mirror of
https://github.com/DarkflameUniverse/DarkflameServer.git
synced 2024-11-09 17:58:20 +00:00
229 lines
5.3 KiB
C++
229 lines
5.3 KiB
C++
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#include "dNavMesh.h"
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#include "Game.h"
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#include "dLogger.h"
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#include "dPlatforms.h"
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#include "NiPoint3.h"
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#include "BinaryIO.h"
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dNavMesh::dNavMesh(uint32_t zoneId) {
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m_ZoneId = zoneId;
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this->LoadNavmesh();
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if (m_NavMesh) {
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m_NavQuery = dtAllocNavMeshQuery();
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m_NavQuery->init(m_NavMesh, 2048);
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Game::logger->Log("dNavMesh", "Navmesh loaded successfully!");
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} else {
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Game::logger->Log("dNavMesh", "Navmesh loading failed (This may be intended).");
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}
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}
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dNavMesh::~dNavMesh() {
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// Clean up Recast information
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rcFreeHeightField(m_Solid);
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rcFreeCompactHeightfield(m_CHF);
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rcFreeContourSet(m_CSet);
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rcFreePolyMesh(m_PMesh);
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rcFreePolyMeshDetail(m_PMDMesh);
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dtFreeNavMesh(m_NavMesh);
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dtFreeNavMeshQuery(m_NavQuery);
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if (m_Ctx) delete m_Ctx;
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if (m_Triareas) delete[] m_Triareas;
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}
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void dNavMesh::LoadNavmesh() {
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std::string path = "./res/maps/navmeshes/" + std::to_string(m_ZoneId) + ".bin";
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if (!BinaryIO::DoesFileExist(path)) {
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return;
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}
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FILE* fp;
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#ifdef _WIN32
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fopen_s(&fp, path.c_str(), "rb");
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#elif __APPLE__
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// macOS has 64bit file IO by default
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fp = fopen(path.c_str(), "rb");
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#else
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fp = fopen64(path.c_str(), "rb");
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#endif
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if (!fp) {
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return;
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}
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// Read header.
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NavMeshSetHeader header;
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size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
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if (readLen != 1) {
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fclose(fp);
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return;
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}
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if (header.magic != NAVMESHSET_MAGIC) {
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fclose(fp);
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return;
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}
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if (header.version != NAVMESHSET_VERSION) {
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fclose(fp);
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return;
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}
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dtNavMesh* mesh = dtAllocNavMesh();
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if (!mesh) {
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fclose(fp);
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return;
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}
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dtStatus status = mesh->init(&header.params);
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if (dtStatusFailed(status)) {
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fclose(fp);
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return;
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}
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// Read tiles.
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for (int i = 0; i < header.numTiles; ++i) {
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NavMeshTileHeader tileHeader;
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readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
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if (readLen != 1) return;
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if (!tileHeader.tileRef || !tileHeader.dataSize)
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break;
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unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
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if (!data) break;
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memset(data, 0, tileHeader.dataSize);
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readLen = fread(data, tileHeader.dataSize, 1, fp);
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if (readLen != 1) return;
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mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
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}
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fclose(fp);
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m_NavMesh = mesh;
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}
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float dNavMesh::GetHeightAtPoint(const NiPoint3& location) {
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if (m_NavMesh == nullptr) {
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return location.y;
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}
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float toReturn = 0.0f;
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float pos[3];
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pos[0] = location.x;
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pos[1] = location.y;
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pos[2] = location.z;
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dtPolyRef nearestRef = 0;
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float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
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dtQueryFilter filter{};
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m_NavQuery->findNearestPoly(pos, polyPickExt, &filter, &nearestRef, 0);
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m_NavQuery->getPolyHeight(nearestRef, pos, &toReturn);
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if (toReturn == 0.0f) {
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toReturn = location.y;
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}
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return toReturn;
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}
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std::vector<NiPoint3> dNavMesh::GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed) {
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std::vector<NiPoint3> path;
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// Allows for non-navmesh maps (like new custom maps) to have "basic" enemies.
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if (m_NavMesh == nullptr) {
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// How many points to generate between start/end?
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// Note: not actually 100% accurate due to rounding, but worst case it causes them to go a tiny bit faster
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// than their speed value would normally allow at the end.
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int numPoints = startPos.Distance(startPos, endPos) / speed;
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path.push_back(startPos); //insert the start pos
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// Linearly interpolate between these two points:
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for (int i = 0; i < numPoints; i++) {
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NiPoint3 newPoint{ startPos };
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newPoint.x += speed;
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newPoint.y = newPoint.y + (((endPos.y - startPos.y) / (endPos.x - startPos.x)) * (newPoint.x - startPos.x));
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path.push_back(newPoint);
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}
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path.push_back(endPos); //finally insert our end pos
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return path;
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}
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float sPos[3];
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float ePos[3];
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sPos[0] = startPos.x;
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sPos[1] = startPos.y;
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sPos[2] = startPos.z;
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ePos[0] = endPos.x;
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ePos[1] = endPos.y;
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ePos[2] = endPos.z;
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dtStatus pathFindStatus;
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dtPolyRef startRef;
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dtPolyRef endRef;
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float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
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dtQueryFilter filter{};
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//Find our start poly
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m_NavQuery->findNearestPoly(sPos, polyPickExt, &filter, &startRef, 0);
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//Find our end poly
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m_NavQuery->findNearestPoly(ePos, polyPickExt, &filter, &endRef, 0);
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pathFindStatus = DT_FAILURE;
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int m_nstraightPath = 0;
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int m_npolys = 0;
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dtPolyRef m_polys[MAX_POLYS];
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float m_straightPath[MAX_POLYS * 3];
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unsigned char m_straightPathFlags[MAX_POLYS];
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dtPolyRef m_straightPathPolys[MAX_POLYS];
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int m_straightPathOptions = 0;
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if (startRef && endRef) {
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m_NavQuery->findPath(startRef, endRef, sPos, ePos, &filter, m_polys, &m_npolys, MAX_POLYS);
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if (m_npolys) {
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// In case of partial path, make sure the end point is clamped to the last polygon.
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float epos[3];
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dtVcopy(epos, ePos);
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if (m_polys[m_npolys - 1] != endRef) {
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m_NavQuery->closestPointOnPoly(m_polys[m_npolys - 1], ePos, epos, 0);
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}
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m_NavQuery->findStraightPath(sPos, epos, m_polys, m_npolys,
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m_straightPath, m_straightPathFlags,
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m_straightPathPolys, &m_nstraightPath, MAX_POLYS, m_straightPathOptions);
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// At this point we have our path. Copy it to the path store
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int nIndex = 0;
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for (int nVert = 0; nVert < m_nstraightPath; nVert++) {
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NiPoint3 newPoint{ m_straightPath[nIndex++], m_straightPath[nIndex++], m_straightPath[nIndex++] };
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path.push_back(newPoint);
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}
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}
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} else {
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m_npolys = 0;
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m_nstraightPath = 0;
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}
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return path;
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}
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