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https://github.com/OpenMW/openmw.git
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Merge branch 'aipursue_path' into 'master'
Make AiPursue path destination to be as close as possible to target (#6211) Closes #6211 See merge request OpenMW/openmw!1154
This commit is contained in:
psi29a
commit
e8057d9fd1
14 changed files with 204 additions and 58 deletions
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@ -269,7 +269,8 @@ namespace MWMechanics
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const auto navigatorFlags = getNavigatorFlags(actor);
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const auto areaCosts = getAreaCosts(actor);
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const auto pathGridGraph = getPathGridGraph(actor.getCell());
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mPathFinder.buildPath(actor, vActorPos, vTargetPos, actor.getCell(), pathGridGraph, halfExtents, navigatorFlags, areaCosts);
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mPathFinder.buildPath(actor, vActorPos, vTargetPos, actor.getCell(), pathGridGraph, halfExtents,
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navigatorFlags, areaCosts, storage.mAttackRange, PathType::Full);
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if (!mPathFinder.isPathConstructed())
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{
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@ -281,7 +282,8 @@ namespace MWMechanics
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if (hit.has_value() && (*hit - vTargetPos).length() <= rangeAttack)
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{
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// If the point is close enough, try to find a path to that point.
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mPathFinder.buildPath(actor, vActorPos, *hit, actor.getCell(), pathGridGraph, halfExtents, navigatorFlags, areaCosts);
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mPathFinder.buildPath(actor, vActorPos, *hit, actor.getCell(), pathGridGraph, halfExtents,
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navigatorFlags, areaCosts, storage.mAttackRange, PathType::Full);
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if (mPathFinder.isPathConstructed())
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{
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// If path to that point is found use it as custom destination.
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@ -88,7 +88,8 @@ void MWMechanics::AiPackage::reset()
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mObstacleCheck.clear();
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}
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bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& dest, float duration, float destTolerance)
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bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& dest, float duration,
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float destTolerance, float endTolerance, PathType pathType)
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{
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const Misc::TimerStatus timerStatus = mReaction.update(duration);
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@ -133,7 +134,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
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{
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const auto pathfindingHalfExtents = world->getPathfindingHalfExtents(actor);
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mPathFinder.buildLimitedPath(actor, position, dest, actor.getCell(), getPathGridGraph(actor.getCell()),
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pathfindingHalfExtents, getNavigatorFlags(actor), getAreaCosts(actor));
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pathfindingHalfExtents, getNavigatorFlags(actor), getAreaCosts(actor), endTolerance, pathType);
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mRotateOnTheRunChecks = 3;
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// give priority to go directly on target if there is minimal opportunity
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@ -129,7 +129,8 @@ namespace MWMechanics
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protected:
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/// Handles path building and shortcutting with obstacles avoiding
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/** \return If the actor has arrived at his destination **/
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bool pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& dest, float duration, float destTolerance = 0.0f);
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bool pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& dest, float duration,
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float destTolerance = 0.0f, float endTolerance = 0.0f, PathType pathType = PathType::Full);
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/// Check if there aren't any obstacles along the path to make shortcut possible
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/// If a shortcut is possible then path will be cleared and filled with the destination point.
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@ -53,7 +53,7 @@ bool AiPursue::execute (const MWWorld::Ptr& actor, CharacterController& characte
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const float pathTolerance = 100.f;
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// check the true distance in case the target is far away in Z-direction
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bool reached = pathTo(actor, dest, duration, pathTolerance) &&
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bool reached = pathTo(actor, dest, duration, pathTolerance, (actorPos - dest).length(), PathType::Partial) &&
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std::abs(dest.z() - actorPos.z()) < pathTolerance;
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if (reached)
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@ -201,8 +201,10 @@ namespace MWMechanics
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else
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{
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const osg::Vec3f halfExtents = MWBase::Environment::get().getWorld()->getPathfindingHalfExtents(actor);
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constexpr float endTolerance = 0;
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mPathFinder.buildPath(actor, pos.asVec3(), mDestination, actor.getCell(),
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getPathGridGraph(actor.getCell()), halfExtents, getNavigatorFlags(actor), getAreaCosts(actor));
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getPathGridGraph(actor.getCell()), halfExtents, getNavigatorFlags(actor), getAreaCosts(actor),
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endTolerance, PathType::Full);
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}
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if (mPathFinder.isPathConstructed())
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@ -361,11 +363,13 @@ namespace MWMechanics
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if (isAreaOccupiedByOtherActor(actor, mDestination))
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continue;
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constexpr float endTolerance = 0;
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if (isWaterCreature || isFlyingCreature)
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mPathFinder.buildStraightPath(mDestination);
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else
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mPathFinder.buildPathByNavMesh(actor, currentPosition, mDestination, halfExtents, navigatorFlags,
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areaCosts);
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areaCosts, endTolerance, PathType::Full);
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if (mPathFinder.isPathConstructed())
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{
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@ -364,13 +364,13 @@ namespace MWMechanics
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void PathFinder::buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
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const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
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const DetourNavigator::AreaCosts& areaCosts)
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const DetourNavigator::AreaCosts& areaCosts, float endTolerance, PathType pathType)
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{
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mPath.clear();
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// If it's not possible to build path over navmesh due to disabled navmesh generation fallback to straight path
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DetourNavigator::Status status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags,
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areaCosts, std::back_inserter(mPath));
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areaCosts, endTolerance, pathType, std::back_inserter(mPath));
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if (status != DetourNavigator::Status::Success)
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mPath.clear();
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@ -383,7 +383,8 @@ namespace MWMechanics
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void PathFinder::buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
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const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts)
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
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PathType pathType)
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{
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mPath.clear();
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mCell = cell;
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@ -392,7 +393,8 @@ namespace MWMechanics
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if (!actor.getClass().isPureWaterCreature(actor) && !actor.getClass().isPureFlyingCreature(actor))
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{
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status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts, std::back_inserter(mPath));
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status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts,
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endTolerance, pathType, std::back_inserter(mPath));
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if (status != DetourNavigator::Status::Success)
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mPath.clear();
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}
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@ -400,7 +402,7 @@ namespace MWMechanics
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if (status != DetourNavigator::Status::NavMeshNotFound && mPath.empty())
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{
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status = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents,
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flags | DetourNavigator::Flag_usePathgrid, areaCosts, std::back_inserter(mPath));
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flags | DetourNavigator::Flag_usePathgrid, areaCosts, endTolerance, pathType, std::back_inserter(mPath));
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if (status != DetourNavigator::Status::Success)
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mPath.clear();
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}
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@ -416,12 +418,17 @@ namespace MWMechanics
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DetourNavigator::Status PathFinder::buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
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const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
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const DetourNavigator::AreaCosts& areaCosts, std::back_insert_iterator<std::deque<osg::Vec3f>> out)
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const DetourNavigator::AreaCosts& areaCosts, float endTolerance, PathType pathType,
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std::back_insert_iterator<std::deque<osg::Vec3f>> out)
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{
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const auto world = MWBase::Environment::get().getWorld();
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const auto stepSize = getPathStepSize(actor);
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const auto navigator = world->getNavigator();
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const auto status = navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, areaCosts, out);
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const auto status = navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, areaCosts,
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endTolerance, out);
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if (pathType == PathType::Partial && status == DetourNavigator::Status::PartialPath)
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return DetourNavigator::Status::Success;
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if (status != DetourNavigator::Status::Success)
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{
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@ -449,8 +456,9 @@ namespace MWMechanics
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const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
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std::deque<osg::Vec3f> prePath;
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auto prePathInserter = std::back_inserter(prePath);
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const float endTolerance = 0;
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const auto status = navigator->findPath(halfExtents, stepSize, startPoint, mPath.front(), flags, areaCosts,
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prePathInserter);
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endTolerance, prePathInserter);
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if (status == DetourNavigator::Status::NavMeshNotFound)
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return;
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@ -475,7 +483,8 @@ namespace MWMechanics
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void PathFinder::buildLimitedPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
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const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts)
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
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PathType pathType)
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{
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const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
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const auto maxDistance = std::min(
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@ -485,8 +494,9 @@ namespace MWMechanics
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const auto startToEnd = endPoint - startPoint;
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const auto distance = startToEnd.length();
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if (distance <= maxDistance)
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return buildPath(actor, startPoint, endPoint, cell, pathgridGraph, halfExtents, flags, areaCosts);
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return buildPath(actor, startPoint, endPoint, cell, pathgridGraph, halfExtents, flags, areaCosts,
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endTolerance, pathType);
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const auto end = startPoint + startToEnd * maxDistance / distance;
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buildPath(actor, startPoint, end, cell, pathgridGraph, halfExtents, flags, areaCosts);
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buildPath(actor, startPoint, end, cell, pathgridGraph, halfExtents, flags, areaCosts, endTolerance, pathType);
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}
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}
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@ -70,6 +70,12 @@ namespace MWMechanics
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// magnitude of pits/obstacles is defined by PATHFIND_Z_REACH
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bool checkWayIsClear(const osg::Vec3f& from, const osg::Vec3f& to, float offsetXY);
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enum class PathType
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{
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Full,
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Partial,
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};
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class PathFinder
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{
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public:
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@ -93,18 +99,20 @@ namespace MWMechanics
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void buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
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const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
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const DetourNavigator::AreaCosts& areaCosts);
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const DetourNavigator::AreaCosts& areaCosts, float endTolerance, PathType pathType);
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void buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
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const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts);
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
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PathType pathType);
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void buildPathByNavMeshToNextPoint(const MWWorld::ConstPtr& actor, const osg::Vec3f& halfExtents,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts);
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void buildLimitedPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
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const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts);
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance,
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PathType pathType);
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/// Remove front point if exist and within tolerance
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void update(const osg::Vec3f& position, float pointTolerance, float destinationTolerance,
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@ -212,7 +220,7 @@ namespace MWMechanics
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[[nodiscard]] DetourNavigator::Status buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor,
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const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts,
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const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts, float endTolerance, PathType pathType,
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std::back_insert_iterator<std::deque<osg::Vec3f>> out);
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};
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}
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@ -46,6 +46,7 @@ namespace
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const osg::Vec2i mCellPosition {0, 0};
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const int mHeightfieldTileSize = ESM::Land::REAL_SIZE / (ESM::Land::LAND_SIZE - 1);
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const osg::Vec3f mShift {0, 0, 0};
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const float mEndTolerance = 0;
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DetourNavigatorNavigatorTest()
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: mPlayerPosition(0, 0, 0)
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@ -135,7 +136,7 @@ namespace
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TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
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{
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::NavMeshNotFound);
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EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
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}
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@ -143,7 +144,7 @@ namespace
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TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
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{
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mNavigator->addAgent(mAgentHalfExtents);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::StartPolygonNotFound);
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}
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@ -152,7 +153,7 @@ namespace
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mNavigator->addAgent(mAgentHalfExtents);
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mNavigator->addAgent(mAgentHalfExtents);
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mNavigator->removeAgent(mAgentHalfExtents);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::StartPolygonNotFound);
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}
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@ -172,7 +173,8 @@ namespace
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mNavigator->update(mPlayerPosition);
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mNavigator->wait(mListener, WaitConditionType::requiredTilesPresent);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(
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Vec3fEq(-204.0000152587890625, 204, 1.99998295307159423828125),
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@ -219,7 +221,8 @@ namespace
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mNavigator->update(mPlayerPosition);
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mNavigator->wait(mListener, WaitConditionType::allJobsDone);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(
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Vec3fEq(-204, 204, 1.99998295307159423828125),
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@ -252,7 +255,8 @@ namespace
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mPath.clear();
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mOut = std::back_inserter(mPath);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(
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Vec3fEq(-204, 204, 1.99998295307159423828125),
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|
|
@ -301,7 +305,8 @@ namespace
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mNavigator->update(mPlayerPosition);
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mNavigator->wait(mListener, WaitConditionType::allJobsDone);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(
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Vec3fEq(-204, 204, 1.99998295307159423828125),
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|
|
@ -337,7 +342,8 @@ namespace
|
|||
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mPath.clear();
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mOut = std::back_inserter(mPath);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(
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Vec3fEq(-204, 204, 1.99998295307159423828125),
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|
|
@ -393,7 +399,8 @@ namespace
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mNavigator->update(mPlayerPosition);
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mNavigator->wait(mListener, WaitConditionType::allJobsDone);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
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EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
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Status::Success);
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EXPECT_THAT(mPath, ElementsAre(
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Vec3fEq(-204, 204, 1.999981403350830078125),
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||||
|
|
@ -479,7 +486,8 @@ namespace
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|||
mNavigator->update(mPlayerPosition);
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mNavigator->wait(mListener, WaitConditionType::allJobsDone);
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|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, 1.99997997283935546875),
|
||||
|
|
@ -530,7 +538,8 @@ namespace
|
|||
mEnd.x() = 0;
|
||||
mEnd.z() = 300;
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(0, 204, 185.33331298828125),
|
||||
|
|
@ -574,7 +583,7 @@ namespace
|
|||
mStart.x() = 0;
|
||||
mEnd.x() = 0;
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mOut),
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
|
|
@ -619,7 +628,7 @@ namespace
|
|||
mStart.x() = 0;
|
||||
mEnd.x() = 0;
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mOut),
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
|
|
@ -664,7 +673,8 @@ namespace
|
|||
mStart.x() = 0;
|
||||
mEnd.x() = 0;
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(0, 204, -98.000030517578125),
|
||||
|
|
@ -712,7 +722,8 @@ namespace
|
|||
mNavigator->update(mPlayerPosition);
|
||||
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, 1.99998295307159423828125),
|
||||
|
|
@ -764,7 +775,8 @@ namespace
|
|||
mNavigator->update(mPlayerPosition);
|
||||
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, 1.99998295307159423828125),
|
||||
|
|
@ -858,7 +870,8 @@ namespace
|
|||
mNavigator->update(mPlayerPosition);
|
||||
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, 1.99998295307159423828125),
|
||||
|
|
@ -1006,7 +1019,8 @@ namespace
|
|||
mNavigator->update(mPlayerPosition);
|
||||
mNavigator->wait(mListener, WaitConditionType::requiredTilesPresent);
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, 101.99999237060546875),
|
||||
|
|
@ -1033,4 +1047,98 @@ namespace
|
|||
Vec3fEq(204, -204, 101.99999237060546875)
|
||||
)) << mPath;
|
||||
}
|
||||
|
||||
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,
|
||||
0, -25, -25, -25, -25,
|
||||
0, -25, -100, -100, -100,
|
||||
0, -25, -100, -100, -100,
|
||||
0, -25, -100, -100, -100,
|
||||
}};
|
||||
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
|
||||
|
||||
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
|
||||
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(204, -204, 0)),
|
||||
new btBoxShape(btVector3(200, 200, 1000)));
|
||||
|
||||
mNavigator->addAgent(mAgentHalfExtents);
|
||||
mNavigator->addHeightfield(mCellPosition, mHeightfieldTileSize * (surface.mSize - 1), mShift, surface);
|
||||
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
|
||||
mNavigator->update(mPlayerPosition);
|
||||
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
|
||||
Status::PartialPath);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, -2.666739940643310546875),
|
||||
Vec3fEq(-193.730682373046875, 177.59320068359375, -3.9535934925079345703125),
|
||||
Vec3fEq(-183.4613800048828125, 151.1864166259765625, -5.240451335906982421875),
|
||||
Vec3fEq(-173.1920623779296875, 124.77962493896484375, -6.527309417724609375),
|
||||
Vec3fEq(-162.922760009765625, 98.37282562255859375, -7.814167022705078125),
|
||||
Vec3fEq(-152.6534423828125, 71.96602630615234375, -9.898590087890625),
|
||||
Vec3fEq(-142.384124755859375, 45.559230804443359375, -17.641445159912109375),
|
||||
Vec3fEq(-132.1148223876953125, 19.152431488037109375, -25.3843059539794921875),
|
||||
Vec3fEq(-121.8455047607421875, -7.254369258880615234375, -27.97742462158203125),
|
||||
Vec3fEq(-111.57619476318359375, -33.66117095947265625, -16.974590301513671875),
|
||||
Vec3fEq(-101.30689239501953125, -60.06797027587890625, -5.9717559814453125),
|
||||
Vec3fEq(-91.0375823974609375, -86.47476959228515625, -2.6667339801788330078125),
|
||||
Vec3fEq(-80.76827239990234375, -112.88156890869140625, -2.6667339801788330078125),
|
||||
Vec3fEq(-70.49897003173828125, -139.2883758544921875, -2.6667339801788330078125),
|
||||
Vec3fEq(-60.229663848876953125, -165.6951751708984375, -2.6667339801788330078125),
|
||||
Vec3fEq(-49.96035003662109375, -192.1019744873046875, -2.6667339801788330078125),
|
||||
Vec3fEq(-45.333343505859375, -204, -2.6667339801788330078125)
|
||||
)) << mPath;
|
||||
}
|
||||
|
||||
TEST_F(DetourNavigatorNavigatorTest, end_tolerance_should_extent_available_destinations)
|
||||
{
|
||||
const std::array<float, 5 * 5> heightfieldData {{
|
||||
0, 0, 0, 0, 0,
|
||||
0, -25, -25, -25, -25,
|
||||
0, -25, -100, -100, -100,
|
||||
0, -25, -100, -100, -100,
|
||||
0, -25, -100, -100, -100,
|
||||
}};
|
||||
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
|
||||
|
||||
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
|
||||
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(204, -204, 0)),
|
||||
new btBoxShape(btVector3(100, 100, 1000)));
|
||||
|
||||
mNavigator->addAgent(mAgentHalfExtents);
|
||||
mNavigator->addHeightfield(mCellPosition, mHeightfieldTileSize * (surface.mSize - 1), mShift, surface);
|
||||
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
|
||||
mNavigator->update(mPlayerPosition);
|
||||
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
|
||||
|
||||
const float endTolerance = 1000.0f;
|
||||
|
||||
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, endTolerance, mOut),
|
||||
Status::Success);
|
||||
|
||||
EXPECT_THAT(mPath, ElementsAre(
|
||||
Vec3fEq(-204, 204, -2.666739940643310546875),
|
||||
Vec3fEq(-188.745635986328125, 180.1236114501953125, -4.578275203704833984375),
|
||||
Vec3fEq(-173.49127197265625, 156.247222900390625, -6.489814281463623046875),
|
||||
Vec3fEq(-158.2369232177734375, 132.370819091796875, -8.4013538360595703125),
|
||||
Vec3fEq(-142.9825592041015625, 108.49443817138671875, -10.31289386749267578125),
|
||||
Vec3fEq(-127.7281951904296875, 84.6180419921875, -17.4810466766357421875),
|
||||
Vec3fEq(-112.47383880615234375, 60.7416534423828125, -27.6026020050048828125),
|
||||
Vec3fEq(-97.21947479248046875, 36.865261077880859375, -37.724163055419921875),
|
||||
Vec3fEq(-81.965118408203125, 12.98886966705322265625, -47.84572601318359375),
|
||||
Vec3fEq(-66.71075439453125, -10.887523651123046875, -46.691577911376953125),
|
||||
Vec3fEq(-51.45639801025390625, -34.763916015625, -32.085445404052734375),
|
||||
Vec3fEq(-36.202037811279296875, -58.640308380126953125, -28.5217914581298828125),
|
||||
Vec3fEq(-20.947673797607421875, -82.5167083740234375, -32.16143035888671875),
|
||||
Vec3fEq(-5.693310260772705078125, -106.393096923828125, -35.8010711669921875),
|
||||
Vec3fEq(9.56105327606201171875, -130.2694854736328125, -29.6399688720703125),
|
||||
Vec3fEq(24.8154163360595703125, -154.1458740234375, -17.6428318023681640625),
|
||||
Vec3fEq(40.0697784423828125, -178.0222625732421875, -10.46006107330322265625),
|
||||
Vec3fEq(55.3241424560546875, -201.8986663818359375, -3.297139644622802734375),
|
||||
Vec3fEq(56.66666412353515625, -204, -2.6667373180389404296875)
|
||||
)) << mPath;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -34,6 +34,7 @@ namespace DetourNavigator
|
|||
switch (value)
|
||||
{
|
||||
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(Success)
|
||||
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(PartialPath)
|
||||
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(NavMeshNotFound)
|
||||
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(StartPolygonNotFound)
|
||||
OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_STATUS_MESSAGE(EndPolygonNotFound)
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@ namespace DetourNavigator
|
|||
dtQueryFilter queryFilter;
|
||||
queryFilter.setIncludeFlags(includeFlags);
|
||||
|
||||
dtPolyRef startRef = findNearestPolyExpanding(navMeshQuery, queryFilter, start, halfExtents);
|
||||
dtPolyRef startRef = findNearestPoly(navMeshQuery, queryFilter, start, halfExtents * 4);
|
||||
if (startRef == 0)
|
||||
return std::optional<osg::Vec3f>();
|
||||
|
||||
|
|
|
|||
|
|
@ -146,16 +146,13 @@ namespace DetourNavigator
|
|||
return result;
|
||||
}
|
||||
|
||||
dtPolyRef findNearestPolyExpanding(const dtNavMeshQuery& query, const dtQueryFilter& filter,
|
||||
dtPolyRef findNearestPoly(const dtNavMeshQuery& query, const dtQueryFilter& filter,
|
||||
const osg::Vec3f& center, const osg::Vec3f& halfExtents)
|
||||
{
|
||||
dtPolyRef ref = 0;
|
||||
for (int i = 0; i < 3; ++i)
|
||||
{
|
||||
const dtStatus status = query.findNearestPoly(center.ptr(), (halfExtents * (1 << i)).ptr(), &filter, &ref, nullptr);
|
||||
if (!dtStatusFailed(status) && ref != 0)
|
||||
break;
|
||||
}
|
||||
const dtStatus status = query.findNearestPoly(center.ptr(), halfExtents.ptr(), &filter, &ref, nullptr);
|
||||
if (!dtStatusSucceed(status))
|
||||
return 0;
|
||||
return ref;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -99,7 +99,7 @@ namespace DetourNavigator
|
|||
return dtStatusSucceed(status);
|
||||
}
|
||||
|
||||
dtPolyRef findNearestPolyExpanding(const dtNavMeshQuery& query, const dtQueryFilter& filter,
|
||||
dtPolyRef findNearestPoly(const dtNavMeshQuery& query, const dtQueryFilter& filter,
|
||||
const osg::Vec3f& center, const osg::Vec3f& halfExtents);
|
||||
|
||||
struct MoveAlongSurfaceResult
|
||||
|
|
@ -256,7 +256,7 @@ namespace DetourNavigator
|
|||
template <class OutputIterator>
|
||||
Status findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const float stepSize,
|
||||
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
|
||||
const Settings& settings, OutputIterator& out)
|
||||
const Settings& settings, float endTolerance, OutputIterator& out)
|
||||
{
|
||||
dtNavMeshQuery navMeshQuery;
|
||||
if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
|
||||
|
|
@ -269,11 +269,15 @@ namespace DetourNavigator
|
|||
queryFilter.setAreaCost(AreaType_pathgrid, areaCosts.mPathgrid);
|
||||
queryFilter.setAreaCost(AreaType_ground, areaCosts.mGround);
|
||||
|
||||
dtPolyRef startRef = findNearestPolyExpanding(navMeshQuery, queryFilter, start, halfExtents);
|
||||
constexpr float polyDistanceFactor = 4;
|
||||
const osg::Vec3f polyHalfExtents = halfExtents * polyDistanceFactor;
|
||||
|
||||
const dtPolyRef startRef = findNearestPoly(navMeshQuery, queryFilter, start, polyHalfExtents);
|
||||
if (startRef == 0)
|
||||
return Status::StartPolygonNotFound;
|
||||
|
||||
dtPolyRef endRef = findNearestPolyExpanding(navMeshQuery, queryFilter, end, halfExtents);
|
||||
const dtPolyRef endRef = findNearestPoly(navMeshQuery, queryFilter, end,
|
||||
polyHalfExtents + osg::Vec3f(endTolerance, endTolerance, endTolerance));
|
||||
if (endRef == 0)
|
||||
return Status::EndPolygonNotFound;
|
||||
|
||||
|
|
@ -283,12 +287,18 @@ namespace DetourNavigator
|
|||
if (!polygonPath)
|
||||
return Status::FindPathOverPolygonsFailed;
|
||||
|
||||
if (polygonPath->empty() || polygonPath->back() != endRef)
|
||||
if (polygonPath->empty())
|
||||
return Status::Success;
|
||||
|
||||
const bool partialPath = polygonPath->back() != endRef;
|
||||
auto outTransform = OutputTransformIterator<OutputIterator>(out, settings);
|
||||
return makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize, std::move(*polygonPath),
|
||||
settings.mMaxSmoothPathSize, outTransform);
|
||||
const Status smoothStatus = makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize,
|
||||
std::move(*polygonPath), settings.mMaxSmoothPathSize, outTransform);
|
||||
|
||||
if (smoothStatus != Status::Success)
|
||||
return smoothStatus;
|
||||
|
||||
return partialPath ? Status::PartialPath : Status::Success;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -173,13 +173,14 @@ namespace DetourNavigator
|
|||
* @param end path at given point.
|
||||
* @param includeFlags setup allowed surfaces for actor to walk.
|
||||
* @param out the beginning of the destination range.
|
||||
* @param endTolerance defines maximum allowed distance to end path point in addition to agentHalfExtents
|
||||
* @return Output iterator to the element in the destination range, one past the last element of found path.
|
||||
* Equal to out if no path is found.
|
||||
*/
|
||||
template <class OutputIterator>
|
||||
Status findPath(const osg::Vec3f& agentHalfExtents, const float stepSize, const osg::Vec3f& start,
|
||||
const osg::Vec3f& end, const Flags includeFlags, const DetourNavigator::AreaCosts& areaCosts,
|
||||
OutputIterator& out) const
|
||||
float endTolerance, OutputIterator& out) const
|
||||
{
|
||||
static_assert(
|
||||
std::is_same<
|
||||
|
|
@ -194,7 +195,7 @@ namespace DetourNavigator
|
|||
const auto settings = getSettings();
|
||||
return findSmoothPath(navMesh->lockConst()->getImpl(), toNavMeshCoordinates(settings, agentHalfExtents),
|
||||
toNavMeshCoordinates(settings, stepSize), toNavMeshCoordinates(settings, start),
|
||||
toNavMeshCoordinates(settings, end), includeFlags, areaCosts, settings, out);
|
||||
toNavMeshCoordinates(settings, end), includeFlags, areaCosts, settings, endTolerance, out);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@ namespace DetourNavigator
|
|||
enum class Status
|
||||
{
|
||||
Success,
|
||||
PartialPath,
|
||||
NavMeshNotFound,
|
||||
StartPolygonNotFound,
|
||||
EndPolygonNotFound,
|
||||
|
|
@ -21,6 +22,8 @@ namespace DetourNavigator
|
|||
{
|
||||
case Status::Success:
|
||||
return "success";
|
||||
case Status::PartialPath:
|
||||
return "partial path is found";
|
||||
case Status::NavMeshNotFound:
|
||||
return "navmesh is not found";
|
||||
case Status::StartPolygonNotFound:
|
||||
|
|
|
|||
Loading…
Reference in a new issue