areaCosts, endTolerance, pathType, std::back_inserter(mPath));
|
||||
areaCosts, endTolerance, pathType, checkpoints, std::back_inserter(mPath));
|
||||
|
||||
if (status != DetourNavigator::Status::Success)
|
||||
mPath.clear();
|
||||
@ -393,7 +383,7 @@ namespace MWMechanics
|
||||
void PathFinder::buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
|
||||
const PathgridGraph& pathgridGraph, const DetourNavigator::AgentBounds& agentBounds,
|
||||
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
|
||||
PathType pathType)
|
||||
PathType pathType, std::span<const osg::Vec3f> checkpoints)
|
||||
{
|
||||
mPath.clear();
|
||||
mCell = actor.getCell();
|
||||
@ -403,7 +393,7 @@ namespace MWMechanics
|
||||
if (!actor.getClass().isPureWaterCreature(actor) && !actor.getClass().isPureFlyingCreature(actor))
|
||||
{
|
||||
status = buildPathByNavigatorImpl(actor, startPoint, endPoint, agentBounds, flags, areaCosts, endTolerance,
|
||||
pathType, std::back_inserter(mPath));
|
||||
pathType, checkpoints, std::back_inserter(mPath));
|
||||
if (status != DetourNavigator::Status::Success)
|
||||
mPath.clear();
|
||||
}
|
||||
@ -412,7 +402,7 @@ namespace MWMechanics
|
||||
&& (flags & DetourNavigator::Flag_usePathgrid) == 0)
|
||||
{
|
||||
status = buildPathByNavigatorImpl(actor, startPoint, endPoint, agentBounds,
|
||||
flags | DetourNavigator::Flag_usePathgrid, areaCosts, endTolerance, pathType,
|
||||
flags | DetourNavigator::Flag_usePathgrid, areaCosts, endTolerance, pathType, checkpoints,
|
||||
std::back_inserter(mPath));
|
||||
if (status != DetourNavigator::Status::Success)
|
||||
mPath.clear();
|
||||
@ -430,12 +420,13 @@ namespace MWMechanics
|
||||
DetourNavigator::Status PathFinder::buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor,
|
||||
const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const DetourNavigator::AgentBounds& agentBounds,
|
||||
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
|
||||
PathType pathType, std::back_insert_iterator<std::deque<osg::Vec3f>> out)
|
||||
PathType pathType, std::span<const osg::Vec3f> checkpoints,
|
||||
std::back_insert_iterator<std::deque<osg::Vec3f>> out)
|
||||
{
|
||||
const auto world = MWBase::Environment::get().getWorld();
|
||||
const auto navigator = world->getNavigator();
|
||||
const auto status = DetourNavigator::findPath(
|
||||
*navigator, agentBounds, startPoint, endPoint, flags, areaCosts, endTolerance, out);
|
||||
const MWBase::World& world = *MWBase::Environment::get().getWorld();
|
||||
const DetourNavigator::Navigator& navigator = *world.getNavigator();
|
||||
const DetourNavigator::Status status = DetourNavigator::findPath(
|
||||
navigator, agentBounds, startPoint, endPoint, flags, areaCosts, endTolerance, checkpoints, out);
|
||||
|
||||
if (pathType == PathType::Partial && status == DetourNavigator::Status::PartialPath)
|
||||
return DetourNavigator::Status::Success;
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
#include <cassert>
|
||||
#include <deque>
|
||||
#include <iterator>
|
||||
#include <span>
|
||||
|
||||
#include <osg/Vec3f>
|
||||
|
||||
@ -102,18 +103,15 @@ namespace MWMechanics
|
||||
|
||||
void buildStraightPath(const osg::Vec3f& endPoint);
|
||||
|
||||
void buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
|
||||
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph);
|
||||
|
||||
void buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
|
||||
const osg::Vec3f& endPoint, const DetourNavigator::AgentBounds& agentBounds,
|
||||
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
|
||||
PathType pathType);
|
||||
PathType pathType, std::span<const osg::Vec3f> checkpoints = {});
|
||||
|
||||
void buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
|
||||
const PathgridGraph& pathgridGraph, const DetourNavigator::AgentBounds& agentBounds,
|
||||
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
|
||||
PathType pathType);
|
||||
PathType pathType, std::span<const osg::Vec3f> checkpoints = {});
|
||||
|
||||
void buildLimitedPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
|
||||
const PathgridGraph& pathgridGraph, const DetourNavigator::AgentBounds& agentBounds,
|
||||
@ -156,7 +154,8 @@ namespace MWMechanics
|
||||
[[nodiscard]] DetourNavigator::Status buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor,
|
||||
const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const DetourNavigator::AgentBounds& agentBounds,
|
||||
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
|
||||
PathType pathType, std::back_insert_iterator<std::deque<osg::Vec3f>> out);
|
||||
PathType pathType, std::span<const osg::Vec3f> checkpoints,
|
||||
std::back_insert_iterator<std::deque<osg::Vec3f>> out);
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
@ -13,7 +13,6 @@
|
||||
|
||||
#include <osg/Vec3f>
|
||||
|
||||
#include <array>
|
||||
#include <cassert>
|
||||
#include <functional>
|
||||
#include <iterator>
|
||||
@ -64,6 +63,25 @@ namespace DetourNavigator
|
||||
std::reference_wrapper<const RecastSettings> mSettings;
|
||||
};
|
||||
|
||||
template <class T>
|
||||
class ToNavMeshCoordinatesSpan
|
||||
{
|
||||
public:
|
||||
explicit ToNavMeshCoordinatesSpan(std::span<T> span, const RecastSettings& settings)
|
||||
: mSpan(span)
|
||||
, mSettings(settings)
|
||||
{
|
||||
}
|
||||
|
||||
std::size_t size() const noexcept { return mSpan.size(); }
|
||||
|
||||
T operator[](std::size_t i) const noexcept { return toNavMeshCoordinates(mSettings, mSpan[i]); }
|
||||
|
||||
private:
|
||||
std::span<T> mSpan;
|
||||
const RecastSettings& mSettings;
|
||||
};
|
||||
|
||||
inline std::optional<std::size_t> findPolygonPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
|
||||
const dtPolyRef endRef, const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& queryFilter,
|
||||
std::span<dtPolyRef> pathBuffer)
|
||||
@ -79,7 +97,7 @@ namespace DetourNavigator
|
||||
}
|
||||
|
||||
Status makeSmoothPath(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& start, const osg::Vec3f& end,
|
||||
std::span<dtPolyRef> polygonPath, std::size_t polygonPathSize, std::size_t maxSmoothPathSize,
|
||||
std::span<dtPolyRef> polygonPath, std::size_t polygonPathSize, std::size_t maxSmoothPathSize, bool skipFirst,
|
||||
std::output_iterator<osg::Vec3f> auto& out)
|
||||
{
|
||||
assert(polygonPathSize <= polygonPath.size());
|
||||
@ -95,7 +113,7 @@ namespace DetourNavigator
|
||||
dtStatusFailed(status))
|
||||
return Status::FindStraightPathFailed;
|
||||
|
||||
for (int i = 0; i < cornersCount; ++i)
|
||||
for (int i = skipFirst ? 1 : 0; i < cornersCount; ++i)
|
||||
*out++ = Misc::Convert::makeOsgVec3f(&cornerVertsBuffer[static_cast<std::size_t>(i) * 3]);
|
||||
|
||||
return Status::Success;
|
||||
@ -103,7 +121,8 @@ namespace DetourNavigator
|
||||
|
||||
Status findSmoothPath(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents, const osg::Vec3f& start,
|
||||
const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts, const DetourSettings& settings,
|
||||
float endTolerance, std::output_iterator<osg::Vec3f> auto out)
|
||||
float endTolerance, const ToNavMeshCoordinatesSpan<const osg::Vec3f>& checkpoints,
|
||||
std::output_iterator<osg::Vec3f> auto out)
|
||||
{
|
||||
dtQueryFilter queryFilter;
|
||||
queryFilter.setIncludeFlags(includeFlags);
|
||||
@ -131,29 +150,66 @@ namespace DetourNavigator
|
||||
return Status::EndPolygonNotFound;
|
||||
|
||||
std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
|
||||
const auto polygonPathSize
|
||||
= findPolygonPath(navMeshQuery, startRef, endRef, startNavMeshPos, endNavMeshPos, queryFilter, polygonPath);
|
||||
std::span<dtPolyRef> polygonPathBuffer = polygonPath;
|
||||
dtPolyRef currentRef = startRef;
|
||||
osg::Vec3f currentNavMeshPos = startNavMeshPos;
|
||||
bool skipFirst = false;
|
||||
|
||||
if (!polygonPathSize.has_value())
|
||||
return Status::FindPathOverPolygonsFailed;
|
||||
for (std::size_t i = 0; i < checkpoints.size(); ++i)
|
||||
{
|
||||
const osg::Vec3f checkpointPos = checkpoints[i];
|
||||
osg::Vec3f checkpointNavMeshPos;
|
||||
dtPolyRef checkpointRef;
|
||||
if (const dtStatus status = navMeshQuery.findNearestPoly(checkpointPos.ptr(), polyHalfExtents.ptr(),
|
||||
&queryFilter, &checkpointRef, checkpointNavMeshPos.ptr());
|
||||
dtStatusFailed(status) || checkpointRef == 0)
|
||||
continue;
|
||||
|
||||
if (*polygonPathSize == 0)
|
||||
return Status::Success;
|
||||
const std::optional<std::size_t> toCheckpointPathSize = findPolygonPath(navMeshQuery, currentRef,
|
||||
checkpointRef, currentNavMeshPos, checkpointNavMeshPos, queryFilter, polygonPath);
|
||||
|
||||
osg::Vec3f targetNavMeshPos;
|
||||
if (const dtStatus status = navMeshQuery.closestPointOnPoly(
|
||||
polygonPath[*polygonPathSize - 1], end.ptr(), targetNavMeshPos.ptr(), nullptr);
|
||||
dtStatusFailed(status))
|
||||
return Status::TargetPolygonNotFound;
|
||||
if (!toCheckpointPathSize.has_value())
|
||||
continue;
|
||||
|
||||
const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef;
|
||||
const Status smoothStatus = makeSmoothPath(navMeshQuery, startNavMeshPos, targetNavMeshPos, polygonPath,
|
||||
*polygonPathSize, settings.mMaxSmoothPathSize, out);
|
||||
if (*toCheckpointPathSize == 0)
|
||||
continue;
|
||||
|
||||
if (polygonPath[*toCheckpointPathSize - 1] != checkpointRef)
|
||||
continue;
|
||||
|
||||
const Status smoothStatus = makeSmoothPath(navMeshQuery, currentNavMeshPos, checkpointNavMeshPos,
|
||||
polygonPath, *toCheckpointPathSize, settings.mMaxSmoothPathSize, skipFirst, out);
|
||||
|
||||
if (smoothStatus != Status::Success)
|
||||
return smoothStatus;
|
||||
|
||||
return partialPath ? Status::PartialPath : Status::Success;
|
||||
currentRef = checkpointRef;
|
||||
currentNavMeshPos = checkpointNavMeshPos;
|
||||
skipFirst = true;
|
||||
}
|
||||
|
||||
const std::optional<std::size_t> toEndPathSize = findPolygonPath(
|
||||
navMeshQuery, currentRef, endRef, currentNavMeshPos, endNavMeshPos, queryFilter, polygonPathBuffer);
|
||||
|
||||
if (!toEndPathSize.has_value())
|
||||
return Status::FindPathOverPolygonsFailed;
|
||||
|
||||
if (*toEndPathSize == 0)
|
||||
return currentRef == endRef ? Status::Success : Status::PartialPath;
|
||||
|
||||
osg::Vec3f targetNavMeshPos;
|
||||
if (const dtStatus status = navMeshQuery.closestPointOnPoly(
|
||||
polygonPath[*toEndPathSize - 1], end.ptr(), targetNavMeshPos.ptr(), nullptr);
|
||||
dtStatusFailed(status))
|
||||
return Status::TargetPolygonNotFound;
|
||||
|
||||
const Status smoothStatus = makeSmoothPath(navMeshQuery, currentNavMeshPos, targetNavMeshPos, polygonPath,
|
||||
*toEndPathSize, settings.mMaxSmoothPathSize, skipFirst, out);
|
||||
|
||||
if (smoothStatus != Status::Success)
|
||||
return smoothStatus;
|
||||
|
||||
return polygonPath[*toEndPathSize - 1] == endRef ? Status::Success : Status::PartialPath;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -11,6 +11,7 @@
|
||||
|
||||
#include <iterator>
|
||||
#include <optional>
|
||||
#include <span>
|
||||
|
||||
namespace DetourNavigator
|
||||
{
|
||||
@ -21,13 +22,13 @@ namespace DetourNavigator
|
||||
* @param end path at given point.
|
||||
* @param includeFlags setup allowed navmesh areas.
|
||||
* @param out the beginning of the destination range.
|
||||
* @param endTolerance defines maximum allowed distance to end path point in addition to agentHalfExtents
|
||||
* @param endTolerance defines maximum allowed distance to end path point in addition to agentHalfExtents.
|
||||
* @param checkpoints is a sequence of positions the path should go over if possible.
|
||||
* @return Status.
|
||||
* Equal to out if no path is found.
|
||||
*/
|
||||
inline Status findPath(const Navigator& navigator, const AgentBounds& agentBounds, const osg::Vec3f& start,
|
||||
const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts, float endTolerance,
|
||||
std::output_iterator<osg::Vec3f> auto out)
|
||||
std::span<const osg::Vec3f> checkpoints, std::output_iterator<osg::Vec3f> auto out)
|
||||
{
|
||||
const auto navMesh = navigator.getNavMesh(agentBounds);
|
||||
if (navMesh == nullptr)
|
||||
@ -37,7 +38,8 @@ namespace DetourNavigator
|
||||
const auto locked = navMesh->lock();
|
||||
return findSmoothPath(locked->getQuery(), toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
|
||||
toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags,
|
||||
areaCosts, settings.mDetour, endTolerance, outTransform);
|
||||
areaCosts, settings.mDetour, endTolerance, ToNavMeshCoordinatesSpan(checkpoints, settings.mRecast),
|
||||
outTransform);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -180,6 +180,7 @@
|
||||
-- @field [parent=#FindPathOptions] #AreaCosts areaCosts a table defining relative cost for each type of area.
|
||||
-- @field [parent=#FindPathOptions] #number destinationTolerance a floating point number representing maximum allowed
|
||||
-- distance between destination and a nearest point on the navigation mesh in addition to agent size (default: 1).
|
||||
-- @field [parent=#FindPathOptions] #table checkpoints an array of positions to build path over if possible.
|
||||
|
||||
---
|
||||
-- A table of parameters for @{#nearby.findRandomPointAroundCircle} and @{#nearby.castNavigationRay}
|
||||
|
||||
@ -315,6 +315,7 @@ registerPlayerTest('player rotation')
|
||||
registerPlayerTest('player forward running')
|
||||
registerPlayerTest('player diagonal walking')
|
||||
registerPlayerTest('findPath')
|
||||
registerPlayerTest('findPath with checkpoints')
|
||||
registerPlayerTest('findRandomPointAroundCircle')
|
||||
registerPlayerTest('castNavigationRay')
|
||||
registerPlayerTest('findNearestNavMeshPosition')
|
||||
|
||||
@ -82,6 +82,7 @@ registerGlobalTest('player rotation', 'rotating player should not lead to nan ro
|
||||
registerGlobalTest('player forward running')
|
||||
registerGlobalTest('player diagonal walking')
|
||||
registerGlobalTest('findPath')
|
||||
registerGlobalTest('findPath with checkpoints')
|
||||
registerGlobalTest('findRandomPointAroundCircle')
|
||||
registerGlobalTest('castNavigationRay')
|
||||
registerGlobalTest('findNearestNavMeshPosition')
|
||||
|
||||
@ -179,6 +179,39 @@ testing.registerLocalTest('findPath',
|
||||
testing.expectEqual(status, nearby.FIND_PATH_STATUS.Success, 'Status')
|
||||
testing.expectLessOrEqual((path[#path] - dst):length(), 1,
|
||||
'Last path point ' .. testing.formatActualExpected(path[#path], dst))
|
||||
testing.expectThat(path, matchers.equalTo({
|
||||
matchers.closeToVector(util.vector3(4096, 4096, 1746.27099609375), 1e-1),
|
||||
matchers.closeToVector(util.vector3(4500, 4500, 1745.95263671875), 1e-1),
|
||||
}))
|
||||
end)
|
||||
|
||||
testing.registerLocalTest('findPath with checkpoints',
|
||||
function()
|
||||
local src = util.vector3(4096, 4096, 1745)
|
||||
local dst = util.vector3(4500, 4500, 1745.95263671875)
|
||||
local options = {
|
||||
agentBounds = types.Actor.getPathfindingAgentBounds(self),
|
||||
includeFlags = nearby.NAVIGATOR_FLAGS.Walk + nearby.NAVIGATOR_FLAGS.Swim,
|
||||
areaCosts = {
|
||||
water = 1,
|
||||
door = 2,
|
||||
ground = 1,
|
||||
pathgrid = 1,
|
||||
},
|
||||
destinationTolerance = 1,
|
||||
checkpoints = {
|
||||
util.vector3(4200, 4100, 1750),
|
||||
},
|
||||
}
|
||||
local status, path = nearby.findPath(src, dst, options)
|
||||
testing.expectEqual(status, nearby.FIND_PATH_STATUS.Success, 'Status')
|
||||
testing.expectLessOrEqual((path[#path] - dst):length(), 1,
|
||||
'Last path point ' .. testing.formatActualExpected(path[#path], dst))
|
||||
testing.expectThat(path, matchers.equalTo({
|
||||
matchers.closeToVector(util.vector3(4096, 4096, 1746.27099609375), 1e-1),
|
||||
matchers.closeToVector(util.vector3(4200, 4100, 1749.5076904296875), 1e-1),
|
||||
matchers.closeToVector(util.vector3(4500, 4500, 1745.95263671875), 1e-1),
|
||||
}))
|
||||
end)
|
||||
|
||||
testing.registerLocalTest('findRandomPointAroundCircle',
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user