mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-02-18 22:23:48 +00:00
update recast
This commit is contained in:
Johxz
parent
e079536122
commit
8aa48ff21b
34 changed files with 1138 additions and 407 deletions
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@ -77,6 +77,7 @@ dtTileCache::dtTileCache() :
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m_nupdate(0)
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{
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memset(&m_params, 0, sizeof(m_params));
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memset(m_reqs, 0, sizeof(ObstacleRequest) * MAX_REQUESTS);
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}
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dtTileCache::~dtTileCache()
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@ -369,9 +370,10 @@ dtStatus dtTileCache::addObstacle(const float* pos, const float radius, const fl
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memset(ob, 0, sizeof(dtTileCacheObstacle));
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ob->salt = salt;
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ob->state = DT_OBSTACLE_PROCESSING;
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dtVcopy(ob->pos, pos);
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ob->radius = radius;
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ob->height = height;
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ob->type = DT_OBSTACLE_CYLINDER;
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dtVcopy(ob->cylinder.pos, pos);
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ob->cylinder.radius = radius;
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ob->cylinder.height = height;
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ObstacleRequest* req = &m_reqs[m_nreqs++];
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memset(req, 0, sizeof(ObstacleRequest));
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@ -384,6 +386,79 @@ dtStatus dtTileCache::addObstacle(const float* pos, const float radius, const fl
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return DT_SUCCESS;
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}
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dtStatus dtTileCache::addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result)
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{
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if (m_nreqs >= MAX_REQUESTS)
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return DT_FAILURE | DT_BUFFER_TOO_SMALL;
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dtTileCacheObstacle* ob = 0;
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if (m_nextFreeObstacle)
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{
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ob = m_nextFreeObstacle;
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m_nextFreeObstacle = ob->next;
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ob->next = 0;
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}
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if (!ob)
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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unsigned short salt = ob->salt;
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memset(ob, 0, sizeof(dtTileCacheObstacle));
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ob->salt = salt;
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ob->state = DT_OBSTACLE_PROCESSING;
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ob->type = DT_OBSTACLE_BOX;
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dtVcopy(ob->box.bmin, bmin);
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dtVcopy(ob->box.bmax, bmax);
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ObstacleRequest* req = &m_reqs[m_nreqs++];
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memset(req, 0, sizeof(ObstacleRequest));
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req->action = REQUEST_ADD;
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req->ref = getObstacleRef(ob);
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if (result)
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*result = req->ref;
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return DT_SUCCESS;
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}
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dtStatus dtTileCache::addBoxObstacle(const float* center, const float* halfExtents, const float yRadians, dtObstacleRef* result)
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{
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if (m_nreqs >= MAX_REQUESTS)
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return DT_FAILURE | DT_BUFFER_TOO_SMALL;
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dtTileCacheObstacle* ob = 0;
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if (m_nextFreeObstacle)
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{
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ob = m_nextFreeObstacle;
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m_nextFreeObstacle = ob->next;
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ob->next = 0;
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}
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if (!ob)
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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unsigned short salt = ob->salt;
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memset(ob, 0, sizeof(dtTileCacheObstacle));
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ob->salt = salt;
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ob->state = DT_OBSTACLE_PROCESSING;
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ob->type = DT_OBSTACLE_ORIENTED_BOX;
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dtVcopy(ob->orientedBox.center, center);
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dtVcopy(ob->orientedBox.halfExtents, halfExtents);
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float coshalf= cosf(0.5f*yRadians);
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float sinhalf = sinf(-0.5f*yRadians);
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ob->orientedBox.rotAux[0] = coshalf*sinhalf;
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ob->orientedBox.rotAux[1] = coshalf*coshalf - 0.5f;
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ObstacleRequest* req = &m_reqs[m_nreqs++];
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memset(req, 0, sizeof(ObstacleRequest));
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req->action = REQUEST_ADD;
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req->ref = getObstacleRef(ob);
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if (result)
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*result = req->ref;
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return DT_SUCCESS;
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}
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dtStatus dtTileCache::removeObstacle(const dtObstacleRef ref)
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{
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if (!ref)
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@ -440,7 +515,8 @@ dtStatus dtTileCache::queryTiles(const float* bmin, const float* bmax,
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return DT_SUCCESS;
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}
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dtStatus dtTileCache::update(const float /*dt*/, dtNavMesh* navmesh)
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dtStatus dtTileCache::update(const float /*dt*/, dtNavMesh* navmesh,
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bool* upToDate)
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{
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if (m_nupdate == 0)
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{
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@ -499,12 +575,13 @@ dtStatus dtTileCache::update(const float /*dt*/, dtNavMesh* navmesh)
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m_nreqs = 0;
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}
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dtStatus status = DT_SUCCESS;
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// Process updates
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if (m_nupdate)
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{
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// Build mesh
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const dtCompressedTileRef ref = m_update[0];
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dtStatus status = buildNavMeshTile(ref, navmesh);
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status = buildNavMeshTile(ref, navmesh);
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m_nupdate--;
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if (m_nupdate > 0)
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memmove(m_update, m_update+1, m_nupdate*sizeof(dtCompressedTileRef));
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@ -547,12 +624,12 @@ dtStatus dtTileCache::update(const float /*dt*/, dtNavMesh* navmesh)
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}
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}
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}
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if (dtStatusFailed(status))
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return status;
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}
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return DT_SUCCESS;
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if (upToDate)
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*upToDate = m_nupdate == 0 && m_nreqs == 0;
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return status;
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}
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@ -604,8 +681,21 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
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continue;
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if (contains(ob->touched, ob->ntouched, ref))
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{
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dtMarkCylinderArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
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ob->pos, ob->radius, ob->height, 0);
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if (ob->type == DT_OBSTACLE_CYLINDER)
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{
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dtMarkCylinderArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
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ob->cylinder.pos, ob->cylinder.radius, ob->cylinder.height, 0);
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}
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else if (ob->type == DT_OBSTACLE_BOX)
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{
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dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
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ob->box.bmin, ob->box.bmax, 0);
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}
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else if (ob->type == DT_OBSTACLE_ORIENTED_BOX)
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{
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dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
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ob->orientedBox.center, ob->orientedBox.halfExtents, ob->orientedBox.rotAux, 0);
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}
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}
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}
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@ -616,7 +706,7 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
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bc.lcset = dtAllocTileCacheContourSet(m_talloc);
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if (!bc.lcset)
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return status;
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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status = dtBuildTileCacheContours(m_talloc, *bc.layer, walkableClimbVx,
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m_params.maxSimplificationError, *bc.lcset);
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if (dtStatusFailed(status))
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@ -624,7 +714,7 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
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bc.lmesh = dtAllocTileCachePolyMesh(m_talloc);
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if (!bc.lmesh)
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return status;
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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status = dtBuildTileCachePolyMesh(m_talloc, *bc.lcset, *bc.lmesh);
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if (dtStatusFailed(status))
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return status;
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@ -699,10 +789,32 @@ void dtTileCache::calcTightTileBounds(const dtTileCacheLayerHeader* header, floa
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void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const
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{
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bmin[0] = ob->pos[0] - ob->radius;
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bmin[1] = ob->pos[1];
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bmin[2] = ob->pos[2] - ob->radius;
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bmax[0] = ob->pos[0] + ob->radius;
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bmax[1] = ob->pos[1] + ob->height;
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bmax[2] = ob->pos[2] + ob->radius;
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if (ob->type == DT_OBSTACLE_CYLINDER)
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{
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const dtObstacleCylinder &cl = ob->cylinder;
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bmin[0] = cl.pos[0] - cl.radius;
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bmin[1] = cl.pos[1];
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bmin[2] = cl.pos[2] - cl.radius;
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bmax[0] = cl.pos[0] + cl.radius;
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bmax[1] = cl.pos[1] + cl.height;
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bmax[2] = cl.pos[2] + cl.radius;
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}
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else if (ob->type == DT_OBSTACLE_BOX)
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{
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dtVcopy(bmin, ob->box.bmin);
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dtVcopy(bmax, ob->box.bmax);
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}
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else if (ob->type == DT_OBSTACLE_ORIENTED_BOX)
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{
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const dtObstacleOrientedBox &orientedBox = ob->orientedBox;
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float maxr = 1.41f*dtMax(orientedBox.halfExtents[0], orientedBox.halfExtents[2]);
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bmin[0] = orientedBox.center[0] - maxr;
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bmax[0] = orientedBox.center[0] + maxr;
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bmin[1] = orientedBox.center[1] - orientedBox.halfExtents[1];
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bmax[1] = orientedBox.center[1] + orientedBox.halfExtents[1];
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bmin[2] = orientedBox.center[2] - maxr;
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bmax[2] = orientedBox.center[2] + maxr;
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}
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}
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