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Validate almost straight shortcuts by navmesh raycast

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Check whether it's possible to actually move over navmesh by such shortcut.
This commit is contained in:
elsid 2021-06-21 18:09:48 +02:00
parent 4dad58b806
commit e7d68d3d1b
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GPG key ID: B845CB9FEE18AB40
3 changed files with 27 additions and 5 deletions
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3
apps/openmw/mwmechanics/aipackage.cpp
View file

@ -160,7 +160,8 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
static const bool smoothMovement = Settings::Manager::getBool("smooth movement", "Game");
mPathFinder.update(position, pointTolerance, DEFAULT_TOLERANCE,
/*shortenIfAlmostStraight=*/smoothMovement, actorCanMoveByZ);
/*shortenIfAlmostStraight=*/smoothMovement, actorCanMoveByZ,
halfExtents, getNavigatorFlags(actor));
if (isDestReached || mPathFinder.checkPathCompleted()) // if path is finished
{

26
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -105,6 +105,19 @@ namespace
return checkAngle && checkDist;
}
struct IsValidShortcut
{
const DetourNavigator::Navigator* mNavigator;
const osg::Vec3f mHalfExtents;
const DetourNavigator::Flags mFlags;
bool operator()(const osg::Vec3f& start, const osg::Vec3f& end) const
{
const auto position = mNavigator->raycast(mHalfExtents, start, end, mFlags);
return position.has_value() && std::abs((position.value() - start).length2() - (end - start).length2()) <= 1;
}
};
}
namespace MWMechanics
@ -296,7 +309,8 @@ namespace MWMechanics
}
void PathFinder::update(const osg::Vec3f& position, float pointTolerance, float destinationTolerance,
bool shortenIfAlmostStraight, bool canMoveByZ)
bool shortenIfAlmostStraight, bool canMoveByZ, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags)
{
if (mPath.empty())
return;
@ -306,9 +320,15 @@ namespace MWMechanics
if (shortenIfAlmostStraight)
{
while (mPath.size() > 2 && isAlmostStraight(mPath[0], mPath[1], mPath[2], pointTolerance))
const IsValidShortcut isValidShortcut {
MWBase::Environment::get().getWorld()->getNavigator(),
halfExtents, flags
};
while (mPath.size() > 2 && isAlmostStraight(mPath[0], mPath[1], mPath[2], pointTolerance)
&& isValidShortcut(mPath[0], mPath[2]))
mPath.erase(mPath.begin() + 1);
if (mPath.size() > 1 && isAlmostStraight(position, mPath[0], mPath[1], pointTolerance))
if (mPath.size() > 1 && isAlmostStraight(position, mPath[0], mPath[1], pointTolerance)
&& isValidShortcut(position, mPath[1]))
mPath.pop_front();
}

3
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -107,7 +107,8 @@ namespace MWMechanics
/// Remove front point if exist and within tolerance
void update(const osg::Vec3f& position, float pointTolerance, float destinationTolerance,
bool shortenIfAlmostStraight, bool canMoveByZ);
bool shortenIfAlmostStraight, bool canMoveByZ, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags);
bool checkPathCompleted() const
{