// // Copyright (c) 2009 Mikko Mononen memon@inside.org // // This software is provided 'as-is', without any express or implied // warranty. In no event will the authors be held liable for any damages // arising from the use of this software. // Permission is granted to anyone to use this software for any purpose, // including commercial applications, and to alter it and redistribute it // freely, subject to the following restrictions: // 1. The origin of this software must not be misrepresented; you must not // claim that you wrote the original software. If you use this software // in a product, an acknowledgment in the product documentation would be // appreciated but is not required. // 2. Altered source versions must be plainly marked as such, and must not be // misrepresented as being the original software. // 3. This notice may not be removed or altered from any source distribution. // #include #include #include #include #include "DetourTileNavMesh.h" #include "DetourNode.h" #include "DetourCommon.h" inline int opposite(int side) { return (side+2) & 0x3; } inline bool overlapBoxes(const float* amin, const float* amax, const float* bmin, const float* bmax) { bool overlap = true; overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; return overlap; } inline bool overlapRects(const float* amin, const float* amax, const float* bmin, const float* bmax) { bool overlap = true; overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; return overlap; } static void calcRect(const float* va, const float* vb, float* bmin, float* bmax, int side, float padx, float pady) { if ((side&1) == 0) { bmin[0] = min(va[2],vb[2]) + padx; bmin[1] = min(va[1],vb[1]) - pady; bmax[0] = max(va[2],vb[2]) - padx; bmax[1] = max(va[1],vb[1]) + pady; } else { bmin[0] = min(va[0],vb[0]) + padx; bmin[1] = min(va[1],vb[1]) - pady; bmax[0] = max(va[0],vb[0]) - padx; bmax[1] = max(va[1],vb[1]) + pady; } } inline int computeTileHash(int x, int y) { const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes unsigned int n = h1 * x + h2 * y; return (int)(n & (DT_TILE_LOOKUP_SIZE-1)); } ////////////////////////////////////////////////////////////////////////////////////////// dtTiledNavMesh::dtTiledNavMesh() : m_tileSize(0), m_portalHeight(0), m_nextFree(0), m_tmpLinks(0), m_ntmpLinks(0), m_nodePool(0), m_openList(0) { } dtTiledNavMesh::~dtTiledNavMesh() { for (int i = 0; i < DT_MAX_TILES; ++i) { if (m_tiles[i].data && m_tiles[i].dataSize < 0) { delete [] m_tiles[i].data; m_tiles[i].data = 0; m_tiles[i].dataSize = 0; } } delete [] m_tmpLinks; delete m_nodePool; delete m_openList; } bool dtTiledNavMesh::init(const float* orig, float tileSize, float portalHeight) { vcopy(m_orig, orig); m_tileSize = tileSize; m_portalHeight = portalHeight; // Init tiles memset(m_tiles, 0, sizeof(dtTile)*DT_MAX_TILES); memset(m_posLookup, 0, sizeof(dtTile*)*DT_TILE_LOOKUP_SIZE); m_nextFree = 0; for (int i = DT_MAX_TILES-1; i >= 0; --i) { m_tiles[i].next = m_nextFree; m_nextFree = &m_tiles[i]; } if (!m_nodePool) { m_nodePool = new dtNodePool(2048, 256); if (!m_nodePool) return false; } if (!m_openList) { m_openList = new dtNodeQueue(2048); if (!m_openList) return false; } return true; } ////////////////////////////////////////////////////////////////////////////////////////// int dtTiledNavMesh::findConnectingPolys(const float* va, const float* vb, dtTile* tile, int side, dtTilePolyRef* con, float* conarea, int maxcon) { if (!tile) return 0; dtTileHeader* h = tile->header; float amin[2], amax[2]; calcRect(va,vb, amin,amax, side, 0.01f, m_portalHeight); // Remove links pointing to 'side' and compact the links array. float bmin[2], bmax[2]; unsigned short m = 0x8000 | (unsigned short)side; int n = 0; dtTilePolyRef base = getTileId(tile); for (int i = 0; i < h->npolys; ++i) { dtTilePoly* poly = &h->polys[i]; for (int j = 0; j < poly->nv; ++j) { // Skip edges which do not point to the right side. if (poly->n[j] != m) continue; // Check if the segments touch. const float* vc = &h->verts[poly->v[j]*3]; const float* vd = &h->verts[poly->v[(j+1) % (int)poly->nv]*3]; calcRect(vc,vd, bmin,bmax, side, 0.01f, m_portalHeight); if (!overlapRects(amin,amax, bmin,bmax)) continue; // Add return value. if (n < maxcon) { conarea[n*2+0] = max(amin[0], bmin[0]); conarea[n*2+1] = min(amax[0], bmax[0]); con[n] = base | (unsigned int)i; n++; } break; } } return n; } void dtTiledNavMesh::removeExtLinks(dtTile* tile, int side) { if (!tile) return; dtTileHeader* h = tile->header; // Remove links pointing to 'side' and compact the links array. dtTileLink* pool = m_tmpLinks; int nlinks = 0; for (int i = 0; i < h->npolys; ++i) { dtTilePoly* poly = &h->polys[i]; int plinks = nlinks; int nplinks = 0; for (int j = 0; j < poly->nlinks; ++j) { dtTileLink* link = &h->links[poly->links+j]; if ((int)link->side != side) { if (nlinks < h->maxlinks) { dtTileLink* dst = &pool[nlinks++]; memcpy(dst, link, sizeof(dtTileLink)); nplinks++; } } } poly->links = plinks; poly->nlinks = nplinks; } h->nlinks = nlinks; if (h->nlinks) memcpy(h->links, m_tmpLinks, sizeof(dtTileLink)*nlinks); } void dtTiledNavMesh::buildExtLinks(dtTile* tile, dtTile* target, int side) { if (!tile) return; dtTileHeader* h = tile->header; // Remove links pointing to 'side' and compact the links array. dtTileLink* pool = m_tmpLinks; int nlinks = 0; for (int i = 0; i < h->npolys; ++i) { dtTilePoly* poly = &h->polys[i]; int plinks = nlinks; int nplinks = 0; // Copy internal and other external links. for (int j = 0; j < poly->nlinks; ++j) { dtTileLink* link = &h->links[poly->links+j]; if ((int)link->side != side) { if (nlinks < h->maxlinks) { dtTileLink* dst = &pool[nlinks++]; memcpy(dst, link, sizeof(dtTileLink)); nplinks++; } } } // Create new links. unsigned short m = 0x8000 | (unsigned short)side; for (int j = 0; j < poly->nv; ++j) { // Skip edges which do not point to the right side. if (poly->n[j] != m) continue; // Create new links const float* va = &h->verts[poly->v[j]*3]; const float* vb = &h->verts[poly->v[(j+1)%(int)poly->nv]*3]; dtTilePolyRef nei[4]; float neia[4*2]; int nnei = findConnectingPolys(va,vb, target, opposite(side), nei,neia,4); for (int k = 0; k < nnei; ++k) { if (nlinks < h->maxlinks) { dtTileLink* link = &pool[nlinks++]; link->ref = nei[k]; link->p = (unsigned short)i; link->e = (unsigned char)j; link->side = (unsigned char)side; // Compress portal limits to a byte value. if (side == 0 || side == 2) { const float lmin = min(va[2], vb[2]); const float lmax = max(va[2], vb[2]); link->bmin = (unsigned char)(clamp((neia[k*2+0]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f); link->bmax = (unsigned char)(clamp((neia[k*2+1]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f); } else { const float lmin = min(va[0], vb[0]); const float lmax = max(va[0], vb[0]); link->bmin = (unsigned char)(clamp((neia[k*2+0]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f); link->bmax = (unsigned char)(clamp((neia[k*2+1]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f); } nplinks++; } } } poly->links = plinks; poly->nlinks = nplinks; } h->nlinks = nlinks; if (h->nlinks) memcpy(h->links, m_tmpLinks, sizeof(dtTileLink)*nlinks); } void dtTiledNavMesh::buildIntLinks(dtTile* tile) { if (!tile) return; dtTileHeader* h = tile->header; dtTilePolyRef base = getTileId(tile); dtTileLink* pool = h->links; int nlinks = 0; for (int i = 0; i < h->npolys; ++i) { dtTilePoly* poly = &h->polys[i]; poly->links = nlinks; poly->nlinks = 0; for (int j = 0; j < poly->nv; ++j) { // Skip hard and non-internal edges. if (poly->n[j] == 0 || (poly->n[j] & 0x8000)) continue; if (nlinks < h->maxlinks) { dtTileLink* link = &pool[nlinks++]; link->ref = base | (unsigned int)(poly->n[j]-1); link->p = (unsigned short)i; link->e = (unsigned char)j; link->side = 0xff; link->bmin = link->bmax = 0; poly->nlinks++; } } } h->nlinks = nlinks; } bool dtTiledNavMesh::addTileAt(int x, int y, unsigned char* data, int dataSize, bool ownsData) { if (getTileAt(x,y)) return false; // Make sure there is enough space for new tile. if (!m_nextFree) return false; // Make sure the data is in right format. dtTileHeader* header = (dtTileHeader*)data; if (header->magic != DT_TILE_NAVMESH_MAGIC) return false; if (header->version != DT_TILE_NAVMESH_VERSION) return false; // Make sure the tmp link array is large enough. if (header->maxlinks > m_ntmpLinks) { m_ntmpLinks = header->maxlinks; delete [] m_tmpLinks; m_tmpLinks = 0; m_tmpLinks = new dtTileLink[m_ntmpLinks]; } if (!m_tmpLinks) return false; // Allocate a tile. dtTile* tile = m_nextFree; m_nextFree = tile->next; tile->next = 0; // Insert tile into the position lut. int h = computeTileHash(x,y); tile->next = m_posLookup[h]; m_posLookup[h] = tile; // Patch header pointers. const int headerSize = sizeof(dtTileHeader); const int vertsSize = sizeof(float)*3*header->nverts; const int polysSize = sizeof(dtTilePoly)*header->npolys; const int linksSize = sizeof(dtTileLink)*(header->maxlinks); const int detailMeshesSize = sizeof(dtTilePolyDetail)*header->ndmeshes; const int detailVertsSize = sizeof(float)*3*header->ndverts; const int detailTrisSize = sizeof(unsigned char)*4*header->ndtris; unsigned char* d = data + headerSize; header->verts = (float*)d; d += vertsSize; header->polys = (dtTilePoly*)d; d += polysSize; header->links = (dtTileLink*)d; d += linksSize; header->dmeshes = (dtTilePolyDetail*)d; d += detailMeshesSize; header->dverts = (float*)d; d += detailVertsSize; header->dtris = (unsigned char*)d; d += detailTrisSize; // Init tile. tile->header = header; tile->x = x; tile->y = y; tile->data = data; tile->dataSize = dataSize; tile->ownsData = ownsData; buildIntLinks(tile); // Create connections connections. for (int i = 0; i < 4; ++i) { dtTile* nei = getNeighbourTileAt(x,y,i); if (nei) { buildExtLinks(tile, nei, i); buildExtLinks(nei, tile, opposite(i)); } } return true; } dtTile* dtTiledNavMesh::getTileAt(int x, int y) { // Find tile based on hash. int h = computeTileHash(x,y); dtTile* tile = m_posLookup[h]; while (tile) { if (tile->x == x && tile->y == y) return tile; tile = tile->next; } return 0; } dtTile* dtTiledNavMesh::getTile(int i) { return &m_tiles[i]; } const dtTile* dtTiledNavMesh::getTile(int i) const { return &m_tiles[i]; } dtTile* dtTiledNavMesh::getNeighbourTileAt(int x, int y, int side) { switch (side) { case 0: x++; break; case 1: y++; break; case 2: x--; break; case 3: y--; break; }; return getTileAt(x,y); } bool dtTiledNavMesh::removeTileAt(int x, int y, unsigned char** data, int* dataSize) { // Remove tile from hash lookup. int h = computeTileHash(x,y); dtTile* prev = 0; dtTile* tile = m_posLookup[h]; while (tile) { if (tile->x == x && tile->y == y) { if (prev) prev->next = tile->next; else m_posLookup[h] = tile->next; break; } prev = tile; tile = tile->next; } if (!tile) return false; // Remove connections to neighbour tiles. for (int i = 0; i < 4; ++i) { dtTile* nei = getNeighbourTileAt(x,y,i); if (!nei) continue; removeExtLinks(nei, opposite(i)); } // Reset tile. if (tile->ownsData) { // Owns data delete [] tile->data; tile->data = 0; tile->dataSize = 0; if (data) *data = 0; if (dataSize) *dataSize = 0; } else { if (data) *data = tile->data; if (dataSize) *dataSize = tile->dataSize; } tile->header = 0; tile->x = tile->y = 0; tile->salt++; // Add to free list. tile->next = m_nextFree; m_nextFree = tile; return true; } bool dtTiledNavMesh::closestPointToPoly(dtTilePolyRef ref, const float* pos, float* closest) const { unsigned int salt, it, ip; dtDecodeTileId(ref, salt, it, ip); if (it >= DT_MAX_TILES) return false; if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false; const dtTileHeader* header = m_tiles[it].header; if (ip >= (unsigned int)header->npolys) return false; const dtTilePoly* poly = &header->polys[ip]; float closestDistSqr = FLT_MAX; const dtTilePolyDetail* pd = &header->dmeshes[ip]; for (int j = 0; j < pd->ntris; ++j) { const unsigned char* t = &header->dtris[(pd->tbase+j)*4]; const float* v[3]; for (int k = 0; k < 3; ++k) { if (t[k] < poly->nv) v[k] = &header->verts[poly->v[t[k]]*3]; else v[k] = &header->dverts[(pd->vbase+(t[k]-poly->nv))*3]; } float pt[3]; closestPtPointTriangle(pt, pos, v[0], v[1], v[2]); float d = vdistSqr(pos, pt); if (d < closestDistSqr) { vcopy(closest, pt); closestDistSqr = d; } } return true; } bool dtTiledNavMesh::getPolyHeight(dtTilePolyRef ref, const float* pos, float* height) const { unsigned int salt, it, ip; dtDecodeTileId(ref, salt, it, ip); if (it >= DT_MAX_TILES) return false; if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false; const dtTileHeader* header = m_tiles[it].header; if (ip >= (unsigned int)header->npolys) return false; const dtTilePoly* poly = &header->polys[ip]; const dtTilePolyDetail* pd = &header->dmeshes[ip]; for (int j = 0; j < pd->ntris; ++j) { const unsigned char* t = &header->dtris[(pd->tbase+j)*4]; const float* v[3]; for (int k = 0; k < 3; ++k) { if (t[k] < poly->nv) v[k] = &header->verts[poly->v[t[k]]*3]; else v[k] = &header->dverts[(pd->vbase+(t[k]-poly->nv))*3]; } float h; if (closestHeightPointTriangle(pos, v[0], v[1], v[2], h)) { if (height) *height = h; return true; } } return false; } dtTilePolyRef dtTiledNavMesh::findNearestPoly(const float* center, const float* extents) { // Get nearby polygons from proximity grid. dtTilePolyRef polys[128]; int npolys = queryPolygons(center, extents, polys, 128); // Find nearest polygon amongst the nearby polygons. dtTilePolyRef nearest = 0; float nearestDistanceSqr = FLT_MAX; for (int i = 0; i < npolys; ++i) { dtTilePolyRef ref = polys[i]; float closest[3]; if (!closestPointToPoly(ref, center, closest)) continue; float d = vdistSqr(center, closest); if (d < nearestDistanceSqr) { nearestDistanceSqr = d; nearest = ref; } } return nearest; } dtTilePolyRef dtTiledNavMesh::getTileId(dtTile* tile) { if (!tile) return 0; const unsigned int it = tile - m_tiles; return dtEncodeTileId(tile->salt, it, 0); } int dtTiledNavMesh::queryTilePolygons(dtTile* tile, const float* qmin, const float* qmax, dtTilePolyRef* polys, const int maxPolys) { float bmin[3], bmax[3]; const dtTileHeader* header = tile->header; int n = 0; dtTilePolyRef base = getTileId(tile); for (int i = 0; i < header->npolys; ++i) { // Calc polygon bounds. dtTilePoly* p = &header->polys[i]; const float* v = &header->verts[p->v[0]*3]; vcopy(bmin, v); vcopy(bmax, v); for (int j = 1; j < p->nv; ++j) { v = &header->verts[p->v[j]*3]; vmin(bmin, v); vmax(bmax, v); } if (overlapBoxes(qmin,qmax, bmin,bmax)) { if (n < maxPolys) polys[n++] = base | (dtTilePolyRef)i; } } return n; } int dtTiledNavMesh::queryPolygons(const float* center, const float* extents, dtTilePolyRef* polys, const int maxPolys) { float bmin[3], bmax[3]; bmin[0] = center[0] - extents[0]; bmin[1] = center[1] - extents[1]; bmin[2] = center[2] - extents[2]; bmax[0] = center[0] + extents[0]; bmax[1] = center[1] + extents[1]; bmax[2] = center[2] + extents[2]; // Find tiles the query touches. const int minx = (int)floorf((bmin[0]-m_orig[0]) / m_tileSize); const int maxx = (int)ceilf((bmax[0]-m_orig[0]) / m_tileSize); const int miny = (int)floorf((bmin[2]-m_orig[2]) / m_tileSize); const int maxy = (int)ceilf((bmax[2]-m_orig[2]) / m_tileSize); int n = 0; for (int y = miny; y < maxy; ++y) { for (int x = minx; x < maxx; ++x) { dtTile* tile = getTileAt(x,y); if (!tile) continue; n += queryTilePolygons(tile, bmin, bmax, polys+n, maxPolys-n); if (n >= maxPolys) return n; } } return n; } int dtTiledNavMesh::findPath(dtTilePolyRef startRef, dtTilePolyRef endRef, const float* startPos, const float* endPos, dtTilePolyRef* path, const int maxPathSize) { if (!startRef || !endRef) return 0; if (!maxPathSize) return 0; if (!getPolyByRef(startRef) || !getPolyByRef(endRef)) return 0; if (startRef == endRef) { path[0] = startRef; return 1; } if (!m_nodePool || !m_openList) return 0; m_nodePool->clear(); m_openList->clear(); static const float H_SCALE = 1.1f; // Heuristic scale. dtNode* startNode = m_nodePool->getNode(startRef); startNode->pidx = 0; startNode->cost = 0; startNode->total = vdist(startPos, endPos) * H_SCALE; startNode->id = startRef; startNode->flags = DT_NODE_OPEN; m_openList->push(startNode); dtNode* lastBestNode = startNode; float lastBestNodeCost = startNode->total; while (!m_openList->empty()) { dtNode* bestNode = m_openList->pop(); if (bestNode->id == endRef) { lastBestNode = bestNode; break; } // Get poly and tile. unsigned int salt, it, ip; dtDecodeTileId(bestNode->id, salt, it, ip); // The API input has been cheked already, skip checking internal data. const dtTileHeader* header = m_tiles[it].header; const dtTilePoly* poly = &header->polys[ip]; for (int i = 0; i < poly->nlinks; ++i) { dtTilePolyRef neighbour = header->links[poly->links+i].ref; if (neighbour) { // Skip parent node. if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour) continue; dtNode* parent = bestNode; dtNode newNode; newNode.pidx = m_nodePool->getNodeIdx(parent); newNode.id = neighbour; // Calculate cost. float p0[3], p1[3]; if (!parent->pidx) vcopy(p0, startPos); else getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0); getEdgeMidPoint(parent->id, newNode.id, p1); newNode.cost = parent->cost + vdist(p0,p1); // Special case for last node. if (newNode.id == endRef) newNode.cost += vdist(p1, endPos); // Heuristic const float h = vdist(p1,endPos)*H_SCALE; newNode.total = newNode.cost + h; dtNode* actualNode = m_nodePool->getNode(newNode.id); if (!actualNode) continue; if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) && !((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total)) { actualNode->flags &= DT_NODE_CLOSED; actualNode->pidx = newNode.pidx; actualNode->cost = newNode.cost; actualNode->total = newNode.total; if (h < lastBestNodeCost) { lastBestNodeCost = h; lastBestNode = actualNode; } if (actualNode->flags & DT_NODE_OPEN) { m_openList->modify(actualNode); } else { actualNode->flags |= DT_NODE_OPEN; m_openList->push(actualNode); } } } } bestNode->flags |= DT_NODE_CLOSED; } // Reverse the path. dtNode* prev = 0; dtNode* node = lastBestNode; do { dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); node->pidx = m_nodePool->getNodeIdx(prev); prev = node; node = next; } while (node); // Store path node = prev; int n = 0; do { path[n++] = node->id; node = m_nodePool->getNodeAtIdx(node->pidx); } while (node && n < maxPathSize); return n; } int dtTiledNavMesh::findStraightPath(const float* startPos, const float* endPos, const dtTilePolyRef* path, const int pathSize, float* straightPath, const int maxStraightPathSize) { if (!maxStraightPathSize) return 0; if (!path[0]) return 0; int straightPathSize = 0; float closestStartPos[3]; if (!closestPointToPoly(path[0], startPos, closestStartPos)) return 0; // Add start point. vcopy(&straightPath[straightPathSize*3], closestStartPos); straightPathSize++; if (straightPathSize >= maxStraightPathSize) return straightPathSize; float closestEndPos[3]; if (!closestPointToPoly(path[pathSize-1], endPos, closestEndPos)) return 0; float portalApex[3], portalLeft[3], portalRight[3]; if (pathSize > 1) { vcopy(portalApex, closestStartPos); vcopy(portalLeft, portalApex); vcopy(portalRight, portalApex); int apexIndex = 0; int leftIndex = 0; int rightIndex = 0; for (int i = 0; i < pathSize; ++i) { float left[3], right[3]; if (i < pathSize-1) { // Next portal. if (!getPortalPoints(path[i], path[i+1], left, right)) { if (!closestPointToPoly(path[i], endPos, closestEndPos)) return 0; vcopy(&straightPath[straightPathSize*3], closestEndPos); straightPathSize++; return straightPathSize; } } else { // End of the path. vcopy(left, closestEndPos); vcopy(right, closestEndPos); } // Right vertex. if (vequal(portalApex, portalRight)) { vcopy(portalRight, right); rightIndex = i; } else { if (triArea2D(portalApex, portalRight, right) <= 0.0f) { if (triArea2D(portalApex, portalLeft, right) > 0.0f) { vcopy(portalRight, right); rightIndex = i; } else { vcopy(portalApex, portalLeft); apexIndex = leftIndex; if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex)) { vcopy(&straightPath[straightPathSize*3], portalApex); straightPathSize++; if (straightPathSize >= maxStraightPathSize) return straightPathSize; } vcopy(portalLeft, portalApex); vcopy(portalRight, portalApex); leftIndex = apexIndex; rightIndex = apexIndex; // Restart i = apexIndex; continue; } } } // Left vertex. if (vequal(portalApex, portalLeft)) { vcopy(portalLeft, left); leftIndex = i; } else { if (triArea2D(portalApex, portalLeft, left) >= 0.0f) { if (triArea2D(portalApex, portalRight, left) < 0.0f) { vcopy(portalLeft, left); leftIndex = i; } else { vcopy(portalApex, portalRight); apexIndex = rightIndex; if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex)) { vcopy(&straightPath[straightPathSize*3], portalApex); straightPathSize++; if (straightPathSize >= maxStraightPathSize) return straightPathSize; } vcopy(portalLeft, portalApex); vcopy(portalRight, portalApex); leftIndex = apexIndex; rightIndex = apexIndex; // Restart i = apexIndex; continue; } } } } } // Add end point. vcopy(&straightPath[straightPathSize*3], closestEndPos); straightPathSize++; return straightPathSize; } // Returns portal points between two polygons. bool dtTiledNavMesh::getPortalPoints(dtTilePolyRef from, dtTilePolyRef to, float* left, float* right) const { unsigned int salt, it, ip; dtDecodeTileId(from, salt, it, ip); if (it >= DT_MAX_TILES) return false; if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false; if (ip >= (unsigned int)m_tiles[it].header->npolys) return false; const dtTileHeader* fromHeader = m_tiles[it].header; const dtTilePoly* fromPoly = &fromHeader->polys[ip]; for (int i = 0; i < fromPoly->nlinks; ++i) { const dtTileLink* link = &fromHeader->links[fromPoly->links+i]; if (link->ref == to) { // Find portal vertices. const int v0 = fromPoly->v[link->e]; const int v1 = fromPoly->v[(link->e+1) % fromPoly->nv]; vcopy(left, &fromHeader->verts[v0*3]); vcopy(right, &fromHeader->verts[v1*3]); // If the link is at tile boundary, clamp the vertices to // the link width. if (link->side == 0 || link->side == 2) { // Unpack portal limits. const float smin = min(left[2],right[2]); const float smax = max(left[2],right[2]); const float s = (smax-smin) / 255.0f; const float lmin = smin + link->bmin*s; const float lmax = smin + link->bmax*s; left[2] = max(left[2],lmin); left[2] = min(left[2],lmax); right[2] = max(right[2],lmin); right[2] = min(right[2],lmax); } else if (link->side == 1 || link->side == 3) { // Unpack portal limits. const float smin = min(left[0],right[0]); const float smax = max(left[0],right[0]); const float s = (smax-smin) / 255.0f; const float lmin = smin + link->bmin*s; const float lmax = smin + link->bmax*s; left[0] = max(left[0],lmin); left[0] = min(left[0],lmax); right[0] = max(right[0],lmin); right[0] = min(right[0],lmax); } return true; } } return false; } // Returns edge mid point between two polygons. bool dtTiledNavMesh::getEdgeMidPoint(dtTilePolyRef from, dtTilePolyRef to, float* mid) const { float left[3], right[3]; if (!getPortalPoints(from, to, left,right)) return false; mid[0] = (left[0]+right[0])*0.5f; mid[1] = (left[1]+right[1])*0.5f; mid[2] = (left[2]+right[2])*0.5f; return true; } int dtTiledNavMesh::raycast(dtTilePolyRef centerRef, const float* startPos, const float* endPos, float& t, dtTilePolyRef* path, const int pathSize) { t = 0; if (!centerRef || !getPolyByRef(centerRef)) return 0; dtTilePolyRef curRef = centerRef; float verts[DT_TILE_VERTS_PER_POLYGON*3]; int n = 0; while (curRef) { // Cast ray against current polygon. // The API input has been cheked already, skip checking internal data. unsigned int salt, it, ip; dtDecodeTileId(curRef, salt, it, ip); const dtTileHeader* header = m_tiles[it].header; const dtTilePoly* poly = &header->polys[ip]; // Collect vertices. int nv = 0; for (int i = 0; i < (int)poly->nv; ++i) { vcopy(&verts[nv*3], &header->verts[poly->v[i]*3]); nv++; } if (nv < 3) { // Hit bad polygon, report hit. return n; } float tmin, tmax; int segMin, segMax; if (!intersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax)) { // Could not hit the polygon, keep the old t and report hit. return n; } // Keep track of furthest t so far. if (tmax > t) t = tmax; if (n < pathSize) path[n++] = curRef; // Follow neighbours. dtTilePolyRef nextRef = 0; for (int i = 0; i < poly->nlinks; ++i) { const dtTileLink* link = &header->links[poly->links+i]; if ((int)link->e == segMax) { // If the link is internal, just return the ref. if (link->side == 0xff) { nextRef = link->ref; break; } // If the link is at tile boundary, const int v0 = poly->v[link->e]; const int v1 = poly->v[(link->e+1) % poly->nv]; const float* left = &header->verts[v0*3]; const float* right = &header->verts[v1*3]; // Check that the intersection lies inside the link portal. if (link->side == 0 || link->side == 2) { // Calculate link size. const float smin = min(left[2],right[2]); const float smax = max(left[2],right[2]); const float s = (smax-smin) / 255.0f; const float lmin = smin + link->bmin*s; const float lmax = smin + link->bmax*s; // Find Z intersection. float z = startPos[2] + (endPos[2]-startPos[2])*tmax; if (z >= lmin && z <= lmax) { nextRef = link->ref; break; } } else if (link->side == 1 || link->side == 3) { // Calculate link size. const float smin = min(left[0],right[0]); const float smax = max(left[0],right[0]); const float s = (smax-smin) / 255.0f; const float lmin = smin + link->bmin*s; const float lmax = smin + link->bmax*s; // Find X intersection. float x = startPos[0] + (endPos[0]-startPos[0])*tmax; if (x >= lmin && x <= lmax) { nextRef = link->ref; break; } } } } if (!nextRef) { // No neighbour, we hit a wall. return n; } // No hit, advance to neighbour polygon. curRef = nextRef; } return n; } int dtTiledNavMesh::findPolysAround(dtTilePolyRef centerRef, const float* centerPos, float radius, dtTilePolyRef* resultRef, dtTilePolyRef* resultParent, float* resultCost, const int maxResult) { if (!centerRef) return 0; if (!getPolyByRef(centerRef)) return 0; if (!m_nodePool || !m_openList) return 0; m_nodePool->clear(); m_openList->clear(); dtNode* startNode = m_nodePool->getNode(centerRef); startNode->pidx = 0; startNode->cost = 0; startNode->total = 0; startNode->id = centerRef; startNode->flags = DT_NODE_OPEN; m_openList->push(startNode); int n = 0; if (n < maxResult) { if (resultRef) resultRef[n] = startNode->id; if (resultParent) resultParent[n] = 0; if (resultCost) resultCost[n] = 0; ++n; } const float radiusSqr = sqr(radius); while (!m_openList->empty()) { dtNode* bestNode = m_openList->pop(); // Get poly and tile. unsigned int salt, it, ip; dtDecodeTileId(bestNode->id, salt, it, ip); // The API input has been cheked already, skip checking internal data. const dtTileHeader* header = m_tiles[it].header; const dtTilePoly* poly = &header->polys[ip]; for (int i = 0; i < poly->nlinks; ++i) { const dtTileLink* link = &header->links[poly->links+i]; dtTilePolyRef neighbour = link->ref; if (neighbour) { // Skip parent node. if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour) continue; // Calc distance to the edge. const float* va = &header->verts[poly->v[link->e]*3]; const float* vb = &header->verts[poly->v[(link->e+1)%poly->nv]*3]; float tseg; float distSqr = distancePtSegSqr2D(centerPos, va, vb, tseg); // If the circle is not touching the next polygon, skip it. if (distSqr > radiusSqr) continue; dtNode* parent = bestNode; dtNode newNode; newNode.pidx = m_nodePool->getNodeIdx(parent); newNode.id = neighbour; // Cost float p0[3], p1[3]; if (!parent->pidx) vcopy(p0, centerPos); else getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0); getEdgeMidPoint(parent->id, newNode.id, p1); newNode.total = parent->total + vdist(p0,p1); dtNode* actualNode = m_nodePool->getNode(newNode.id); if (!actualNode) continue; if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) && !((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total)) { actualNode->flags &= ~DT_NODE_CLOSED; actualNode->pidx = newNode.pidx; actualNode->total = newNode.total; if (actualNode->flags & DT_NODE_OPEN) { m_openList->modify(actualNode); } else { if (n < maxResult) { if (resultRef) resultRef[n] = actualNode->id; if (resultParent) resultParent[n] = m_nodePool->getNodeAtIdx(actualNode->pidx)->id; if (resultCost) resultCost[n] = actualNode->total; ++n; } actualNode->flags = DT_NODE_OPEN; m_openList->push(actualNode); } } } } } return n; } float dtTiledNavMesh::findDistanceToWall(dtTilePolyRef centerRef, const float* centerPos, float maxRadius, float* hitPos, float* hitNormal) { if (!centerRef) return 0; if (!getPolyByRef(centerRef)) return 0; if (!m_nodePool || !m_openList) return 0; m_nodePool->clear(); m_openList->clear(); dtNode* startNode = m_nodePool->getNode(centerRef); startNode->pidx = 0; startNode->cost = 0; startNode->total = 0; startNode->id = centerRef; startNode->flags = DT_NODE_OPEN; m_openList->push(startNode); float radiusSqr = sqr(maxRadius); while (!m_openList->empty()) { dtNode* bestNode = m_openList->pop(); // Get poly and tile. unsigned int salt, it, ip; dtDecodeTileId(bestNode->id, salt, it, ip); // The API input has been cheked already, skip checking internal data. const dtTileHeader* header = m_tiles[it].header; const dtTilePoly* poly = &header->polys[ip]; // Hit test walls. for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++) { // Skip non-solid edges. if (poly->n[j] & 0x8000) { // Tile border. bool solid = true; for (int i = 0; i < poly->nlinks; ++i) { const dtTileLink* link = &header->links[poly->links+i]; if (link->e == j && link->ref != 0) { solid = false; break; } } if (!solid) continue; } else if (poly->n[j]) { // Internal edge continue; } // Calc distance to the edge. const float* vj = &header->verts[poly->v[j]*3]; const float* vi = &header->verts[poly->v[i]*3]; float tseg; float distSqr = distancePtSegSqr2D(centerPos, vj, vi, tseg); // Edge is too far, skip. if (distSqr > radiusSqr) continue; // Hit wall, update radius. radiusSqr = distSqr; // Calculate hit pos. hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg; hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg; hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg; } for (int i = 0; i < poly->nlinks; ++i) { const dtTileLink* link = &header->links[poly->links+i]; dtTilePolyRef neighbour = link->ref; if (neighbour) { // Skip parent node. if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour) continue; // Calc distance to the edge. const float* va = &header->verts[poly->v[link->e]*3]; const float* vb = &header->verts[poly->v[(link->e+1)%poly->nv]*3]; float tseg; float distSqr = distancePtSegSqr2D(centerPos, va, vb, tseg); // If the circle is not touching the next polygon, skip it. if (distSqr > radiusSqr) continue; dtNode* parent = bestNode; dtNode newNode; newNode.pidx = m_nodePool->getNodeIdx(parent); newNode.id = neighbour; float p0[3], p1[3]; if (!parent->pidx) vcopy(p0, centerPos); else getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0); getEdgeMidPoint(parent->id, newNode.id, p1); newNode.total = parent->total + vdist(p0,p1); dtNode* actualNode = m_nodePool->getNode(newNode.id); if (!actualNode) continue; if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) && !((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total)) { actualNode->flags &= ~DT_NODE_CLOSED; actualNode->pidx = newNode.pidx; actualNode->total = newNode.total; if (actualNode->flags & DT_NODE_OPEN) { m_openList->modify(actualNode); } else { actualNode->flags = DT_NODE_OPEN; m_openList->push(actualNode); } } } } } // Calc hit normal. vsub(hitNormal, centerPos, hitPos); vnormalize(hitNormal); return sqrtf(radiusSqr); } const dtTilePoly* dtTiledNavMesh::getPolyByRef(dtTilePolyRef ref) const { unsigned int salt, it, ip; dtDecodeTileId(ref, salt, it, ip); if (it >= DT_MAX_TILES) return 0; if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0; if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0; return &m_tiles[it].header->polys[ip]; } const float* dtTiledNavMesh::getPolyVertsByRef(dtTilePolyRef ref) const { unsigned int salt, it, ip; dtDecodeTileId(ref, salt, it, ip); if (it >= DT_MAX_TILES) return 0; if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0; if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0; return m_tiles[it].header->verts; } const dtTileLink* dtTiledNavMesh::getPolyLinksByRef(dtTilePolyRef ref) const { unsigned int salt, it, ip; dtDecodeTileId(ref, salt, it, ip); if (it >= DT_MAX_TILES) return 0; if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0; if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0; return m_tiles[it].header->links; }