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Use custom steps size to make smooth path depending on half extents

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elsid 2019-03-08 19:53:37 +03:00
parent 8fd6b37e34
commit b9f21ec81a
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GPG key ID: B845CB9FEE18AB40
5 changed files with 36 additions and 27 deletions
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7
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -301,8 +301,11 @@ namespace MWMechanics
{ {
try try
{ {
const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); const auto world = MWBase::Environment::get().getWorld();
navigator->findPath(halfExtents, startPoint, endPoint, flags, out); const auto realHalfExtents = world->getHalfExtents(actor); // This may differ from halfExtents argument
const auto stepSize = 2 * std::max(realHalfExtents.x(), realHalfExtents.y());
const auto navigator = world->getNavigator();
navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, out);
} }
catch (const DetourNavigator::NavigatorException& exception) catch (const DetourNavigator::NavigatorException& exception)
{ {

34
apps/openmw_test_suite/detournavigator/navigator.cpp
View file

@ -27,6 +27,7 @@ namespace
osg::Vec3f mEnd; osg::Vec3f mEnd;
std::deque<osg::Vec3f> mPath; std::deque<osg::Vec3f> mPath;
std::back_insert_iterator<std::deque<osg::Vec3f>> mOut; std::back_insert_iterator<std::deque<osg::Vec3f>> mOut;
float mStepSize;
DetourNavigatorNavigatorTest() DetourNavigatorNavigatorTest()
: mPlayerPosition(0, 0, 0) : mPlayerPosition(0, 0, 0)
@ -34,6 +35,7 @@ namespace
, mStart(-215, 215, 1) , mStart(-215, 215, 1)
, mEnd(215, -215, 1) , mEnd(215, -215, 1)
, mOut(mPath) , mOut(mPath)
, mStepSize(28.333332061767578125f)
{ {
mSettings.mEnableWriteRecastMeshToFile = false; mSettings.mEnableWriteRecastMeshToFile = false;
mSettings.mEnableWriteNavMeshToFile = false; mSettings.mEnableWriteNavMeshToFile = false;
@ -67,21 +69,21 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty) TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
{ {
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>()); EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
} }
TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception) TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
{ {
mNavigator->addAgent(mAgentHalfExtents); mNavigator->addAgent(mAgentHalfExtents);
EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException); EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), NavigatorException);
} }
TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_return_empty) TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_return_empty)
{ {
mNavigator->addAgent(mAgentHalfExtents); mNavigator->addAgent(mAgentHalfExtents);
mNavigator->removeAgent(mAgentHalfExtents); mNavigator->removeAgent(mAgentHalfExtents);
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>()); EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
} }
@ -90,7 +92,7 @@ namespace
mNavigator->addAgent(mAgentHalfExtents); mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addAgent(mAgentHalfExtents); mNavigator->addAgent(mAgentHalfExtents);
mNavigator->removeAgent(mAgentHalfExtents); mNavigator->removeAgent(mAgentHalfExtents);
EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException); EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), NavigatorException);
} }
TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path) TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path)
@ -110,7 +112,7 @@ namespace
mNavigator->update(mPlayerPosition); mNavigator->update(mPlayerPosition);
mNavigator->wait(); mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.85963428020477294921875), osg::Vec3f(-215, 215, 1.85963428020477294921875),
@ -160,7 +162,7 @@ namespace
mNavigator->update(mPlayerPosition); mNavigator->update(mPlayerPosition);
mNavigator->wait(); mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath)); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, std::back_inserter(mPath));
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.85963428020477294921875), osg::Vec3f(-215, 215, 1.85963428020477294921875),
@ -193,7 +195,7 @@ namespace
mNavigator->wait(); mNavigator->wait();
mPath.clear(); mPath.clear();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath)); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, std::back_inserter(mPath));
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.87826788425445556640625), osg::Vec3f(-215, 215, 1.87826788425445556640625),
@ -244,7 +246,7 @@ namespace
mNavigator->update(mPlayerPosition); mNavigator->update(mPlayerPosition);
mNavigator->wait(); mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath)); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, std::back_inserter(mPath));
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.87826788425445556640625), osg::Vec3f(-215, 215, 1.87826788425445556640625),
@ -279,7 +281,7 @@ namespace
mNavigator->wait(); mNavigator->wait();
mPath.clear(); mPath.clear();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.85963428020477294921875), osg::Vec3f(-215, 215, 1.85963428020477294921875),
@ -336,7 +338,7 @@ namespace
mNavigator->update(mPlayerPosition); mNavigator->update(mPlayerPosition);
mNavigator->wait(); mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.96328866481781005859375), osg::Vec3f(-215, 215, 1.96328866481781005859375),
@ -392,7 +394,7 @@ namespace
mNavigator->update(mPlayerPosition); mNavigator->update(mPlayerPosition);
mNavigator->wait(); mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.9393787384033203125), osg::Vec3f(-215, 215, 1.9393787384033203125),
@ -445,7 +447,7 @@ namespace
mEnd.x() = 0; mEnd.x() = 0;
mEnd.z() = 300; mEnd.z() = 300;
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(0, 215, 185.33331298828125), osg::Vec3f(0, 215, 185.33331298828125),
@ -491,7 +493,7 @@ namespace
mStart.x() = 0; mStart.x() = 0;
mEnd.x() = 0; mEnd.x() = 0;
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim | Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(0, 215, -94.75363922119140625), osg::Vec3f(0, 215, -94.75363922119140625),
@ -537,7 +539,7 @@ namespace
mStart.x() = 0; mStart.x() = 0;
mEnd.x() = 0; mEnd.x() = 0;
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim | Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(0, 215, -94.75363922119140625), osg::Vec3f(0, 215, -94.75363922119140625),
@ -583,7 +585,7 @@ namespace
mStart.x() = 0; mStart.x() = 0;
mEnd.x() = 0; mEnd.x() = 0;
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(0, 215, -94.75363922119140625), osg::Vec3f(0, 215, -94.75363922119140625),
@ -632,7 +634,7 @@ namespace
mNavigator->update(mPlayerPosition); mNavigator->update(mPlayerPosition);
mNavigator->wait(); mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({ EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(-215, 215, 1.85963428020477294921875), osg::Vec3f(-215, 215, 1.85963428020477294921875),

11
components/detournavigator/findsmoothpath.hpp
View file

@ -166,7 +166,7 @@ namespace DetourNavigator
template <class OutputIterator> template <class OutputIterator>
OutputIterator makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, OutputIterator makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery,
const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end, const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end, const float stepSize,
std::vector<dtPolyRef> polygonPath, std::size_t maxSmoothPathSize, OutputIterator out) std::vector<dtPolyRef> polygonPath, std::size_t maxSmoothPathSize, OutputIterator out)
{ {
// Iterate over the path to find smooth path on the detail mesh surface. // Iterate over the path to find smooth path on the detail mesh surface.
@ -176,7 +176,6 @@ namespace DetourNavigator
osg::Vec3f targetPos; osg::Vec3f targetPos;
navMeshQuery.closestPointOnPoly(polygonPath.back(), end.ptr(), targetPos.ptr(), 0); navMeshQuery.closestPointOnPoly(polygonPath.back(), end.ptr(), targetPos.ptr(), 0);
const float STEP_SIZE = 0.5f;
const float SLOP = 0.01f; const float SLOP = 0.01f;
*out++ = iterPos; *out++ = iterPos;
@ -200,10 +199,10 @@ namespace DetourNavigator
const osg::Vec3f delta = steerTarget->steerPos - iterPos; const osg::Vec3f delta = steerTarget->steerPos - iterPos;
float len = delta.length(); float len = delta.length();
// If the steer target is end of path or off-mesh link, do not move past the location. // If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE) if ((endOfPath || offMeshConnection) && len < stepSize)
len = 1; len = 1;
else else
len = STEP_SIZE / len; len = stepSize / len;
const osg::Vec3f moveTgt = iterPos + delta * len; const osg::Vec3f moveTgt = iterPos + delta * len;
const auto result = moveAlongSurface(navMeshQuery, polygonPath.front(), iterPos, moveTgt, filter, 16); const auto result = moveAlongSurface(navMeshQuery, polygonPath.front(), iterPos, moveTgt, filter, 16);
@ -273,7 +272,7 @@ namespace DetourNavigator
} }
template <class OutputIterator> template <class OutputIterator>
OutputIterator findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, OutputIterator findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const float stepSize,
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
const Settings& settings, OutputIterator out) const Settings& settings, OutputIterator out)
{ {
@ -315,7 +314,7 @@ namespace DetourNavigator
if (polygonPath.empty() || polygonPath.back() != endRef) if (polygonPath.empty() || polygonPath.back() != endRef)
return out; return out;
makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, std::move(polygonPath), makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize, std::move(polygonPath),
settings.mMaxSmoothPathSize, OutputTransformIterator<OutputIterator>(out, settings)); settings.mMaxSmoothPathSize, OutputTransformIterator<OutputIterator>(out, settings));
return out; return out;

6
components/detournavigator/navigator.hpp
View file

@ -160,7 +160,7 @@ namespace DetourNavigator
* @throws InvalidArgument if there is no navmesh for given agentHalfExtents. * @throws InvalidArgument if there is no navmesh for given agentHalfExtents.
*/ */
template <class OutputIterator> template <class OutputIterator>
OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start, OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const float stepSize, const osg::Vec3f& start,
const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const
{ {
static_assert( static_assert(
@ -175,8 +175,8 @@ namespace DetourNavigator
return out; return out;
const auto settings = getSettings(); const auto settings = getSettings();
return findSmoothPath(navMesh.lock()->getValue(), toNavMeshCoordinates(settings, agentHalfExtents), return findSmoothPath(navMesh.lock()->getValue(), toNavMeshCoordinates(settings, agentHalfExtents),
toNavMeshCoordinates(settings, start), toNavMeshCoordinates(settings, end), includeFlags, toNavMeshCoordinates(settings, stepSize), toNavMeshCoordinates(settings, start),
settings, out); toNavMeshCoordinates(settings, end), includeFlags, settings, out);
} }
/** /**

5
components/detournavigator/settingsutils.hpp
View file

@ -31,6 +31,11 @@ namespace DetourNavigator
return agentHalfExtents.x() * settings.mRecastScaleFactor; return agentHalfExtents.x() * settings.mRecastScaleFactor;
} }
inline float toNavMeshCoordinates(const Settings& settings, float value)
{
return value * settings.mRecastScaleFactor;
}
inline osg::Vec3f toNavMeshCoordinates(const Settings& settings, osg::Vec3f position) inline osg::Vec3f toNavMeshCoordinates(const Settings& settings, osg::Vec3f position)
{ {
std::swap(position.y(), position.z()); std::swap(position.y(), position.z());