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Remove stepping from findSmoothPath

Browse source 
This is not used anyway. There are features like smooth movement which remove
all redundant points.

Use single findStraightPath call instead of multiple.
This commit is contained in:
elsid 2023-05-08 22:45:48 +02:00
parent 767a14587c
commit e00eb50587
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GPG key ID: 4DE04C198CBA7625
12 changed files with 129 additions and 764 deletions
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13
apps/openmw/mwlua/nearbybindings.cpp
View file

@ -163,21 +163,19 @@ namespace MWLua
{ "MoveAlongSurfaceFailed", DetourNavigator::Status::MoveAlongSurfaceFailed },
{ "FindPathOverPolygonsFailed", DetourNavigator::Status::FindPathOverPolygonsFailed },
{ "InitNavMeshQueryFailed", DetourNavigator::Status::InitNavMeshQueryFailed },
{ "FindStraightPathFailed", DetourNavigator::Status::FindStraightPathFailed },
}));
static const DetourNavigator::AgentBounds defaultAgentBounds{
Settings::game().mActorCollisionShapeType,
Settings::game().mDefaultActorPathfindHalfExtents,
};
static const float defaultStepSize
= 2 * std::max(defaultAgentBounds.mHalfExtents.x(), defaultAgentBounds.mHalfExtents.y());
static constexpr DetourNavigator::Flags defaultIncludeFlags = DetourNavigator::Flag_walk
| DetourNavigator::Flag_swim | DetourNavigator::Flag_openDoor | DetourNavigator::Flag_usePathgrid;
api["findPath"]
= [](const osg::Vec3f& source, const osg::Vec3f& destination, const sol::optional<sol::table>& options) {
DetourNavigator::AgentBounds agentBounds = defaultAgentBounds;
float stepSize = defaultStepSize;
DetourNavigator::Flags includeFlags = defaultIncludeFlags;
DetourNavigator::AreaCosts areaCosts{};
float destinationTolerance = 1;
@ -189,13 +187,8 @@ namespace MWLua
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;
stepSize = 2 * std::max(v->x(), v->y());
}
}
if (const auto& v = options->get<sol::optional<float>>("stepSize"))
stepSize = *v;
if (const auto& v = options->get<sol::optional<DetourNavigator::Flags>>("includeFlags"))
includeFlags = *v;
if (const auto& t = options->get<sol::optional<sol::table>>("areaCosts"))
@ -216,8 +209,8 @@ namespace MWLua
std::vector<osg::Vec3f> result;
const DetourNavigator::Status status = DetourNavigator::findPath(
*MWBase::Environment::get().getWorld()->getNavigator(), agentBounds, stepSize, source,
destination, includeFlags, areaCosts, destinationTolerance, std::back_inserter(result));
*MWBase::Environment::get().getWorld()->getNavigator(), agentBounds, source, destination,
includeFlags, areaCosts, destinationTolerance, std::back_inserter(result));
return std::make_tuple(status, std::move(result));
};

7
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -439,10 +439,9 @@ namespace MWMechanics
PathType pathType, std::back_insert_iterator<std::deque<osg::Vec3f>> out)
{
const auto world = MWBase::Environment::get().getWorld();
const auto stepSize = getPathStepSize(actor);
const auto navigator = world->getNavigator();
const auto status = DetourNavigator::findPath(
*navigator, agentBounds, stepSize, startPoint, endPoint, flags, areaCosts, endTolerance, out);
*navigator, agentBounds, startPoint, endPoint, flags, areaCosts, endTolerance, out);
if (pathType == PathType::Partial && status == DetourNavigator::Status::PartialPath)
return DetourNavigator::Status::Success;
@ -475,8 +474,8 @@ namespace MWMechanics
std::deque<osg::Vec3f> prePath;
auto prePathInserter = std::back_inserter(prePath);
const float endTolerance = 0;
const auto status = DetourNavigator::findPath(*navigator, agentBounds, stepSize, startPoint, mPath.front(),
flags, areaCosts, endTolerance, prePathInserter);
const auto status = DetourNavigator::findPath(
*navigator, agentBounds, startPoint, mPath.front(), flags, areaCosts, endTolerance, prePathInserter);
if (status == DetourNavigator::Status::NavMeshNotFound)
return;

434
apps/openmw_test_suite/detournavigator/navigator.cpp
View file

@ -50,7 +50,6 @@ namespace
osg::Vec3f mEnd;
std::deque<osg::Vec3f> mPath;
std::back_insert_iterator<std::deque<osg::Vec3f>> mOut;
float mStepSize;
AreaCosts mAreaCosts;
Loading::Listener mListener;
const osg::Vec2i mCellPosition{ 0, 0 };
@ -65,7 +64,6 @@ namespace
, mStart(52, 460, 1)
, mEnd(460, 52, 1)
, mOut(mPath)
, mStepSize(28.333332061767578125f)
{
mNavigator.reset(new NavigatorImpl(
mSettings, std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max())));
@ -129,8 +127,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
{
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::NavMeshNotFound);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
}
@ -138,8 +135,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
{
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::StartPolygonNotFound);
}
@ -148,8 +144,7 @@ namespace
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->removeAgent(mAgentBounds);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::StartPolygonNotFound);
}
@ -172,33 +167,13 @@ namespace
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(76.70135498046875, 439.965301513671875, -0.9659786224365234375),
Vec3fEq(96.73604583740234375, 419.93060302734375, -4.002437114715576171875),
Vec3fEq(116.770751953125, 399.89593505859375, -7.0388965606689453125),
Vec3fEq(136.8054351806640625, 379.861236572265625, -11.5593852996826171875),
Vec3fEq(156.840118408203125, 359.826568603515625, -20.7333812713623046875),
Vec3fEq(176.8748016357421875, 339.7918701171875, -34.014251708984375),
Vec3fEq(196.90948486328125, 319.757171630859375, -47.2951202392578125),
Vec3fEq(216.944183349609375, 299.722503662109375, -59.4111785888671875),
Vec3fEq(236.9788665771484375, 279.68780517578125, -65.76436614990234375),
Vec3fEq(257.0135498046875, 259.65313720703125, -68.12311553955078125),
Vec3fEq(277.048248291015625, 239.618438720703125, -66.5666656494140625),
Vec3fEq(297.082916259765625, 219.583740234375, -60.305889129638671875),
Vec3fEq(317.11761474609375, 199.549041748046875, -49.181324005126953125),
Vec3fEq(337.15228271484375, 179.5143585205078125, -35.742702484130859375),
Vec3fEq(357.186981201171875, 159.47967529296875, -22.304073333740234375),
Vec3fEq(377.221649169921875, 139.4449920654296875, -12.65070629119873046875),
Vec3fEq(397.25634765625, 119.41030120849609375, -7.41098117828369140625),
Vec3fEq(417.291046142578125, 99.3756103515625, -4.382833957672119140625),
Vec3fEq(437.325714111328125, 79.340911865234375, -1.354687213897705078125),
Vec3fEq(457.360443115234375, 59.3062286376953125, 1.624610424041748046875),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -227,32 +202,12 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(76.70135498046875, 439.965301513671875, -0.9659786224365234375),
Vec3fEq(96.73604583740234375, 419.93060302734375, -4.002437114715576171875),
Vec3fEq(116.770751953125, 399.89593505859375, -7.0388965606689453125),
Vec3fEq(136.8054351806640625, 379.861236572265625, -11.5593852996826171875),
Vec3fEq(156.840118408203125, 359.826568603515625, -20.7333812713623046875),
Vec3fEq(176.8748016357421875, 339.7918701171875, -34.014251708984375),
Vec3fEq(196.90948486328125, 319.757171630859375, -47.2951202392578125),
Vec3fEq(216.944183349609375, 299.722503662109375, -59.4111785888671875),
Vec3fEq(236.9788665771484375, 279.68780517578125, -65.76436614990234375),
Vec3fEq(257.0135498046875, 259.65313720703125, -68.12311553955078125),
Vec3fEq(277.048248291015625, 239.618438720703125, -66.5666656494140625),
Vec3fEq(297.082916259765625, 219.583740234375, -60.305889129638671875),
Vec3fEq(317.11761474609375, 199.549041748046875, -49.181324005126953125),
Vec3fEq(337.15228271484375, 179.5143585205078125, -35.742702484130859375),
Vec3fEq(357.186981201171875, 159.47967529296875, -22.304073333740234375),
Vec3fEq(377.221649169921875, 139.4449920654296875, -12.65070629119873046875),
Vec3fEq(397.25634765625, 119.41030120849609375, -7.41098117828369140625),
Vec3fEq(417.291046142578125, 99.3756103515625, -4.382833957672119140625),
Vec3fEq(437.325714111328125, 79.340911865234375, -1.354687213897705078125),
Vec3fEq(457.360443115234375, 59.3062286376953125, 1.624610424041748046875),
ElementsAre( //
Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
<< mPath;
@ -266,34 +221,15 @@ namespace
mPath.clear();
mOut = std::back_inserter(mPath);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(69.5299530029296875, 434.754913330078125, -2.6775772571563720703125),
Vec3fEq(82.39324951171875, 409.50982666015625, -7.355137348175048828125),
Vec3fEq(95.25653839111328125, 384.2647705078125, -12.0326976776123046875),
Vec3fEq(108.11983489990234375, 359.019683837890625, -16.71025848388671875),
Vec3fEq(120.983123779296875, 333.774627685546875, -21.3878192901611328125),
Vec3fEq(133.8464202880859375, 308.529541015625, -26.0653781890869140625),
Vec3fEq(146.7097015380859375, 283.284454345703125, -30.7429370880126953125),
Vec3fEq(159.572998046875, 258.039398193359375, -35.420497894287109375),
Vec3fEq(172.4362945556640625, 232.7943115234375, -27.2731761932373046875),
Vec3fEq(185.2996063232421875, 207.54925537109375, -19.575878143310546875),
Vec3fEq(206.6449737548828125, 188.917236328125, -20.3511219024658203125),
Vec3fEq(227.9903564453125, 170.28521728515625, -22.9776935577392578125),
Vec3fEq(253.4362640380859375, 157.8239593505859375, -31.1692962646484375),
Vec3fEq(278.8822021484375, 145.3627166748046875, -30.253124237060546875),
Vec3fEq(304.328094482421875, 132.9014739990234375, -22.219127655029296875),
Vec3fEq(329.774017333984375, 120.44022369384765625, -13.2701435089111328125),
Vec3fEq(355.219940185546875, 107.97898101806640625, -5.330339908599853515625),
Vec3fEq(380.665863037109375, 95.51773834228515625, -3.5501649379730224609375),
Vec3fEq(406.111785888671875, 83.05649566650390625, -1.76998889446258544921875),
Vec3fEq(431.557708740234375, 70.5952606201171875, 0.01018683053553104400634765625),
Vec3fEq(457.003662109375, 58.134021759033203125, 1.79036080837249755859375),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(181.33331298828125, 215.33331298828125, -20.6666717529296875),
Vec3fEq(215.33331298828125, 181.33331298828125, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -320,34 +256,15 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(69.5299530029296875, 434.754913330078125, -2.6775772571563720703125),
Vec3fEq(82.39324951171875, 409.50982666015625, -7.355137348175048828125),
Vec3fEq(95.25653839111328125, 384.2647705078125, -12.0326976776123046875),
Vec3fEq(108.11983489990234375, 359.019683837890625, -16.71025848388671875),
Vec3fEq(120.983123779296875, 333.774627685546875, -21.3878192901611328125),
Vec3fEq(133.8464202880859375, 308.529541015625, -26.0653781890869140625),
Vec3fEq(146.7097015380859375, 283.284454345703125, -30.7429370880126953125),
Vec3fEq(159.572998046875, 258.039398193359375, -35.420497894287109375),
Vec3fEq(172.4362945556640625, 232.7943115234375, -27.2731761932373046875),
Vec3fEq(185.2996063232421875, 207.54925537109375, -19.575878143310546875),
Vec3fEq(206.6449737548828125, 188.917236328125, -20.3511219024658203125),
Vec3fEq(227.9903564453125, 170.28521728515625, -22.9776935577392578125),
Vec3fEq(253.4362640380859375, 157.8239593505859375, -31.1692962646484375),
Vec3fEq(278.8822021484375, 145.3627166748046875, -30.253124237060546875),
Vec3fEq(304.328094482421875, 132.9014739990234375, -22.219127655029296875),
Vec3fEq(329.774017333984375, 120.44022369384765625, -13.2701435089111328125),
Vec3fEq(355.219940185546875, 107.97898101806640625, -5.330339908599853515625),
Vec3fEq(380.665863037109375, 95.51773834228515625, -3.5501649379730224609375),
Vec3fEq(406.111785888671875, 83.05649566650390625, -1.76998889446258544921875),
Vec3fEq(431.557708740234375, 70.5952606201171875, 0.01018683053553104400634765625),
Vec3fEq(457.003662109375, 58.134021759033203125, 1.79036080837249755859375),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(181.33331298828125, 215.33331298828125, -20.6666717529296875),
Vec3fEq(215.33331298828125, 181.33331298828125, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
compound.shape().updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
@ -359,33 +276,13 @@ namespace
mPath.clear();
mOut = std::back_inserter(mPath);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(76.70135498046875, 439.965301513671875, -0.9659786224365234375),
Vec3fEq(96.73604583740234375, 419.93060302734375, -4.002437114715576171875),
Vec3fEq(116.770751953125, 399.89593505859375, -7.0388965606689453125),
Vec3fEq(136.8054351806640625, 379.861236572265625, -11.5593852996826171875),
Vec3fEq(156.840118408203125, 359.826568603515625, -20.7333812713623046875),
Vec3fEq(176.8748016357421875, 339.7918701171875, -34.014251708984375),
Vec3fEq(196.90948486328125, 319.757171630859375, -47.2951202392578125),
Vec3fEq(216.944183349609375, 299.722503662109375, -59.4111785888671875),
Vec3fEq(236.9788665771484375, 279.68780517578125, -65.76436614990234375),
Vec3fEq(257.0135498046875, 259.65313720703125, -68.12311553955078125),
Vec3fEq(277.048248291015625, 239.618438720703125, -66.5666656494140625),
Vec3fEq(297.082916259765625, 219.583740234375, -60.305889129638671875),
Vec3fEq(317.11761474609375, 199.549041748046875, -49.181324005126953125),
Vec3fEq(337.15228271484375, 179.5143585205078125, -35.742702484130859375),
Vec3fEq(357.186981201171875, 159.47967529296875, -22.304073333740234375),
Vec3fEq(377.221649169921875, 139.4449920654296875, -12.65070629119873046875),
Vec3fEq(397.25634765625, 119.41030120849609375, -7.41098117828369140625),
Vec3fEq(417.291046142578125, 99.3756103515625, -4.382833957672119140625),
Vec3fEq(437.325714111328125, 79.340911865234375, -1.354687213897705078125),
Vec3fEq(457.360443115234375, 59.3062286376953125, 1.624610424041748046875),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -419,33 +316,13 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(76.70135498046875, 439.965301513671875, -0.903246104717254638671875),
Vec3fEq(96.73604583740234375, 419.93060302734375, -3.8064472675323486328125),
Vec3fEq(116.770751953125, 399.89593505859375, -6.709649562835693359375),
Vec3fEq(136.8054351806640625, 379.861236572265625, -9.33333873748779296875),
Vec3fEq(156.840118408203125, 359.826568603515625, -9.33333873748779296875),
Vec3fEq(176.8748016357421875, 339.7918701171875, -9.33333873748779296875),
Vec3fEq(196.90948486328125, 319.757171630859375, -9.33333873748779296875),
Vec3fEq(216.944183349609375, 299.722503662109375, -9.33333873748779296875),
Vec3fEq(236.9788665771484375, 279.68780517578125, -9.33333873748779296875),
Vec3fEq(257.0135498046875, 259.65313720703125, -9.33333873748779296875),
Vec3fEq(277.048248291015625, 239.618438720703125, -9.33333873748779296875),
Vec3fEq(297.082916259765625, 219.583740234375, -9.33333873748779296875),
Vec3fEq(317.11761474609375, 199.549041748046875, -9.33333873748779296875),
Vec3fEq(337.15228271484375, 179.5143585205078125, -9.33333873748779296875),
Vec3fEq(357.186981201171875, 159.47967529296875, -9.33333873748779296875),
Vec3fEq(377.221649169921875, 139.4449920654296875, -9.33333873748779296875),
Vec3fEq(397.25634765625, 119.41030120849609375, -6.891522884368896484375),
Vec3fEq(417.291046142578125, 99.3756103515625, -4.053897380828857421875),
Vec3fEq(437.325714111328125, 79.340911865234375, -1.21627247333526611328125),
Vec3fEq(457.360443115234375, 59.3062286376953125, 1.621352672576904296875),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -520,34 +397,15 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(69.013885498046875, 434.49853515625, -0.74384129047393798828125),
Vec3fEq(81.36110687255859375, 408.997100830078125, -3.4876689910888671875),
Vec3fEq(93.7083282470703125, 383.495635986328125, -6.2314929962158203125),
Vec3fEq(106.0555419921875, 357.99420166015625, -8.97531890869140625),
Vec3fEq(118.40276336669921875, 332.49273681640625, -11.7191448211669921875),
Vec3fEq(130.7499847412109375, 306.991302490234375, -14.4629726409912109375),
Vec3fEq(143.0972137451171875, 281.4898681640625, -17.206798553466796875),
Vec3fEq(155.4444122314453125, 255.9884033203125, -19.9506206512451171875),
Vec3fEq(167.7916412353515625, 230.4869537353515625, -19.91887664794921875),
Vec3fEq(189.053619384765625, 211.75982666015625, -20.1138629913330078125),
Vec3fEq(210.3155975341796875, 193.032684326171875, -20.3088512420654296875),
Vec3fEq(231.577606201171875, 174.3055419921875, -20.503841400146484375),
Vec3fEq(252.839599609375, 155.5784149169921875, -19.9803981781005859375),
Vec3fEq(278.407989501953125, 143.3704071044921875, -17.2675113677978515625),
Vec3fEq(303.976348876953125, 131.16241455078125, -14.55462360382080078125),
Vec3fEq(329.54473876953125, 118.9544219970703125, -11.84173583984375),
Vec3fEq(355.11309814453125, 106.74642181396484375, -9.12884807586669921875),
Vec3fEq(380.681488037109375, 94.538421630859375, -6.4159603118896484375),
Vec3fEq(406.249847412109375, 82.33042144775390625, -3.7030735015869140625),
Vec3fEq(431.8182373046875, 70.1224365234375, -0.990187108516693115234375),
Vec3fEq(457.38665771484375, 57.9144439697265625, 1.72269880771636962890625),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(158.6666412353515625, 249.3332977294921875, -20.6666717529296875),
Vec3fEq(249.3332977294921875, 158.6666412353515625, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -574,22 +432,12 @@ namespace
mEnd.x() = 256;
mEnd.z() = 300;
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_swim, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(256, 460, 185.33331298828125), Vec3fEq(256, 431.666656494140625, 185.33331298828125),
Vec3fEq(256, 403.33331298828125, 185.33331298828125), Vec3fEq(256, 375, 185.33331298828125),
Vec3fEq(256, 346.666656494140625, 185.33331298828125),
Vec3fEq(256, 318.33331298828125, 185.33331298828125), Vec3fEq(256, 290, 185.33331298828125),
Vec3fEq(256, 261.666656494140625, 185.33331298828125),
Vec3fEq(256, 233.3333282470703125, 185.33331298828125), Vec3fEq(256, 205, 185.33331298828125),
Vec3fEq(256, 176.6666717529296875, 185.33331298828125),
Vec3fEq(256, 148.3333282470703125, 185.33331298828125), Vec3fEq(256, 120, 185.33331298828125),
Vec3fEq(256, 91.6666717529296875, 185.33331298828125),
Vec3fEq(255.999969482421875, 63.33333587646484375, 185.33331298828125),
Vec3fEq(255.999969482421875, 56.66666412353515625, 185.33331298828125)))
ElementsAre( //
Vec3fEq(256, 460, 185.3333282470703125), Vec3fEq(256, 56.66664886474609375, 185.3333282470703125)))
<< mPath;
}
@ -616,22 +464,13 @@ namespace
mStart.x() = 256;
mEnd.x() = 256;
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts,
mEndTolerance, mOut),
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(256, 460, -129.4098663330078125),
Vec3fEq(256, 431.666656494140625, -129.6970062255859375),
Vec3fEq(256, 403.33331298828125, -129.6970062255859375), Vec3fEq(256, 375, -129.4439239501953125),
Vec3fEq(256, 346.666656494140625, -129.02587890625),
Vec3fEq(256, 318.33331298828125, -128.6078338623046875), Vec3fEq(256, 290, -128.1021728515625),
Vec3fEq(256, 261.666656494140625, -126.46875), Vec3fEq(256, 233.3333282470703125, -119.4891357421875),
Vec3fEq(256, 205, -110.62021636962890625), Vec3fEq(256, 176.6666717529296875, -101.7512969970703125),
Vec3fEq(256, 148.3333282470703125, -92.88237762451171875), Vec3fEq(256, 120, -75.29378509521484375),
Vec3fEq(256, 91.6666717529296875, -55.201839447021484375),
Vec3fEq(256.000030517578125, 63.33333587646484375, -34.800380706787109375),
Vec3fEq(256.000030517578125, 56.66666412353515625, -30.00003814697265625)))
ElementsAre( //
Vec3fEq(256, 460, -129.4098663330078125), Vec3fEq(256, 56.66664886474609375, -30.0000133514404296875)))
<< mPath;
}
@ -659,22 +498,13 @@ namespace
mStart.x() = 256;
mEnd.x() = 256;
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts,
mEndTolerance, mOut),
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(256, 460, -129.4098663330078125),
Vec3fEq(256, 431.666656494140625, -129.6970062255859375),
Vec3fEq(256, 403.33331298828125, -129.6970062255859375), Vec3fEq(256, 375, -129.4439239501953125),
Vec3fEq(256, 346.666656494140625, -129.02587890625),
Vec3fEq(256, 318.33331298828125, -128.6078338623046875), Vec3fEq(256, 290, -128.1021728515625),
Vec3fEq(256, 261.666656494140625, -126.46875), Vec3fEq(256, 233.3333282470703125, -119.4891357421875),
Vec3fEq(256, 205, -110.62021636962890625), Vec3fEq(256, 176.6666717529296875, -101.7512969970703125),
Vec3fEq(256, 148.3333282470703125, -92.88237762451171875), Vec3fEq(256, 120, -75.29378509521484375),
Vec3fEq(256, 91.6666717529296875, -55.201839447021484375),
Vec3fEq(256.000030517578125, 63.33333587646484375, -34.800380706787109375),
Vec3fEq(256.000030517578125, 56.66666412353515625, -30.00003814697265625)))
ElementsAre(
Vec3fEq(256, 460, -129.4098663330078125), Vec3fEq(256, 56.66664886474609375, -30.0000133514404296875)))
<< mPath;
}
@ -701,22 +531,12 @@ namespace
mStart.x() = 256;
mEnd.x() = 256;
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(256, 460, -129.4098663330078125),
Vec3fEq(256, 431.666656494140625, -129.6970062255859375),
Vec3fEq(256, 403.33331298828125, -129.6970062255859375), Vec3fEq(256, 375, -129.4439239501953125),
Vec3fEq(256, 346.666656494140625, -129.02587890625),
Vec3fEq(256, 318.33331298828125, -128.6078338623046875), Vec3fEq(256, 290, -128.1021728515625),
Vec3fEq(256, 261.666656494140625, -126.46875), Vec3fEq(256, 233.3333282470703125, -119.4891357421875),
Vec3fEq(256, 205, -110.62021636962890625), Vec3fEq(256, 176.6666717529296875, -101.7512969970703125),
Vec3fEq(256, 148.3333282470703125, -92.88237762451171875), Vec3fEq(256, 120, -75.29378509521484375),
Vec3fEq(256, 91.6666717529296875, -55.201839447021484375),
Vec3fEq(256.000030517578125, 63.33333587646484375, -34.800380706787109375),
Vec3fEq(256.000030517578125, 56.66666412353515625, -30.00003814697265625)))
ElementsAre( //
Vec3fEq(256, 460, -129.4098663330078125), Vec3fEq(256, 56.66664886474609375, -30.0000133514404296875)))
<< mPath;
}
@ -747,33 +567,13 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(76.70135498046875, 439.965301513671875, -0.9659786224365234375),
Vec3fEq(96.73604583740234375, 419.93060302734375, -4.002437114715576171875),
Vec3fEq(116.770751953125, 399.89593505859375, -7.0388965606689453125),
Vec3fEq(136.8054351806640625, 379.861236572265625, -11.5593852996826171875),
Vec3fEq(156.840118408203125, 359.826568603515625, -20.7333812713623046875),
Vec3fEq(176.8748016357421875, 339.7918701171875, -34.014251708984375),
Vec3fEq(196.90948486328125, 319.757171630859375, -47.2951202392578125),
Vec3fEq(216.944183349609375, 299.722503662109375, -59.4111785888671875),
Vec3fEq(236.9788665771484375, 279.68780517578125, -65.76436614990234375),
Vec3fEq(257.0135498046875, 259.65313720703125, -68.12311553955078125),
Vec3fEq(277.048248291015625, 239.618438720703125, -66.5666656494140625),
Vec3fEq(297.082916259765625, 219.583740234375, -60.305889129638671875),
Vec3fEq(317.11761474609375, 199.549041748046875, -49.181324005126953125),
Vec3fEq(337.15228271484375, 179.5143585205078125, -35.742702484130859375),
Vec3fEq(357.186981201171875, 159.47967529296875, -22.304073333740234375),
Vec3fEq(377.221649169921875, 139.4449920654296875, -12.65070629119873046875),
Vec3fEq(397.25634765625, 119.41030120849609375, -7.41098117828369140625),
Vec3fEq(417.291046142578125, 99.3756103515625, -4.382833957672119140625),
Vec3fEq(437.325714111328125, 79.340911865234375, -1.354687213897705078125),
Vec3fEq(457.360443115234375, 59.3062286376953125, 1.624610424041748046875),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -802,33 +602,13 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(76.70135498046875, 439.965301513671875, -0.9659786224365234375),
Vec3fEq(96.73604583740234375, 419.93060302734375, -4.002437114715576171875),
Vec3fEq(116.770751953125, 399.89593505859375, -7.0388965606689453125),
Vec3fEq(136.8054351806640625, 379.861236572265625, -11.5593852996826171875),
Vec3fEq(156.840118408203125, 359.826568603515625, -20.7333812713623046875),
Vec3fEq(176.8748016357421875, 339.7918701171875, -34.014251708984375),
Vec3fEq(196.90948486328125, 319.757171630859375, -47.2951202392578125),
Vec3fEq(216.944183349609375, 299.722503662109375, -59.4111785888671875),
Vec3fEq(236.9788665771484375, 279.68780517578125, -65.76436614990234375),
Vec3fEq(257.0135498046875, 259.65313720703125, -68.12311553955078125),
Vec3fEq(277.048248291015625, 239.618438720703125, -66.5666656494140625),
Vec3fEq(297.082916259765625, 219.583740234375, -60.305889129638671875),
Vec3fEq(317.11761474609375, 199.549041748046875, -49.181324005126953125),
Vec3fEq(337.15228271484375, 179.5143585205078125, -35.742702484130859375),
Vec3fEq(357.186981201171875, 159.47967529296875, -22.304073333740234375),
Vec3fEq(377.221649169921875, 139.4449920654296875, -12.65070629119873046875),
Vec3fEq(397.25634765625, 119.41030120849609375, -7.41098117828369140625),
Vec3fEq(417.291046142578125, 99.3756103515625, -4.382833957672119140625),
Vec3fEq(437.325714111328125, 79.340911865234375, -1.354687213897705078125),
Vec3fEq(457.360443115234375, 59.3062286376953125, 1.624610424041748046875),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -909,34 +689,15 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(69.5299530029296875, 434.754913330078125, -2.6775772571563720703125),
Vec3fEq(82.39324951171875, 409.50982666015625, -7.355137348175048828125),
Vec3fEq(95.25653839111328125, 384.2647705078125, -12.0326976776123046875),
Vec3fEq(108.11983489990234375, 359.019683837890625, -16.71025848388671875),
Vec3fEq(120.983123779296875, 333.774627685546875, -21.3878192901611328125),
Vec3fEq(133.8464202880859375, 308.529541015625, -26.0653781890869140625),
Vec3fEq(146.7097015380859375, 283.284454345703125, -30.7429370880126953125),
Vec3fEq(159.572998046875, 258.039398193359375, -35.420497894287109375),
Vec3fEq(172.4362945556640625, 232.7943115234375, -27.2731761932373046875),
Vec3fEq(185.2996063232421875, 207.54925537109375, -20.3612518310546875),
Vec3fEq(206.6449737548828125, 188.917236328125, -20.578319549560546875),
Vec3fEq(227.9903564453125, 170.28521728515625, -26.291717529296875),
Vec3fEq(253.4362640380859375, 157.8239593505859375, -34.784488677978515625),
Vec3fEq(278.8822021484375, 145.3627166748046875, -30.253124237060546875),
Vec3fEq(304.328094482421875, 132.9014739990234375, -25.72176361083984375),
Vec3fEq(329.774017333984375, 120.44022369384765625, -21.1904010772705078125),
Vec3fEq(355.219940185546875, 107.97898101806640625, -16.6590404510498046875),
Vec3fEq(380.665863037109375, 95.51773834228515625, -12.127681732177734375),
Vec3fEq(406.111785888671875, 83.05649566650390625, -7.5963191986083984375),
Vec3fEq(431.557708740234375, 70.5952606201171875, -3.0649592876434326171875),
Vec3fEq(457.003662109375, 58.134021759033203125, 1.4664003849029541015625),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(181.33331298828125, 215.33331298828125, -20.6666717529296875),
Vec3fEq(215.33331298828125, 181.33331298828125, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
@ -1065,33 +826,12 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, 101.99999237060546875),
Vec3fEq(76.70135498046875, 439.965301513671875, 101.99999237060546875),
Vec3fEq(96.73604583740234375, 419.93060302734375, 101.99999237060546875),
Vec3fEq(116.770751953125, 399.89593505859375, 101.99999237060546875),
Vec3fEq(136.8054351806640625, 379.861236572265625, 101.99999237060546875),
Vec3fEq(156.840118408203125, 359.826568603515625, 101.99999237060546875),
Vec3fEq(176.8748016357421875, 339.7918701171875, 101.99999237060546875),
Vec3fEq(196.90948486328125, 319.757171630859375, 101.99999237060546875),
Vec3fEq(216.944183349609375, 299.722503662109375, 101.99999237060546875),
Vec3fEq(236.9788665771484375, 279.68780517578125, 101.99999237060546875),
Vec3fEq(257.0135498046875, 259.65313720703125, 101.99999237060546875),
Vec3fEq(277.048248291015625, 239.618438720703125, 101.99999237060546875),
Vec3fEq(297.082916259765625, 219.583740234375, 101.99999237060546875),
Vec3fEq(317.11761474609375, 199.549041748046875, 101.99999237060546875),
Vec3fEq(337.15228271484375, 179.5143585205078125, 101.99999237060546875),
Vec3fEq(357.186981201171875, 159.47967529296875, 101.99999237060546875),
Vec3fEq(377.221649169921875, 139.4449920654296875, 101.99999237060546875),
Vec3fEq(397.25634765625, 119.41030120849609375, 101.99999237060546875),
Vec3fEq(417.291046142578125, 99.3756103515625, 101.99999237060546875),
Vec3fEq(437.325714111328125, 79.340911865234375, 101.99999237060546875),
Vec3fEq(457.360443115234375, 59.3062286376953125, 101.99999237060546875),
Vec3fEq(460, 56.66666412353515625, 101.99999237060546875)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 102), Vec3fEq(460, 56.66664886474609375, 102)))
<< mPath;
}
@ -1118,21 +858,13 @@ namespace
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::PartialPath);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66664886474609375, 460, -2.5371043682098388671875),
Vec3fEq(76.42063140869140625, 439.6884765625, -2.9134314060211181640625),
Vec3fEq(96.17461395263671875, 419.376953125, -4.50826549530029296875),
Vec3fEq(115.9285888671875, 399.0654296875, -6.1030979156494140625),
Vec3fEq(135.6825714111328125, 378.753936767578125, -7.697928905487060546875),
Vec3fEq(155.436553955078125, 358.442413330078125, -20.9574985504150390625),
Vec3fEq(175.190521240234375, 338.130889892578125, -35.907512664794921875),
Vec3fEq(194.9445037841796875, 317.8193359375, -50.85752105712890625),
Vec3fEq(214.698486328125, 297.5078125, -65.807525634765625),
Vec3fEq(222.0001068115234375, 290.000091552734375, -71.333465576171875)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, -2.5371119976043701171875),
Vec3fEq(222, 290, -71.33342742919921875)))
<< mPath;
}
@ -1161,29 +893,13 @@ namespace
const float endTolerance = 1000.0f;
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, endTolerance, mOut),
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, endTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(Vec3fEq(56.66666412353515625, 460, -2.5371043682098388671875),
Vec3fEq(71.5649566650390625, 435.899810791015625, -5.817593097686767578125),
Vec3fEq(86.46324920654296875, 411.79962158203125, -9.66499996185302734375),
Vec3fEq(101.36154937744140625, 387.699462890625, -13.512401580810546875),
Vec3fEq(116.2598419189453125, 363.599273681640625, -17.359806060791015625),
Vec3fEq(131.1581268310546875, 339.499114990234375, -21.2072086334228515625),
Vec3fEq(146.056427001953125, 315.39892578125, -25.0546112060546875),
Vec3fEq(160.9547271728515625, 291.298736572265625, -28.9020137786865234375),
Vec3fEq(175.8530120849609375, 267.198577880859375, -32.749416351318359375),
Vec3fEq(190.751312255859375, 243.098388671875, -33.819454193115234375),
Vec3fEq(205.64959716796875, 218.9982147216796875, -31.020172119140625),
Vec3fEq(220.5478973388671875, 194.898040771484375, -26.844608306884765625),
Vec3fEq(235.446197509765625, 170.7978668212890625, -26.785541534423828125),
Vec3fEq(250.3444671630859375, 146.6976776123046875, -26.7264766693115234375),
Vec3fEq(265.242767333984375, 122.59751129150390625, -20.59339141845703125),
Vec3fEq(280.141021728515625, 98.4973297119140625, -14.040531158447265625),
Vec3fEq(295.039306640625, 74.39715576171875, -7.48766994476318359375),
Vec3fEq(306, 56.66666412353515625, -2.6667339801788330078125)))
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, -2.5371119976043701171875),
Vec3fEq(305.999969482421875, 56.66664886474609375, -2.6667406558990478515625)))
<< mPath;
}

1
components/detournavigator/debug.cpp
View file

@ -40,6 +40,7 @@ namespace DetourNavigator
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(MoveAlongSurfaceFailed)
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(FindPathOverPolygonsFailed)
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(InitNavMeshQueryFailed)
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(FindStraightPathFailed)
}
#undef OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE
return stream << "DetourNavigator::Error::" << static_cast<int>(value);

9
components/detournavigator/findrandompointaroundcircle.cpp
View file

@ -1,5 +1,4 @@
#include "findrandompointaroundcircle.hpp"
#include "findsmoothpath.hpp"
#include <DetourNavMesh.h>
#include <DetourNavMeshQuery.h>
@ -13,9 +12,11 @@ namespace DetourNavigator
dtQueryFilter queryFilter;
queryFilter.setIncludeFlags(includeFlags);
dtPolyRef startRef = findNearestPoly(navMeshQuery, queryFilter, start, halfExtents * 4);
if (startRef == 0)
return std::optional<osg::Vec3f>();
dtPolyRef startRef = 0;
const dtStatus status
= navMeshQuery.findNearestPoly(start.ptr(), halfExtents.ptr(), &queryFilter, &startRef, nullptr);
if (dtStatusFailed(status))
return std::nullopt;
dtPolyRef resultRef = 0;
osg::Vec3f resultPosition;

147
components/detournavigator/findsmoothpath.cpp
View file

@ -1,147 +0,0 @@
#include "findsmoothpath.hpp"
#include <components/misc/convert.hpp>
#include <DetourCommon.h>
#include <algorithm>
#include <array>
namespace DetourNavigator
{
std::size_t fixupCorridor(std::span<dtPolyRef> path, std::size_t pathSize, const std::vector<dtPolyRef>& visited)
{
std::vector<dtPolyRef>::const_reverse_iterator furthestVisited;
// Find furthest common polygon.
const auto begin = path.begin();
const auto end = path.begin() + pathSize;
const std::reverse_iterator rbegin(end);
const std::reverse_iterator rend(begin);
const auto it = std::find_if(rbegin, rend, [&](dtPolyRef pathValue) {
const auto it = std::find(visited.rbegin(), visited.rend(), pathValue);
if (it == visited.rend())
return false;
furthestVisited = it;
return true;
});
// If no intersection found just return current path.
if (it == rend)
return pathSize;
const auto furthestPath = it.base() - 1;
// Concatenate paths.
// visited: a_1 ... a_n x b_1 ... b_n
// furthestVisited ^
// path: C x D E
// ^ furthestPath ^ path.size() - (furthestVisited + 1 - visited.rbegin())
// result: x b_n ... b_1 D
const std::size_t required = static_cast<std::size_t>(furthestVisited + 1 - visited.rbegin());
const auto newEnd = std::copy(furthestPath + 1, std::min(begin + path.size(), end), begin + required);
std::copy(visited.rbegin(), furthestVisited + 1, begin);
return static_cast<std::size_t>(newEnd - begin);
}
std::size_t fixupShortcuts(dtPolyRef* path, std::size_t pathSize, const dtNavMeshQuery& navQuery)
{
if (pathSize < 3)
return pathSize;
// Get connected polygons
const dtMeshTile* tile = nullptr;
const dtPoly* poly = nullptr;
if (dtStatusFailed(navQuery.getAttachedNavMesh()->getTileAndPolyByRef(path[0], &tile, &poly)))
return pathSize;
const std::size_t maxNeis = 16;
std::array<dtPolyRef, maxNeis> neis;
std::size_t nneis = 0;
for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
{
const dtLink* link = &tile->links[k];
if (link->ref != 0)
{
if (nneis < maxNeis)
neis[nneis++] = link->ref;
}
}
// If any of the neighbour polygons is within the next few polygons
// in the path, short cut to that polygon directly.
const std::size_t maxLookAhead = 6;
std::size_t cut = 0;
for (std::size_t i = std::min(maxLookAhead, pathSize) - 1; i > 1 && cut == 0; i--)
{
for (std::size_t j = 0; j < nneis; j++)
{
if (path[i] == neis[j])
{
cut = i;
break;
}
}
}
if (cut <= 1)
return pathSize;
const std::ptrdiff_t offset = static_cast<std::ptrdiff_t>(cut) - 1;
std::copy(path + offset, path + pathSize, path);
return pathSize - offset;
}
std::optional<SteerTarget> getSteerTarget(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& startPos,
const osg::Vec3f& endPos, const float minTargetDist, const dtPolyRef* path, const std::size_t pathSize)
{
// Find steer target.
SteerTarget result;
constexpr int maxSteerPoints = 3;
std::array<float, maxSteerPoints * 3> steerPath;
std::array<unsigned char, maxSteerPoints> steerPathFlags;
std::array<dtPolyRef, maxSteerPoints> steerPathPolys;
int nsteerPath = 0;
const dtStatus status
= navMeshQuery.findStraightPath(startPos.ptr(), endPos.ptr(), path, static_cast<int>(pathSize),
steerPath.data(), steerPathFlags.data(), steerPathPolys.data(), &nsteerPath, maxSteerPoints);
if (dtStatusFailed(status))
return std::nullopt;
assert(nsteerPath >= 0);
if (!nsteerPath)
return std::nullopt;
// Find vertex far enough to steer to.
std::size_t ns = 0;
while (ns < static_cast<std::size_t>(nsteerPath))
{
// 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))
break;
ns++;
}
// Failed to find good point to steer to.
if (ns >= static_cast<std::size_t>(nsteerPath))
return std::nullopt;
dtVcopy(result.mSteerPos.ptr(), &steerPath[ns * 3]);
result.mSteerPos.y() = startPos[1];
result.mSteerPosFlag = steerPathFlags[ns];
result.mSteerPosRef = steerPathPolys[ns];
return result;
}
dtPolyRef findNearestPoly(const dtNavMeshQuery& query, const dtQueryFilter& filter, const osg::Vec3f& center,
const osg::Vec3f& halfExtents)
{
dtPolyRef ref = 0;
const dtStatus status = query.findNearestPoly(center.ptr(), halfExtents.ptr(), &filter, &ref, nullptr);
if (!dtStatusSucceed(status))
return 0;
return ref;
}
}

186
components/detournavigator/findsmoothpath.hpp
View file

@ -7,11 +7,13 @@
#include "settingsutils.hpp"
#include "status.hpp"
#include <DetourCommon.h>
#include <DetourNavMesh.h>
#include <DetourNavMeshQuery.h>
#include <osg/Vec3f>
#include <array>
#include <cassert>
#include <functional>
#include <span>
@ -19,36 +21,6 @@
namespace DetourNavigator
{
inline bool inRange(const osg::Vec3f& v1, const osg::Vec3f& v2, const float r)
{
return (osg::Vec2f(v1.x(), v1.z()) - osg::Vec2f(v2.x(), v2.z())).length() < r;
}
std::size_t fixupCorridor(std::span<dtPolyRef> path, std::size_t pathSize, const std::vector<dtPolyRef>& visited);
// This function checks if the path has a small U-turn, that is,
// a polygon further in the path is adjacent to the first polygon
// in the path. If that happens, a shortcut is taken.
// This can happen if the target (T) location is at tile boundary,
// and we're (S) approaching it parallel to the tile edge.
// The choice at the vertex can be arbitrary,
// +---+---+
// |:::|:::|
// +-S-+-T-+
// |:::| | <-- the step can end up in here, resulting U-turn path.
// +---+---+
std::size_t fixupShortcuts(dtPolyRef* path, std::size_t pathSize, const dtNavMeshQuery& navQuery);
struct SteerTarget
{
osg::Vec3f mSteerPos;
unsigned char mSteerPosFlag;
dtPolyRef mSteerPosRef;
};
std::optional<SteerTarget> getSteerTarget(const dtNavMeshQuery& navQuery, const osg::Vec3f& startPos,
const osg::Vec3f& endPos, const float minTargetDist, const dtPolyRef* path, const std::size_t pathSize);
template <class OutputIterator, class Function>
class OutputTransformIterator
{
@ -92,32 +64,6 @@ namespace DetourNavigator
impl, [&settings](const osg::Vec3f& value) { return fromNavMeshCoordinates(settings, value); });
}
dtPolyRef findNearestPoly(const dtNavMeshQuery& query, const dtQueryFilter& filter, const osg::Vec3f& center,
const osg::Vec3f& halfExtents);
struct MoveAlongSurfaceResult
{
osg::Vec3f mResultPos;
std::vector<dtPolyRef> mVisited;
};
inline std::optional<MoveAlongSurfaceResult> moveAlongSurface(const dtNavMeshQuery& navMeshQuery,
const dtPolyRef startRef, const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& filter,
const std::size_t maxVisitedSize)
{
MoveAlongSurfaceResult result;
result.mVisited.resize(maxVisitedSize);
int visitedNumber = 0;
const auto status = navMeshQuery.moveAlongSurface(startRef, startPos.ptr(), endPos.ptr(), &filter,
result.mResultPos.ptr(), result.mVisited.data(), &visitedNumber, static_cast<int>(maxVisitedSize));
if (!dtStatusSucceed(status))
return {};
assert(visitedNumber >= 0);
assert(visitedNumber <= static_cast<int>(maxVisitedSize));
result.mVisited.resize(static_cast<std::size_t>(visitedNumber));
return { std::move(result) };
}
inline std::optional<std::size_t> findPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
const dtPolyRef endRef, const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& queryFilter,
std::span<dtPolyRef> pathBuffer)
@ -132,122 +78,34 @@ namespace DetourNavigator
return static_cast<std::size_t>(pathLen);
}
// Iterate over the path to find smooth path on the detail mesh surface.
template <class OutputIterator>
Status makeSmoothPath(const dtNavMeshQuery& navMeshQuery, const dtQueryFilter& filter, const osg::Vec3f& start,
const osg::Vec3f& end, const float stepSize, std::span<dtPolyRef> polygonPath, std::size_t polygonPathSize,
std::size_t maxSmoothPathSize, OutputIterator& out)
Status makeSmoothPath(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& start, const osg::Vec3f& end,
std::span<dtPolyRef> polygonPath, std::size_t polygonPathSize, std::size_t maxSmoothPathSize,
OutputIterator& out)
{
assert(polygonPathSize <= polygonPath.size());
constexpr float slop = 0.01f;
osg::Vec3f iterPos = start;
std::vector<float> cornerVertsBuffer(maxSmoothPathSize * 3);
std::vector<unsigned char> cornerFlagsBuffer(maxSmoothPathSize);
std::vector<dtPolyRef> cornerPolysBuffer(maxSmoothPathSize);
int cornersCount = 0;
constexpr int findStraightPathOptions = DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS;
if (const dtStatus status = navMeshQuery.findStraightPath(start.ptr(), end.ptr(), polygonPath.data(),
static_cast<int>(polygonPathSize), cornerVertsBuffer.data(), cornerFlagsBuffer.data(),
cornerPolysBuffer.data(), &cornersCount, static_cast<int>(maxSmoothPathSize), findStraightPathOptions);
dtStatusFailed(status))
return Status::FindStraightPathFailed;
*out++ = iterPos;
std::size_t smoothPathSize = 1;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (polygonPathSize > 0 && smoothPathSize < maxSmoothPathSize)
{
// Find location to steer towards.
const auto steerTarget
= getSteerTarget(navMeshQuery, iterPos, end, slop, polygonPath.data(), polygonPathSize);
if (!steerTarget)
break;
const bool endOfPath = bool(steerTarget->mSteerPosFlag & DT_STRAIGHTPATH_END);
const bool offMeshConnection = bool(steerTarget->mSteerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION);
// Find movement delta.
const osg::Vec3f delta = steerTarget->mSteerPos - iterPos;
float len = delta.length();
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < stepSize)
len = 1;
else
len = stepSize / len;
const osg::Vec3f moveTgt = iterPos + delta * len;
const auto result = moveAlongSurface(navMeshQuery, polygonPath.front(), iterPos, moveTgt, filter, 16);
if (!result)
return Status::MoveAlongSurfaceFailed;
polygonPathSize = fixupCorridor(polygonPath, polygonPathSize, result->mVisited);
polygonPathSize = fixupShortcuts(polygonPath.data(), polygonPathSize, navMeshQuery);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(result->mResultPos, steerTarget->mSteerPos, slop))
{
// Reached end of path.
iterPos = end;
*out++ = iterPos;
++smoothPathSize;
break;
}
dtPolyRef polyRef = polygonPath.front();
osg::Vec3f polyPos = result->mResultPos;
if (offMeshConnection && inRange(polyPos, steerTarget->mSteerPos, slop))
{
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0;
std::size_t npos = 0;
while (npos < polygonPathSize && polyRef != steerTarget->mSteerPosRef)
{
prevRef = polyRef;
polyRef = polygonPath[npos];
++npos;
}
if (npos > 0)
{
std::copy(polygonPath.begin() + npos, polygonPath.begin() + polygonPathSize, polygonPath.begin());
polygonPathSize -= npos;
}
// Reached off-mesh connection.
osg::Vec3f startPos;
osg::Vec3f endPos;
// Handle the connection.
if (dtStatusSucceed(navMeshQuery.getAttachedNavMesh()->getOffMeshConnectionPolyEndPoints(
prevRef, polyRef, startPos.ptr(), endPos.ptr())))
{
*out++ = startPos;
++smoothPathSize;
// Hack to make the dotted path not visible during off-mesh connection.
if (smoothPathSize & 1)
{
*out++ = startPos;
++smoothPathSize;
}
// Move position at the other side of the off-mesh link.
polyPos = endPos;
}
}
navMeshQuery.getPolyHeight(polyRef, polyPos.ptr(), &iterPos.y());
iterPos.x() = result->mResultPos.x();
iterPos.z() = result->mResultPos.z();
// Store results.
*out++ = iterPos;
++smoothPathSize;
}
for (int i = 0; i < cornersCount; ++i)
*out++ = Misc::Convert::makeOsgVec3f(&cornerVertsBuffer[static_cast<std::size_t>(i) * 3]);
return Status::Success;
}
template <class OutputIterator>
Status findSmoothPath(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents, const float stepSize,
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
const DetourSettings& settings, float endTolerance, OutputIterator out)
Status findSmoothPath(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents, const osg::Vec3f& start,
const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts, const DetourSettings& settings,
float endTolerance, OutputIterator out)
{
dtQueryFilter queryFilter;
queryFilter.setIncludeFlags(includeFlags);
@ -291,8 +149,8 @@ namespace DetourNavigator
return Status::TargetPolygonNotFound;
const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef;
const Status smoothStatus = makeSmoothPath(navMeshQuery, queryFilter, startNavMeshPos, targetNavMeshPos,
stepSize, polygonPath, *polygonPathSize, settings.mMaxSmoothPathSize, out);
const Status smoothStatus = makeSmoothPath(navMeshQuery, startNavMeshPos, targetNavMeshPos, polygonPath,
*polygonPathSize, settings.mMaxSmoothPathSize, out);
if (smoothStatus != Status::Success)
return smoothStatus;

11
components/detournavigator/navigatorutils.hpp
View file

@ -25,9 +25,9 @@ namespace DetourNavigator
* Equal to out if no path is found.
*/
template <class OutputIterator>
inline Status findPath(const Navigator& navigator, const AgentBounds& agentBounds, const float stepSize,
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
float endTolerance, OutputIterator out)
inline Status findPath(const Navigator& navigator, const AgentBounds& agentBounds, const osg::Vec3f& start,
const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts, float endTolerance,
OutputIterator out)
{
static_assert(std::is_same<typename std::iterator_traits<OutputIterator>::iterator_category,
std::output_iterator_tag>::value,
@ -39,9 +39,8 @@ namespace DetourNavigator
auto outTransform = withFromNavMeshCoordinates(out, settings.mRecast);
const auto locked = navMesh->lock();
return findSmoothPath(locked->getQuery(), toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings.mDetour, endTolerance,
outTransform);
toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags,
areaCosts, settings.mDetour, endTolerance, outTransform);
}
/**

3
components/detournavigator/status.hpp
View file

@ -14,6 +14,7 @@ namespace DetourNavigator
MoveAlongSurfaceFailed,
FindPathOverPolygonsFailed,
InitNavMeshQueryFailed,
FindStraightPathFailed,
};
constexpr const char* getMessage(Status value)
@ -38,6 +39,8 @@ namespace DetourNavigator
return "path over navmesh polygons is not found";
case Status::InitNavMeshQueryFailed:
return "failed to init navmesh query";
case Status::FindStraightPathFailed:
return "failed to straight path using polygon path";
}
return "unknown error";
}

3
files/lua_api/openmw/nearby.lua
View file

@ -144,6 +144,7 @@
-- `destination` does not exist or navigation mesh is not fully generated to provide the path;
-- @field [parent=#FIND_PATH_STATUS] #number InitNavMeshQueryFailed Couldn't initialize required data due to bad input
-- or bad navigation mesh data.
-- @field [parent=#FIND_PATH_STATUS] #number FindStraightPathFailed Couldn't map path over polygons into world coordinates.
---
-- Find path over navigation mesh from source to destination with given options. Result is unstable since navigation
@ -157,8 +158,6 @@
--
-- * `shapeType` - one of @{#COLLISION_SHAPE_TYPE} values;
-- * `halfExtents` - @{openmw.util#Vector3} defining agent bounds size;
-- * `stepSize` - a floating point number to define frequency of path points
-- (default: `2 * math.max(halfExtents:x, halfExtents:y)`)
-- * `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});

1
scripts/data/integration_tests/test_lua_api/player.lua
View file

@ -71,7 +71,6 @@ testing.registerLocalTest('findPath',
local dst = util.vector3(4500, 4500, 700.216)
local options = {
agentBounds = types.Actor.getPathfindingAgentBounds(self),
stepSize = 50,
includeFlags = nearby.NAVIGATOR_FLAGS.Walk + nearby.NAVIGATOR_FLAGS.Swim,
areaCosts = {
water = 1,

78
scripts/data/morrowind_tests/player.lua
View file

@ -47,86 +47,30 @@ testing.registerLocalTest('Guard in Imperial Prison Ship should find path (#7241
if agentBounds.shapeType == nearby.COLLISION_SHAPE_TYPE.Aabb then
testing.expectThat(path, testing.elementsAreArray({
testing.closeToVector(util.vector3(34.29737091064453125, 806.3817138671875, 112.76610565185546875), 1e-1),
testing.closeToVector(util.vector3(30.4828090667724609375, 864.81732177734375, 112.76610565185546875), 1e-1),
testing.closeToVector(util.vector3(26.6682491302490234375, 923.25299072265625, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(22.85369110107421875, 981.6885986328125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(19.03913116455078125, 1040.124267578125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(15.22457122802734375, 1098.559814453125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(15, 1102, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(15, 1102, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(15, 1102, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-67.99993896484375, 1108.4000244140625, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-112, 1110, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-112, 1110, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-112, 1110, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-115.59993743896484375, 1360.0001220703125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-101.39704132080078125, 1416.811767578125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-43.336151123046875, 1424.44091796875, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-3.460088253021240234375, 1381.5552978515625, 92.34075927734375), 1e-1),
testing.closeToVector(util.vector3(3.82649898529052734375, 1323.4503173828125, 43.302886962890625), 1e-1),
testing.closeToVector(util.vector3(11.11308765411376953125, 1265.345458984375, -7.3479709625244140625), 1e-1),
testing.closeToVector(util.vector3(18.399677276611328125, 1207.240478515625, -54.67620849609375), 1e-1),
testing.closeToVector(util.vector3(25.6862640380859375, 1149.135498046875, -91.845550537109375), 1e-1),
testing.closeToVector(util.vector3(32.9728546142578125, 1091.030517578125, -97.08281707763671875), 1e-1),
testing.closeToVector(util.vector3(40.2594451904296875, 1032.9256591796875, -98.50542449951171875), 1e-1),
testing.closeToVector(util.vector3(47.546039581298828125, 974.82080078125, -98.50542449951171875), 1e-1),
testing.closeToVector(util.vector3(54.832630157470703125, 916.71588134765625, -98.50542449951171875), 1e-1),
testing.closeToVector(util.vector3(62.119220733642578125, 858.61102294921875, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(69.40581512451171875, 800.50616455078125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(76.692413330078125, 742.4012451171875, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(-118, 1393, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-67.99993896484375, 1421.2000732421875, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-33.999935150146484375, 1414.4000244140625, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-6.79993534088134765625, 1380.4000244140625, 85.094573974609375), 1e-1),
testing.closeToVector(util.vector3(79, 724, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(79, 724, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(79, 724, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(40.80001068115234375, 353.600006103515625, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(73.7038726806640625, 305.158203125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(84, 290.000030517578125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(84, 290.000030517578125, -104.58989715576171875), 1e-1),
testing.closeToVector(util.vector3(136.0000152587890625, 81.60001373291015625, -104.58989715576171875), 1e-1),
testing.closeToVector(util.vector3(89.15203094482421875, 46.464019775390625, -104.58989715576171875), 1e-1),
testing.closeToVector(util.vector3(83.552001953125, 42.26399993896484375, -104.58989715576171875), 1e-1),
testing.closeToVector(util.vector3(83.552001953125, 42.26399993896484375, -98.72841644287109375), 1e-1),
testing.closeToVector(util.vector3(115.60001373291015625, -27.1999359130859375, -98.72841644287109375), 1e-1),
testing.closeToVector(util.vector3(93.4945526123046875, -81.42742156982421875, -100.4057159423828125), 1e-1),
testing.closeToVector(util.vector3(89, -105, -98.72841644287109375), 1e-1),
testing.closeToVector(util.vector3(90, -90, -99.7056884765625), 1e-1),
}))
elseif agentBounds.shapeType == nearby.COLLISION_SHAPE_TYPE.Cylinder then
testing.expectThat(path, testing.elementsAreArray({
testing.closeToVector(util.vector3(34.29737091064453125, 806.3817138671875, 112.76610565185546875), 1e-1),
testing.closeToVector(util.vector3(23.4630756378173828125, 863.9307861328125, 112.76610565185546875), 1e-1),
testing.closeToVector(util.vector3(12.628780364990234375, 921.4798583984375, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(1.79448258876800537109375, 979.0289306640625, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-9.0398197174072265625, 1036.5780029296875, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-19.8741359710693359375, 1094.126953125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-70.930450439453125, 1122.8067626953125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-121.98685455322265625, 1151.486328125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-121.020294189453125, 1210.038330078125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-120.0537261962890625, 1268.59033203125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-119.08716583251953125, 1327.142333984375, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-118.12059783935546875, 1385.6944580078125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-13.5999355316162109375, 1060.800048828125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-27.1999359130859375, 1081.2000732421875, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-81.59993743896484375, 1128.800048828125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-101.99993896484375, 1156.0001220703125, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-118, 1393, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-118, 1393, 112.2945709228515625), 1e-1),
testing.closeToVector(util.vector3(-118, 1393, 114.73973846435546875), 1e-1),
testing.closeToVector(util.vector3(27.200008392333984375, 1380.4000244140625, 114.73973846435546875), 1e-1),
testing.closeToVector(util.vector3(29.74369049072265625, 1321.8953857421875, 114.73973846435546875), 1e-1),
testing.closeToVector(util.vector3(32.287372589111328125, 1263.3907470703125, 114.73973846435546875), 1e-1),
testing.closeToVector(util.vector3(34.831058502197265625, 1204.885986328125, -57.1894378662109375), 1e-1),
testing.closeToVector(util.vector3(40.18719482421875, 1146.571533203125, -90.156890869140625), 1e-1),
testing.closeToVector(util.vector3(45.543331146240234375, 1088.2569580078125, -97.2764434814453125), 1e-1),
testing.closeToVector(util.vector3(50.89946746826171875, 1029.9423828125, -98.50542449951171875), 1e-1),
testing.closeToVector(util.vector3(56.255603790283203125, 971.62786865234375, -98.50542449951171875), 1e-1),
testing.closeToVector(util.vector3(61.6117401123046875, 913.31329345703125, -98.50542449951171875), 1e-1),
testing.closeToVector(util.vector3(66.9678802490234375, 854.998779296875, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(72.3240203857421875, 796.6842041015625, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(77.68015289306640625, 738.36968994140625, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(7, 1470, 114.73973846435546875), 1e-1),
testing.closeToVector(util.vector3(79, 724, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(79, 724, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(108.80001068115234375, 299.20001220703125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(84, 290.000030517578125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(84, 290.000030517578125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(84, 290.000030517578125, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(108.80001068115234375, 54.4000091552734375, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(101.23966217041015625, -3.6698896884918212890625, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(93.6793060302734375, -61.7397918701171875, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(95, 27, -104.83390045166015625), 1e-1),
testing.closeToVector(util.vector3(90, -90, -104.83390045166015625), 1e-1),
}))
end