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Recast: initial implementation of traverse type lookup

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Still heavy works in progress.
This commit is contained in:
Kawe Mazidjatari 2024-08-09 20:49:30 +02:00
parent 9462564761
commit 66b5ae4084
1 changed files with 159 additions and 4 deletions
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163
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored
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@ -461,6 +461,158 @@ bool dtCreateDisjointPolyGroups(dtNavMesh* nav, dtDisjointSet& disjoint)
return true;
}
enum TraverseType_e // todo(amos): move elsewhere
{
TRAVERSE_UNUSED_0 = 0,
TRAVERSE_CROSS_GAP_SMALL,
TRAVERSE_CLIMB_OBJECT_SMALL,
TRAVERSE_CROSS_GAP_MEDIUM,
TRAVERSE_UNUSED_4,
TRAVERSE_UNUSED_5,
TRAVERSE_UNUSED_6,
TRAVERSE_CROSS_GAP_LARGE,
TRAVERSE_CLIMB_WALL_MEDIUM,
TRAVERSE_CLIMB_WALL_TALL,
TRAVERSE_CLIMB_BUILDING,
TRAVERSE_JUMP_SHORT,
TRAVERSE_JUMP_MEDIUM,
TRAVERSE_JUMP_LARGE,
TRAVERSE_UNUSED_14,
TRAVERSE_UNUSED_15,
TRAVERSE_UNKNOWN_16, // USED!!!
TRAVERSE_UNKNOWN_17, // USED!!!
TRAVERSE_UNKNOWN_18,
TRAVERSE_UNKNOWN_19, // NOTE: does not exists in MSET5!!!
TRAVERSE_CLIMB_TARGET_SMALL,
TRAVERSE_CLIMB_TARGET_LARGE,
TRAVERSE_UNUSED_22,
TRAVERSE_UNUSED_23,
TRAVERSE_UNKNOWN_24,
TRAVERSE_UNUSED_25,
TRAVERSE_UNUSED_26,
TRAVERSE_UNUSED_27,
TRAVERSE_UNUSED_28,
TRAVERSE_UNUSED_29,
TRAVERSE_UNUSED_30,
TRAVERSE_UNUSED_31,
// These aren't traverse type!
NUM_TRAVERSE_TYPES,
INVALID_TRAVERSE_TYPE = DT_NULL_TRAVERSE_TYPE
};
struct TraverseType_s // todo(amos): move elsewhere
{
float minSlope;
float maxSlope;
unsigned char minDist;
unsigned char maxDist;
bool forceSamePolyGroup;
bool forceDifferentPolyGroup;
};
static TraverseType_s s_traverseTypes[NUM_TRAVERSE_TYPES] = // todo(amos): move elsewhere
{
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 67.f, 2, 12, false, false },
{5.0f, 78.f, 5, 16, false, false },
{0.0f, 38.f, 11, 22, false, false },
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 6.5f, 80, 107, false, true},
{19.0f, 84.0f, 7, 21, false, false},
{27.0f, 87.5f, 16, 45, false, false},
{44.0f, 89.5f, 33, 225, false, false},
{0.0f, 7.0f, 41, 79, false, false},
{2.2f, 47.0f, 41, 100, false, false},
{5.7f, 58.5f, 81, 179, false, false},
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 12.5f, 22, 41, false, false},
{4.6f, 53.0f, 21, 58, false, false},
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{29.0f, 47.0f, 16, 40, false, false}, // Maps to type 19 in MSET 5
{46.5f, 89.0f, 33, 199, false, false}, // Maps to type 20 in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 89.0f, 5, 251, false, false}, // Does not exist in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
};
TraverseType_e GetBestTraverseType(const float slopeAngle, const unsigned char traverseDist, const bool samePolyGroup)
{
TraverseType_e bestTraverseType = INVALID_TRAVERSE_TYPE;
for (int i = 0; i < NUM_TRAVERSE_TYPES; ++i)
{
const TraverseType_s& traverseType = s_traverseTypes[i];
// Skip unused types...
if (traverseType.minSlope == 0.0f && traverseType.maxSlope == 0.0f &&
traverseType.minDist == 0 && traverseType.maxDist == 0)
{
continue;
}
if (slopeAngle < traverseType.minSlope ||
slopeAngle > traverseType.maxSlope)
{
continue;
}
if (traverseDist < traverseType.minDist ||
traverseDist > traverseType.maxDist)
{
continue;
}
// NOTE: currently only type 7 is enforced in this check, perhaps we
// should limit some other types on same/diff poly groups as well?
if ((traverseType.forceSamePolyGroup && !samePolyGroup) ||
(traverseType.forceDifferentPolyGroup && samePolyGroup))
{
continue;
}
bestTraverseType = (TraverseType_e)i;
break;
}
return bestTraverseType;
}
// TODO: create lookup table and look for distance + slope to determine the
// correct jumpType.
// TODO: make sure we don't generate duplicate pairs of jump types between
@ -526,9 +678,12 @@ static void connectTileTraverseLinks(dtNavMesh* const nav, dtMeshTile* const til
continue;
const unsigned char distance = dtCalcLinkDistance(startPolyEdgeMid, endPolyEdgeMid);
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPolyEdgeMid, endPolyEdgeMid));
const bool samePolyGroup = startPoly->groupId == endPoly->groupId;
// TODO: needs lookup table for distance !!!
if (distance >= 10 && distance <= 30)
const TraverseType_e traverseType = GetBestTraverseType(slopeAngle, distance, samePolyGroup);
if (traverseType != DT_NULL_TRAVERSE_TYPE)
{
// Need at least 2 links
const unsigned int forwardIdx = tile->allocLink();
@ -551,7 +706,7 @@ static void connectTileTraverseLinks(dtNavMesh* const nav, dtMeshTile* const til
forwardLink->side = 0xFF;
forwardLink->next = startPoly->firstLink;
startPoly->firstLink = forwardIdx;
forwardLink->traverseType = 1;
forwardLink->traverseType = (unsigned char)traverseType;
forwardLink->traverseDist = distance;
dtLink* const reverseLink = &tile->links[reverseIdx];
@ -561,7 +716,7 @@ static void connectTileTraverseLinks(dtNavMesh* const nav, dtMeshTile* const til
reverseLink->side = 0xFF;
reverseLink->next = endPoly->firstLink;
endPoly->firstLink = reverseIdx;
reverseLink->traverseType = 1;
reverseLink->traverseType = (unsigned char)traverseType;
reverseLink->traverseDist = distance;
forwardLink->reverseLink = (unsigned short)reverseIdx;