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Merge branch 'fix_new_game_guard_3' into 'master'

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Fix new game guard 3 (#6126)

Closes #6126

See merge request OpenMW/openmw!976

(cherry picked from commit 89ca56632c6bc37f07e430e7f5cd23d855610b19)

a3942a1e Remove redundant check for y coordinate in inRange function
cc08a45c Move include where it is needed
7e1630a7 Remove redundant getPolyHeight wrapper
793c30ab Check dtNavMeshQuery::getPolyHeight status
a54c4bc2 Check dtNavMeshQuery::findStraightPath status
94e460ba Use proper check for distance
5624fe19 Consider path not found when there is navmesh query error
This commit is contained in:
psi29a 2021-07-01 08:59:13 +00:00
parent c68cecb1eb
commit bb393cb91c
4 changed files with 49 additions and 45 deletions
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33
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -369,7 +369,13 @@ namespace MWMechanics
mPath.clear();
// If it's not possible to build path over navmesh due to disabled navmesh generation fallback to straight path
if (!buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts, std::back_inserter(mPath)))
DetourNavigator::Status status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags,
areaCosts, std::back_inserter(mPath));
if (status != DetourNavigator::Status::Success)
mPath.clear();
if (status == DetourNavigator::Status::NavMeshNotFound)
mPath.push_back(endPoint);
mConstructed = !mPath.empty();
@ -382,25 +388,33 @@ namespace MWMechanics
mPath.clear();
mCell = cell;
bool hasNavMesh = false;
DetourNavigator::Status status = DetourNavigator::Status::NavMeshNotFound;
if (!actor.getClass().isPureWaterCreature(actor) && !actor.getClass().isPureFlyingCreature(actor))
hasNavMesh = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts, std::back_inserter(mPath));
{
status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts, std::back_inserter(mPath));
if (status != DetourNavigator::Status::Success)
mPath.clear();
}
if (hasNavMesh && mPath.empty())
buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents,
if (status != DetourNavigator::Status::NavMeshNotFound && mPath.empty())
{
status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents,
flags | DetourNavigator::Flag_usePathgrid, areaCosts, std::back_inserter(mPath));
if (status != DetourNavigator::Status::Success)
mPath.clear();
}
if (mPath.empty())
buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath));
if (!hasNavMesh && mPath.empty())
if (status == DetourNavigator::Status::NavMeshNotFound && mPath.empty())
mPath.push_back(endPoint);
mConstructed = !mPath.empty();
}
bool PathFinder::buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
DetourNavigator::Status PathFinder::buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
const DetourNavigator::AreaCosts& areaCosts, std::back_insert_iterator<std::deque<osg::Vec3f>> out)
{
@ -409,9 +423,6 @@ namespace MWMechanics
const auto navigator = world->getNavigator();
const auto status = navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, areaCosts, out);
if (status == DetourNavigator::Status::NavMeshNotFound)
return false;
if (status != DetourNavigator::Status::Success)
{
Log(Debug::Debug) << "Build path by navigator error: \"" << DetourNavigator::getMessage(status)
@ -420,7 +431,7 @@ namespace MWMechanics
<< DetourNavigator::WriteFlags {flags} << ")";
}
return true;
return status;
}
void PathFinder::buildPathByNavMeshToNextPoint(const MWWorld::ConstPtr& actor, const osg::Vec3f& halfExtents,

8
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -7,6 +7,7 @@
#include <components/detournavigator/flags.hpp>
#include <components/detournavigator/areatype.hpp>
#include <components/detournavigator/status.hpp>
#include <components/esm/defs.hpp>
#include <components/esm/loadpgrd.hpp>
@ -209,9 +210,10 @@ namespace MWMechanics
void buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const PathgridGraph& pathgridGraph, std::back_insert_iterator<std::deque<osg::Vec3f>> out);
bool buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
const DetourNavigator::AreaCosts& areaCosts, std::back_insert_iterator<std::deque<osg::Vec3f>> out);
[[nodiscard]] DetourNavigator::Status buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor,
const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts,
std::back_insert_iterator<std::deque<osg::Vec3f>> out);
};
}

13
components/detournavigator/findsmoothpath.cpp
View file

@ -1,5 +1,7 @@
#include "findsmoothpath.hpp"
#include <components/misc/convert.hpp>
#include <algorithm>
#include <array>
@ -103,7 +105,7 @@ namespace DetourNavigator
return result;
}
std::optional<SteerTarget> getSteerTarget(const dtNavMeshQuery& navQuery, const osg::Vec3f& startPos,
std::optional<SteerTarget> getSteerTarget(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& startPos,
const osg::Vec3f& endPos, const float minTargetDist, const std::vector<dtPolyRef>& path)
{
// Find steer target.
@ -113,8 +115,11 @@ namespace DetourNavigator
std::array<unsigned char, maxSteerPoints> steerPathFlags;
std::array<dtPolyRef, maxSteerPoints> steerPathPolys;
int nsteerPath = 0;
navQuery.findStraightPath(startPos.ptr(), endPos.ptr(), path.data(), int(path.size()), steerPath.data(),
steerPathFlags.data(), steerPathPolys.data(), &nsteerPath, maxSteerPoints);
const dtStatus status = navMeshQuery.findStraightPath(startPos.ptr(), endPos.ptr(), path.data(),
static_cast<int>(path.size()), steerPath.data(), steerPathFlags.data(), steerPathPolys.data(),
&nsteerPath, maxSteerPoints);
if (dtStatusFailed(status))
return std::nullopt;
assert(nsteerPath >= 0);
if (!nsteerPath)
return std::nullopt;
@ -125,7 +130,7 @@ namespace DetourNavigator
{
// Stop at Off-Mesh link or when point is further than slop away.
if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ||
!inRange(Misc::Convert::makeOsgVec3f(&steerPath[ns * 3]), startPos, minTargetDist, 1000.0f))
!inRange(Misc::Convert::makeOsgVec3f(&steerPath[ns * 3]), startPos, minTargetDist))
break;
ns++;
}

40
components/detournavigator/findsmoothpath.hpp
View file

@ -14,9 +14,8 @@
#include <DetourNavMesh.h>
#include <DetourNavMeshQuery.h>
#include <components/misc/convert.hpp>
#include <osg/Vec3f>
#include <cassert>
#include <vector>
@ -26,10 +25,9 @@ namespace DetourNavigator
{
struct Settings;
inline bool inRange(const osg::Vec3f& v1, const osg::Vec3f& v2, const float r, const float h)
inline bool inRange(const osg::Vec3f& v1, const osg::Vec3f& v2, const float r)
{
const auto d = v2 - v1;
return (d.x() * d.x() + d.z() * d.z()) < r * r && std::abs(d.y()) < h;
return (osg::Vec2f(v1.x(), v1.z()) - osg::Vec2f(v2.x(), v2.z())).length() < r;
}
std::vector<dtPolyRef> fixupCorridor(const std::vector<dtPolyRef>& path, const std::vector<dtPolyRef>& visited);
@ -143,15 +141,6 @@ namespace DetourNavigator
return {std::move(result)};
}
inline std::optional<float> getPolyHeight(const dtNavMeshQuery& navMeshQuery, const dtPolyRef ref, const osg::Vec3f& pos)
{
float result = 0.0f;
const auto status = navMeshQuery.getPolyHeight(ref, pos.ptr(), &result);
if (!dtStatusSucceed(status))
return {};
return result;
}
template <class OutputIterator>
Status makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery,
const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end, const float stepSize,
@ -201,13 +190,8 @@ namespace DetourNavigator
polygonPath = fixupCorridor(polygonPath, result->mVisited);
polygonPath = fixupShortcuts(polygonPath, navMeshQuery);
float h = 0;
navMeshQuery.getPolyHeight(polygonPath.front(), result->mResultPos.ptr(), &h);
iterPos = result->mResultPos;
iterPos.y() = h;
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(iterPos, steerTarget->steerPos, slop, 1.0f))
if (endOfPath && inRange(result->mResultPos, steerTarget->steerPos, slop))
{
// Reached end of path.
iterPos = targetPos;
@ -215,7 +199,7 @@ namespace DetourNavigator
++smoothPathSize;
break;
}
else if (offMeshConnection && inRange(iterPos, steerTarget->steerPos, slop, 1.0f))
else if (offMeshConnection && inRange(result->mResultPos, steerTarget->steerPos, slop))
{
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0;
@ -249,16 +233,18 @@ namespace DetourNavigator
}
// Move position at the other side of the off-mesh link.
iterPos = endPos;
const auto height = getPolyHeight(navMeshQuery, polygonPath.front(), iterPos);
if (!height)
if (dtStatusFailed(navMeshQuery.getPolyHeight(polygonPath.front(), endPos.ptr(), &iterPos.y())))
return Status::GetPolyHeightFailed;
iterPos.y() = *height;
iterPos.x() = endPos.x();
iterPos.z() = endPos.z();
}
}
if (dtStatusFailed(navMeshQuery.getPolyHeight(polygonPath.front(), result->mResultPos.ptr(), &iterPos.y())))
return Status::GetPolyHeightFailed;
iterPos.x() = result->mResultPos.x();
iterPos.z() = result->mResultPos.z();
// Store results.
*out++ = iterPos;
++smoothPathSize;