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#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATOR_H
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#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATOR_H
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#include "findsmoothpath.hpp"
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#include "flags.hpp"
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#include "navmeshmanager.hpp"
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#include "settings.hpp"
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#include "settingsutils.hpp"
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namespace DetourNavigator
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{
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struct ObjectShapes
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{
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const btCollisionShape& mShape;
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const btCollisionShape* mAvoid;
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ObjectShapes(const btCollisionShape& shape, const btCollisionShape* avoid)
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: mShape(shape), mAvoid(avoid)
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{}
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};
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struct DoorShapes : ObjectShapes
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{
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osg::Vec3f mConnectionStart;
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osg::Vec3f mConnectionEnd;
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DoorShapes(const btCollisionShape& shape, const btCollisionShape* avoid,
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const osg::Vec3f& connectionStart,const osg::Vec3f& connectionEnd)
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: ObjectShapes(shape, avoid)
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, mConnectionStart(connectionStart)
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, mConnectionEnd(connectionEnd)
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{}
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};
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/**
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* @brief Top level class of detournavigator componenet. Navigator allows to build a scene with navmesh and find
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* a path for an agent there. Scene contains agents, geometry objects and water. Agent are distinguished only by
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* half extents. Each object has unique identifier and could be added, updated or removed. Water could be added once
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* for each world cell at given level of height. Navmesh builds asynchronously in separate threads. To start build
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* navmesh call update method.
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*/
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class Navigator
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{
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public:
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/**
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* @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
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* @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
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*/
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Navigator(const Settings& settings);
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/**
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* @brief addAgent should be called for each agent even if all of them has same half extents.
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* @param agentHalfExtents allows to setup bounding cylinder for each agent, for each different half extents
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* there is different navmesh.
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*/
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void addAgent(const osg::Vec3f& agentHalfExtents);
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/**
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* @brief removeAgent should be called for each agent even if all of them has same half extents
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* @param agentHalfExtents allows determine which agent to remove
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*/
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void removeAgent(const osg::Vec3f& agentHalfExtents);
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/**
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* @brief addObject is used to add object represented by single btCollisionShape and btTransform.
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* @param id is used to distinguish different objects.
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* @param shape must live until object is updated by another shape removed from Navigator.
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* @param transform allows to setup object geometry according to its world state.
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* @return true if object is added, false if there is already object with given id.
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*/
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bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
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/**
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* @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes
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* @param id is used to distinguish different objects
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* @param shape members must live until object is updated by another shape removed from Navigator
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* @param transform allows to setup objects geometry according to its world state
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* @return true if object is added, false if there is already object with given id
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*/
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bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
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/**
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* @brief addObject is used to add doors.
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* @param id is used to distinguish different objects.
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* @param shape members must live until object is updated by another shape or removed from Navigator.
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* @param transform allows to setup objects geometry according to its world state.
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* @return true if object is added, false if there is already object with given id.
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*/
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bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
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/**
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* @brief updateObject replace object geometry by given data.
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* @param id is used to find object.
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* @param shape must live until object is updated by another shape removed from Navigator.
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* @param transform allows to setup objects geometry according to its world state.
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* @return true if object is updated, false if there is no object with given id.
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*/
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bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
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/**
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* @brief updateObject replace object geometry by given data.
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* @param id is used to find object.
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* @param shape members must live until object is updated by another shape removed from Navigator.
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* @param transform allows to setup objects geometry according to its world state.
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* @return true if object is updated, false if there is no object with given id.
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*/
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bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
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/**
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* @brief updateObject replace object geometry by given data.
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* @param id is used to find object.
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* @param shape members must live until object is updated by another shape removed from Navigator.
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* @param transform allows to setup objects geometry according to its world state.
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* @return true if object is updated, false if there is no object with given id.
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*/
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bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
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/**
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* @brief removeObject to make it no more available at the scene.
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* @param id is used to find object.
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* @return true if object is removed, false if there is no object with given id.
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*/
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bool removeObject(const ObjectId id);
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/**
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* @brief addWater is used to set water level at given world cell.
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* @param cellPosition allows to distinguish cells if there is many in current world.
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* @param cellSize set cell borders. std::numeric_limits<int>::max() disables cell borders.
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* @param level set z coordinate of water surface at the scene.
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* @param transform set global shift of cell center.
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* @return true if there was no water at given cell if cellSize != std::numeric_limits<int>::max() or there is
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* at least single object is added to the scene, false if there is already water for given cell or there is no
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* any other objects.
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*/
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bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
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const btTransform& transform);
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/**
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* @brief removeWater to make it no more available at the scene.
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* @param cellPosition allows to find cell.
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* @return true if there was water at given cell.
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*/
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bool removeWater(const osg::Vec2i& cellPosition);
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/**
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* @brief update start background navmesh update using current scene state.
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* @param playerPosition setup initial point to order build tiles of navmesh.
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*/
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void update(const osg::Vec3f& playerPosition);
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/**
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* @brief wait locks thread until all tiles are updated from last update call.
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*/
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void wait();
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/**
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* @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
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* @param agentHalfExtents allows to find navmesh for given actor.
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* @param start path from given point.
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* @param end path at given point.
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* @param includeFlags setup allowed surfaces for actor to walk.
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* @param out the beginning of the destination range.
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* @return Output iterator to the element in the destination range, one past the last element of found path.
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* Equal to out if no path is found.
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* @throws InvalidArgument if there is no navmesh for given agentHalfExtents.
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*/
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template <class OutputIterator>
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OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start,
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const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const
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{
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static_assert(
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std::is_same<
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typename std::iterator_traits<OutputIterator>::iterator_category,
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std::output_iterator_tag
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>::value,
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"out is not an OutputIterator"
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);
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const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents);
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return findSmoothPath(navMesh.lock()->getValue(), toNavMeshCoordinates(mSettings, agentHalfExtents),
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toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags,
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mSettings, out);
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}
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/**
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* @brief getNavMeshes returns all current navmeshes
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* @return map of agent half extents to navmesh
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*/
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std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const;
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const Settings& getSettings() const;
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private:
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Settings mSettings;
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NavMeshManager mNavMeshManager;
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std::map<osg::Vec3f, std::size_t> mAgents;
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std::unordered_map<ObjectId, ObjectId> mAvoidIds;
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std::unordered_map<ObjectId, ObjectId> mWaterIds;
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void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId);
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void updateWaterShapeId(const ObjectId id, const ObjectId waterId);
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void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids);
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};
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}
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#endif
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