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Merge branch 'find_nearest_nav_mesh_position' into 'master'

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Add Navigator and Lua API function to find nearest position on navmesh

See merge request OpenMW/openmw!2681
macos_ci_fix
Zackhasacat 1 year ago
parent f3770a2364 94b085af9e
commit ad1d6c0d0f
9 changed files with 255 additions and 115 deletions
Show Stats Download Patch File Download Diff File

37
apps/openmw/mwlua/nearbybindings.cpp
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@ -3,11 +3,15 @@
#include <components/detournavigator/navigator.hpp>
#include <components/detournavigator/navigatorutils.hpp>
#include <components/lua/luastate.hpp>
#include <components/misc/constants.hpp>
#include <components/settings/values.hpp>
#include "../mwbase/environment.hpp"
#include "../mwbase/world.hpp"
#include "../mwphysics/raycasting.hpp"
#include "../mwworld/cell.hpp"
#include "../mwworld/cellstore.hpp"
#include "../mwworld/scene.hpp"
#include "luamanagerimp.hpp"
#include "objectlists.hpp"
@ -262,6 +266,39 @@ namespace MWLua
*MWBase::Environment::get().getWorld()->getNavigator(), agentBounds, from, to, includeFlags);
};
api["findNearestNavMeshPosition"] = [](const osg::Vec3f& position, const sol::optional<sol::table>& options) {
DetourNavigator::AgentBounds agentBounds = defaultAgentBounds;
std::optional<osg::Vec3f> searchAreaHalfExtents;
DetourNavigator::Flags includeFlags = defaultIncludeFlags;
if (options.has_value())
{
if (const auto& t = options->get<sol::optional<sol::table>>("agentBounds"))
{
if (const auto& v = t->get<sol::optional<DetourNavigator::CollisionShapeType>>("shapeType"))
agentBounds.mShapeType = *v;
if (const auto& v = t->get<sol::optional<osg::Vec3f>>("halfExtents"))
agentBounds.mHalfExtents = *v;
}
if (const auto& v = options->get<sol::optional<osg::Vec3f>>("searchAreaHalfExtents"))
searchAreaHalfExtents = *v;
if (const auto& v = options->get<sol::optional<DetourNavigator::Flags>>("includeFlags"))
includeFlags = *v;
}
if (!searchAreaHalfExtents.has_value())
{
const bool isEsm4 = MWBase::Environment::get().getWorldScene()->getCurrentCell()->getCell()->isEsm4();
const float halfExtents = isEsm4
? (1 + 2 * Constants::ESM4CellGridRadius) * Constants::ESM4CellSizeInUnits
: (1 + 2 * Constants::CellGridRadius) * Constants::CellSizeInUnits;
searchAreaHalfExtents = osg::Vec3f(halfExtents, halfExtents, halfExtents);
}
return DetourNavigator::findNearestNavMeshPosition(*MWBase::Environment::get().getWorld()->getNavigator(),
agentBounds, position, *searchAreaHalfExtents, includeFlags);
};
return LuaUtil::makeReadOnly(api);
}
}

206
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -70,6 +70,22 @@ namespace
}
};
constexpr std::array<float, 5 * 5> defaultHeightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
constexpr std::array<btScalar, 5 * 5> defaultHeightfieldDataScalar{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
template <std::size_t size>
std::unique_ptr<btHeightfieldTerrainShape> makeSquareHeightfieldTerrainShape(
const std::array<btScalar, size>& values, btScalar heightScale = 1, int upAxis = 2,
@ -150,14 +166,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path)
{
constexpr std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
@ -177,20 +186,31 @@ namespace
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, find_path_to_the_start_position_should_contain_single_point)
{
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addHeightfield(mCellPosition, cellSize, surface, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mStart, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath, ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125))) << mPath;
}
TEST_F(DetourNavigatorNavigatorTest, add_object_should_change_navmesh)
{
mSettings.mWaitUntilMinDistanceToPlayer = 0;
mNavigator.reset(new NavigatorImpl(
mSettings, std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max())));
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
@ -235,14 +255,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, update_changed_object_should_change_navmesh)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
@ -288,14 +301,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, for_overlapping_heightfields_objects_should_use_higher)
{
const std::array<btScalar, 5 * 5> heightfieldData1{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
CollisionShapeInstance heightfield1(makeSquareHeightfieldTerrainShape(heightfieldData1));
CollisionShapeInstance heightfield1(makeSquareHeightfieldTerrainShape(defaultHeightfieldDataScalar));
heightfield1.shape().setLocalScaling(btVector3(128, 128, 1));
const std::array<btScalar, 5 * 5> heightfieldData2{ {
@ -328,14 +334,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, only_one_heightfield_per_cell_is_allowed)
{
const std::array<float, 5 * 5> heightfieldData1{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface1 = makeSquareHeightfieldSurface(heightfieldData1);
const HeightfieldSurface surface1 = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize1 = mHeightfieldTileSize * (surface1.mSize - 1);
const std::array<float, 5 * 5> heightfieldData2{ {
@ -366,14 +365,8 @@ namespace
{
osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
std::array<btScalar, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
std::unique_ptr<btHeightfieldTerrainShape> shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
std::unique_ptr<btHeightfieldTerrainShape> shapePtr
= makeSquareHeightfieldTerrainShape(defaultHeightfieldDataScalar);
shapePtr->setLocalScaling(btVector3(128, 128, 1));
bulletShape->mCollisionShape.reset(shapePtr.release());
@ -542,14 +535,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, update_object_remove_and_update_then_find_path_should_return_path)
{
const std::array<btScalar, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
CollisionShapeInstance heightfield(makeSquareHeightfieldTerrainShape(heightfieldData));
CollisionShapeInstance heightfield(makeSquareHeightfieldTerrainShape(defaultHeightfieldDataScalar));
heightfield.shape().setLocalScaling(btVector3(128, 128, 1));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
@ -579,14 +565,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, update_heightfield_remove_and_update_then_find_path_should_return_path)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
@ -649,14 +628,7 @@ namespace
mNavigator.reset(new NavigatorImpl(
mSettings, std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max())));
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const btVector3 shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
@ -745,14 +717,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, update_then_raycast_should_return_position)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
@ -771,14 +736,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest,
update_for_oscillating_object_that_does_not_change_navmesh_should_not_trigger_navmesh_update)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance oscillatingBox(std::make_unique<btBoxShape>(btVector3(20, 20, 20)));
@ -837,14 +795,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, for_not_reachable_destination_find_path_should_provide_partial_path)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
@ -870,14 +821,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, end_tolerance_should_extent_available_destinations)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
@ -1000,4 +944,58 @@ namespace
INSTANTIATE_TEST_SUITE_P(NotSupportedAgentBounds, DetourNavigatorNavigatorNotSupportedAgentBoundsTest,
ValuesIn(notSupportedAgentBounds));
TEST_F(DetourNavigatorNavigatorTest, find_nearest_nav_mesh_position_should_return_nav_mesh_position)
{
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addHeightfield(mCellPosition, cellSize, surface, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
const osg::Vec3f position(250, 250, 0);
const osg::Vec3f searchAreaHalfExtents(1000, 1000, 1000);
EXPECT_THAT(findNearestNavMeshPosition(*mNavigator, mAgentBounds, position, searchAreaHalfExtents, Flag_walk),
Optional(Vec3fEq(250, 250, -62.5186)));
}
TEST_F(DetourNavigatorNavigatorTest, find_nearest_nav_mesh_position_should_return_nullopt_when_too_far)
{
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addHeightfield(mCellPosition, cellSize, surface, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
const osg::Vec3f position(250, 250, 250);
const osg::Vec3f searchAreaHalfExtents(100, 100, 100);
EXPECT_EQ(findNearestNavMeshPosition(*mNavigator, mAgentBounds, position, searchAreaHalfExtents, Flag_walk),
std::nullopt);
}
TEST_F(DetourNavigatorNavigatorTest, find_nearest_nav_mesh_position_should_return_nullopt_when_flags_do_not_match)
{
const HeightfieldSurface surface = makeSquareHeightfieldSurface(defaultHeightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addHeightfield(mCellPosition, cellSize, surface, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
const osg::Vec3f position(250, 250, 0);
const osg::Vec3f searchAreaHalfExtents(1000, 1000, 1000);
EXPECT_EQ(findNearestNavMeshPosition(*mNavigator, mAgentBounds, position, searchAreaHalfExtents, Flag_swim),
std::nullopt);
}
}

4
components/detournavigator/findsmoothpath.hpp
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@ -64,7 +64,7 @@ namespace DetourNavigator
std::reference_wrapper<const RecastSettings> mSettings;
};
inline std::optional<std::size_t> findPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
inline std::optional<std::size_t> findPolygonPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
const dtPolyRef endRef, const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& queryFilter,
std::span<dtPolyRef> pathBuffer)
{
@ -132,7 +132,7 @@ namespace DetourNavigator
std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
const auto polygonPathSize
= findPath(navMeshQuery, startRef, endRef, startNavMeshPos, endNavMeshPos, queryFilter, polygonPath);
= findPolygonPath(navMeshQuery, startRef, endRef, startNavMeshPos, endNavMeshPos, queryFilter, polygonPath);
if (!polygonPathSize.has_value())
return Status::FindPathOverPolygonsFailed;

40
components/detournavigator/navigatorutils.cpp
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@ -1,8 +1,11 @@
#include "navigatorutils.hpp"
#include "debug.hpp"
#include "findrandompointaroundcircle.hpp"
#include "navigator.hpp"
#include "raycast.hpp"
#include <components/debug/debuglog.hpp>
namespace DetourNavigator
{
std::optional<osg::Vec3f> findRandomPointAroundCircle(const Navigator& navigator, const AgentBounds& agentBounds,
@ -37,4 +40,41 @@ namespace DetourNavigator
return std::nullopt;
return fromNavMeshCoordinates(settings.mRecast, *result);
}
std::optional<osg::Vec3f> findNearestNavMeshPosition(const Navigator& navigator, const AgentBounds& agentBounds,
const osg::Vec3f& position, const osg::Vec3f& searchAreaHalfExtents, const Flags includeFlags)
{
const auto navMesh = navigator.getNavMesh(agentBounds);
if (navMesh == nullptr)
return std::nullopt;
const auto& settings = navigator.getSettings();
const osg::Vec3f navMeshPosition = toNavMeshCoordinates(settings.mRecast, position);
const auto lockedNavMesh = navMesh->lockConst();
dtNavMeshQuery navMeshQuery;
if (const dtStatus status
= navMeshQuery.init(&lockedNavMesh->getImpl(), settings.mDetour.mMaxNavMeshQueryNodes);
dtStatusFailed(status))
{
Log(Debug::Error) << "Failed to init dtNavMeshQuery for findNearestNavMeshPosition: "
<< WriteDtStatus{ status };
return std::nullopt;
}
dtQueryFilter queryFilter;
queryFilter.setIncludeFlags(includeFlags);
osg::Vec3f nearestNavMeshPos;
const osg::Vec3f endPolyHalfExtents = toNavMeshCoordinates(settings.mRecast, searchAreaHalfExtents);
dtPolyRef polyRef;
if (const dtStatus status = navMeshQuery.findNearestPoly(
navMeshPosition.ptr(), endPolyHalfExtents.ptr(), &queryFilter, &polyRef, nearestNavMeshPos.ptr());
dtStatusFailed(status) || polyRef == 0)
{
return std::nullopt;
}
return fromNavMeshCoordinates(settings.mRecast, nearestNavMeshPos);
}
}

23
components/detournavigator/navigatorutils.hpp
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@ -16,10 +16,10 @@ namespace DetourNavigator
{
/**
* @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
* @param agentBounds allows to find navmesh for given actor.
* @param agentBounds defines which navmesh to use.
* @param start path from given point.
* @param end path at given point.
* @param includeFlags setup allowed surfaces for actor to walk.
* @param includeFlags setup allowed navmesh areas.
* @param out the beginning of the destination range.
* @param endTolerance defines maximum allowed distance to end path point in addition to agentHalfExtents
* @return Status.
@ -42,10 +42,10 @@ namespace DetourNavigator
/**
* @brief findRandomPointAroundCircle returns random location on navmesh within the reach of specified location.
* @param agentBounds allows to find navmesh for given actor.
* @param agentBounds defines which navmesh to use.
* @param start is a position where the search starts.
* @param maxRadius limit maximum distance from start.
* @param includeFlags setup allowed surfaces for actor to walk.
* @param includeFlags setup allowed navmesh areas.
* @return not empty optional with position if point is found and empty optional if point is not found.
*/
std::optional<osg::Vec3f> findRandomPointAroundCircle(const Navigator& navigator, const AgentBounds& agentBounds,
@ -53,14 +53,25 @@ namespace DetourNavigator
/**
* @brief raycast finds farest navmesh point from start on a line from start to end that has path from start.
* @param agentBounds allows to find navmesh for given actor.
* @param agentBounds defines which navmesh to use.
* @param start of the line
* @param end of the line
* @param includeFlags setup allowed surfaces for actor to walk.
* @param includeFlags setup allowed navmesh areas.
* @return not empty optional with position if point is found and empty optional if point is not found.
*/
std::optional<osg::Vec3f> raycast(const Navigator& navigator, const AgentBounds& agentBounds,
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags);
/**
* @brief findNearestNavMeshPosition finds nearest position on navmesh within given area having given flags.
* @param agentBounds defines which navmesh to use.
* @param position is a center of the search area.
* @param searchAreaHalfExtents defines AABB like area around given postion.
* @param includeFlags setup allowed navmesh areas.
* @return not empty optional with position if position is found and empty optional if position is not found.
*/
std::optional<osg::Vec3f> findNearestNavMeshPosition(const Navigator& navigator, const AgentBounds& agentBounds,
const osg::Vec3f& position, const osg::Vec3f& searchAreaHalfExtents, const Flags includeFlags);
}
#endif

29
files/lua_api/openmw/nearby.lua
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@ -182,6 +182,17 @@
-- values (default: @{#NAVIGATOR_FLAGS.Walk} + @{#NAVIGATOR_FLAGS.Swim} + @{#NAVIGATOR_FLAGS.OpenDoor}
-- + @{#NAVIGATOR_FLAGS.UsePathgrid}).
---
-- A table of parameters for @{#nearby.findNearestNavMeshPosition}
-- @type FindNearestNavMeshPositionOptions
-- @field [parent=#NavMeshOptions] #AgentBounds agentBounds Identifies which navmesh to use.
-- @field [parent=#NavMeshOptions] #number includeFlags Allowed areas for agent to move, a sum of @{#NAVIGATOR_FLAGS}
-- values (default: @{#NAVIGATOR_FLAGS.Walk} + @{#NAVIGATOR_FLAGS.Swim} + @{#NAVIGATOR_FLAGS.OpenDoor}
-- + @{#NAVIGATOR_FLAGS.UsePathgrid}).
-- @field [parent=#NavMeshOptions] openmw.util#Vector3 searchAreaHalfExtents Defines AABB like area half extents around
-- given position (default: (1 + 2 * CellGridRadius) * CellSize * (1, 1, 1) where CellGridRadius and depends on cell
-- type to cover the whole active grid).
---
-- Find path over navigation mesh from source to destination with given options. Result is unstable since navigation
-- mesh generation is asynchronous.
@ -234,4 +245,22 @@
-- agentBounds = Actor.getPathfindingAgentBounds(self),
-- })
---
-- Finds a nearest position on navigation mesh to the given position within given search area.
-- @function [parent=#nearby] findNearestNavMeshPosition
-- @param openmw.util#Vector3 position Search area center.
-- @param #FindNearestNavMeshPositionOptions options An optional table with additional optional arguments.
-- @return openmw.util#Vector3, #nil
-- @usage local navMeshPosition = nearby.findNearestNavMeshPosition(position)
-- @usage local navMeshPosition = nearby.findNearestNavMeshPosition(position, {
-- includeFlags = nearby.NAVIGATOR_FLAGS.Swim,
-- })
-- @usage local navMeshPosition = nearby.findNearestNavMeshPosition(position, {
-- agentBounds = Actor.getPathfindingAgentBounds(self),
-- })
-- @usage local navMeshPosition = nearby.findNearestNavMeshPosition(position, {
-- searchAreaHalfExtents = util.vector3(1000, 1000, 1000),
-- includeFlags = nearby.NAVIGATOR_FLAGS.Walk,
-- })
return nil

23
scripts/data/integration_tests/test_lua_api/player.lua
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@ -82,7 +82,8 @@ testing.registerLocalTest('findPath',
}
local status, path = nearby.findPath(src, dst, options)
testing.expectEqual(status, nearby.FIND_PATH_STATUS.Success, 'Status')
testing.expectLessOrEqual((path[path:size()] - dst):length(), 1, 'Last path point')
testing.expectLessOrEqual((path[path:size()] - dst):length(), 1,
'Last path point ' .. testing.formatActualExpected(path[path:size()], dst))
end)
testing.registerLocalTest('findRandomPointAroundCircle',
@ -94,7 +95,8 @@ testing.registerLocalTest('findRandomPointAroundCircle',
includeFlags = nearby.NAVIGATOR_FLAGS.Walk,
}
local result = nearby.findRandomPointAroundCircle(position, maxRadius, options)
testing.expectGreaterThan((result - position):length(), 1, 'Random point')
testing.expectGreaterThan((result - position):length(), 1,
'Random point ' .. testing.formatActualExpected(result, position))
end)
testing.registerLocalTest('castNavigationRay',
@ -106,7 +108,22 @@ testing.registerLocalTest('castNavigationRay',
includeFlags = nearby.NAVIGATOR_FLAGS.Walk + nearby.NAVIGATOR_FLAGS.Swim,
}
local result = nearby.castNavigationRay(src, dst, options)
testing.expectLessOrEqual((result - dst):length(), 1, 'Navigation hit point')
testing.expectLessOrEqual((result - dst):length(), 1,
'Navigation hit point ' .. testing.formatActualExpected(result, dst))
end)
testing.registerLocalTest('findNearestNavMeshPosition',
function()
local position = util.vector3(4096, 4096, 1000)
local options = {
agentBounds = types.Actor.getPathfindingAgentBounds(self),
includeFlags = nearby.NAVIGATOR_FLAGS.Walk + nearby.NAVIGATOR_FLAGS.Swim,
searchAreaHalfExtents = util.vector3(1000, 1000, 1000),
}
local result = nearby.findNearestNavMeshPosition(position, options)
local expected = util.vector3(4096, 4096, 872.674)
testing.expectLessOrEqual((result - expected):length(), 1,
'Navigation mesh position ' .. testing.formatActualExpected(result, expected))
end)
return {

4
scripts/data/integration_tests/test_lua_api/test.lua
Unescape Escape View File

@ -95,6 +95,10 @@ tests = {
initPlayer()
testing.runLocalTest(player, 'castNavigationRay')
end},
{'findNearestNavMeshPosition', function()
initPlayer()
testing.runLocalTest(player, 'findNearestNavMeshPosition')
end},
{'teleport', testTeleport},
{'getGMST', testGetGMST},
}

4
scripts/data/integration_tests/testing_util/testing_util.lua
Unescape Escape View File

@ -154,6 +154,10 @@ function M.expectThat(value, matcher, msg)
end
end
function M.formatActualExpected(actual, expected)
return string.format('actual: %s, expected: %s', actual, expected)
end
local localTests = {}
local localTestRunner = nil

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