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RN_NavMeshTesterTool.pas
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RN_NavMeshTesterTool.pas
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//
// Copyright (c) 2009-2010 Mikko Mononen [email protected]
//
// 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.
//
{$POINTERMATH ON}
unit RN_NavMeshTesterTool;
interface
uses
Classes, Controls, StdCtrls, ExtCtrls, Unit_FrameTesterTool,
RN_DetourNavMesh, RN_DetourNavMeshHelper, RN_DetourNavMeshQuery, RN_DetourStatus, RN_Sample;
type
TToolMode =
(
TOOLMODE_PATHFIND_FOLLOW,
TOOLMODE_PATHFIND_STRAIGHT,
TOOLMODE_PATHFIND_SLICED,
TOOLMODE_RAYCAST,
TOOLMODE_DISTANCE_TO_WALL,
TOOLMODE_FIND_POLYS_IN_CIRCLE,
TOOLMODE_FIND_POLYS_IN_SHAPE,
TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD
);
const MAX_POLYS = 256;
const MAX_SMOOTH = 2048;
const MAX_RAND_POINTS = 64;
const MAX_STEER_POINTS = 10;
type
TNavMeshTesterTool = class (TSampleTool)
private
fFrame: TFrameTesterTool;
fUpdateUI: Boolean;
m_sample: TSample;
m_navMesh: TdtNavMesh;
m_navQuery: TdtNavMeshQuery;
m_filter: TdtQueryFilter;
m_pathFindStatus: TdtStatus;
m_toolMode: TToolMode;
m_straightPathOptions: TdtStraightPathOptions;
m_startRef: TdtPolyRef;
m_endRef: TdtPolyRef;
m_polys: array [0..MAX_POLYS-1] of TdtPolyRef;
m_parent: array [0..MAX_POLYS-1] of TdtPolyRef;
m_npolys: Integer;
m_straightPath: array [0..MAX_POLYS*3-1] of Single;
m_straightPathFlags: array [0..MAX_POLYS-1] of Byte;
m_straightPathPolys: array [0..MAX_POLYS-1] of TdtPolyRef;
m_nstraightPath: Integer;
m_polyPickExt: array [0..2] of Single;
m_smoothPath: array [0..MAX_SMOOTH*3-1] of Single;
m_nsmoothPath: Integer;
m_queryPoly: array [0..4*3-1] of Single;
m_randPoints: array [0..MAX_RAND_POINTS*3-1] of Single;
m_nrandPoints: Integer;
m_randPointsInCircle: Boolean;
m_spos: array [0..2] of Single;
m_epos: array [0..2] of Single;
m_hitPos: array [0..2] of Single;
m_hitNormal: array [0..2] of Single;
m_hitResult: Boolean;
m_distanceToWall: Single;
m_neighbourhoodRadius: Single;
m_randomRadius: Single;
m_sposSet: Boolean;
m_eposSet: Boolean;
m_pathIterNum: Integer;
m_pathIterPolys: array [0..MAX_POLYS-1] of TdtPolyRef;
m_pathIterPolyCount: Integer;
m_prevIterPos, m_iterPos, m_steerPos, m_targetPos: array [0..2] of Single;
m_steerPoints: array [0..MAX_STEER_POINTS*3] of Single;
m_steerPointCount: Integer;
public
constructor Create(aOwner: TWinControl);
destructor Destroy; override;
procedure init(sample: TSample); override;
procedure reset(); override;
procedure handleMenu(Sender: TObject); override;
procedure handleClick(s,p: PSingle; shift: Boolean); override;
procedure handleToggle(); override;
procedure handleStep(); override;
procedure handleUpdate(dt: Single); override;
procedure handleRender(); override;
procedure handleRenderOverlay(proj, model: PDouble; view: PInteger); override;
procedure recalc();
procedure drawAgent(pos: PSingle; r, h, c: Single; col: Cardinal);
end;
implementation
uses Math,
RN_Recast, RN_RecastHelper, RN_DebugDraw, RN_RecastDebugDraw, RN_SampleInterfaces,
RN_DetourNavMeshBuilder, RN_DetourDebugDraw, RN_DetourCommon;
// Uncomment this to dump all the requests in stdout.
//#define DUMP_REQS
// Returns a random number [0..1)
//static float frand()
{
// return ((float)(rand() & 0xffff)/(float)0xffff);
return (float)rand()/(float)RAND_MAX;
}
function inRange(v1,v2: PSingle; r,h: Single): Boolean;
var dx,dy,dz: Single;
begin
dx := v2[0] - v1[0];
dy := v2[1] - v1[1];
dz := v2[2] - v1[2];
Result := ((dx*dx + dz*dz) < r*r) and (abs(dy) < h);
end;
function fixupCorridor(path: PdtPolyRef; npath, maxPath: Integer; visited: PdtPolyRef; nvisited: Integer): Integer;
var furthestPath, furthestVisited, i, j: Integer; found: Boolean; req, orig, size: Integer;
begin
furthestPath := -1;
furthestVisited := -1;
// Find furthest common polygon.
for i := npath-1 downto 0 do
begin
found := false;
for j := nvisited-1 downto 0 do
begin
if (path[i] = visited[j]) then
begin
furthestPath := i;
furthestVisited := j;
found := true;
end;
end;
if (found) then
break;
end;
// If no intersection found just return current path.
if (furthestPath = -1) or (furthestVisited = -1) then
Exit(npath);
// Concatenate paths.
// Adjust beginning of the buffer to include the visited.
req := nvisited - furthestVisited;
orig := rcMin(furthestPath+1, npath);
size := rcMax(0, npath-orig);
if (req+size > maxPath) then
size := maxPath-req;
if (size <> 0) then
Move((path+orig)^, (path+req)^, size*sizeof(TdtPolyRef));
// Store visited
for i := 0 to req - 1 do
path[i] := visited[(nvisited-1)-i];
Result := req+size;
end;
// This function checks if the path has a small U-turn, that is,
// a polygon further in the path is adjacent to the first polygon
// in the path. If that happens, a shortcut is taken.
// This can happen if the target (T) location is at tile boundary,
// and we're (S) approaching it parallel to the tile edge.
// The choice at the vertex can be arbitrary,
// +---+---+
// |:::|:::|
// +-S-+-T-+
// |:::| | <-- the step can end up in here, resulting U-turn path.
// +---+---+
function fixupShortcuts(path: PdtPolyRef; npath: Integer; navQuery: TdtNavMeshQuery): Integer;
const maxNeis = 16; maxLookAhead = 6;
var neis: array [0..maxNeis-1] of TdtPolyRef; nneis: Integer; tile: PdtMeshTile; poly: PdtPoly; k: Cardinal; link: PdtLink;
cut,i,j,offset: Integer;
begin
if (npath < 3) then
Exit(npath);
// Get connected polygons
nneis := 0;
tile := nil;
poly := nil;
if (dtStatusFailed(navQuery.getAttachedNavMesh.getTileAndPolyByRef(path[0], @tile, @poly))) then
Exit(npath);
k := poly.firstLink;
while (k <> DT_NULL_LINK) do
begin
link := @tile.links[k];
if (link.ref <> 0) then
begin
if (nneis < maxNeis) then
begin
neis[nneis] := link.ref;
Inc(nneis);
end;
end;
k := tile.links[k].next;
end;
// If any of the neighbour polygons is within the next few polygons
// in the path, short cut to that polygon directly.
cut := 0;
i := dtMin(maxLookAhead, npath) - 1;
while (i > 1) and (cut = 0) do
begin
for j := 0 to nneis - 1 do
begin
if (path[i] = neis[j]) then
begin
cut := i;
break;
end;
end;
Dec(i);
end;
if (cut > 1) then
begin
offset := cut-1;
Dec(npath, offset);
for i := 1 to npath - 1 do
path[i] := path[i+offset];
end;
Result := npath;
end;
function getSteerTarget(navQuery: TdtNavMeshQuery; startPos, endPos: PSingle;
minTargetDist: Single;
path: PdtPolyRef; pathSize: Integer;
steerPos: PSingle; steerPosFlag: PByte; steerPosRef: PdtPolyRef;
outPoints: PSingle = nil; outPointCount: PInteger = nil): Boolean;
const MAX_STEER_POINTS = 3;
var steerPath: array [0..MAX_STEER_POINTS*3-1] of Single; steerPathFlags: array [0..MAX_STEER_POINTS-1] of Byte;
steerPathPolys: array [0..MAX_STEER_POINTS-1] of TdtPolyRef; nsteerPath,i,ns: Integer;
begin
// Find steer target.
nsteerPath := 0;
navQuery.findStraightPath(startPos, endPos, path, pathSize,
@steerPath[0], @steerPathFlags[0], @steerPathPolys[0], @nsteerPath, MAX_STEER_POINTS);
if (nsteerPath = 0) then
Exit(false);
if (outPoints <> nil) and (outPointCount <> nil) then
begin
outPointCount^ := nsteerPath;
for i := 0 to nsteerPath - 1 do
dtVcopy(@outPoints[i*3], @steerPath[i*3]);
end;
// Find vertex far enough to steer to.
ns := 0;
while (ns < nsteerPath) do
begin
// Stop at Off-Mesh link or when point is further than slop away.
if ((steerPathFlags[ns] and Byte(DT_STRAIGHTPATH_OFFMESH_CONNECTION) <> 0) or
not inRange(@steerPath[ns*3], startPos, minTargetDist, 1000.0)) then
break;
Inc(ns);
end;
// Failed to find good point to steer to.
if (ns >= nsteerPath) then
Exit(false);
dtVcopy(steerPos, @steerPath[ns*3]);
steerPos[1] := startPos[1];
steerPosFlag^ := steerPathFlags[ns];
steerPosRef^ := steerPathPolys[ns];
Result := true;
end;
constructor TNavMeshTesterTool.Create(aOwner: TWinControl);
begin
inherited Create;
&type := TOOL_NAVMESH_TESTER;
fFrame := TFrameTesterTool.Create(aOwner);
fFrame.Align := alClient;
fFrame.Parent := aOwner;
fFrame.Visible := True;
fFrame.rgToolMode.OnClick := handleMenu;
fFrame.rgVerticesAtCrossings.OnClick := handleMenu;
fFrame.btnSetRandomStart.OnClick := handleMenu;
fFrame.btnSetRandomEnd.OnClick := handleMenu;
fFrame.btnMakeRandomPoints.OnClick := handleMenu;
fFrame.btnMakeRandomPointsAround.OnClick := handleMenu;
fFrame.cbInclWalk.OnClick := handleMenu;
fFrame.cbInclSwim.OnClick := handleMenu;
fFrame.cbInclDoor.OnClick := handleMenu;
fFrame.cbInclJump.OnClick := handleMenu;
fFrame.cbExclWalk.OnClick := handleMenu;
fFrame.cbExclSwim.OnClick := handleMenu;
fFrame.cbExclDoor.OnClick := handleMenu;
fFrame.cbExclJump.OnClick := handleMenu;
// Delphi: Assume C++ invokes constructor
m_filter := TdtQueryFilter.Create;
m_pathFindStatus := DT_FAILURE;
m_toolMode := TOOLMODE_PATHFIND_FOLLOW;
m_filter.setIncludeFlags(SAMPLE_POLYFLAGS_ALL xor SAMPLE_POLYFLAGS_DISABLED);
m_filter.setExcludeFlags(0);
m_polyPickExt[0] := 2;
m_polyPickExt[1] := 4;
m_polyPickExt[2] := 2;
m_neighbourhoodRadius := 2.5;
m_randomRadius := 5.0;
end;
destructor TNavMeshTesterTool.Destroy;
begin
// Delphi: Assume C++ does the same when var goes out of scope
m_filter.Free;
fFrame.Free;
inherited;
end;
procedure TNavMeshTesterTool.init(sample: TSample);
begin
m_sample := sample;
m_navMesh := sample.getNavMesh;
m_navQuery := sample.getNavMeshQuery;
recalc();
if (m_navQuery <> nil) then
begin
// Change costs.
m_filter.setAreaCost(Byte(SAMPLE_POLYAREA_GROUND), 1.0);
m_filter.setAreaCost(Byte(SAMPLE_POLYAREA_WATER), 10.0);
m_filter.setAreaCost(Byte(SAMPLE_POLYAREA_ROAD), 1.0);
m_filter.setAreaCost(Byte(SAMPLE_POLYAREA_DOOR), 1.0);
m_filter.setAreaCost(Byte(SAMPLE_POLYAREA_GRASS), 2.0);
m_filter.setAreaCost(Byte(SAMPLE_POLYAREA_JUMP), 1.5);
end;
m_neighbourhoodRadius := sample.getAgentRadius * 20.0;
m_randomRadius := sample.getAgentRadius * 30.0;
end;
procedure TNavMeshTesterTool.handleMenu(Sender: TObject);
var status: TdtStatus; i: Integer; pt: array[0..2] of Single; ref: TdtPolyRef;
begin
if fUpdateUI then Exit;
// Delphi: When the Sender is NIL, we fill the controls with current state values
if Sender = nil then
begin
fUpdateUI := True;
fFrame.rgToolMode.ItemIndex := Byte(m_toolMode);
fFrame.rgVerticesAtCrossings.Enabled := m_toolMode = TOOLMODE_PATHFIND_STRAIGHT;
fFrame.rgVerticesAtCrossings.ItemIndex := Byte(m_straightPathOptions);
fFrame.btnSetRandomEnd.Enabled := m_sposSet;
fFrame.btnMakeRandomPointsAround.Enabled := m_sposSet;
fFrame.cbInclWalk.Checked := (m_filter.getIncludeFlags() and SAMPLE_POLYFLAGS_WALK) <> 0;
fFrame.cbInclSwim.Checked := (m_filter.getIncludeFlags() and SAMPLE_POLYFLAGS_SWIM) <> 0;
fFrame.cbInclDoor.Checked := (m_filter.getIncludeFlags() and SAMPLE_POLYFLAGS_DOOR) <> 0;
fFrame.cbInclJump.Checked := (m_filter.getIncludeFlags() and SAMPLE_POLYFLAGS_JUMP) <> 0;
fFrame.cbExclWalk.Checked := (m_filter.getExcludeFlags() and SAMPLE_POLYFLAGS_WALK) <> 0;
fFrame.cbExclSwim.Checked := (m_filter.getExcludeFlags() and SAMPLE_POLYFLAGS_SWIM) <> 0;
fFrame.cbExclDoor.Checked := (m_filter.getExcludeFlags() and SAMPLE_POLYFLAGS_DOOR) <> 0;
fFrame.cbExclJump.Checked := (m_filter.getExcludeFlags() and SAMPLE_POLYFLAGS_JUMP) <> 0;
fUpdateUI := False;
end;
if Sender = fFrame.rgToolMode then
begin
m_toolMode := TToolMode(fFrame.rgToolMode.ItemIndex);
recalc();
end;
fFrame.rgVerticesAtCrossings.Visible := (m_toolMode = TOOLMODE_PATHFIND_STRAIGHT);
if (m_toolMode = TOOLMODE_PATHFIND_STRAIGHT) then
begin
m_straightPathOptions := TdtStraightPathOptions(fFrame.rgVerticesAtCrossings.ItemIndex);
recalc();
end;
if Sender = fFrame.btnSetRandomStart then
begin
status := m_navQuery.findRandomPoint(m_filter, {frand,} @m_startRef, @m_spos[0]);
if (dtStatusSucceed(status)) then
begin
m_sposSet := true;
recalc();
end;
end;
if Sender = fFrame.btnSetRandomEnd then
begin
if (m_sposSet) then
begin
status := m_navQuery.findRandomPointAroundCircle(m_startRef, @m_spos[0], m_randomRadius, m_filter, {frand,} @m_endRef, @m_epos[0]);
if (dtStatusSucceed(status)) then
begin
m_eposSet := true;
recalc();
end;
end;
end;
if Sender = fFrame.btnMakeRandomPoints then
begin
m_randPointsInCircle := false;
m_nrandPoints := 0;
for i := 0 to MAX_RAND_POINTS - 1 do
begin
status := m_navQuery.findRandomPoint(m_filter, {frand,} @ref, @pt[0]);
if (dtStatusSucceed(status)) then
begin
dtVcopy(@m_randPoints[m_nrandPoints*3], @pt[0]);
Inc(m_nrandPoints);
end;
end;
end;
if Sender = fFrame.btnMakeRandomPointsAround then
begin
if (m_sposSet) then
begin
m_nrandPoints := 0;
m_randPointsInCircle := true;
for i := 0 to MAX_RAND_POINTS - 1 do
begin
status := m_navQuery.findRandomPointAroundCircle(m_startRef, @m_spos[0], m_randomRadius, m_filter, {frand,} @ref, @pt[0]);
if (dtStatusSucceed(status)) then
begin
dtVcopy(@m_randPoints[m_nrandPoints*3], @pt[0]);
Inc(m_nrandPoints);
end;
end;
end;
end;
m_filter.setIncludeFlags(Byte(fFrame.cbInclWalk.Checked) * SAMPLE_POLYFLAGS_WALK +
Byte(fFrame.cbInclSwim.Checked) * SAMPLE_POLYFLAGS_SWIM +
Byte(fFrame.cbInclDoor.Checked) * SAMPLE_POLYFLAGS_DOOR +
Byte(fFrame.cbInclJump.Checked) * SAMPLE_POLYFLAGS_JUMP);
recalc();
m_filter.setExcludeFlags(Byte(fFrame.cbExclWalk.Checked) * SAMPLE_POLYFLAGS_WALK +
Byte(fFrame.cbExclSwim.Checked) * SAMPLE_POLYFLAGS_SWIM +
Byte(fFrame.cbExclDoor.Checked) * SAMPLE_POLYFLAGS_DOOR +
Byte(fFrame.cbExclJump.Checked) * SAMPLE_POLYFLAGS_JUMP);
recalc();
end;
procedure TNavMeshTesterTool.handleClick(s,p: PSingle; shift: Boolean);
begin
if (shift) then
begin
m_sposSet := true;
dtVcopy(@m_spos[0], p);
end
else
begin
m_eposSet := true;
dtVcopy(@m_epos[0], p);
end;
recalc();
end;
procedure TNavMeshTesterTool.handleStep();
begin
end;
procedure TNavMeshTesterTool.handleToggle();
const STEP_SIZE = 0.5;
const SLOP = 0.01;
var steerPos,delta,moveTgt,reslt,startPos,endPos: array [0..2] of Single; steerPosFlag: Byte; steerPosRef,prevRef,polyRef: TdtPolyRef;
endOfPath, offMeshConnection: Boolean; len: Single; visited: array [0..15] of TdtPolyRef; nvisited,npos,i: Integer; h,eh: Single;
status: TdtStatus;
begin
// TODO: merge separate to a path iterator. Use same code in recalc() too.
if (m_toolMode <> TOOLMODE_PATHFIND_FOLLOW) then
Exit;
if (not m_sposSet or not m_eposSet or (m_startRef = 0) or (m_endRef = 0)) then
Exit;
if (m_pathIterNum = 0) then
begin
m_navQuery.findPath(m_startRef, m_endRef, @m_spos[0], @m_epos[0], m_filter, @m_polys[0], @m_npolys, MAX_POLYS);
m_nsmoothPath := 0;
m_pathIterPolyCount := m_npolys;
if (m_pathIterPolyCount <> 0) then
Move(m_polys[0], m_pathIterPolys[0], sizeof(TdtPolyRef)*m_pathIterPolyCount);
if (m_pathIterPolyCount <> 0) then
begin
// Iterate over the path to find smooth path on the detail mesh surface.
m_navQuery.closestPointOnPoly(m_startRef, @m_spos[0], @m_iterPos[0], nil);
m_navQuery.closestPointOnPoly(m_pathIterPolys[m_pathIterPolyCount-1], @m_epos[0], @m_targetPos[0], nil);
m_nsmoothPath := 0;
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @m_iterPos[0]);
Inc(m_nsmoothPath);
end;
end;
dtVcopy(@m_prevIterPos[0], @m_iterPos[0]);
Inc(m_pathIterNum);
if (m_pathIterPolyCount = 0) then
Exit;
if (m_nsmoothPath >= MAX_SMOOTH) then
Exit;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
// Find location to steer towards.
if (not getSteerTarget(m_navQuery, @m_iterPos[0], @m_targetPos[0], SLOP,
@m_pathIterPolys[0], m_pathIterPolyCount, @steerPos[0], @steerPosFlag, @steerPosRef,
@m_steerPoints[0], @m_steerPointCount)) then
Exit;
dtVcopy(@m_steerPos[0], @steerPos[0]);
endOfPath := (steerPosFlag and Byte(DT_STRAIGHTPATH_END)) <> 0;
offMeshConnection := (steerPosFlag and Byte(DT_STRAIGHTPATH_OFFMESH_CONNECTION)) <> 0;
// Find movement delta.
dtVsub(@delta[0], @steerPos[0], @m_iterPos[0]);
len := sqrt(dtVdot(@delta[0],@delta[0]));
// If the steer target is end of path or off-mesh link, do not move past the location.
if (endOfPath or offMeshConnection) and (len < STEP_SIZE) then
len := 1
else
len := STEP_SIZE / len;
dtVmad(@moveTgt[0], @m_iterPos[0], @delta[0], len);
// Move
nvisited := 0;
m_navQuery.moveAlongSurface(m_pathIterPolys[0], @m_iterPos[0], @moveTgt[0], m_filter,
@reslt[0], @visited[0], @nvisited, 16);
m_pathIterPolyCount := fixupCorridor(@m_pathIterPolys[0], m_pathIterPolyCount, MAX_POLYS, @visited[0], nvisited);
m_pathIterPolyCount := fixupShortcuts(@m_pathIterPolys[0], m_pathIterPolyCount, m_navQuery);
h := 0;
m_navQuery.getPolyHeight(m_pathIterPolys[0], @reslt[0], @h);
reslt[1] := h;
dtVcopy(@m_iterPos[0], @reslt[0]);
// Handle end of path and off-mesh links when close enough.
if (endOfPath and inRange(@m_iterPos[0], @steerPos[0], SLOP, 1.0)) then
begin
// Reached end of path.
dtVcopy(@m_iterPos[0], @m_targetPos[0]);
if (m_nsmoothPath < MAX_SMOOTH) then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @m_iterPos[0]);
Inc(m_nsmoothPath);
end;
Exit;
end
else if (offMeshConnection and inRange(@m_iterPos[0], @steerPos[0], SLOP, 1.0)) then
begin
// Reached off-mesh connection.
// Advance the path up to and over the off-mesh connection.
prevRef := 0; polyRef := m_pathIterPolys[0];
npos := 0;
while (npos < m_pathIterPolyCount) and (polyRef <> steerPosRef) do
begin
prevRef := polyRef;
polyRef := m_pathIterPolys[npos];
Inc(npos);
end;
for i := npos to m_pathIterPolyCount - 1 do
m_pathIterPolys[i-npos] := m_pathIterPolys[i];
Dec(m_pathIterPolyCount, npos);
// Handle the connection.
status := m_navMesh.getOffMeshConnectionPolyEndPoints(prevRef, polyRef, @startPos[0], @endPos[0]);
if (dtStatusSucceed(status)) then
begin
if (m_nsmoothPath < MAX_SMOOTH) then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @startPos[0]);
Inc(m_nsmoothPath);
// Hack to make the dotted path not visible during off-mesh connection.
if (m_nsmoothPath and 1) <> 0 then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @startPos[0]);
Inc(m_nsmoothPath);
end;
end;
// Move position at the other side of the off-mesh link.
dtVcopy(@m_iterPos[0], @endPos[0]);
eh := 0.0;
m_navQuery.getPolyHeight(m_pathIterPolys[0], @m_iterPos[0], @eh);
m_iterPos[1] := eh;
end;
end;
// Store results.
if (m_nsmoothPath < MAX_SMOOTH) then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @m_iterPos[0]);
Inc(m_nsmoothPath);
end;
end;
procedure TNavMeshTesterTool.handleUpdate(dt: Single);
var epos: array [0..2] of Single;
begin
if (m_toolMode = TOOLMODE_PATHFIND_SLICED) then
begin
if (dtStatusInProgress(m_pathFindStatus)) then
begin
m_pathFindStatus := m_navQuery.updateSlicedFindPath(1, nil);
end;
if (dtStatusSucceed(m_pathFindStatus)) then
begin
m_navQuery.finalizeSlicedFindPath(@m_polys[0], @m_npolys, MAX_POLYS);
m_nstraightPath := 0;
if (m_npolys <> 0) then
begin
// In case of partial path, make sure the end point is clamped to the last polygon.
dtVcopy(@epos[0], @m_epos[0]);
if (m_polys[m_npolys-1] <> m_endRef) then
m_navQuery.closestPointOnPoly(m_polys[m_npolys-1], @m_epos[0], @epos[0], nil);
m_navQuery.findStraightPath(@m_spos[0], @epos[0], @m_polys[0], m_npolys,
@m_straightPath[0], @m_straightPathFlags[0],
@m_straightPathPolys[0], @m_nstraightPath, MAX_POLYS, Byte(DT_STRAIGHTPATH_ALL_CROSSINGS));
end;
m_pathFindStatus := DT_FAILURE;
end;
end;
end;
procedure TNavMeshTesterTool.reset();
begin
m_startRef := 0;
m_endRef := 0;
m_npolys := 0;
m_nstraightPath := 0;
m_nsmoothPath := 0;
FillChar(m_hitPos[0], sizeof(m_hitPos), 0);
FillChar(m_hitNormal[0], sizeof(m_hitNormal), 0);
m_distanceToWall := 0;
end;
procedure TNavMeshTesterTool.recalc();
const STEP_SIZE = 0.5;
const SLOP = 0.01;
var polys: array [0..MAX_POLYS-1] of TdtPolyRef; npolys: Integer; iterPos,targetPos,steerPos,delta,moveTgt,reslt,startPos,endPos,epos: array [0..2] of Single;
steerPosFlag: Byte; steerPosRef,prevRef,polyRef: TdtPolyRef; endOfPath,offMeshConnection: Boolean; len: Single;
visited: array [0..15] of TdtPolyRef; nvisited,npos,i: Integer; h,eh,t: Single; status: TdtStatus; dx,dz,dist: Single;
nx,nz,agentHeight: Single;
begin
if (m_navMesh = nil) then
Exit;
if (m_sposSet) then
m_navQuery.findNearestPoly(@m_spos[0], @m_polyPickExt[0], m_filter, @m_startRef, nil)
else
m_startRef := 0;
if (m_eposSet) then
m_navQuery.findNearestPoly(@m_epos[0], @m_polyPickExt[0], m_filter, @m_endRef, nil)
else
m_endRef := 0;
m_pathFindStatus := DT_FAILURE;
if (m_toolMode = TOOLMODE_PATHFIND_FOLLOW) then
begin
m_pathIterNum := 0;
if (m_sposSet and m_eposSet and (m_startRef <> 0) and (m_endRef <> 0)) then
begin
{$ifdef DUMP_REQS}
printf("pi %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
m_navQuery.findPath(m_startRef, m_endRef, @m_spos[0], @m_epos[0], m_filter, @m_polys[0], @m_npolys, MAX_POLYS);
m_nsmoothPath := 0;
if (m_npolys <> 0) then
begin
// Iterate over the path to find smooth path on the detail mesh surface.
Move(m_polys[0], polys[0], sizeof(TdtPolyRef)*m_npolys);
npolys := m_npolys;
m_navQuery.closestPointOnPoly(m_startRef, @m_spos[0], @iterPos[0], nil);
m_navQuery.closestPointOnPoly(polys[npolys-1], @m_epos[0], @targetPos[0], nil);
m_nsmoothPath := 0;
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @iterPos[0]);
Inc(m_nsmoothPath);
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (npolys <> 0) and (m_nsmoothPath < MAX_SMOOTH) do
begin
// Find location to steer towards.
if (not getSteerTarget(m_navQuery, @iterPos[0], @targetPos[0], SLOP,
@polys[0], npolys, @steerPos[0], @steerPosFlag, @steerPosRef)) then
break;
endOfPath := (steerPosFlag and Byte(DT_STRAIGHTPATH_END)) <> 0;
offMeshConnection := (steerPosFlag and Byte(DT_STRAIGHTPATH_OFFMESH_CONNECTION)) <> 0;
// Find movement delta.
dtVsub(@delta[0], @steerPos[0], @iterPos[0]);
len := Sqrt(dtVdot(@delta[0],@delta[0]));
// If the steer target is end of path or off-mesh link, do not move past the location.
if (endOfPath or offMeshConnection) and (len < STEP_SIZE) then
len := 1
else
len := STEP_SIZE / len;
dtVmad(@moveTgt[0], @iterPos[0], @delta[0], len);
// Move
nvisited := 0;
m_navQuery.moveAlongSurface(polys[0], @iterPos[0], @moveTgt[0], m_filter,
@reslt[0], @visited[0], @nvisited, 16);
npolys := fixupCorridor(@polys[0], npolys, MAX_POLYS, @visited[0], nvisited);
npolys := fixupShortcuts(@polys[0], npolys, m_navQuery);
h := 0;
m_navQuery.getPolyHeight(polys[0], @reslt[0], @h);
reslt[1] := h;
dtVcopy(@iterPos[0], @reslt[0]);
// Handle end of path and off-mesh links when close enough.
if (endOfPath and inRange(@iterPos[0], @steerPos[0], SLOP, 1.0)) then
begin
// Reached end of path.
dtVcopy(@iterPos[0], @targetPos[0]);
if (m_nsmoothPath < MAX_SMOOTH) then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @iterPos[0]);
Inc(m_nsmoothPath);
end;
break;
end
else if (offMeshConnection and inRange(@iterPos[0], @steerPos[0], SLOP, 1.0)) then
begin
// Reached off-mesh connection.
// Advance the path up to and over the off-mesh connection.
prevRef := 0; polyRef := polys[0];
npos := 0;
while (npos < npolys) and (polyRef <> steerPosRef) do
begin
prevRef := polyRef;
polyRef := polys[npos];
Inc(npos);
end;
for i := npos to npolys - 1 do
polys[i-npos] := polys[i];
Dec(npolys, npos);
// Handle the connection.
status := m_navMesh.getOffMeshConnectionPolyEndPoints(prevRef, polyRef, @startPos[0], @endPos[0]);
if (dtStatusSucceed(status)) then
begin
if (m_nsmoothPath < MAX_SMOOTH) then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @startPos[0]);
Inc(m_nsmoothPath);
// Hack to make the dotted path not visible during off-mesh connection.
if (m_nsmoothPath and 1) <> 0 then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @startPos[0]);
Inc(m_nsmoothPath);
end;
end;
// Move position at the other side of the off-mesh link.
dtVcopy(@iterPos[0], @endPos[0]);
eh := 0.0;
m_navQuery.getPolyHeight(polys[0], @iterPos[0], @eh);
iterPos[1] := eh;
end;
end;
// Store results.
if (m_nsmoothPath < MAX_SMOOTH) then
begin
dtVcopy(@m_smoothPath[m_nsmoothPath*3], @iterPos[0]);
Inc(m_nsmoothPath);
end;
end;
end;
end
else
begin
m_npolys := 0;
m_nsmoothPath := 0;
end;
end
else if (m_toolMode = TOOLMODE_PATHFIND_STRAIGHT) then
begin
if (m_sposSet and m_eposSet and (m_startRef <> 0) and (m_endRef <> 0)) then
begin
{$ifdef DUMP_REQS}
printf("ps %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
m_navQuery.findPath(m_startRef, m_endRef, @m_spos[0], @m_epos[0], m_filter, @m_polys[0], @m_npolys, MAX_POLYS);
m_nstraightPath := 0;
if (m_npolys <> 0) then
begin
// In case of partial path, make sure the end point is clamped to the last polygon.
dtVcopy(@epos[0], @m_epos[0]);
if (m_polys[m_npolys-1] <> m_endRef) then
m_navQuery.closestPointOnPoly(m_polys[m_npolys-1], @m_epos[0], @epos[0], nil);
m_navQuery.findStraightPath(@m_spos[0], @epos[0], @m_polys[0], m_npolys,
@m_straightPath[0], @m_straightPathFlags[0],
@m_straightPathPolys[0], @m_nstraightPath, MAX_POLYS, Byte(m_straightPathOptions));
end;
end
else
begin
m_npolys := 0;
m_nstraightPath := 0;
end;
end
else if (m_toolMode = TOOLMODE_PATHFIND_SLICED) then
begin
if (m_sposSet and m_eposSet and (m_startRef <> 0) and (m_endRef <> 0)) then
begin
{$ifdef DUMP_REQS}
printf("ps %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
m_npolys := 0;
m_nstraightPath := 0;
m_pathFindStatus := m_navQuery.initSlicedFindPath(m_startRef, m_endRef, @m_spos[0], @m_epos[0], m_filter, Byte(DT_FINDPATH_ANY_ANGLE));
end
else
begin
m_npolys := 0;
m_nstraightPath := 0;
end;
end
else if (m_toolMode = TOOLMODE_RAYCAST) then
begin
m_nstraightPath := 0;
if (m_sposSet and m_eposSet and (m_startRef <> 0)) then
begin
{$ifdef DUMP_REQS}
printf("rc %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
t := 0;
m_npolys := 0;
m_nstraightPath := 2;
m_straightPath[0] := m_spos[0];
m_straightPath[1] := m_spos[1];
m_straightPath[2] := m_spos[2];
m_navQuery.raycast(m_startRef, @m_spos[0], @m_epos[0], m_filter, @t, @m_hitNormal[0], @m_polys[0], @m_npolys, MAX_POLYS);
if (t > 1) then
begin
// No hit
dtVcopy(@m_hitPos[0], @m_epos[0]);
m_hitResult := false;
end
else
begin
// Hit
dtVlerp(@m_hitPos[0], @m_spos[0], @m_epos[0], t);
m_hitResult := true;
end;
// Adjust height.
if (m_npolys > 0) then
begin
h := 0;
m_navQuery.getPolyHeight(m_polys[m_npolys-1], @m_hitPos[0], @h);
m_hitPos[1] := h;
end;
dtVcopy(@m_straightPath[3], @m_hitPos[0]);
end;
end
else if (m_toolMode = TOOLMODE_DISTANCE_TO_WALL) then
begin
m_distanceToWall := 0;
if (m_sposSet and (m_startRef <> 0)) then
begin
{$ifdef DUMP_REQS}
printf("dw %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], 100.0f,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
m_distanceToWall := 0.0;
m_navQuery.findDistanceToWall(m_startRef, @m_spos[0], 100.0, m_filter, @m_distanceToWall, @m_hitPos[0], @m_hitNormal[0]);
end;
end
else if (m_toolMode = TOOLMODE_FIND_POLYS_IN_CIRCLE) then
begin
if (m_sposSet and m_eposSet and (m_startRef <> 0)) then
begin
dx := m_epos[0] - m_spos[0];
dz := m_epos[2] - m_spos[2];
dist := sqrt(dx*dx + dz*dz);
{$ifdef DUMP_REQS}
printf("fpc %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], dist,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
m_navQuery.findPolysAroundCircle(m_startRef, @m_spos[0], dist, m_filter,
@m_polys[0], @m_parent[0], nil, @m_npolys, MAX_POLYS);
end;
end
else if (m_toolMode = TOOLMODE_FIND_POLYS_IN_SHAPE) then
begin
if (m_sposSet and m_eposSet and (m_startRef <> 0)) then
begin
nx := (m_epos[2] - m_spos[2])*0.25;
nz := -(m_epos[0] - m_spos[0])*0.25;
if m_sample <> nil then agentHeight := m_sample.getAgentHeight else agentHeight := 0;
m_queryPoly[0] := m_spos[0] + nx*1.2;
m_queryPoly[1] := m_spos[1] + agentHeight/2;
m_queryPoly[2] := m_spos[2] + nz*1.2;
m_queryPoly[3] := m_spos[0] - nx*1.3;
m_queryPoly[4] := m_spos[1] + agentHeight/2;
m_queryPoly[5] := m_spos[2] - nz*1.3;
m_queryPoly[6] := m_epos[0] - nx*0.8;
m_queryPoly[7] := m_epos[1] + agentHeight/2;
m_queryPoly[8] := m_epos[2] - nz*0.8;
m_queryPoly[9] := m_epos[0] + nx;
m_queryPoly[10] := m_epos[1] + agentHeight/2;
m_queryPoly[11] := m_epos[2] + nz;
{$ifdef DUMP_REQS}
printf("fpp %f %f %f %f %f %f %f %f %f %f %f %f 0x%x 0x%x\n",
m_queryPoly[0],m_queryPoly[1],m_queryPoly[2],
m_queryPoly[3],m_queryPoly[4],m_queryPoly[5],
m_queryPoly[6],m_queryPoly[7],m_queryPoly[8],
m_queryPoly[9],m_queryPoly[10],m_queryPoly[11],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
{$endif}
m_navQuery.findPolysAroundShape(m_startRef, @m_queryPoly[0], 4, m_filter,
@m_polys[0], @m_parent[0], nil, @m_npolys, MAX_POLYS);
end;