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Code Releases Wiki Activity

Added node for Navigation links

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This commit is contained in:
Josh Jones
2022-01-30 15:39:52 -08:00
parent 4808d01b2b
commit 3dd59013f4
34 changed files with 2563 additions and 49 deletions
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164
modules/navigation/nav_map.cpp
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@@ -31,6 +31,7 @@
#include "nav_map.h"
#include "core/object/worker_thread_pool.h"
#include "nav_link.h"
#include "nav_region.h"
#include "rvo_agent.h"
#include <algorithm>
@@ -52,6 +53,11 @@ void NavMap::set_edge_connection_margin(float p_edge_connection_margin) {
regenerate_links = true;
}
void NavMap::set_link_connection_radius(float p_link_connection_radius) {
link_connection_radius = p_link_connection_radius;
regenerate_links = true;
}
gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
const int x = int(Math::floor(p_pos.x / cell_size));
const int y = int(Math::floor(p_pos.y / cell_size));
@@ -158,17 +164,17 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
continue;
}
float region_enter_cost = 0.0;
float region_travel_cost = least_cost_poly->poly->owner->get_travel_cost();
float poly_enter_cost = 0.0;
float poly_travel_cost = least_cost_poly->poly->owner->get_travel_cost();
if (prev_least_cost_poly != nullptr && !(prev_least_cost_poly->poly->owner->get_self() == least_cost_poly->poly->owner->get_self())) {
region_enter_cost = least_cost_poly->poly->owner->get_enter_cost();
if (prev_least_cost_poly != nullptr && (prev_least_cost_poly->poly->owner->get_self() != least_cost_poly->poly->owner->get_self())) {
poly_enter_cost = least_cost_poly->poly->owner->get_enter_cost();
}
prev_least_cost_poly = least_cost_poly;
Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end };
const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly->entry, pathway);
const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * region_travel_cost) + region_enter_cost + least_cost_poly->traveled_distance;
const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly->traveled_distance;
int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon));
@@ -360,10 +366,15 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
// Add mid points
int np_id = least_cost_id;
while (np_id != -1 && navigation_polys[np_id].back_navigation_poly_id != -1) {
int prev = navigation_polys[np_id].back_navigation_edge;
int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
path.push_back(point);
if (navigation_polys[np_id].back_navigation_edge != -1) {
int prev = navigation_polys[np_id].back_navigation_edge;
int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
path.push_back(point);
} else {
path.push_back(navigation_polys[np_id].entry);
}
np_id = navigation_polys[np_id].back_navigation_poly_id;
}
@@ -475,6 +486,19 @@ void NavMap::remove_region(NavRegion *p_region) {
}
}
void NavMap::add_link(NavLink *p_link) {
links.push_back(p_link);
regenerate_links = true;
}
void NavMap::remove_link(NavLink *p_link) {
int64_t link_index = links.find(p_link);
if (link_index != -1) {
links.remove_at_unordered(link_index);
regenerate_links = true;
}
}
bool NavMap::has_agent(RvoAgent *agent) const {
return (agents.find(agent) != -1);
}
@@ -526,6 +550,12 @@ void NavMap::sync() {
}
}
for (uint32_t l = 0; l < links.size(); l++) {
if (links[l]->check_dirty()) {
regenerate_links = true;
}
}
if (regenerate_links) {
// Remove regions connections.
for (uint32_t r = 0; r < regions.size(); r++) {
@@ -651,7 +681,121 @@ void NavMap::sync() {
free_edge.polygon->edges[free_edge.edge].connections.push_back(new_connection);
// Add the connection to the region_connection map.
free_edge.polygon->owner->get_connections().push_back(new_connection);
((NavRegion *)free_edge.polygon->owner)->get_connections().push_back(new_connection);
}
}
uint32_t link_poly_idx = 0;
link_polygons.resize(links.size());
// Search for polygons within range of a nav link.
for (uint32_t l = 0; l < links.size(); l++) {
const NavLink *link = links[l];
const Vector3 start = link->get_start_location();
const Vector3 end = link->get_end_location();
gd::Polygon *closest_start_polygon = nullptr;
real_t closest_start_distance = link_connection_radius;
Vector3 closest_start_point;
gd::Polygon *closest_end_polygon = nullptr;
real_t closest_end_distance = link_connection_radius;
Vector3 closest_end_point;
// Create link to any polygons within the search radius of the start point.
for (uint32_t start_index = 0; start_index < polygons.size(); start_index++) {
gd::Polygon &start_poly = polygons[start_index];
// For each face check the distance to the start
for (uint32_t start_point_id = 2; start_point_id < start_poly.points.size(); start_point_id += 1) {
const Face3 start_face(start_poly.points[0].pos, start_poly.points[start_point_id - 1].pos, start_poly.points[start_point_id].pos);
const Vector3 start_point = start_face.get_closest_point_to(start);
const real_t start_distance = start_point.distance_to(start);
// Pick the polygon that is within our radius and is closer than anything we've seen yet.
if (start_distance <= link_connection_radius && start_distance < closest_start_distance) {
closest_start_distance = start_distance;
closest_start_point = start_point;
closest_start_polygon = &start_poly;
}
}
}
// Find any polygons within the search radius of the end point.
for (uint32_t end_index = 0; end_index < polygons.size(); end_index++) {
gd::Polygon &end_poly = polygons[end_index];
// For each face check the distance to the end
for (uint32_t end_point_id = 2; end_point_id < end_poly.points.size(); end_point_id += 1) {
const Face3 end_face(end_poly.points[0].pos, end_poly.points[end_point_id - 1].pos, end_poly.points[end_point_id].pos);
const Vector3 end_point = end_face.get_closest_point_to(end);
const real_t end_distance = end_point.distance_to(end);
// Pick the polygon that is within our radius and is closer than anything we've seen yet.
if (end_distance <= link_connection_radius && end_distance < closest_end_distance) {
closest_end_distance = end_distance;
closest_end_point = end_point;
closest_end_polygon = &end_poly;
}
}
}
// If we have both a start and end point, then create a synthetic polygon to route through.
if (closest_start_polygon && closest_end_polygon) {
gd::Polygon &new_polygon = link_polygons[link_poly_idx++];
new_polygon.owner = link;
new_polygon.edges.clear();
new_polygon.edges.resize(4);
new_polygon.points.clear();
new_polygon.points.reserve(4);
// Build a set of vertices that create a thin polygon going from the start to the end point.
new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) });
new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) });
new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) });
new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) });
Vector3 center;
for (int p = 0; p < 4; ++p) {
center += new_polygon.points[p].pos;
}
new_polygon.center = center / real_t(new_polygon.points.size());
new_polygon.clockwise = true;
// Setup connections to go forward in the link.
{
gd::Edge::Connection entry_connection;
entry_connection.polygon = &new_polygon;
entry_connection.edge = -1;
entry_connection.pathway_start = new_polygon.points[0].pos;
entry_connection.pathway_end = new_polygon.points[1].pos;
closest_start_polygon->edges[0].connections.push_back(entry_connection);
gd::Edge::Connection exit_connection;
exit_connection.polygon = closest_end_polygon;
exit_connection.edge = -1;
exit_connection.pathway_start = new_polygon.points[2].pos;
exit_connection.pathway_end = new_polygon.points[3].pos;
new_polygon.edges[2].connections.push_back(exit_connection);
}
// If the link is bi-directional, create connections from the end to the start.
if (link->is_bidirectional()) {
gd::Edge::Connection entry_connection;
entry_connection.polygon = &new_polygon;
entry_connection.edge = -1;
entry_connection.pathway_start = new_polygon.points[2].pos;
entry_connection.pathway_end = new_polygon.points[3].pos;
closest_end_polygon->edges[0].connections.push_back(entry_connection);
gd::Edge::Connection exit_connection;
exit_connection.polygon = closest_start_polygon;
exit_connection.edge = -1;
exit_connection.pathway_start = new_polygon.points[0].pos;
exit_connection.pathway_end = new_polygon.points[1].pos;
new_polygon.edges[0].connections.push_back(exit_connection);
}
}
}