mirror of
https://github.com/Mauler125/r5sdk.git
synced 2025-02-09 19:15:03 +01:00
Uncomment and fix crowd anticipate turn debug draw
Moved internal functions to their own translation unit.
This commit is contained in:
Kawe Mazidjatari
parent
88a29f2770
commit
87a42efd72
@ -26,6 +26,7 @@
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#include "NavEditor/Include/InputGeom.h"
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#include "NavEditor/Include/Sample.h"
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#include "NavEditor/Include/SampleInterfaces.h"
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#include "thirdparty/recast/DetourCrowd/Include/DetourCrowdInternal.h"
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static bool isectSegAABB(const float* sp, const float* sq,
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const float* amin, const float* amax,
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@ -320,25 +321,24 @@ void CrowdToolState::handleRender()
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if (m_toolParams.m_anticipateTurns)
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{
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/* float dvel[3], pos[3];
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calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
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pos[0] = ag->pos[0] + dvel[0];
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pos[1] = ag->pos[1] + dvel[1];
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pos[2] = ag->pos[2] + dvel[2];
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const float off = ag->radius+0.1f;
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const float* tgt = &ag->cornerVerts[0];
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const float y = ag->pos[1]+off;
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dd.begin(DU_DRAW_LINES, 2.0f);
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dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
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dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
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dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
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dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
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dd.end();*/
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float dvel[3], pos[3];
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calcSmoothSteerDirection(ag, dvel);
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pos[0] = ag->npos[0] + dvel[0];
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pos[1] = ag->npos[1] + dvel[1];
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pos[2] = ag->npos[2] + dvel[2];
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const float off = ag->params.radius+0.1f;
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const float* tgt = &ag->cornerVerts[0];
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const float z = ag->npos[2]+off;
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dd.begin(DU_DRAW_LINES, 2.0f);
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dd.vertex(ag->npos[0],ag->npos[1],z, duRGBA(255,0,0,192));
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dd.vertex(pos[0],pos[1],z, duRGBA(255,0,0,192));
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dd.vertex(pos[0],pos[1],z, duRGBA(255,0,0,192));
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dd.vertex(tgt[0],tgt[1],z, duRGBA(255,0,0,192));
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dd.end();
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}
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}
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}
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35
r5dev/thirdparty/recast/DetourCrowd/Include/DetourCrowdInternal.h
vendored
Normal file
35
r5dev/thirdparty/recast/DetourCrowd/Include/DetourCrowdInternal.h
vendored
Normal file
@ -0,0 +1,35 @@
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURCROWDINTERNAL_H
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#define DETOURCROWDINTERNAL_H
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void integrate(dtCrowdAgent* ag, const float dt);
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bool overOffmeshConnection(const dtCrowdAgent* ag, const float radius);
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float getDistanceToGoal(const dtCrowdAgent* ag, const float range);
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void calcSmoothSteerDirection(const dtCrowdAgent* ag, float* dir);
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void calcStraightSteerDirection(const dtCrowdAgent* ag, float* dir);
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int addNeighbour(const int idx, const float dist,
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dtCrowdNeighbour* neis, const int nneis, const int maxNeis);
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int getNeighbours(const float* pos, const float height, const float range,
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const dtCrowdAgent* skip, dtCrowdNeighbour* result, const int maxResult,
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dtCrowdAgent** agents, const int /*nagents*/, dtProximityGrid* grid);
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int addToOptQueue(dtCrowdAgent* newag, dtCrowdAgent** agents, const int nagents, const int maxAgents);
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int addToPathQueue(dtCrowdAgent* newag, dtCrowdAgent** agents, const int nagents, const int maxAgents);
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#endif // DETOURCROWDINTERNAL_H
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@ -22,6 +22,7 @@
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#include <stdlib.h>
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#include <new>
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#include "DetourCrowd\Include\DetourCrowd.h"
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#include "DetourCrowd\Include\DetourCrowdInternal.h"
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#include "DetourCrowd\Include\DetourObstacleAvoidance.h"
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#include "Detour\Include\DetourNavMesh.h"
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#include "Detour\Include\DetourNavMeshQuery.h"
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@ -56,240 +57,6 @@ inline float tween(const float t, const float t0, const float t1)
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return dtClamp((t-t0) / (t1-t0), 0.0f, 1.0f);
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}
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static void integrate(dtCrowdAgent* ag, const float dt)
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{
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// Fake dynamic constraint.
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const float maxDelta = ag->params.maxAcceleration * dt;
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float dv[3];
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dtVsub(dv, ag->nvel, ag->vel);
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float ds = dtVlen(dv);
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if (ds > maxDelta)
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dtVscale(dv, dv, maxDelta/ds);
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dtVadd(ag->vel, ag->vel, dv);
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// Integrate
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if (dtVlen(ag->vel) > 0.0001f)
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dtVmad(ag->npos, ag->npos, ag->vel, dt);
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else
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dtVset(ag->vel,0,0,0);
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}
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static bool overOffmeshConnection(const dtCrowdAgent* ag, const float radius)
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{
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if (!ag->ncorners)
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return false;
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const bool offMeshConnection = (ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ? true : false;
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if (offMeshConnection)
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{
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const float distSq = dtVdist2DSqr(ag->npos, &ag->cornerVerts[(ag->ncorners-1)*3]);
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if (distSq < radius*radius)
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return true;
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}
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return false;
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}
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static float getDistanceToGoal(const dtCrowdAgent* ag, const float range)
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{
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if (!ag->ncorners)
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return range;
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const bool endOfPath = (ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_END) ? true : false;
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if (endOfPath)
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return dtMin(dtVdist2D(ag->npos, &ag->cornerVerts[(ag->ncorners-1)*3]), range);
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return range;
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}
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static void calcSmoothSteerDirection(const dtCrowdAgent* ag, float* dir)
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{
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if (!ag->ncorners)
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{
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dtVset(dir, 0,0,0);
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return;
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}
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const int ip0 = 0;
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const int ip1 = dtMin(1, ag->ncorners-1);
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const float* p0 = &ag->cornerVerts[ip0*3];
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const float* p1 = &ag->cornerVerts[ip1*3];
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float dir0[3], dir1[3];
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dtVsub(dir0, p0, ag->npos);
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dtVsub(dir1, p1, ag->npos);
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dir0[2] = 0;
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dir1[2] = 0;
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float len0 = dtVlen(dir0);
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float len1 = dtVlen(dir1);
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if (len1 > 0.001f)
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dtVscale(dir1,dir1,1.0f/len1);
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dir[0] = dir0[0] - dir1[0]*len0*0.5f;
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dir[1] = dir0[1] - dir1[1]*len0*0.5f;
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dir[2] = 0;
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dtVnormalize(dir);
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}
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static void calcStraightSteerDirection(const dtCrowdAgent* ag, float* dir)
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{
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if (!ag->ncorners)
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{
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dtVset(dir, 0,0,0);
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return;
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}
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dtVsub(dir, &ag->cornerVerts[0], ag->npos);
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dir[2] = 0;
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dtVnormalize(dir);
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}
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static int addNeighbour(const int idx, const float dist,
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dtCrowdNeighbour* neis, const int nneis, const int maxNeis)
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{
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// Insert neighbour based on the distance.
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dtCrowdNeighbour* nei = 0;
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if (!nneis)
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{
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nei = &neis[nneis];
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}
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else if (dist >= neis[nneis-1].dist)
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{
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if (nneis >= maxNeis)
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return nneis;
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nei = &neis[nneis];
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}
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else
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{
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int i;
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for (i = 0; i < nneis; ++i)
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if (dist <= neis[i].dist)
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break;
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const int tgt = i+1;
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const int n = dtMin(nneis-i, maxNeis-tgt);
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dtAssert(tgt+n <= maxNeis);
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if (n > 0)
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memmove(&neis[tgt], &neis[i], sizeof(dtCrowdNeighbour)*n);
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nei = &neis[i];
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}
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memset(nei, 0, sizeof(dtCrowdNeighbour));
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nei->idx = idx;
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nei->dist = dist;
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return dtMin(nneis+1, maxNeis);
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}
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static int getNeighbours(const float* pos, const float height, const float range,
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const dtCrowdAgent* skip, dtCrowdNeighbour* result, const int maxResult,
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dtCrowdAgent** agents, const int /*nagents*/, dtProximityGrid* grid)
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{
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int n = 0;
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static const int MAX_NEIS = 32;
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unsigned short ids[MAX_NEIS];
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int nids = grid->queryItems(pos[0]-range, pos[1]-range,
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pos[0]+range, pos[1]+range,
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ids, MAX_NEIS);
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for (int i = 0; i < nids; ++i)
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{
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const dtCrowdAgent* ag = agents[ids[i]];
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if (ag == skip) continue;
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// Check for overlap.
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float diff[3];
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dtVsub(diff, pos, ag->npos);
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if (dtMathFabsf(diff[2]) >= (height+ag->params.height)/2.0f)
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continue;
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diff[1] = 0;
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const float distSqr = dtVlenSqr(diff);
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if (distSqr > dtSqr(range))
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continue;
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n = addNeighbour(ids[i], distSqr, result, n, maxResult);
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}
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return n;
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}
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static int addToOptQueue(dtCrowdAgent* newag, dtCrowdAgent** agents, const int nagents, const int maxAgents)
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{
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// Insert neighbour based on greatest time.
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int slot = 0;
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if (!nagents)
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{
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slot = nagents;
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}
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else if (newag->topologyOptTime <= agents[nagents-1]->topologyOptTime)
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{
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if (nagents >= maxAgents)
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return nagents;
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slot = nagents;
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}
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else
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{
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int i;
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for (i = 0; i < nagents; ++i)
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if (newag->topologyOptTime >= agents[i]->topologyOptTime)
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break;
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const int tgt = i+1;
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const int n = dtMin(nagents-i, maxAgents-tgt);
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dtAssert(tgt+n <= maxAgents);
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if (n > 0)
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memmove(&agents[tgt], &agents[i], sizeof(dtCrowdAgent*)*n);
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slot = i;
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}
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agents[slot] = newag;
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return dtMin(nagents+1, maxAgents);
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}
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static int addToPathQueue(dtCrowdAgent* newag, dtCrowdAgent** agents, const int nagents, const int maxAgents)
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{
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// Insert neighbour based on greatest time.
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int slot = 0;
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if (!nagents)
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{
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slot = nagents;
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}
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else if (newag->targetReplanTime <= agents[nagents-1]->targetReplanTime)
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{
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if (nagents >= maxAgents)
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return nagents;
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slot = nagents;
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}
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else
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{
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int i;
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for (i = 0; i < nagents; ++i)
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if (newag->targetReplanTime >= agents[i]->targetReplanTime)
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break;
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const int tgt = i+1;
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const int n = dtMin(nagents-i, maxAgents-tgt);
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dtAssert(tgt+n <= maxAgents);
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if (n > 0)
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memmove(&agents[tgt], &agents[i], sizeof(dtCrowdAgent*)*n);
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slot = i;
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}
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agents[slot] = newag;
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return dtMin(nagents+1, maxAgents);
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}
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/**
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@class dtCrowd
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267
r5dev/thirdparty/recast/DetourCrowd/Source/DetourCrowdInternal.cpp
vendored
Normal file
267
r5dev/thirdparty/recast/DetourCrowd/Source/DetourCrowdInternal.cpp
vendored
Normal file
@ -0,0 +1,267 @@
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
|
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// warranty. In no event will the authors be held liable for any damages
|
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// arising from the use of this software.
|
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// Permission is granted to anyone to use this software for any purpose,
|
||||
// including commercial applications, and to alter it and redistribute it
|
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// freely, subject to the following restrictions:
|
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// 1. The origin of this software must not be misrepresented; you must not
|
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// claim that you wrote the original software. If you use this software
|
||||
// in a product, an acknowledgment in the product documentation would be
|
||||
// appreciated but is not required.
|
||||
// 2. Altered source versions must be plainly marked as such, and must not be
|
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// misrepresented as being the original software.
|
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// 3. This notice may not be removed or altered from any source distribution.
|
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//
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#define _USE_MATH_DEFINES
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#include <string.h>
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#include <float.h>
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#include <stdlib.h>
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#include <new>
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#include "DetourCrowd\Include\DetourCrowd.h"
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#include "DetourCrowd\Include\DetourCrowdInternal.h"
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#include "DetourCrowd\Include\DetourObstacleAvoidance.h"
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#include "Detour\Include\DetourNavMesh.h"
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#include "Detour\Include\DetourNavMeshQuery.h"
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#include "Detour\Include\DetourCommon.h"
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#include "Detour\Include\DetourMath.h"
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#include "Detour\Include\DetourAssert.h"
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#include "Detour\Include\DetourAlloc.h"
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void integrate(dtCrowdAgent* ag, const float dt)
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{
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// Fake dynamic constraint.
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const float maxDelta = ag->params.maxAcceleration * dt;
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float dv[3];
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dtVsub(dv, ag->nvel, ag->vel);
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float ds = dtVlen(dv);
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if (ds > maxDelta)
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dtVscale(dv, dv, maxDelta/ds);
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dtVadd(ag->vel, ag->vel, dv);
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// Integrate
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if (dtVlen(ag->vel) > 0.0001f)
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dtVmad(ag->npos, ag->npos, ag->vel, dt);
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else
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dtVset(ag->vel,0,0,0);
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}
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bool overOffmeshConnection(const dtCrowdAgent* ag, const float radius)
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{
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if (!ag->ncorners)
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return false;
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const bool offMeshConnection = (ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ? true : false;
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if (offMeshConnection)
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{
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const float distSq = dtVdist2DSqr(ag->npos, &ag->cornerVerts[(ag->ncorners-1)*3]);
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if (distSq < radius*radius)
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return true;
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}
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return false;
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}
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float getDistanceToGoal(const dtCrowdAgent* ag, const float range)
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{
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if (!ag->ncorners)
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return range;
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const bool endOfPath = (ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_END) ? true : false;
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if (endOfPath)
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return dtMin(dtVdist2D(ag->npos, &ag->cornerVerts[(ag->ncorners-1)*3]), range);
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return range;
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}
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void calcSmoothSteerDirection(const dtCrowdAgent* ag, float* dir)
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{
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if (!ag->ncorners)
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{
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dtVset(dir, 0,0,0);
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return;
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}
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const int ip0 = 0;
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const int ip1 = dtMin(1, ag->ncorners-1);
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const float* p0 = &ag->cornerVerts[ip0*3];
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const float* p1 = &ag->cornerVerts[ip1*3];
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float dir0[3], dir1[3];
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dtVsub(dir0, p0, ag->npos);
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dtVsub(dir1, p1, ag->npos);
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dir0[2] = 0;
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dir1[2] = 0;
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float len0 = dtVlen(dir0);
|
||||
float len1 = dtVlen(dir1);
|
||||
if (len1 > 0.001f)
|
||||
dtVscale(dir1,dir1,1.0f/len1);
|
||||
|
||||
dir[0] = dir0[0] - dir1[0]*len0*0.5f;
|
||||
dir[1] = dir0[1] - dir1[1]*len0*0.5f;
|
||||
dir[2] = 0;
|
||||
|
||||
dtVnormalize(dir);
|
||||
}
|
||||
|
||||
void calcStraightSteerDirection(const dtCrowdAgent* ag, float* dir)
|
||||
{
|
||||
if (!ag->ncorners)
|
||||
{
|
||||
dtVset(dir, 0,0,0);
|
||||
return;
|
||||
}
|
||||
dtVsub(dir, &ag->cornerVerts[0], ag->npos);
|
||||
dir[2] = 0;
|
||||
dtVnormalize(dir);
|
||||
}
|
||||
|
||||
int addNeighbour(const int idx, const float dist,
|
||||
dtCrowdNeighbour* neis, const int nneis, const int maxNeis)
|
||||
{
|
||||
// Insert neighbour based on the distance.
|
||||
dtCrowdNeighbour* nei = 0;
|
||||
if (!nneis)
|
||||
{
|
||||
nei = &neis[nneis];
|
||||
}
|
||||
else if (dist >= neis[nneis-1].dist)
|
||||
{
|
||||
if (nneis >= maxNeis)
|
||||
return nneis;
|
||||
nei = &neis[nneis];
|
||||
}
|
||||
else
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < nneis; ++i)
|
||||
if (dist <= neis[i].dist)
|
||||
break;
|
||||
|
||||
const int tgt = i+1;
|
||||
const int n = dtMin(nneis-i, maxNeis-tgt);
|
||||
|
||||
dtAssert(tgt+n <= maxNeis);
|
||||
|
||||
if (n > 0)
|
||||
memmove(&neis[tgt], &neis[i], sizeof(dtCrowdNeighbour)*n);
|
||||
nei = &neis[i];
|
||||
}
|
||||
|
||||
memset(nei, 0, sizeof(dtCrowdNeighbour));
|
||||
|
||||
nei->idx = idx;
|
||||
nei->dist = dist;
|
||||
|
||||
return dtMin(nneis+1, maxNeis);
|
||||
}
|
||||
|
||||
int getNeighbours(const float* pos, const float height, const float range,
|
||||
const dtCrowdAgent* skip, dtCrowdNeighbour* result, const int maxResult,
|
||||
dtCrowdAgent** agents, const int /*nagents*/, dtProximityGrid* grid)
|
||||
{
|
||||
int n = 0;
|
||||
|
||||
static const int MAX_NEIS = 32;
|
||||
unsigned short ids[MAX_NEIS];
|
||||
int nids = grid->queryItems(pos[0]-range, pos[1]-range,
|
||||
pos[0]+range, pos[1]+range,
|
||||
ids, MAX_NEIS);
|
||||
|
||||
for (int i = 0; i < nids; ++i)
|
||||
{
|
||||
const dtCrowdAgent* ag = agents[ids[i]];
|
||||
|
||||
if (ag == skip) continue;
|
||||
|
||||
// Check for overlap.
|
||||
float diff[3];
|
||||
dtVsub(diff, pos, ag->npos);
|
||||
if (dtMathFabsf(diff[2]) >= (height+ag->params.height)/2.0f)
|
||||
continue;
|
||||
diff[1] = 0;
|
||||
const float distSqr = dtVlenSqr(diff);
|
||||
if (distSqr > dtSqr(range))
|
||||
continue;
|
||||
|
||||
n = addNeighbour(ids[i], distSqr, result, n, maxResult);
|
||||
}
|
||||
return n;
|
||||
}
|
||||
|
||||
int addToOptQueue(dtCrowdAgent* newag, dtCrowdAgent** agents, const int nagents, const int maxAgents)
|
||||
{
|
||||
// Insert neighbour based on greatest time.
|
||||
int slot = 0;
|
||||
if (!nagents)
|
||||
{
|
||||
slot = nagents;
|
||||
}
|
||||
else if (newag->topologyOptTime <= agents[nagents-1]->topologyOptTime)
|
||||
{
|
||||
if (nagents >= maxAgents)
|
||||
return nagents;
|
||||
slot = nagents;
|
||||
}
|
||||
else
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < nagents; ++i)
|
||||
if (newag->topologyOptTime >= agents[i]->topologyOptTime)
|
||||
break;
|
||||
|
||||
const int tgt = i+1;
|
||||
const int n = dtMin(nagents-i, maxAgents-tgt);
|
||||
|
||||
dtAssert(tgt+n <= maxAgents);
|
||||
|
||||
if (n > 0)
|
||||
memmove(&agents[tgt], &agents[i], sizeof(dtCrowdAgent*)*n);
|
||||
slot = i;
|
||||
}
|
||||
|
||||
agents[slot] = newag;
|
||||
|
||||
return dtMin(nagents+1, maxAgents);
|
||||
}
|
||||
|
||||
int addToPathQueue(dtCrowdAgent* newag, dtCrowdAgent** agents, const int nagents, const int maxAgents)
|
||||
{
|
||||
// Insert neighbour based on greatest time.
|
||||
int slot = 0;
|
||||
if (!nagents)
|
||||
{
|
||||
slot = nagents;
|
||||
}
|
||||
else if (newag->targetReplanTime <= agents[nagents-1]->targetReplanTime)
|
||||
{
|
||||
if (nagents >= maxAgents)
|
||||
return nagents;
|
||||
slot = nagents;
|
||||
}
|
||||
else
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < nagents; ++i)
|
||||
if (newag->targetReplanTime >= agents[i]->targetReplanTime)
|
||||
break;
|
||||
|
||||
const int tgt = i+1;
|
||||
const int n = dtMin(nagents-i, maxAgents-tgt);
|
||||
|
||||
dtAssert(tgt+n <= maxAgents);
|
||||
|
||||
if (n > 0)
|
||||
memmove(&agents[tgt], &agents[i], sizeof(dtCrowdAgent*)*n);
|
||||
slot = i;
|
||||
}
|
||||
|
||||
agents[slot] = newag;
|
||||
|
||||
return dtMin(nagents+1, maxAgents);
|
||||
}
|
||||
@ -12,6 +12,7 @@
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="..\thirdparty\recast\detourcrowd\Include\DetourCrowd.h" />
|
||||
<ClInclude Include="..\thirdparty\recast\DetourCrowd\Include\DetourCrowdInternal.h" />
|
||||
<ClInclude Include="..\thirdparty\recast\detourcrowd\Include\DetourLocalBoundary.h" />
|
||||
<ClInclude Include="..\thirdparty\recast\detourcrowd\Include\DetourObstacleAvoidance.h" />
|
||||
<ClInclude Include="..\thirdparty\recast\detourcrowd\Include\DetourPathCorridor.h" />
|
||||
@ -20,6 +21,7 @@
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\thirdparty\recast\detourcrowd\Source\DetourCrowd.cpp" />
|
||||
<ClCompile Include="..\thirdparty\recast\DetourCrowd\Source\DetourCrowdInternal.cpp" />
|
||||
<ClCompile Include="..\thirdparty\recast\detourcrowd\Source\DetourLocalBoundary.cpp" />
|
||||
<ClCompile Include="..\thirdparty\recast\detourcrowd\Source\DetourObstacleAvoidance.cpp" />
|
||||
<ClCompile Include="..\thirdparty\recast\detourcrowd\Source\DetourPathCorridor.cpp" />
|
||||
|
||||
@ -27,6 +27,9 @@
|
||||
<ClInclude Include="..\thirdparty\recast\detourcrowd\Include\DetourCrowd.h">
|
||||
<Filter>Include</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="..\thirdparty\recast\DetourCrowd\Include\DetourCrowdInternal.h">
|
||||
<Filter>Include</Filter>
|
||||
</ClInclude>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="..\thirdparty\recast\detourcrowd\Source\DetourLocalBoundary.cpp">
|
||||
@ -47,5 +50,8 @@
|
||||
<ClCompile Include="..\thirdparty\recast\detourcrowd\Source\DetourCrowd.cpp">
|
||||
<Filter>Source</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="..\thirdparty\recast\DetourCrowd\Source\DetourCrowdInternal.cpp">
|
||||
<Filter>Source</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
Loading…
x
Reference in New Issue
Block a user