diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_NavMeshObject.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_NavMeshObject.cpp | 743 |
1 files changed, 0 insertions, 743 deletions
diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.cpp b/source/gameengine/Ketsji/KX_NavMeshObject.cpp deleted file mode 100644 index a5feb95b00b..00000000000 --- a/source/gameengine/Ketsji/KX_NavMeshObject.cpp +++ /dev/null @@ -1,743 +0,0 @@ -/* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "MEM_guardedalloc.h" - -#include "BLI_math_vector.h" -#include "KX_NavMeshObject.h" -#include "RAS_MeshObject.h" -#include "RAS_Polygon.h" - -#include "DNA_mesh_types.h" -#include "DNA_meshdata_types.h" - -extern "C" { -#include "BKE_scene.h" -#include "BKE_customdata.h" -#include "BKE_cdderivedmesh.h" -#include "BKE_DerivedMesh.h" -#include "BKE_navmesh_conversion.h" -} - -#include "KX_PythonInit.h" -#include "KX_PyMath.h" -#include "EXP_Value.h" -#include "Recast.h" -#include "DetourStatNavMeshBuilder.h" -#include "KX_ObstacleSimulation.h" - -#define MAX_PATH_LEN 256 -static const float polyPickExt[3] = {2, 4, 2}; - -static void calcMeshBounds(const float* vert, int nverts, float* bmin, float* bmax) -{ - bmin[0] = bmax[0] = vert[0]; - bmin[1] = bmax[1] = vert[1]; - bmin[2] = bmax[2] = vert[2]; - for (int i=1; i<nverts; i++) - { - if (bmin[0]>vert[3*i+0]) bmin[0] = vert[3*i+0]; - if (bmin[1]>vert[3*i+1]) bmin[1] = vert[3*i+1]; - if (bmin[2]>vert[3*i+2]) bmin[2] = vert[3*i+2]; - - if (bmax[0]<vert[3*i+0]) bmax[0] = vert[3*i+0]; - if (bmax[1]<vert[3*i+1]) bmax[1] = vert[3*i+1]; - if (bmax[2]<vert[3*i+2]) bmax[2] = vert[3*i+2]; - } -} - -inline void flipAxes(float* vec) -{ - std::swap(vec[1],vec[2]); -} -KX_NavMeshObject::KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks) -: KX_GameObject(sgReplicationInfo, callbacks) -, m_navMesh(NULL) -{ - -} - -KX_NavMeshObject::~KX_NavMeshObject() -{ - if (m_navMesh) - delete m_navMesh; -} - -CValue* KX_NavMeshObject::GetReplica() -{ - KX_NavMeshObject* replica = new KX_NavMeshObject(*this); - replica->ProcessReplica(); - return replica; -} - -void KX_NavMeshObject::ProcessReplica() -{ - KX_GameObject::ProcessReplica(); - m_navMesh = NULL; /* without this, building frees the navmesh we copied from */ - if (!BuildNavMesh()) { - std::cout << "Error in " << __func__ << ": unable to build navigation mesh" << std::endl; - return; - } - KX_Scene* scene = KX_GetActiveScene(); - KX_ObstacleSimulation* obssimulation = scene->GetObstacleSimulation(); - if (obssimulation) - obssimulation->AddObstaclesForNavMesh(this); -} - -bool KX_NavMeshObject::BuildVertIndArrays(float *&vertices, int& nverts, - unsigned short* &polys, int& npolys, unsigned short *&dmeshes, - float *&dvertices, int &ndvertsuniq, unsigned short *&dtris, - int& ndtris, int &vertsPerPoly) -{ - DerivedMesh* dm = mesh_create_derived_no_virtual(GetScene()->GetBlenderScene(), GetBlenderObject(), - NULL, CD_MASK_MESH); - CustomData *pdata = dm->getPolyDataLayout(dm); - int* recastData = (int*) CustomData_get_layer(pdata, CD_RECAST); - if (recastData) - { - int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL; - int nAllVerts = 0; - float *allVerts = NULL; - buildNavMeshDataByDerivedMesh(dm, &vertsPerPoly, &nAllVerts, &allVerts, &ndtris, &dtris, - &npolys, &dmeshes, &polys, &dtrisToPolysMap, &dtrisToTrisMap, &trisToFacesMap); - - MEM_SAFE_FREE(dtrisToPolysMap); - MEM_SAFE_FREE(dtrisToTrisMap); - MEM_SAFE_FREE(trisToFacesMap); - - unsigned short *verticesMap = (unsigned short *)MEM_mallocN(sizeof(*verticesMap) * nAllVerts, __func__); - memset(verticesMap, 0xff, sizeof(*verticesMap) * nAllVerts); - int curIdx = 0; - //vertices - mesh verts - //iterate over all polys and create map for their vertices first... - for (int polyidx=0; polyidx<npolys; polyidx++) - { - unsigned short* poly = &polys[polyidx*vertsPerPoly*2]; - for (int i=0; i<vertsPerPoly; i++) - { - unsigned short idx = poly[i]; - if (idx==0xffff) - break; - if (verticesMap[idx]==0xffff) - { - verticesMap[idx] = curIdx++; - } - poly[i] = verticesMap[idx]; - } - } - nverts = curIdx; - //...then iterate over detailed meshes - //transform indices to local ones (for each navigation polygon) - for (int polyidx=0; polyidx<npolys; polyidx++) - { - unsigned short *poly = &polys[polyidx*vertsPerPoly*2]; - int nv = polyNumVerts(poly, vertsPerPoly); - unsigned short *dmesh = &dmeshes[4*polyidx]; - unsigned short tribase = dmesh[2]; - unsigned short trinum = dmesh[3]; - unsigned short vbase = curIdx; - for (int j=0; j<trinum; j++) - { - unsigned short* dtri = &dtris[(tribase+j)*3*2]; - for (int k=0; k<3; k++) - { - int newVertexIdx = verticesMap[dtri[k]]; - if (newVertexIdx==0xffff) - { - newVertexIdx = curIdx++; - verticesMap[dtri[k]] = newVertexIdx; - } - - if (newVertexIdx<nverts) - { - //it's polygon vertex ("shared") - int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx); - if (idxInPoly==-1) - { - printf("Building NavMeshObject: Error! Can't find vertex in polygon\n"); - return false; - } - dtri[k] = idxInPoly; - } - else - { - dtri[k] = newVertexIdx - vbase + nv; - } - } - } - dmesh[0] = vbase-nverts; //verts base - dmesh[1] = curIdx-vbase; //verts num - } - - vertices = new float[nverts*3]; - ndvertsuniq = curIdx - nverts; - if (ndvertsuniq>0) - { - dvertices = new float[ndvertsuniq*3]; - } - for (int vi=0; vi<nAllVerts; vi++) - { - int newIdx = verticesMap[vi]; - if (newIdx!=0xffff) - { - if (newIdx<nverts) - { - //navigation mesh vertex - memcpy(vertices+3*newIdx, allVerts+3*vi, 3*sizeof(float)); - } - else - { - //detailed mesh vertex - memcpy(dvertices+3*(newIdx-nverts), allVerts+3*vi, 3*sizeof(float)); - } - } - } - - MEM_SAFE_FREE(allVerts); - - MEM_freeN(verticesMap); - } - else - { - //create from RAS_MeshObject (detailed mesh is fake) - RAS_MeshObject* meshobj = GetMesh(0); - vertsPerPoly = 3; - nverts = meshobj->m_sharedvertex_map.size(); - if (nverts >= 0xffff) - return false; - //calculate count of tris - int nmeshpolys = meshobj->NumPolygons(); - npolys = nmeshpolys; - for (int p=0; p<nmeshpolys; p++) - { - int vertcount = meshobj->GetPolygon(p)->VertexCount(); - npolys+=vertcount-3; - } - - //create verts - vertices = new float[nverts*3]; - float* vert = vertices; - for (int vi=0; vi<nverts; vi++) - { - const float* pos = !meshobj->m_sharedvertex_map[vi].empty() ? meshobj->GetVertexLocation(vi) : NULL; - if (pos) - copy_v3_v3(vert, pos); - else - { - memset(vert, 0, 3*sizeof(float)); //vertex isn't in any poly, set dummy zero coordinates - } - vert+=3; - } - - //create tris - polys = (unsigned short *)MEM_callocN(sizeof(unsigned short)*3*2*npolys, "BuildVertIndArrays polys"); - memset(polys, 0xff, sizeof(unsigned short)*3*2*npolys); - unsigned short *poly = polys; - RAS_Polygon* raspoly; - for (int p=0; p<nmeshpolys; p++) - { - raspoly = meshobj->GetPolygon(p); - for (int v=0; v<raspoly->VertexCount()-2; v++) - { - poly[0] = raspoly->GetVertex(0)->getOrigIndex(); - for (size_t i=1; i<3; i++) - { - poly[i] = raspoly->GetVertex(v+i)->getOrigIndex(); - } - poly += 6; - } - } - dmeshes = NULL; - dvertices = NULL; - ndvertsuniq = 0; - dtris = NULL; - ndtris = npolys; - } - dm->release(dm); - - return true; -} - - -bool KX_NavMeshObject::BuildNavMesh() -{ - if (m_navMesh) - { - delete m_navMesh; - m_navMesh = NULL; - } - - if (GetMeshCount()==0) - { - printf("Can't find mesh for navmesh object: %s\n", m_name.ReadPtr()); - return false; - } - - float *vertices = NULL, *dvertices = NULL; - unsigned short *polys = NULL, *dtris = NULL, *dmeshes = NULL; - int nverts = 0, npolys = 0, ndvertsuniq = 0, ndtris = 0; - int vertsPerPoly = 0; - if (!BuildVertIndArrays(vertices, nverts, polys, npolys, - dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly ) - || vertsPerPoly<3) - { - printf("Can't build navigation mesh data for object:%s\n", m_name.ReadPtr()); - if (vertices) { - delete[] vertices; - } - if (dvertices) { - delete[] dvertices; - } - return false; - } - - MT_Point3 pos; - if (dmeshes==NULL) - { - for (int i=0; i<nverts; i++) - { - flipAxes(&vertices[i*3]); - } - for (int i=0; i<ndvertsuniq; i++) - { - flipAxes(&dvertices[i*3]); - } - } - - if (!buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly)) { - std::cout << __func__ << ": unable to build mesh adjacency information." << std::endl; - delete[] vertices; - return false; - } - - float cs = 0.2f; - - if (!nverts || !npolys) - { - if (vertices) delete[] vertices; - return false; - } - - float bmin[3], bmax[3]; - calcMeshBounds(vertices, nverts, bmin, bmax); - //quantize vertex pos - unsigned short* vertsi = new unsigned short[3*nverts]; - float ics = 1.f/cs; - for (int i=0; i<nverts; i++) - { - vertsi[3*i+0] = static_cast<unsigned short>((vertices[3*i+0]-bmin[0])*ics); - vertsi[3*i+1] = static_cast<unsigned short>((vertices[3*i+1]-bmin[1])*ics); - vertsi[3*i+2] = static_cast<unsigned short>((vertices[3*i+2]-bmin[2])*ics); - } - - // Calculate data size - const int headerSize = sizeof(dtStatNavMeshHeader); - const int vertsSize = sizeof(float)*3*nverts; - const int polysSize = sizeof(dtStatPoly)*npolys; - const int nodesSize = sizeof(dtStatBVNode)*npolys*2; - const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys; - const int detailVertsSize = sizeof(float)*3*ndvertsuniq; - const int detailTrisSize = sizeof(unsigned char)*4*ndtris; - - const int dataSize = headerSize + vertsSize + polysSize + nodesSize + - detailMeshesSize + detailVertsSize + detailTrisSize; - unsigned char* data = new unsigned char[dataSize]; - if (!data) - return false; - memset(data, 0, dataSize); - - unsigned char* d = data; - dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize; - float* navVerts = (float*)d; d += vertsSize; - dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize; - dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize; - dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize; - float* navDVerts = (float*)d; d += detailVertsSize; - unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize; - - // Store header - header->magic = DT_STAT_NAVMESH_MAGIC; - header->version = DT_STAT_NAVMESH_VERSION; - header->npolys = npolys; - header->nverts = nverts; - header->cs = cs; - header->bmin[0] = bmin[0]; - header->bmin[1] = bmin[1]; - header->bmin[2] = bmin[2]; - header->bmax[0] = bmax[0]; - header->bmax[1] = bmax[1]; - header->bmax[2] = bmax[2]; - header->ndmeshes = npolys; - header->ndverts = ndvertsuniq; - header->ndtris = ndtris; - - // Store vertices - for (int i = 0; i < nverts; ++i) - { - const unsigned short* iv = &vertsi[i*3]; - float* v = &navVerts[i*3]; - v[0] = bmin[0] + iv[0] * cs; - v[1] = bmin[1] + iv[1] * cs; - v[2] = bmin[2] + iv[2] * cs; - } - //memcpy(navVerts, vertices, nverts*3*sizeof(float)); - - // Store polygons - const unsigned short* src = polys; - for (int i = 0; i < npolys; ++i) - { - dtStatPoly* p = &navPolys[i]; - p->nv = 0; - for (int j = 0; j < vertsPerPoly; ++j) - { - if (src[j] == 0xffff) break; - p->v[j] = src[j]; - p->n[j] = src[vertsPerPoly+j]+1; - p->nv++; - } - src += vertsPerPoly*2; - } - - header->nnodes = createBVTree(vertsi, nverts, polys, npolys, vertsPerPoly, - cs, cs, npolys*2, navNodes); - - - if (dmeshes==NULL) - { - //create fake detail meshes - for (int i = 0; i < npolys; ++i) - { - dtStatPolyDetail& dtl = navDMeshes[i]; - dtl.vbase = 0; - dtl.nverts = 0; - dtl.tbase = i; - dtl.ntris = 1; - } - // setup triangles. - unsigned char* tri = navDTris; - for (size_t i=0; i<ndtris; i++) - { - for (size_t j=0; j<3; j++) - tri[4*i+j] = j; - } - } - else - { - //verts - memcpy(navDVerts, dvertices, ndvertsuniq*3*sizeof(float)); - //tris - unsigned char* tri = navDTris; - for (size_t i=0; i<ndtris; i++) - { - for (size_t j=0; j<3; j++) - tri[4*i+j] = dtris[6*i+j]; - } - //detailed meshes - for (int i = 0; i < npolys; ++i) - { - dtStatPolyDetail& dtl = navDMeshes[i]; - dtl.vbase = dmeshes[i*4+0]; - dtl.nverts = dmeshes[i*4+1]; - dtl.tbase = dmeshes[i*4+2]; - dtl.ntris = dmeshes[i*4+3]; - } - } - - m_navMesh = new dtStatNavMesh; - m_navMesh->init(data, dataSize, true); - - delete [] vertices; - - /* navmesh conversion is using C guarded alloc for memory allocaitons */ - MEM_freeN(polys); - if (dmeshes) MEM_freeN(dmeshes); - if (dtris) MEM_freeN(dtris); - - if (dvertices) - delete [] dvertices; - - if (vertsi) - delete [] vertsi; - - return true; -} - -dtStatNavMesh* KX_NavMeshObject::GetNavMesh() -{ - return m_navMesh; -} - -void KX_NavMeshObject::DrawNavMesh(NavMeshRenderMode renderMode) -{ - if (!m_navMesh) - return; - MT_Vector3 color(0.f, 0.f, 0.f); - - switch (renderMode) - { - case RM_POLYS : - case RM_WALLS : - for (int pi=0; pi<m_navMesh->getPolyCount(); pi++) - { - const dtStatPoly* poly = m_navMesh->getPoly(pi); - - for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++) - { - if (poly->n[j] && renderMode==RM_WALLS) - continue; - const float* vif = m_navMesh->getVertex(poly->v[i]); - const float* vjf = m_navMesh->getVertex(poly->v[j]); - MT_Point3 vi(vif[0], vif[2], vif[1]); - MT_Point3 vj(vjf[0], vjf[2], vjf[1]); - vi = TransformToWorldCoords(vi); - vj = TransformToWorldCoords(vj); - KX_RasterizerDrawDebugLine(vi, vj, color); - } - } - break; - case RM_TRIS : - for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i) - { - const dtStatPoly* p = m_navMesh->getPoly(i); - const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i); - - for (int j = 0; j < pd->ntris; ++j) - { - const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j); - MT_Point3 tri[3]; - for (int k = 0; k < 3; ++k) - { - const float* v; - if (t[k] < p->nv) - v = m_navMesh->getVertex(p->v[t[k]]); - else - v = m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv)); - float pos[3]; - rcVcopy(pos, v); - flipAxes(pos); - tri[k].setValue(pos); - } - - for (int k=0; k<3; k++) - tri[k] = TransformToWorldCoords(tri[k]); - - for (int k=0; k<3; k++) - KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color); - } - } - break; - default: - /* pass */ - break; - } -} - -MT_Point3 KX_NavMeshObject::TransformToLocalCoords(const MT_Point3& wpos) -{ - MT_Matrix3x3 orientation = NodeGetWorldOrientation(); - const MT_Vector3& scaling = NodeGetWorldScaling(); - orientation.scale(scaling[0], scaling[1], scaling[2]); - MT_Transform worldtr(NodeGetWorldPosition(), orientation); - MT_Transform invworldtr; - invworldtr.invert(worldtr); - MT_Point3 lpos = invworldtr(wpos); - return lpos; -} - -MT_Point3 KX_NavMeshObject::TransformToWorldCoords(const MT_Point3& lpos) -{ - MT_Matrix3x3 orientation = NodeGetWorldOrientation(); - const MT_Vector3& scaling = NodeGetWorldScaling(); - orientation.scale(scaling[0], scaling[1], scaling[2]); - MT_Transform worldtr(NodeGetWorldPosition(), orientation); - MT_Point3 wpos = worldtr(lpos); - return wpos; -} - -int KX_NavMeshObject::FindPath(const MT_Point3& from, const MT_Point3& to, float* path, int maxPathLen) -{ - if (!m_navMesh) - return 0; - MT_Point3 localfrom = TransformToLocalCoords(from); - MT_Point3 localto = TransformToLocalCoords(to); - float spos[3], epos[3]; - localfrom.getValue(spos); flipAxes(spos); - localto.getValue(epos); flipAxes(epos); - dtStatPolyRef sPolyRef = m_navMesh->findNearestPoly(spos, polyPickExt); - dtStatPolyRef ePolyRef = m_navMesh->findNearestPoly(epos, polyPickExt); - - int pathLen = 0; - if (sPolyRef && ePolyRef) - { - dtStatPolyRef* polys = new dtStatPolyRef[maxPathLen]; - int npolys; - npolys = m_navMesh->findPath(sPolyRef, ePolyRef, spos, epos, polys, maxPathLen); - if (npolys) - { - pathLen = m_navMesh->findStraightPath(spos, epos, polys, npolys, path, maxPathLen); - for (int i=0; i<pathLen; i++) - { - flipAxes(&path[i*3]); - MT_Point3 waypoint(&path[i*3]); - waypoint = TransformToWorldCoords(waypoint); - waypoint.getValue(&path[i*3]); - } - } - - delete[] polys; - } - - return pathLen; -} - -float KX_NavMeshObject::Raycast(const MT_Point3& from, const MT_Point3& to) -{ - if (!m_navMesh) - return 0.f; - MT_Point3 localfrom = TransformToLocalCoords(from); - MT_Point3 localto = TransformToLocalCoords(to); - float spos[3], epos[3]; - localfrom.getValue(spos); flipAxes(spos); - localto.getValue(epos); flipAxes(epos); - dtStatPolyRef sPolyRef = m_navMesh->findNearestPoly(spos, polyPickExt); - float t=0; - static dtStatPolyRef polys[MAX_PATH_LEN]; - m_navMesh->raycast(sPolyRef, spos, epos, t, polys, MAX_PATH_LEN); - return t; -} - -void KX_NavMeshObject::DrawPath(const float *path, int pathLen, const MT_Vector3& color) -{ - MT_Vector3 a,b; - for (int i=0; i<pathLen-1; i++) - { - a.setValue(&path[3*i]); - b.setValue(&path[3*(i+1)]); - KX_RasterizerDrawDebugLine(a, b, color); - } -} - - -#ifdef WITH_PYTHON -//---------------------------------------------------------------------------- -//Python - -PyTypeObject KX_NavMeshObject::Type = { - PyVarObject_HEAD_INIT(NULL, 0) - "KX_NavMeshObject", - sizeof(PyObjectPlus_Proxy), - 0, - py_base_dealloc, - 0, - 0, - 0, - 0, - py_base_repr, - 0, - 0, - 0, - 0,0,0,0,0,0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE, - 0,0,0,0,0,0,0, - Methods, - 0, - 0, - &KX_GameObject::Type, - 0,0,0,0,0,0, - py_base_new -}; - -PyAttributeDef KX_NavMeshObject::Attributes[] = { - { NULL } //Sentinel -}; - -//KX_PYMETHODTABLE_NOARGS(KX_GameObject, getD), -PyMethodDef KX_NavMeshObject::Methods[] = { - KX_PYMETHODTABLE(KX_NavMeshObject, findPath), - KX_PYMETHODTABLE(KX_NavMeshObject, raycast), - KX_PYMETHODTABLE(KX_NavMeshObject, draw), - KX_PYMETHODTABLE(KX_NavMeshObject, rebuild), - {NULL,NULL} //Sentinel -}; - -KX_PYMETHODDEF_DOC(KX_NavMeshObject, findPath, - "findPath(start, goal): find path from start to goal points\n" - "Returns a path as list of points)\n") -{ - PyObject *ob_from, *ob_to; - if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to)) - return NULL; - MT_Point3 from, to; - if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to)) - return NULL; - - float path[MAX_PATH_LEN*3]; - int pathLen = FindPath(from, to, path, MAX_PATH_LEN); - PyObject *pathList = PyList_New( pathLen ); - for (int i=0; i<pathLen; i++) - { - MT_Point3 point(&path[3*i]); - PyList_SET_ITEM(pathList, i, PyObjectFrom(point)); - } - - return pathList; -} - -KX_PYMETHODDEF_DOC(KX_NavMeshObject, raycast, - "raycast(start, goal): raycast from start to goal points\n" - "Returns hit factor)\n") -{ - PyObject *ob_from, *ob_to; - if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to)) - return NULL; - MT_Point3 from, to; - if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to)) - return NULL; - float hit = Raycast(from, to); - return PyFloat_FromDouble(hit); -} - -KX_PYMETHODDEF_DOC(KX_NavMeshObject, draw, - "draw(mode): navigation mesh debug drawing\n" - "mode: WALLS, POLYS, TRIS\n") -{ - int arg; - NavMeshRenderMode renderMode = RM_TRIS; - if (PyArg_ParseTuple(args,"i:rebuild",&arg) && arg>=0 && arg<RM_MAX) - renderMode = (NavMeshRenderMode)arg; - DrawNavMesh(renderMode); - Py_RETURN_NONE; -} - -KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, rebuild, - "rebuild(): rebuild navigation mesh\n") -{ - BuildNavMesh(); - Py_RETURN_NONE; -} - -#endif // WITH_PYTHON |