Move Navmesh code away from dPhysics (#701)

This commit is contained in:
Jett 2022-08-02 06:30:19 +01:00 committed by GitHub
parent a0aa8b2854
commit 9ee219ea42
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GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 349 additions and 323 deletions

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@ -14,7 +14,7 @@ string(REPLACE "\n" ";" variables ${variables})
foreach(variable ${variables})
# If the string contains a #, skip it
if(NOT "${variable}" MATCHES "#")
# Split the variable into name and value
string(REPLACE "=" ";" variable ${variable})
@ -43,7 +43,7 @@ set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT
message(STATUS "Version: ${PROJECT_VERSION}")
# Compiler flags:
# Disabled deprecated warnings as the MySQL includes have deprecated code in them.
# Disabled deprecated warnings as the MySQL includes have deprecated code in them.
# Disabled misleading indentation as DL_LinkedList from RakNet has a weird indent.
# Disabled no-register
# Disabled unknown pragmas because Linux doesn't understand Windows pragmas.
@ -118,17 +118,18 @@ endforeach()
set(INCLUDED_DIRECTORIES
"dCommon"
"dChatFilter"
"dGame"
"dGame/dBehaviors"
"dGame/dComponents"
"dGame/dGameMessages"
"dGame/dInventory"
"dGame/dMission"
"dGame/dEntity"
"dGame/dUtilities"
"dPhysics"
"dZoneManager"
"dDatabase"
"dGame"
"dGame/dBehaviors"
"dGame/dComponents"
"dGame/dGameMessages"
"dGame/dInventory"
"dGame/dMission"
"dGame/dEntity"
"dGame/dUtilities"
"dPhysics"
"dNavigation"
"dZoneManager"
"dDatabase"
"dDatabase/Tables"
"dNet"
"dScripts"
@ -192,7 +193,7 @@ file(
file(
GLOB HEADERS_DGAME
LIST_DIRECTORIES false
${PROJECT_SOURCE_DIR}/dGame/Entity.h
${PROJECT_SOURCE_DIR}/dGame/Entity.h
${PROJECT_SOURCE_DIR}/dGame/dGameMessages/GameMessages.h
${PROJECT_SOURCE_DIR}/dGame/EntityManager.h
${PROJECT_SOURCE_DIR}/dScripts/CppScripts.h
@ -206,6 +207,7 @@ add_subdirectory(dNet)
add_subdirectory(dScripts) # Add for dGame to use
add_subdirectory(dGame)
add_subdirectory(dZoneManager)
add_subdirectory(dNavigation)
add_subdirectory(dPhysics)
# Create a list of common libraries shared between all binaries
@ -230,18 +232,18 @@ add_subdirectory(dMasterServer) # Add MasterServer last so it can rely on the ot
# Add our precompiled headers
target_precompile_headers(
dGame PRIVATE
dGame PRIVATE
${HEADERS_DGAME}
)
target_precompile_headers(
dZoneManager PRIVATE
dZoneManager PRIVATE
${HEADERS_DZONEMANAGER}
)
# Need to specify to use the CXX compiler language here or else we get errors including <string>.
target_precompile_headers(
dDatabase PRIVATE
dDatabase PRIVATE
"$<$<COMPILE_LANGUAGE:CXX>:${HEADERS_DDATABASE}>"
)
@ -253,4 +255,4 @@ target_precompile_headers(
target_precompile_headers(
tinyxml2 PRIVATE
"$<$<COMPILE_LANGUAGE:CXX>:${PROJECT_SOURCE_DIR}/thirdparty/tinyxml2/tinyxml2.h>"
)
)

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@ -654,7 +654,7 @@ void BaseCombatAIComponent::Wander() {
auto destination = m_StartPosition + delta;
if (dpWorld::Instance().IsLoaded()) {
destination.y = dpWorld::Instance().GetHeightAtPoint(destination);
destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(destination);
}
if (Vector3::DistanceSquared(destination, m_MovementAI->GetCurrentPosition()) < 2 * 2) {

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@ -196,7 +196,7 @@ NiPoint3 MovementAIComponent::ApproximateLocation() const {
NiPoint3 approximation = NiPoint3(x, y, z);
if (dpWorld::Instance().IsLoaded()) {
approximation.y = dpWorld::Instance().GetHeightAtPoint(approximation);
approximation.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(approximation);
}
return approximation;
@ -208,7 +208,7 @@ bool MovementAIComponent::Warp(const NiPoint3& point) {
NiPoint3 destination = point;
if (dpWorld::Instance().IsLoaded()) {
destination.y = dpWorld::Instance().GetHeightAtPoint(point);
destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(point);
if (std::abs(destination.y - point.y) > 3) {
return false;
@ -387,7 +387,7 @@ void MovementAIComponent::SetDestination(const NiPoint3& value) {
std::vector<NiPoint3> computedPath;
if (dpWorld::Instance().IsLoaded()) {
computedPath = dpWorld::Instance().GetPath(GetCurrentPosition(), value, m_Info.wanderSpeed);
computedPath = dpWorld::Instance().GetNavMesh()->GetPath(GetCurrentPosition(), value, m_Info.wanderSpeed);
} else {
// Than take 10 points between the current position and the destination and make that the path
@ -416,7 +416,7 @@ void MovementAIComponent::SetDestination(const NiPoint3& value) {
// Simply path
for (auto point : computedPath) {
if (dpWorld::Instance().IsLoaded()) {
point.y = dpWorld::Instance().GetHeightAtPoint(point);
point.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(point);
}
m_CurrentPath.push_back(point);

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@ -267,14 +267,14 @@ void PetComponent::OnUse(Entity* originator) {
if (dpWorld::Instance().IsLoaded()) {
NiPoint3 attempt = petPosition + forward * interactionDistance;
float y = dpWorld::Instance().GetHeightAtPoint(attempt);
float y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(attempt);
while (std::abs(y - petPosition.y) > 4 && interactionDistance > 10) {
const NiPoint3 forward = m_Parent->GetRotation().GetForwardVector();
attempt = originatorPosition + forward * interactionDistance;
y = dpWorld::Instance().GetHeightAtPoint(attempt);
y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(attempt);
interactionDistance -= 0.5f;
}
@ -819,7 +819,7 @@ void PetComponent::Wander() {
auto destination = m_StartPosition + delta;
if (dpWorld::Instance().IsLoaded()) {
destination.y = dpWorld::Instance().GetHeightAtPoint(destination);
destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(destination);
}
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
auto control = static_cast<ControllablePhysicsComponent*>(entity->GetComponent(COMPONENT_TYPE_CONTROLLABLE_PHYSICS));
if (!control) return;
float y = dpWorld::Instance().GetHeightAtPoint(control->GetPosition());
float y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(control->GetPosition());
std::u16string msg = u"Navmesh height: " + (GeneralUtils::to_u16string(y));
ChatPackets::SendSystemMessage(sysAddr, msg);
}

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@ -0,0 +1,4 @@
set(DNAVIGATION_SOURCES "dNavMesh.cpp")
add_library(dNavigation STATIC ${DNAVIGATION_SOURCES})
target_link_libraries(dNavigation detour recast)

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@ -0,0 +1,25 @@
#pragma once
#include "Recast.h"
#include "DetourCommon.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourNavMeshQuery.h"
static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // char[4] of '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;

228
dNavigation/dNavMesh.cpp Normal file
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@ -0,0 +1,228 @@
#include "dNavMesh.h"
#include "Game.h"
#include "dLogger.h"
#include "dPlatforms.h"
#include "NiPoint3.h"
#include "BinaryIO.h"
dNavMesh::dNavMesh(uint32_t zoneId) {
m_ZoneId = zoneId;
this->LoadNavmesh();
if (m_NavMesh) {
m_NavQuery = dtAllocNavMeshQuery();
m_NavQuery->init(m_NavMesh, 2048);
Game::logger->Log("dNavMesh", "Navmesh loaded successfully!");
} else {
Game::logger->Log("dNavMesh", "Navmesh loading failed (This may be intended).");
}
}
dNavMesh::~dNavMesh() {
// Clean up Recast information
rcFreeHeightField(m_Solid);
rcFreeCompactHeightfield(m_CHF);
rcFreeContourSet(m_CSet);
rcFreePolyMesh(m_PMesh);
rcFreePolyMeshDetail(m_PMDMesh);
dtFreeNavMesh(m_NavMesh);
dtFreeNavMeshQuery(m_NavQuery);
if (m_Ctx) delete m_Ctx;
if (m_Triareas) delete[] m_Triareas;
}
void dNavMesh::LoadNavmesh() {
std::string path = "./res/maps/navmeshes/" + std::to_string(m_ZoneId) + ".bin";
if (!BinaryIO::DoesFileExist(path)) {
return;
}
FILE* fp;
#ifdef _WIN32
fopen_s(&fp, path.c_str(), "rb");
#elif __APPLE__
// macOS has 64bit file IO by default
fp = fopen(path.c_str(), "rb");
#else
fp = fopen64(path.c_str(), "rb");
#endif
if (!fp) {
return;
}
// Read header.
NavMeshSetHeader header;
size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
if (readLen != 1) {
fclose(fp);
return;
}
if (header.magic != NAVMESHSET_MAGIC) {
fclose(fp);
return;
}
if (header.version != NAVMESHSET_VERSION) {
fclose(fp);
return;
}
dtNavMesh* mesh = dtAllocNavMesh();
if (!mesh) {
fclose(fp);
return;
}
dtStatus status = mesh->init(&header.params);
if (dtStatusFailed(status)) {
fclose(fp);
return;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i) {
NavMeshTileHeader tileHeader;
readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (readLen != 1) return;
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;
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
}
fclose(fp);
m_NavMesh = mesh;
}
float dNavMesh::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> dNavMesh::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++) {
NiPoint3 newPoint{ m_straightPath[nIndex++], m_straightPath[nIndex++], m_straightPath[nIndex++] };
path.push_back(newPoint);
}
}
} else {
m_npolys = 0;
m_nstraightPath = 0;
}
return path;
}

38
dNavigation/dNavMesh.h Normal file
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@ -0,0 +1,38 @@
#pragma once
#include <cstdint>
#include <vector>
#include <map>
#include <string>
#include <cstring>
#include "DetourExtensions.h"
class NiPoint3;
class dNavMesh {
public:
dNavMesh(uint32_t zoneId);
~dNavMesh();
float GetHeightAtPoint(const NiPoint3& location);
std::vector<NiPoint3> GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed = 10.0f);
private:
void LoadNavmesh();
uint32_t m_ZoneId;
uint8_t* m_Triareas = nullptr;
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;
};

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@ -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;
}

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@ -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;
};

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@ -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;

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@ -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)