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66 lines
2.5 KiB
C++
66 lines
2.5 KiB
C++
#include "gettilespositions.hpp"
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#include "settings.hpp"
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#include "settingsutils.hpp"
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#include "tileposition.hpp"
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#include "tilebounds.hpp"
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#include <components/misc/convert.hpp>
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#include <BulletCollision/CollisionShapes/btCollisionShape.h>
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namespace DetourNavigator
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{
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TilesPositionsRange makeTilesPositionsRange(const osg::Vec3f& aabbMin, const osg::Vec3f& aabbMax,
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const RecastSettings& settings)
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{
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osg::Vec3f min = toNavMeshCoordinates(settings, aabbMin);
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osg::Vec3f max = toNavMeshCoordinates(settings, aabbMax);
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const float border = getBorderSize(settings);
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min -= osg::Vec3f(border, border, border);
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max += osg::Vec3f(border, border, border);
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TilePosition minTile = getTilePosition(settings, min);
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TilePosition maxTile = getTilePosition(settings, max);
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if (minTile.x() > maxTile.x())
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std::swap(minTile.x(), maxTile.x());
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if (minTile.y() > maxTile.y())
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std::swap(minTile.y(), maxTile.y());
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return {minTile, maxTile};
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}
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TilesPositionsRange makeTilesPositionsRange(const btCollisionShape& shape, const btTransform& transform,
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const TileBounds& bounds, const RecastSettings& settings)
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{
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btVector3 aabbMin;
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btVector3 aabbMax;
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shape.getAabb(transform, aabbMin, aabbMax);
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aabbMin.setX(std::max<btScalar>(aabbMin.x(), bounds.mMin.x()));
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aabbMin.setY(std::max<btScalar>(aabbMin.y(), bounds.mMin.y()));
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aabbMax.setX(std::min<btScalar>(aabbMax.x(), bounds.mMax.x()));
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aabbMax.setY(std::min<btScalar>(aabbMax.y(), bounds.mMax.y()));
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return makeTilesPositionsRange(Misc::Convert::toOsg(aabbMin), Misc::Convert::toOsg(aabbMax), settings);
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}
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TilesPositionsRange makeTilesPositionsRange(const int cellSize, const btVector3& shift,
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const RecastSettings& settings)
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{
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using Misc::Convert::toOsg;
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const int halfCellSize = cellSize / 2;
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const btTransform transform(btMatrix3x3::getIdentity(), shift);
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btVector3 aabbMin = transform(btVector3(-halfCellSize, -halfCellSize, 0));
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btVector3 aabbMax = transform(btVector3(halfCellSize, halfCellSize, 0));
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aabbMin.setX(std::min(aabbMin.x(), aabbMax.x()));
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aabbMin.setY(std::min(aabbMin.y(), aabbMax.y()));
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aabbMax.setX(std::max(aabbMin.x(), aabbMax.x()));
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aabbMax.setY(std::max(aabbMin.y(), aabbMax.y()));
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return makeTilesPositionsRange(toOsg(aabbMin), toOsg(aabbMax), settings);
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}
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}
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