Update generate WalkingMap

skylicht-lab · Nov 29, 2024 · ecf1122 · ecf1122
1 parent 00d2863
commit ecf1122
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Showing 7 changed files with 68 additions and 6 deletions.
diff --git a/Projects/Recast/CMakeLists.txt b/Projects/Recast/CMakeLists.txt
@@ -8,6 +8,12 @@ include_directories(${Recast_INCLUDE_DIR})
 
 set_target_properties(Recast PROPERTIES VERSION ${SKYLICHT_VERSION})
 
+if (BUILD_SHARED_LIBS)
+if (BUILD_LINUX OR BUILD_MACOS)
+add_compile_options(-fPIC)
+endif()
+endif()
+
 if (INSTALL_LIBS)
 install(TARGETS Recast
 			EXPORT RecastTargets

diff --git a/Projects/Skylicht/Graph/CMakeLists.txt b/Projects/Skylicht/Graph/CMakeLists.txt
@@ -16,7 +16,6 @@ setup_project_group("${skylicht_graph_source}" ${CMAKE_CURRENT_SOURCE_DIR})
 add_library(Graph ${ENGINE_SHARED_OR_STATIC_LIB} ${skylicht_graph_source})
 
 if (BUILD_SHARED_LIBS)
-
 if (BUILD_LINUX OR BUILD_MACOS)
 add_compile_options(-fPIC)
 endif()

diff --git a/Projects/Skylicht/Graph/ObstacleAvoidance/CObstacleAvoidance.cpp b/Projects/Skylicht/Graph/ObstacleAvoidance/CObstacleAvoidance.cpp
@@ -88,6 +88,44 @@ namespace Skylicht
 			return 1;
 		}
 
+		bool CObstacleAvoidance::isLineHit(const core::vector3df& a, const core::vector3df& b, float h)
+		{
+			SObstacleSegment* segs = m_segments.pointer();
+			core::vector3df v = b - a;
+			float t = 0.0f;
+
+			for (u32 i = 0, n = m_segments.size(); i < n; i++)
+			{
+				SObstacleSegment& s = segs[i];
+
+				if (fabs(s.Begin.Y - a.Y) < h && fabs(s.End.Y - a.Y) < h)
+				{
+					int intersection = isectRaySeg(a, v, s.Begin, s.End, t);
+					if (intersection)
+					{
+						return true;
+					}
+				}
+			}
+			return false;
+		}
+
+		void CObstacleAvoidance::copySegments(CObstacleAvoidance* toTarget, const core::aabbox3df& box)
+		{
+			SObstacleSegment* segs = m_segments.pointer();
+			core::line3df line;
+
+			for (u32 i = 0, n = m_segments.size(); i < n; i++)
+			{
+				SObstacleSegment& s = segs[i];
+				line.setLine(s.Begin, s.End);
+				if (box.intersectsWithLine(line))
+				{
+					toTarget->addSegment(s.Begin, s.End);
+				}
+			}
+		}
+
 		core::vector3df CObstacleAvoidance::collide(const core::vector3df& position, const core::vector3df& vel, float radius, int recursionDepth)
 		{
 			if (recursionDepth >= 2)

diff --git a/Projects/Skylicht/Graph/ObstacleAvoidance/CObstacleAvoidance.h b/Projects/Skylicht/Graph/ObstacleAvoidance/CObstacleAvoidance.h
@@ -54,11 +54,20 @@ namespace Skylicht
 
 			void clear();
 
+			void copySegments(CObstacleAvoidance* toTarget, const core::aabbox3df& box);
+
 			inline core::array<SObstacleSegment>& getSegments()
 			{
 				return m_segments;
 			}
 
+			inline bool isLineHit(const core::line3df& line, float h = 1.0f)
+			{
+				return isLineHit(line.start, line.end, h);
+			}
+
+			bool isLineHit(const core::vector3df& a, const core::vector3df& b, float h = 1.0f);
+
 			core::vector3df collide(const core::vector3df& position, const core::vector3df& vel, float radius, int recursionDepth = 0);
 		};
 	}

diff --git a/Projects/Skylicht/Graph/WalkingMap/CWalkingMap.cpp b/Projects/Skylicht/Graph/WalkingMap/CWalkingMap.cpp
@@ -74,7 +74,7 @@ namespace Skylicht
 			}
 		}
 
-		void CWalkingMap::generate(float tileWidth, float tileHeight, CMesh* recastMesh)
+		void CWalkingMap::generate(float tileWidth, float tileHeight, CMesh* recastMesh, CObstacleAvoidance* obstacle)
 		{
 			generate(tileWidth, tileHeight, recastMesh->getBoundingBox());
 
@@ -171,6 +171,8 @@ namespace Skylicht
 
 				STileXYZ tile(t->X, t->Y, t->Z);
 				m_hashTiles[tile] = t;
+
+				obstacle->copySegments(&t->Obstacle, t->BBox);
 			}
 
 			// link Neighbour
@@ -192,7 +194,13 @@ namespace Skylicht
 								t->Y + y,
 								t->Z + z);
 							if (nei)
-								t->Neighbours.push_back(nei);
+							{
+								if (!t->Obstacle.isLineHit(t->Position, nei->Position, tileHeight) &&
+									!nei->Obstacle.isLineHit(t->Position, nei->Position, tileHeight))
+								{
+									t->Neighbours.push_back(nei);
+								}
+							}
 						}
 					}
 				}

diff --git a/Projects/Skylicht/Graph/WalkingMap/CWalkingMap.h b/Projects/Skylicht/Graph/WalkingMap/CWalkingMap.h
@@ -40,7 +40,7 @@ namespace Skylicht
 			int Z;
 			core::vector3df Position;
 			core::aabbox3df BBox;
-			core::array<SObstacleSegment> Cols;
+			CObstacleAvoidance Obstacle;
 			core::array<core::triangle3df> Tris;
 			core::array<STile*> Neighbours;
 			bool Visit;
@@ -107,7 +107,7 @@ namespace Skylicht
 
 			virtual ~CWalkingMap();
 
-			void generate(float tileWidth, float tileHeight, CMesh* recastMesh);
+			void generate(float tileWidth, float tileHeight, CMesh* recastMesh, CObstacleAvoidance* obstacle);
 
 			void release();
 

diff --git a/Samples/Graph/Source/CDemoNavMesh.cpp b/Samples/Graph/Source/CDemoNavMesh.cpp
@@ -95,6 +95,7 @@ void CDemoNavMesh::update()
 	SColor red(255, 100, 0, 0);
 	SColor white(255, 100, 100, 100);
 	SColor green(255, 0, 100, 0);
+	SColor yellow(255, 100, 100, 0);
 
 	// draw debug recastmesh
 	/*
@@ -161,6 +162,7 @@ void CDemoNavMesh::update()
 			if (nei->Visit == false)
 			{
 				debug->addLine(tile->Position, nei->Position, green);
+				debug->addPosition(tile->Position, m_tileHeight * 0.1f, yellow);
 			}
 		}
 
@@ -222,5 +224,5 @@ void CDemoNavMesh::buildNavMesh()
 
 void CDemoNavMesh::buildWalkingMap()
 {
-	m_walkingMap->generate(m_tileWidth, m_tileHeight, m_outputMesh);
+	m_walkingMap->generate(m_tileWidth, m_tileHeight, m_outputMesh, m_obstacle);
 }