Add GraphQuery

Projects/Skylicht/Collision/Collision/COctreeNode.cpp

@@ -38,6 +38,9 @@ namespace Skylicht
 	COctreeNode::~COctreeNode()
 	{
 		for (u32 i = 0; i != 8; ++i)
-			delete Childs[i];
+		{
+			if (Childs[i])
+				delete Childs[i];
+		}
 	}
 }

Projects/Skylicht/Graph/Graph/CGraphQuery.cpp

@@ -0,0 +1,85 @@
+#include "pch.h"
+#include "CGraphQuery.h"
+
+namespace Skylicht
+{
+	namespace Graph
+	{
+		COctreeNode::COctreeNode() :
+			Parent(NULL)
+		{
+			for (u32 i = 0; i < 8; i++)
+				Childs[i] = NULL;
+		}
+
+		COctreeNode::~COctreeNode()
+		{
+			for (u32 i = 0; i != 8; ++i)
+			{
+				if (Childs[i])
+					delete Childs[i];
+			}
+		}
+
+
+		CGraphQuery::CGraphQuery() :
+			m_root(NULL)
+		{
+
+		}
+
+		CGraphQuery::~CGraphQuery()
+		{
+			release();
+		}
+
+		void CGraphQuery::release()
+		{
+			if (m_root)
+			{
+				delete m_root;
+				m_root = NULL;
+			}
+		}
+
+		void CGraphQuery::buildIndexNavMesh(CMesh* navMesh, CObstacleAvoidance* obstacle, float minCellSize)
+		{
+			release();
+
+			m_root = new COctreeNode();
+
+			// check used tile
+			IMeshBuffer* mb = navMesh->getMeshBuffer(0);
+			IVertexBuffer* vb = mb->getVertexBuffer();
+			IIndexBuffer* ib = mb->getIndexBuffer();
+
+			for (u32 i = 0, n = ib->getIndexCount(); i < n; i += 3)
+			{
+				u32 ixA = ib->getIndex(i);
+				u32 ixB = ib->getIndex(i + 1);
+				u32 ixC = ib->getIndex(i + 2);
+
+				S3DVertex* a = (S3DVertex*)vb->getVertex(ixA);
+				S3DVertex* b = (S3DVertex*)vb->getVertex(ixB);
+				S3DVertex* c = (S3DVertex*)vb->getVertex(ixC);
+
+				if (i == 0)
+					m_root->Box.reset(a->Pos);
+				else
+				{
+					m_root->Box.addInternalPoint(a->Pos);
+					m_root->Box.addInternalPoint(b->Pos);
+					m_root->Box.addInternalPoint(c->Pos);
+				}
+
+				core::triangle3df tri(a->Pos, b->Pos, c->Pos);
+				m_root->Triangles.push_back(tri);
+			}
+		}
+
+		void CGraphQuery::constructOctree(COctreeNode* node)
+		{
+
+		}
+	}
+}

Projects/Skylicht/Graph/Graph/CGraphQuery.h

@@ -0,0 +1,75 @@
+/*
+!@
+MIT License
+
+Copyright (c) 2024 Skylicht Technology CO., LTD
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files
+(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify,
+merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+This file is part of the "Skylicht Engine".
+https://github.com/skylicht-lab/skylicht-engine
+!#
+*/
+
+#pragma once
+
+#include "RenderMesh/CRenderMeshData.h"
+#include "ObstacleAvoidance/CObstacleAvoidance.h"
+
+namespace Skylicht
+{
+	namespace Graph
+	{
+		class COctreeNode
+		{
+		public:
+			core::aabbox3df Box;
+
+			COctreeNode* Parent;
+			COctreeNode* Childs[8];
+
+			core::array<core::triangle3df> Triangles;
+			CObstacleAvoidance Obstacle;
+
+			COctreeNode();
+
+			virtual ~COctreeNode();
+		};
+
+		class CGraphQuery
+		{
+		protected:
+			COctreeNode* m_root;
+
+		public:
+			CGraphQuery();
+
+			virtual ~CGraphQuery();
+
+			void release();
+
+			void buildIndexNavMesh(CMesh* navMesh, CObstacleAvoidance* obstacle, float minCellSize = 1.0f);
+
+			inline COctreeNode* getRootNode()
+			{
+				return m_root;
+			}
+
+		protected:
+
+			void constructOctree(COctreeNode* node);
+
+		};
+	}
+}

Projects/Skylicht/Graph/WalkingMap/CWalkingMap.cpp → Projects/Skylicht/Graph/WalkingMap/CWalkingTileMap.cpp

@@ -23,25 +23,25 @@ This file is part of the "Skylicht Engine".
 */
 
 #include "pch.h"
-#include "CWalkingMap.h"
+#include "CWalkingTileMap.h"
 
 namespace Skylicht
 {
 	namespace Graph
 	{
-		CWalkingMap::CWalkingMap() :
+		CWalkingTileMap::CWalkingTileMap() :
 			m_tileWidth(0.0f),
 			m_tileHeight(0.0f)
 		{
 
 		}
 
-		CWalkingMap::~CWalkingMap()
+		CWalkingTileMap::~CWalkingTileMap()
 		{
 			release();
 		}
 
-		void CWalkingMap::generate(float tileWidth, float tileHeight, const core::aabbox3df& bbox)
+		void CWalkingTileMap::generate(float tileWidth, float tileHeight, const core::aabbox3df& bbox)
 		{
 			release();
 
@@ -74,12 +74,12 @@ namespace Skylicht
 			}
 		}
 
-		void CWalkingMap::generate(float tileWidth, float tileHeight, CMesh* recastMesh, CObstacleAvoidance* obstacle)
+		void CWalkingTileMap::generate(float tileWidth, float tileHeight, CMesh* navMesh, CObstacleAvoidance* obstacle)
 		{
-			generate(tileWidth, tileHeight, recastMesh->getBoundingBox());
+			generate(tileWidth, tileHeight, navMesh->getBoundingBox());
 
 			// check used tile
-			IMeshBuffer* mb = recastMesh->getMeshBuffer(0);
+			IMeshBuffer* mb = navMesh->getMeshBuffer(0);
 			IVertexBuffer* vb = mb->getVertexBuffer();
 			IIndexBuffer* ib = mb->getIndexBuffer();
 
@@ -171,8 +171,6 @@ namespace Skylicht
 
 				STileXYZ tile(t->X, t->Y, t->Z);
 				m_hashTiles[tile] = t;
-
-				obstacle->copySegments(&t->Obstacle, t->BBox);
 			}
 
 			// link Neighbour
@@ -195,8 +193,7 @@ namespace Skylicht
 								t->Z + z);
 							if (nei)
 							{
-								if (!t->Obstacle.isLineHit(t->Position, nei->Position, tileHeight) &&
-									!nei->Obstacle.isLineHit(t->Position, nei->Position, tileHeight))
+								if (!obstacle->isLineHit(t->Position, nei->Position, tileHeight))
 								{
 									t->Neighbours.push_back(nei);
 								}
@@ -207,7 +204,7 @@ namespace Skylicht
 			}
 		}
 
-		STile* CWalkingMap::getTile(int x, int y, int z)
+		STile* CWalkingTileMap::getTile(int x, int y, int z)
 		{
 			STileXYZ tile(x, y, z);
 			auto it = m_hashTiles.find(tile);
@@ -216,7 +213,7 @@ namespace Skylicht
 			return it->second;
 		}
 
-		bool CWalkingMap::hitTris(const core::line3df& line, core::array<core::triangle3df>& tris, core::vector3df& outPoint)
+		bool CWalkingTileMap::hitTris(const core::line3df& line, core::array<core::triangle3df>& tris, core::vector3df& outPoint)
 		{
 			bool hit = false;
 			for (int i = 0, n = tris.size(); i < n; i++)
@@ -231,7 +228,7 @@ namespace Skylicht
 			return hit;
 		}
 
-		void CWalkingMap::release()
+		void CWalkingTileMap::release()
 		{
 			for (u32 i = 0, n = m_tiles.size(); i < n; i++)
 			{
@@ -241,7 +238,7 @@ namespace Skylicht
 			m_hashTiles.clear();
 		}
 
-		void CWalkingMap::resetVisit()
+		void CWalkingTileMap::resetVisit()
 		{
 			for (u32 i = 0, n = m_tiles.size(); i < n; i++)
 			{

Projects/Skylicht/Graph/WalkingMap/CWalkingMap.h → Projects/Skylicht/Graph/WalkingMap/CWalkingTileMap.h

@@ -40,7 +40,6 @@ namespace Skylicht
 			int Z;
 			core::vector3df Position;
 			core::aabbox3df BBox;
-			CObstacleAvoidance Obstacle;
 			core::array<core::triangle3df> Tris;
 			core::array<STile*> Neighbours;
 			bool Visit;
@@ -92,7 +91,7 @@ namespace Skylicht
 
 		typedef std::map<STileXYZ, STile*, CompareTile> TileValueMap;
 
-		class CWalkingMap
+		class CWalkingTileMap
 		{
 		protected:
 			core::array<STile*> m_tiles;
@@ -103,11 +102,11 @@ namespace Skylicht
 			float m_tileHeight;
 
 		public:
-			CWalkingMap();
+			CWalkingTileMap();
 
-			virtual ~CWalkingMap();
+			virtual ~CWalkingTileMap();
 
-			void generate(float tileWidth, float tileHeight, CMesh* recastMesh, CObstacleAvoidance* obstacle);
+			void generate(float tileWidth, float tileHeight, CMesh* navMesh, CObstacleAvoidance* obstacle);
 
 			void release();