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69 lines
3.3 KiB
C++
69 lines
3.3 KiB
C++
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORUTILS_H
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#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORUTILS_H
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#include "findsmoothpath.hpp"
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#include "flags.hpp"
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#include "settings.hpp"
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#include "navigator.hpp"
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#include <optional>
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namespace DetourNavigator
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{
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/**
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* @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
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* @param agentBounds allows to find navmesh for given actor.
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* @param start path from given point.
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* @param end path at given point.
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* @param includeFlags setup allowed surfaces for actor to walk.
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* @param out the beginning of the destination range.
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* @param endTolerance defines maximum allowed distance to end path point in addition to agentHalfExtents
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* @return Output iterator to the element in the destination range, one past the last element of found path.
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* Equal to out if no path is found.
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*/
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template <class OutputIterator>
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inline Status findPath(const Navigator& navigator, const AgentBounds& agentBounds, const float stepSize,
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const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
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float endTolerance, OutputIterator out)
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{
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static_assert(
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std::is_same<
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typename std::iterator_traits<OutputIterator>::iterator_category,
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std::output_iterator_tag
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>::value,
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"out is not an OutputIterator"
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);
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const auto navMesh = navigator.getNavMesh(agentBounds);
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if (navMesh == nullptr)
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return Status::NavMeshNotFound;
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const auto settings = navigator.getSettings();
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return findSmoothPath(navMesh->lockConst()->getImpl(), toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
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toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
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toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings, endTolerance, out);
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}
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/**
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* @brief findRandomPointAroundCircle returns random location on navmesh within the reach of specified location.
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* @param agentBounds allows to find navmesh for given actor.
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* @param start is a position where the search starts.
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* @param maxRadius limit maximum distance from start.
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* @param includeFlags setup allowed surfaces for actor to walk.
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* @return not empty optional with position if point is found and empty optional if point is not found.
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*/
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std::optional<osg::Vec3f> findRandomPointAroundCircle(const Navigator& navigator, const AgentBounds& agentBounds,
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const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, float(*prng)());
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/**
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* @brief raycast finds farest navmesh point from start on a line from start to end that has path from start.
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* @param agentBounds allows to find navmesh for given actor.
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* @param start of the line
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* @param end of the line
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* @param includeFlags setup allowed surfaces for actor to walk.
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* @return not empty optional with position if point is found and empty optional if point is not found.
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*/
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std::optional<osg::Vec3f> raycast(const Navigator& navigator, const AgentBounds& agentBounds, const osg::Vec3f& start,
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const osg::Vec3f& end, const Flags includeFlags);
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}
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#endif
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