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#include "navmeshmanager.hpp"
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#include "debug.hpp"
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#include "exceptions.hpp"
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#include "makenavmesh.hpp"
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#include "settings.hpp"
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#include "sharednavmesh.hpp"
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#include <DetourNavMesh.h>
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#include <BulletCollision/CollisionShapes/btConcaveShape.h>
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#include <iostream>
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namespace DetourNavigator
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{
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NavMeshManager::NavMeshManager(const Settings& settings)
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: mSettings(settings)
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, mRecastMeshManager(settings)
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, mAsyncNavMeshUpdater(settings)
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{}
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bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
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{
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if (!mRecastMeshManager.addObject(id, shape, transform))
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return false;
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++mRevision;
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addChangedTiles(shape, transform);
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return true;
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}
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bool NavMeshManager::removeObject(std::size_t id)
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{
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const auto object = mRecastMeshManager.removeObject(id);
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if (!object)
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return false;
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++mRevision;
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addChangedTiles(*object->mShape, object->mTransform);
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return true;
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}
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void NavMeshManager::addAgent(const osg::Vec3f& agentHalfExtents)
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{
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auto cached = mCache.find(agentHalfExtents);
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if (cached != mCache.end())
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return;
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mCache.insert(std::make_pair(agentHalfExtents,
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std::make_shared<NavMeshCacheItem>(NavMeshCacheItem {makeEmptyNavMesh(mSettings), mRevision}))
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);
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log("cache add for agent=", agentHalfExtents);
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}
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void NavMeshManager::reset(const osg::Vec3f& agentHalfExtents)
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{
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mCache.erase(agentHalfExtents);
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}
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void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents)
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{
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const auto& cached = getCached(agentHalfExtents);
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if (cached->mRevision >= mRevision)
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return;
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cached->mRevision = mRevision;
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const auto changedTiles = mChangedTiles.find(agentHalfExtents);
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if (changedTiles != mChangedTiles.end())
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{
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TilePosition playerTile;
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playerPosition *= mSettings.mRecastScaleFactor;
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std::swap(playerPosition.y(), playerPosition.z());
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cached->mValue.raw()->calcTileLoc(playerPosition.ptr(), &playerTile.x(), &playerTile.y());
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mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, playerTile,
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changedTiles->second);
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mChangedTiles.erase(changedTiles);
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log("cache update posted for agent=", agentHalfExtents);
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}
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}
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void NavMeshManager::wait()
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{
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mAsyncNavMeshUpdater.wait();
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}
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SharedNavMesh NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const
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{
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return getCached(agentHalfExtents)->mValue;
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}
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void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform)
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{
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btVector3 aabbMin;
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btVector3 aabbMax;
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shape.getAabb(transform, aabbMin, aabbMax);
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osg::Vec3f min(aabbMin.x(), aabbMin.z(), aabbMin.y());
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osg::Vec3f max(aabbMax.x(), aabbMax.z(), aabbMax.y());
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min *= mSettings.mRecastScaleFactor;
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max *= mSettings.mRecastScaleFactor;
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for (auto& v : mCache)
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{
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if (const auto& item = v.second)
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{
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auto& changedTiles = mChangedTiles[v.first];
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int minTileX;
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int minTileY;
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item->mValue.raw()->calcTileLoc(min.ptr(), &minTileX, &minTileY);
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int maxTileX;
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int maxTileY;
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item->mValue.raw()->calcTileLoc(max.ptr(), &maxTileX, &maxTileY);
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if (minTileX > maxTileX)
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std::swap(minTileX, maxTileX);
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if (minTileY > maxTileY)
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std::swap(minTileY, maxTileY);
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for (int tileX = minTileX; tileX <= maxTileX; ++tileX)
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for (int tileY = minTileY; tileY <= maxTileY; ++tileY)
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changedTiles.insert(TilePosition {tileX, tileY});
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}
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}
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}
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const std::shared_ptr<NavMeshCacheItem>& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const
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{
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const auto cached = mCache.find(agentHalfExtents);
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if (cached != mCache.end())
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return cached->second;
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std::ostringstream stream;
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stream << "Agent with half extents is not found: " << agentHalfExtents;
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throw InvalidArgument(stream.str());
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}
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}
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