R5Reloaded/r5sdk
1
0
Fork 0
mirror of https://github.com/Mauler125/r5sdk.git synced 2025-02-09 19:15:03 +01:00
Code Issues Packages Projects Releases Wiki Activity

Recast: dynamically look for specific neighbor tile depending on vert side

Browse Source 
Instead of looping over and passing in neighbor tiles, look at which side our link start point is, and look for a neighbor tile on that side. This generates very clean traverse links, and also fixes the issue where the ai walks towards the opposite direction of where the target is before initiating a jump, as previously, jump links would be generated on any edge it finds. Also changed 'Editor::createTraverseLinks' to make it generate both external and internal links; starting with external ones, and filling internal gaps on the 2nd run before moving on to the next start tile.
This commit is contained in:
Kawe Mazidjatari 2024-08-12 14:55:10 +02:00
parent a99984b0f3
commit fe3a2e93b2
2 changed files with 120 additions and 112 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

230
src/naveditor/Editor.cpp
View File

@ -561,7 +561,7 @@ static bool traverseLinkInLOS(InputGeom* geom, const float* startPos, const floa
// correct jumpType.
// TODO: make sure we don't generate duplicate pairs of jump types between
// 2 polygons.
void Editor::connectTileTraverseLinks(dtMeshTile* const startTile, dtMeshTile* const endTile)
void Editor::connectTileTraverseLinks(dtMeshTile* const startTile, const bool linkToNeighbor)
{
for (int i = 0; i < startTile->header->polyCount; ++i)
{
@ -580,115 +580,132 @@ void Editor::connectTileTraverseLinks(dtMeshTile* const startTile, dtMeshTile* c
float startPolyEdgeMid[3];
rdVsad(startPolyEdgeMid, startPolySpos, startPolyEpos, 0.5f);
float startEdgeDir[3];
rdVsub(startEdgeDir, startPolyEpos, startPolySpos);
unsigned char side = (unsigned char)rdOppositeTile(rdClassifyPointInsideBounds(startPolyEdgeMid, startTile->header->bmin, startTile->header->bmax));
const int MAX_NEIS = 32; // Max neighbors
for (int k = 0; k < endTile->header->polyCount; ++k)
dtMeshTile* neis[MAX_NEIS];
int nneis;
if (linkToNeighbor) // Retrieve the neighboring tiles on the side of our start edge.
nneis = m_navMesh->getNeighbourTilesAt(startTile->header->x, startTile->header->y, side, neis, MAX_NEIS);
else
{
// Internal links.
nneis = 1;
neis[0] = startTile;
}
for (int k = 0; k < nneis; ++k)
{
dtMeshTile* endTile = neis[k];
const bool external = startTile != endTile;
if (!external && i == k) continue; // Skip self
dtPoly* const endPoly = &endTile->polys[k];
for (int m = 0; m < endPoly->vertCount; ++m)
for (int m = 0; m < endTile->header->polyCount; ++m)
{
// Hard edges only!
if (endPoly->neis[m] != 0)
continue;
dtPoly* const endPoly = &endTile->polys[m];
// Polygon 2 edge
const float* const endPolySpos = &endTile->verts[endPoly->verts[m] * 3];
const float* const endPolyEpos = &endTile->verts[endPoly->verts[(m + 1) % endPoly->vertCount] * 3];
float endPolyEdgeMid[3];
rdVsad(endPolyEdgeMid, endPolySpos, endPolyEpos, 0.5f);
const unsigned char distance = dtCalcLinkDistance(startPolyEdgeMid, endPolyEdgeMid);
if (distance == 0)
continue;
float endEdgeDir[3];
rdVsub(endEdgeDir, endPolyEpos, endPolySpos);
const float dotProduct = rdVdot(startEdgeDir, endEdgeDir);
// Edges facing the same direction should not be linked.
// Doing so causes links to go through from underneath
// geometry. E.g. we have an HVAC on a roof, and we try
// to link our roof poly edge facing north to the edge
// of the poly on the HVAC also facing north, the link
// will go through the HVAC and thus cause the NPC to
// jump through it.
if (dotProduct > 0)
continue;
float t, s;
if (rdIntersectSegSeg2D(startPolySpos, startPolyEpos, endPolySpos, endPolyEpos, t, s))
continue;
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPolyEdgeMid, endPolyEdgeMid));
const bool samePolyGroup = startPoly->groupId == endPoly->groupId;
const TraverseType_e traverseType = GetBestTraverseType(slopeAngle, distance, samePolyGroup);
if (traverseType == DT_NULL_TRAVERSE_TYPE)
continue;
if (!CanOverlapPoly(traverseType))
for (int n = 0; n < endPoly->vertCount; ++n)
{
float linkMidPoint[3];
rdVsad(linkMidPoint, startPolyEdgeMid, endPolyEdgeMid, 0.5f);
if (traverseLinkInPolygon(startTile, linkMidPoint) || traverseLinkInPolygon(endTile, linkMidPoint))
if (endPoly->neis[n] != 0)
continue;
// Polygon 2 edge
const float* const endPolySpos = &endTile->verts[endPoly->verts[n] * 3];
const float* const endPolyEpos = &endTile->verts[endPoly->verts[(n + 1) % endPoly->vertCount] * 3];
float endPolyEdgeMid[3];
rdVsad(endPolyEdgeMid, endPolySpos, endPolyEpos, 0.5f);
const unsigned char distance = dtCalcLinkDistance(startPolyEdgeMid, endPolyEdgeMid);
if (distance == 0)
continue;
float startEdgeDir[3], endEdgeDir[3];
rdVsub(startEdgeDir, startPolyEpos, startPolySpos);
rdVsub(endEdgeDir, endPolyEpos, endPolySpos);
const float dotProduct = rdVdot(startEdgeDir, endEdgeDir);
// Edges facing the same direction should not be linked.
// Doing so causes links to go through from underneath
// geometry. E.g. we have an HVAC on a roof, and we try
// to link our roof poly edge facing north to the edge
// of the poly on the HVAC also facing north, the link
// will go through the HVAC and thus cause the NPC to
// jump through it.
if (dotProduct > 0)
continue;
float t, s;
if (rdIntersectSegSeg2D(startPolySpos, startPolyEpos, endPolySpos, endPolyEpos, t, s))
continue;
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPolyEdgeMid, endPolyEdgeMid));
const bool samePolyGroup = startPoly->groupId == endPoly->groupId;
const TraverseType_e traverseType = GetBestTraverseType(slopeAngle, distance, samePolyGroup);
if (traverseType == DT_NULL_TRAVERSE_TYPE)
continue;
if (!CanOverlapPoly(traverseType))
{
float linkMidPoint[3];
rdVsad(linkMidPoint, startPolyEdgeMid, endPolyEdgeMid, 0.5f);
if (traverseLinkInPolygon(startTile, linkMidPoint) || traverseLinkInPolygon(endTile, linkMidPoint))
continue;
}
if (!traverseLinkInLOS(m_geom, startPolyEdgeMid, endPolyEdgeMid, m_agentHeight))
continue;
// Need at least 2 links
// todo(amos): perhaps optimize this so we check this before raycasting
// etc.. must also check if the tile isn't external because if so, we need
// space for 2 links in the same tile.
const unsigned int forwardIdx = startTile->allocLink();
if (forwardIdx == DT_NULL_LINK) // TODO: should move on to next tile.
continue;
const unsigned int reverseIdx = endTile->allocLink();
if (reverseIdx == DT_NULL_LINK) // TODO: should move on to next tile.
{
startTile->freeLink(forwardIdx);
continue;
}
dtLink* const forwardLink = &startTile->links[forwardIdx];
forwardLink->ref = m_navMesh->getPolyRefBase(endTile) | (dtPolyRef)m;
forwardLink->edge = (unsigned char)j;
forwardLink->side = side;
forwardLink->bmin = 0;
forwardLink->bmax = 255;
forwardLink->next = startPoly->firstLink;
startPoly->firstLink = forwardIdx;
forwardLink->traverseType = (unsigned char)traverseType;
forwardLink->traverseDist = distance;
forwardLink->reverseLink = (unsigned short)reverseIdx;
dtLink* const reverseLink = &endTile->links[reverseIdx];
reverseLink->ref = m_navMesh->getPolyRefBase(startTile) | (dtPolyRef)i;
reverseLink->edge = (unsigned char)n;
reverseLink->side = (unsigned char)rdOppositeTile(side);
reverseLink->bmin = 0;
reverseLink->bmax = 255;
reverseLink->next = endPoly->firstLink;
endPoly->firstLink = reverseIdx;
reverseLink->traverseType = (unsigned char)traverseType;
reverseLink->traverseDist = distance;
reverseLink->reverseLink = (unsigned short)forwardIdx;
}
if (!traverseLinkInLOS(m_geom, startPolyEdgeMid, endPolyEdgeMid, m_agentHeight))
continue;
// Need at least 2 links
// todo(amos): perhaps optimize this so we check this before raycasting
// etc.. must also check if the tile isn't external because if so, we need
// space for 2 links in the same tile.
const unsigned int forwardIdx = startTile->allocLink();
if (forwardIdx == DT_NULL_LINK) // TODO: should move on to next tile.
continue;
const unsigned int reverseIdx = endTile->allocLink();
if (reverseIdx == DT_NULL_LINK) // TODO: should move on to next tile.
{
startTile->freeLink(forwardIdx);
continue;
}
dtLink* const forwardLink = &startTile->links[forwardIdx];
forwardLink->ref = m_navMesh->getPolyRefBase(endTile) | (dtPolyRef)k;
forwardLink->edge = (unsigned char)j;
forwardLink->side = 0xff;
forwardLink->bmin = 0;
forwardLink->bmax = 255;
forwardLink->next = startPoly->firstLink;
startPoly->firstLink = forwardIdx;
forwardLink->traverseType = (unsigned char)traverseType;
forwardLink->traverseDist = distance;
forwardLink->reverseLink = (unsigned short)reverseIdx;
dtLink* const reverseLink = &endTile->links[reverseIdx];
reverseLink->ref = m_navMesh->getPolyRefBase(startTile) | (dtPolyRef)i;
reverseLink->edge = (unsigned char)m;
reverseLink->side = 0xff;
reverseLink->bmin = 0;
reverseLink->bmax = 255;
reverseLink->next = endPoly->firstLink;
endPoly->firstLink = reverseIdx;
reverseLink->traverseType = (unsigned char)traverseType;
reverseLink->traverseDist = distance;
reverseLink->reverseLink = (unsigned short)forwardIdx;
}
}
}
@ -699,7 +716,6 @@ bool Editor::createTraverseLinks()
{
rdAssert(m_navMesh);
const int maxTiles = m_navMesh->getMaxTiles();
const int MAX_NEIS = 32; // Max neighbors
for (int i = 0; i < maxTiles; i++)
{
@ -707,16 +723,8 @@ bool Editor::createTraverseLinks()
if (!startTile || !startTile->header)
continue;
for (int dir = 0; dir < 8; ++dir)
{
dtMeshTile* edgeNeis[MAX_NEIS];
int numEdgeNeis = m_navMesh->getNeighbourTilesAt(startTile->header->x, startTile->header->y, dir, edgeNeis, MAX_NEIS);
for (int j = 0; j < numEdgeNeis; ++j)
{
connectTileTraverseLinks(startTile, edgeNeis[j]);
}
}
connectTileTraverseLinks(startTile, true);
connectTileTraverseLinks(startTile, false);
}
return true;

2
src/naveditor/include/Editor.h
View File

@ -245,7 +245,7 @@ public:
void resetCommonSettings();
void handleCommonSettings();
void connectTileTraverseLinks(dtMeshTile* const startTile, dtMeshTile* const endTile); // Make private.
void connectTileTraverseLinks(dtMeshTile* const startTile, const bool linkToNeighbor); // Make private.
bool createTraverseLinks();
void buildStaticPathingData();