You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
47 lines
1.6 KiB
C++
47 lines
1.6 KiB
C++
#include "findrandompointaroundcircle.hpp"
|
|
#include "settings.hpp"
|
|
#include "findsmoothpath.hpp"
|
|
|
|
#include <components/misc/rng.hpp>
|
|
|
|
#include <DetourCommon.h>
|
|
#include <DetourNavMesh.h>
|
|
#include <DetourNavMeshQuery.h>
|
|
|
|
namespace DetourNavigator
|
|
{
|
|
boost::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
|
|
const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const Settings& settings)
|
|
{
|
|
dtNavMeshQuery navMeshQuery;
|
|
if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
|
|
return boost::optional<osg::Vec3f>();
|
|
|
|
dtQueryFilter queryFilter;
|
|
queryFilter.setIncludeFlags(includeFlags);
|
|
|
|
dtPolyRef startRef = 0;
|
|
osg::Vec3f startPolygonPosition;
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
const auto status = navMeshQuery.findNearestPoly(start.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
|
|
&startRef, startPolygonPosition.ptr());
|
|
if (!dtStatusFailed(status) && startRef != 0)
|
|
break;
|
|
}
|
|
|
|
if (startRef == 0)
|
|
return boost::optional<osg::Vec3f>();
|
|
|
|
dtPolyRef resultRef = 0;
|
|
osg::Vec3f resultPosition;
|
|
navMeshQuery.findRandomPointAroundCircle(startRef, start.ptr(), maxRadius, &queryFilter,
|
|
&Misc::Rng::rollProbability, &resultRef, resultPosition.ptr());
|
|
|
|
if (resultRef == 0)
|
|
return boost::optional<osg::Vec3f>();
|
|
|
|
return boost::optional<osg::Vec3f>(resultPosition);
|
|
}
|
|
}
|