mirror of
https://github.com/DarkflameUniverse/DarkflameServer.git
synced 2024-11-08 17:28:20 +00:00
Move Navmesh code away from dPhysics (#701)
This commit is contained in:
parent
a0aa8b2854
commit
9ee219ea42
@ -14,7 +14,7 @@ string(REPLACE "\n" ";" variables ${variables})
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foreach(variable ${variables})
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# If the string contains a #, skip it
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if(NOT "${variable}" MATCHES "#")
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# Split the variable into name and value
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string(REPLACE "=" ";" variable ${variable})
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@ -43,7 +43,7 @@ set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT
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message(STATUS "Version: ${PROJECT_VERSION}")
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# Compiler flags:
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# Disabled deprecated warnings as the MySQL includes have deprecated code in them.
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# Disabled deprecated warnings as the MySQL includes have deprecated code in them.
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# Disabled misleading indentation as DL_LinkedList from RakNet has a weird indent.
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# Disabled no-register
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# Disabled unknown pragmas because Linux doesn't understand Windows pragmas.
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@ -118,17 +118,18 @@ endforeach()
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set(INCLUDED_DIRECTORIES
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"dCommon"
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"dChatFilter"
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"dGame"
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"dGame/dBehaviors"
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"dGame/dComponents"
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"dGame/dGameMessages"
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"dGame/dInventory"
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"dGame/dMission"
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"dGame/dEntity"
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"dGame/dUtilities"
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"dPhysics"
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"dZoneManager"
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"dDatabase"
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"dGame"
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"dGame/dBehaviors"
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"dGame/dComponents"
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"dGame/dGameMessages"
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"dGame/dInventory"
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"dGame/dMission"
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"dGame/dEntity"
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"dGame/dUtilities"
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"dPhysics"
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"dNavigation"
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"dZoneManager"
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"dDatabase"
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"dDatabase/Tables"
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"dNet"
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"dScripts"
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@ -192,7 +193,7 @@ file(
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file(
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GLOB HEADERS_DGAME
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LIST_DIRECTORIES false
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${PROJECT_SOURCE_DIR}/dGame/Entity.h
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${PROJECT_SOURCE_DIR}/dGame/Entity.h
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${PROJECT_SOURCE_DIR}/dGame/dGameMessages/GameMessages.h
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${PROJECT_SOURCE_DIR}/dGame/EntityManager.h
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${PROJECT_SOURCE_DIR}/dScripts/CppScripts.h
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@ -206,6 +207,7 @@ add_subdirectory(dNet)
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add_subdirectory(dScripts) # Add for dGame to use
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add_subdirectory(dGame)
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add_subdirectory(dZoneManager)
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add_subdirectory(dNavigation)
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add_subdirectory(dPhysics)
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# Create a list of common libraries shared between all binaries
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@ -230,18 +232,18 @@ add_subdirectory(dMasterServer) # Add MasterServer last so it can rely on the ot
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# Add our precompiled headers
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target_precompile_headers(
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dGame PRIVATE
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dGame PRIVATE
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${HEADERS_DGAME}
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)
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target_precompile_headers(
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dZoneManager PRIVATE
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dZoneManager PRIVATE
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${HEADERS_DZONEMANAGER}
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)
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# Need to specify to use the CXX compiler language here or else we get errors including <string>.
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target_precompile_headers(
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dDatabase PRIVATE
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dDatabase PRIVATE
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"$<$<COMPILE_LANGUAGE:CXX>:${HEADERS_DDATABASE}>"
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)
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@ -253,4 +255,4 @@ target_precompile_headers(
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target_precompile_headers(
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tinyxml2 PRIVATE
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"$<$<COMPILE_LANGUAGE:CXX>:${PROJECT_SOURCE_DIR}/thirdparty/tinyxml2/tinyxml2.h>"
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)
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)
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@ -654,7 +654,7 @@ void BaseCombatAIComponent::Wander() {
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auto destination = m_StartPosition + delta;
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if (dpWorld::Instance().IsLoaded()) {
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destination.y = dpWorld::Instance().GetHeightAtPoint(destination);
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destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(destination);
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}
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if (Vector3::DistanceSquared(destination, m_MovementAI->GetCurrentPosition()) < 2 * 2) {
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@ -196,7 +196,7 @@ NiPoint3 MovementAIComponent::ApproximateLocation() const {
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NiPoint3 approximation = NiPoint3(x, y, z);
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if (dpWorld::Instance().IsLoaded()) {
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approximation.y = dpWorld::Instance().GetHeightAtPoint(approximation);
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approximation.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(approximation);
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}
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return approximation;
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@ -208,7 +208,7 @@ bool MovementAIComponent::Warp(const NiPoint3& point) {
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NiPoint3 destination = point;
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if (dpWorld::Instance().IsLoaded()) {
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destination.y = dpWorld::Instance().GetHeightAtPoint(point);
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destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(point);
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if (std::abs(destination.y - point.y) > 3) {
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return false;
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@ -387,7 +387,7 @@ void MovementAIComponent::SetDestination(const NiPoint3& value) {
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std::vector<NiPoint3> computedPath;
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if (dpWorld::Instance().IsLoaded()) {
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computedPath = dpWorld::Instance().GetPath(GetCurrentPosition(), value, m_Info.wanderSpeed);
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computedPath = dpWorld::Instance().GetNavMesh()->GetPath(GetCurrentPosition(), value, m_Info.wanderSpeed);
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} else {
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// Than take 10 points between the current position and the destination and make that the path
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@ -416,7 +416,7 @@ void MovementAIComponent::SetDestination(const NiPoint3& value) {
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// Simply path
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for (auto point : computedPath) {
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if (dpWorld::Instance().IsLoaded()) {
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point.y = dpWorld::Instance().GetHeightAtPoint(point);
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point.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(point);
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}
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m_CurrentPath.push_back(point);
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@ -267,14 +267,14 @@ void PetComponent::OnUse(Entity* originator) {
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if (dpWorld::Instance().IsLoaded()) {
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NiPoint3 attempt = petPosition + forward * interactionDistance;
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float y = dpWorld::Instance().GetHeightAtPoint(attempt);
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float y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(attempt);
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while (std::abs(y - petPosition.y) > 4 && interactionDistance > 10) {
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const NiPoint3 forward = m_Parent->GetRotation().GetForwardVector();
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attempt = originatorPosition + forward * interactionDistance;
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y = dpWorld::Instance().GetHeightAtPoint(attempt);
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y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(attempt);
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interactionDistance -= 0.5f;
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}
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@ -819,7 +819,7 @@ void PetComponent::Wander() {
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auto destination = m_StartPosition + delta;
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if (dpWorld::Instance().IsLoaded()) {
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destination.y = dpWorld::Instance().GetHeightAtPoint(destination);
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destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(destination);
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}
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if (Vector3::DistanceSquared(destination, m_MovementAI->GetCurrentPosition()) < 2 * 2) {
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@ -733,7 +733,7 @@ void SlashCommandHandler::HandleChatCommand(const std::u16string& command, Entit
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auto control = static_cast<ControllablePhysicsComponent*>(entity->GetComponent(COMPONENT_TYPE_CONTROLLABLE_PHYSICS));
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if (!control) return;
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float y = dpWorld::Instance().GetHeightAtPoint(control->GetPosition());
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float y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(control->GetPosition());
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std::u16string msg = u"Navmesh height: " + (GeneralUtils::to_u16string(y));
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ChatPackets::SendSystemMessage(sysAddr, msg);
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}
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4
dNavigation/CMakeLists.txt
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4
dNavigation/CMakeLists.txt
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@ -0,0 +1,4 @@
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set(DNAVIGATION_SOURCES "dNavMesh.cpp")
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add_library(dNavigation STATIC ${DNAVIGATION_SOURCES})
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target_link_libraries(dNavigation detour recast)
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25
dNavigation/DetourExtensions.h
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25
dNavigation/DetourExtensions.h
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@ -0,0 +1,25 @@
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#pragma once
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#include "Recast.h"
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#include "DetourCommon.h"
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#include "DetourNavMesh.h"
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#include "DetourNavMeshBuilder.h"
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#include "DetourNavMeshQuery.h"
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static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // char[4] of 'MSET'
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static const int NAVMESHSET_VERSION = 1;
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struct NavMeshSetHeader {
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int magic;
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int version;
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int numTiles;
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dtNavMeshParams params;
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};
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struct NavMeshTileHeader {
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dtTileRef tileRef;
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int dataSize;
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};
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static const int MAX_POLYS = 256;
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static const int MAX_SMOOTH = 2048;
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228
dNavigation/dNavMesh.cpp
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228
dNavigation/dNavMesh.cpp
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@ -0,0 +1,228 @@
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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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38
dNavigation/dNavMesh.h
Normal file
38
dNavigation/dNavMesh.h
Normal file
@ -0,0 +1,38 @@
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#pragma once
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#include <cstdint>
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#include <vector>
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#include <map>
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#include <string>
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#include <cstring>
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#include "DetourExtensions.h"
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class NiPoint3;
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class dNavMesh {
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public:
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dNavMesh(uint32_t zoneId);
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~dNavMesh();
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float GetHeightAtPoint(const NiPoint3& location);
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std::vector<NiPoint3> GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed = 10.0f);
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private:
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void LoadNavmesh();
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uint32_t m_ZoneId;
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uint8_t* m_Triareas = nullptr;
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rcHeightfield* m_Solid = nullptr;
|
||||
rcCompactHeightfield* m_CHF = nullptr;
|
||||
rcContourSet* m_CSet = nullptr;
|
||||
rcPolyMesh* m_PMesh = nullptr;
|
||||
rcConfig m_Config;
|
||||
rcPolyMeshDetail* m_PMDMesh = nullptr;
|
||||
|
||||
class InputGeom* m_Geometry = nullptr;
|
||||
class dtNavMesh* m_NavMesh = nullptr;
|
||||
class dtNavMeshQuery* m_NavQuery = nullptr;
|
||||
uint8_t m_NavMeshDrawFlags;
|
||||
rcContext* m_Ctx = nullptr;
|
||||
};
|
@ -21,12 +21,9 @@ void dpWorld::Initialize(unsigned int zoneID) {
|
||||
m_Grid = new dpGrid(phys_sp_tilecount, phys_sp_tilesize);
|
||||
}
|
||||
|
||||
Game::logger->Log("dpWorld", "Physics world initialized!");
|
||||
m_NavMesh = new dNavMesh(zoneID);
|
||||
|
||||
if (ShouldLoadNavmesh(zoneID)) {
|
||||
if (LoadNavmeshByZoneID(zoneID)) Game::logger->Log("dpWorld", "Loaded navmesh!");
|
||||
else Game::logger->Log("dpWorld", "Error(s) occurred during navmesh load.");
|
||||
}
|
||||
Game::logger->Log("dpWorld", "Physics world initialized!");
|
||||
}
|
||||
|
||||
dpWorld::~dpWorld() {
|
||||
@ -35,7 +32,9 @@ dpWorld::~dpWorld() {
|
||||
m_Grid = nullptr;
|
||||
}
|
||||
|
||||
RecastCleanup();
|
||||
m_NavMesh->~dNavMesh();
|
||||
delete m_NavMesh;
|
||||
m_NavMesh = nullptr;
|
||||
}
|
||||
|
||||
void dpWorld::StepWorld(float deltaTime) {
|
||||
@ -98,256 +97,20 @@ void dpWorld::RemoveEntity(dpEntity* entity) {
|
||||
}
|
||||
}
|
||||
|
||||
void dpWorld::RecastCleanup() {
|
||||
if (m_triareas) delete[] m_triareas;
|
||||
m_triareas = 0;
|
||||
|
||||
rcFreeHeightField(m_solid);
|
||||
m_solid = 0;
|
||||
rcFreeCompactHeightfield(m_chf);
|
||||
m_chf = 0;
|
||||
rcFreeContourSet(m_cset);
|
||||
m_cset = 0;
|
||||
rcFreePolyMesh(m_pmesh);
|
||||
m_pmesh = 0;
|
||||
rcFreePolyMeshDetail(m_dmesh);
|
||||
m_dmesh = 0;
|
||||
dtFreeNavMesh(m_navMesh);
|
||||
m_navMesh = 0;
|
||||
|
||||
dtFreeNavMeshQuery(m_navQuery);
|
||||
m_navQuery = 0;
|
||||
|
||||
if (m_ctx) delete m_ctx;
|
||||
}
|
||||
|
||||
bool dpWorld::LoadNavmeshByZoneID(unsigned int zoneID) {
|
||||
std::string path = "./res/maps/navmeshes/" + std::to_string(zoneID) + ".bin";
|
||||
m_navMesh = LoadNavmesh(path.c_str());
|
||||
|
||||
if (m_navMesh) { m_navQuery = dtAllocNavMeshQuery(); m_navQuery->init(m_navMesh, 2048); } else return false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
dtNavMesh* dpWorld::LoadNavmesh(const char* path) {
|
||||
FILE* fp;
|
||||
|
||||
#ifdef _WIN32
|
||||
fopen_s(&fp, path, "rb");
|
||||
#elif __APPLE__
|
||||
// macOS has 64bit file IO by default
|
||||
fp = fopen(path, "rb");
|
||||
#else
|
||||
fp = fopen64(path, "rb");
|
||||
#endif
|
||||
|
||||
if (!fp) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Read header.
|
||||
NavMeshSetHeader header;
|
||||
size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
|
||||
if (readLen != 1) {
|
||||
fclose(fp);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (header.magic != NAVMESHSET_MAGIC) {
|
||||
fclose(fp);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (header.version != NAVMESHSET_VERSION) {
|
||||
fclose(fp);
|
||||
return 0;
|
||||
}
|
||||
|
||||
dtNavMesh* mesh = dtAllocNavMesh();
|
||||
if (!mesh) {
|
||||
fclose(fp);
|
||||
return 0;
|
||||
}
|
||||
|
||||
dtStatus status = mesh->init(&header.params);
|
||||
if (dtStatusFailed(status)) {
|
||||
fclose(fp);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Read tiles.
|
||||
for (int i = 0; i < header.numTiles; ++i) {
|
||||
NavMeshTileHeader tileHeader;
|
||||
readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
|
||||
if (readLen != 1)
|
||||
return 0;
|
||||
|
||||
if (!tileHeader.tileRef || !tileHeader.dataSize)
|
||||
break;
|
||||
|
||||
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
|
||||
if (!data) break;
|
||||
memset(data, 0, tileHeader.dataSize);
|
||||
readLen = fread(data, tileHeader.dataSize, 1, fp);
|
||||
if (readLen != 1)
|
||||
return 0;
|
||||
|
||||
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
|
||||
}
|
||||
|
||||
fclose(fp);
|
||||
|
||||
return mesh;
|
||||
}
|
||||
|
||||
bool dpWorld::ShouldLoadNavmesh(unsigned int zoneID) {
|
||||
return true; //We use default paths now. Might re-tool this function later.
|
||||
|
||||
//TODO: Add to this list as the navmesh folder grows.
|
||||
switch (zoneID) {
|
||||
case 1100:
|
||||
case 1150:
|
||||
case 1151:
|
||||
case 1200:
|
||||
case 1201:
|
||||
case 1300:
|
||||
case 1400:
|
||||
case 1603:
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool dpWorld::ShouldUseSP(unsigned int zoneID) {
|
||||
//TODO: Add to this list as needed. Only large maps should be added as tiling likely makes little difference on small maps.
|
||||
// TODO: Add to this list as needed.
|
||||
// Only large maps should be added as tiling likely makes little difference on small maps.
|
||||
|
||||
switch (zoneID) {
|
||||
case 1100: //Avant Gardens
|
||||
case 1200: //Nimbus Station
|
||||
case 1300: //Gnarled Forest
|
||||
case 1400: //Forbidden Valley
|
||||
case 1800: //Crux Prime
|
||||
case 1900: //Nexus Tower
|
||||
case 2000: //Ninjago
|
||||
return true;
|
||||
case 1100: // Avant Gardens
|
||||
case 1200: // Nimbus Station
|
||||
case 1300: // Gnarled Forest
|
||||
case 1400: // Forbidden Valley
|
||||
case 1800: // Crux Prime
|
||||
case 1900: // Nexus Tower
|
||||
case 2000: // Ninjago
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
float dpWorld::GetHeightAtPoint(const NiPoint3& location) {
|
||||
if (m_navMesh == nullptr) {
|
||||
return location.y;
|
||||
}
|
||||
|
||||
float toReturn = 0.0f;
|
||||
float pos[3];
|
||||
pos[0] = location.x;
|
||||
pos[1] = location.y;
|
||||
pos[2] = location.z;
|
||||
|
||||
dtPolyRef nearestRef = 0;
|
||||
float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
|
||||
dtQueryFilter filter{};
|
||||
|
||||
m_navQuery->findNearestPoly(pos, polyPickExt, &filter, &nearestRef, 0);
|
||||
m_navQuery->getPolyHeight(nearestRef, pos, &toReturn);
|
||||
|
||||
if (toReturn == 0.0f) {
|
||||
toReturn = location.y;
|
||||
}
|
||||
|
||||
return toReturn;
|
||||
}
|
||||
|
||||
std::vector<NiPoint3> dpWorld::GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed) {
|
||||
std::vector<NiPoint3> path;
|
||||
|
||||
//allows for non-navmesh maps (like new custom maps) to have "basic" enemies.
|
||||
if (m_navMesh == nullptr) {
|
||||
//how many points to generate between start/end?
|
||||
//note: not actually 100% accurate due to rounding, but worst case it causes them to go a tiny bit faster
|
||||
//than their speed value would normally allow at the end.
|
||||
int numPoints = startPos.Distance(startPos, endPos) / speed;
|
||||
|
||||
path.push_back(startPos); //insert the start pos
|
||||
|
||||
//Linearly interpolate between these two points:
|
||||
for (int i = 0; i < numPoints; i++) {
|
||||
NiPoint3 newPoint{ startPos };
|
||||
|
||||
newPoint.x += speed;
|
||||
newPoint.y = newPoint.y + (((endPos.y - startPos.y) / (endPos.x - startPos.x)) * (newPoint.x - startPos.x));
|
||||
|
||||
path.push_back(newPoint);
|
||||
}
|
||||
|
||||
path.push_back(endPos); //finally insert our end pos
|
||||
|
||||
return path;
|
||||
}
|
||||
|
||||
float sPos[3];
|
||||
float ePos[3];
|
||||
sPos[0] = startPos.x;
|
||||
sPos[1] = startPos.y;
|
||||
sPos[2] = startPos.z;
|
||||
|
||||
ePos[0] = endPos.x;
|
||||
ePos[1] = endPos.y;
|
||||
ePos[2] = endPos.z;
|
||||
|
||||
dtStatus pathFindStatus;
|
||||
dtPolyRef startRef;
|
||||
dtPolyRef endRef;
|
||||
float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
|
||||
dtQueryFilter filter{};
|
||||
|
||||
//Find our start poly
|
||||
m_navQuery->findNearestPoly(sPos, polyPickExt, &filter, &startRef, 0);
|
||||
|
||||
//Find our end poly
|
||||
m_navQuery->findNearestPoly(ePos, polyPickExt, &filter, &endRef, 0);
|
||||
|
||||
pathFindStatus = DT_FAILURE;
|
||||
int m_nstraightPath = 0;
|
||||
int m_npolys = 0;
|
||||
dtPolyRef m_polys[MAX_POLYS];
|
||||
float m_straightPath[MAX_POLYS * 3];
|
||||
unsigned char m_straightPathFlags[MAX_POLYS];
|
||||
dtPolyRef m_straightPathPolys[MAX_POLYS];
|
||||
int m_straightPathOptions = 0;
|
||||
|
||||
if (startRef && endRef) {
|
||||
m_navQuery->findPath(startRef, endRef, sPos, ePos, &filter, m_polys, &m_npolys, MAX_POLYS);
|
||||
|
||||
if (m_npolys) {
|
||||
// In case of partial path, make sure the end point is clamped to the last polygon.
|
||||
float epos[3];
|
||||
dtVcopy(epos, ePos);
|
||||
if (m_polys[m_npolys - 1] != endRef)
|
||||
m_navQuery->closestPointOnPoly(m_polys[m_npolys - 1], ePos, epos, 0);
|
||||
|
||||
m_navQuery->findStraightPath(sPos, epos, m_polys, m_npolys,
|
||||
m_straightPath, m_straightPathFlags,
|
||||
m_straightPathPolys, &m_nstraightPath, MAX_POLYS, m_straightPathOptions);
|
||||
|
||||
// At this point we have our path. Copy it to the path store
|
||||
int nIndex = 0;
|
||||
for (int nVert = 0; nVert < m_nstraightPath; nVert++) {
|
||||
/*m_PathStore[nPathSlot].PosX[nVert] = StraightPath[nIndex++];
|
||||
m_PathStore[nPathSlot].PosY[nVert] = StraightPath[nIndex++];
|
||||
m_PathStore[nPathSlot].PosZ[nVert] = StraightPath[nIndex++];*/
|
||||
|
||||
NiPoint3 newPoint{ m_straightPath[nIndex++], m_straightPath[nIndex++], m_straightPath[nIndex++] };
|
||||
path.push_back(newPoint);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
m_npolys = 0;
|
||||
m_nstraightPath = 0;
|
||||
}
|
||||
|
||||
return path;
|
||||
}
|
||||
|
@ -1,6 +1,6 @@
|
||||
#pragma once
|
||||
|
||||
#include "Singleton.h"
|
||||
#include <vector>
|
||||
|
||||
//Navmesh includes:
|
||||
#include "Recast.h"
|
||||
@ -11,23 +11,7 @@
|
||||
#include <vector>
|
||||
#include <map>
|
||||
|
||||
static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET';
|
||||
static const int NAVMESHSET_VERSION = 1;
|
||||
|
||||
struct NavMeshSetHeader {
|
||||
int magic;
|
||||
int version;
|
||||
int numTiles;
|
||||
dtNavMeshParams params;
|
||||
};
|
||||
|
||||
struct NavMeshTileHeader {
|
||||
dtTileRef tileRef;
|
||||
int dataSize;
|
||||
};
|
||||
|
||||
static const int MAX_POLYS = 256;
|
||||
static const int MAX_SMOOTH = 2048;
|
||||
#include "dNavMesh.h"
|
||||
|
||||
class NiPoint3;
|
||||
class dpEntity;
|
||||
@ -38,22 +22,17 @@ public:
|
||||
void Initialize(unsigned int zoneID);
|
||||
|
||||
~dpWorld();
|
||||
void RecastCleanup();
|
||||
|
||||
bool LoadNavmeshByZoneID(unsigned int zoneID);
|
||||
dtNavMesh* LoadNavmesh(const char* path);
|
||||
bool ShouldLoadNavmesh(unsigned int zoneID);
|
||||
bool ShouldUseSP(unsigned int zoneID);
|
||||
|
||||
float GetHeightAtPoint(const NiPoint3& location);
|
||||
std::vector<NiPoint3> GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed = 10.0f);
|
||||
bool IsLoaded() const { return m_navMesh != nullptr; }
|
||||
bool IsLoaded() const { return m_NavMesh != nullptr; }
|
||||
|
||||
void StepWorld(float deltaTime);
|
||||
|
||||
void AddEntity(dpEntity* entity);
|
||||
void RemoveEntity(dpEntity* entity);
|
||||
|
||||
dNavMesh* GetNavMesh() { return m_NavMesh; }
|
||||
|
||||
private:
|
||||
dpGrid* m_Grid;
|
||||
bool phys_spatial_partitioning = 1;
|
||||
@ -63,18 +42,5 @@ private:
|
||||
std::vector<dpEntity*> m_StaticEntities;
|
||||
std::vector<dpEntity*> m_DynamicEntites;
|
||||
|
||||
//Navmesh stuffs:
|
||||
unsigned char* m_triareas;
|
||||
rcHeightfield* m_solid;
|
||||
rcCompactHeightfield* m_chf;
|
||||
rcContourSet* m_cset;
|
||||
rcPolyMesh* m_pmesh;
|
||||
rcConfig m_cfg;
|
||||
rcPolyMeshDetail* m_dmesh;
|
||||
|
||||
class InputGeom* m_geom;
|
||||
class dtNavMesh* m_navMesh;
|
||||
class dtNavMeshQuery* m_navQuery;
|
||||
unsigned char m_navMeshDrawFlags;
|
||||
rcContext* m_ctx;
|
||||
dNavMesh* m_NavMesh;
|
||||
};
|
||||
|
@ -17,7 +17,7 @@ void BaseEnemyMech::OnDie(Entity* self, Entity* killer) {
|
||||
ControllablePhysicsComponent* controlPhys = static_cast<ControllablePhysicsComponent*>(self->GetComponent(COMPONENT_TYPE_CONTROLLABLE_PHYSICS));
|
||||
if (!controlPhys) return;
|
||||
|
||||
NiPoint3 newLoc = { controlPhys->GetPosition().x, dpWorld::Instance().GetHeightAtPoint(controlPhys->GetPosition()), controlPhys->GetPosition().z };
|
||||
NiPoint3 newLoc = { controlPhys->GetPosition().x, dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(controlPhys->GetPosition()), controlPhys->GetPosition().z };
|
||||
|
||||
EntityInfo info = EntityInfo();
|
||||
std::vector<LDFBaseData*> cfg;
|
||||
|
@ -1,6 +1,6 @@
|
||||
set(DWORLDSERVER_SOURCES "ObjectIDManager.cpp"
|
||||
"PerformanceManager.cpp"
|
||||
"WorldServer.cpp")
|
||||
|
||||
|
||||
add_executable(WorldServer ${DWORLDSERVER_SOURCES})
|
||||
target_link_libraries(WorldServer ${COMMON_LIBRARIES} dChatFilter dGame dZoneManager dPhysics detour recast tinyxml2)
|
||||
target_link_libraries(WorldServer ${COMMON_LIBRARIES} dChatFilter dGame dZoneManager dPhysics detour recast tinyxml2 dNavigation)
|
||||
|
Loading…
Reference in New Issue
Block a user