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Add support for SphereCollider and CapsuleCollider for navmesh

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This commit is contained in:
Wojtek Figat
2021-01-14 14:18:22 +01:00
parent 7835259a83
commit 98d272a903
1 changed files with 92 additions and 3 deletions
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95
Source/Engine/Navigation/NavMeshBuilder.cpp
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@@ -11,6 +11,8 @@
#include "Engine/Core/Math/BoundingBox.h"
#include "Engine/Core/Math/VectorInt.h"
#include "Engine/Physics/Colliders/BoxCollider.h"
#include "Engine/Physics/Colliders/SphereCollider.h"
#include "Engine/Physics/Colliders/CapsuleCollider.h"
#include "Engine/Physics/Colliders/MeshCollider.h"
#include "Engine/Threading/ThreadPoolTask.h"
#include "Engine/Terrain/TerrainPatch.h"
@@ -119,6 +121,77 @@ struct NavigationSceneRasterization
}
}
static void TriangulateBox(Array<Vector3>& vb, Array<int32>& ib, const OrientedBoundingBox& box)
{
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
}
static void TriangulateBox(Array<Vector3>& vb, Array<int32>& ib, const BoundingBox& box)
{
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
}
static void TriangulateSphere(Array<Vector3>& vb, Array<int32>& ib, const BoundingSphere& sphere)
{
const int32 sphereResolution = 12;
const int32 verticalSegments = sphereResolution;
const int32 horizontalSegments = sphereResolution * 2;
// Generate vertices for unit sphere
Vector3 vertices[(verticalSegments + 1) * (horizontalSegments + 1)];
int32 vertexCount = 0;
for (int32 j = 0; j <= horizontalSegments; j++)
vertices[vertexCount++] = Vector3(0, -1, 0);
for (int32 i = 1; i < verticalSegments; i++)
{
const float latitude = (float)i * PI / verticalSegments - PI / 2.0f;
const float dy = Math::Sin(latitude);
const float dxz = Math::Cos(latitude);
auto& firstHorizontalVertex = vertices[vertexCount++];
firstHorizontalVertex = Vector3(0, dy, dxz);
for (int32 j = 1; j < horizontalSegments; j++)
{
const float longitude = (float)j * 2.0f * PI / horizontalSegments;
const float dx = Math::Sin(longitude) * dxz;
const float dz = Math::Cos(longitude) * dxz;
vertices[vertexCount++] = Vector3(dx, dy, dz);
}
vertices[vertexCount++] = firstHorizontalVertex;
}
for (int32 j = 0; j <= horizontalSegments; j++)
vertices[vertexCount++] = Vector3(0, 1, 0);
// Transform vertices into world space vertex buffer
vb.Resize(vertexCount);
for (int32 i = 0; i < vertexCount; i++)
vb[i] = sphere.Center + vertices[i] * sphere.Radius;
// Generate index buffer
const int32 stride = horizontalSegments + 1;
int32 indexCount = 0;
ib.Resize(verticalSegments * (horizontalSegments + 1) * 6);
for (int32 i = 0; i < verticalSegments; i++)
{
const int32 nextI = i + 1;
for (int32 j = 0; j <= horizontalSegments; j++)
{
const int32 nextJ = (j + 1) % stride;
ib[indexCount++] = i * stride + j;
ib[indexCount++] = nextI * stride + j;
ib[indexCount++] = i * stride + nextJ;
ib[indexCount++] = i * stride + nextJ;
ib[indexCount++] = nextI * stride + j;
ib[indexCount++] = nextI * stride + nextJ;
}
}
}
static bool Walk(Actor* actor, NavigationSceneRasterization& e)
{
// Early out if object is not intersecting with the tile bounds or is not using navigation
@@ -141,9 +214,25 @@ struct NavigationSceneRasterization
PROFILE_CPU_NAMED("BoxCollider");
const OrientedBoundingBox box = boxCollider->GetOrientedBox();
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
TriangulateBox(vb, ib, box);
e.RasterizeTriangles();
}
else if (const auto* sphereCollider = dynamic_cast<SphereCollider*>(actor))
{
PROFILE_CPU_NAMED("SphereCollider");
const BoundingSphere sphere = sphereCollider->GetSphere();
TriangulateSphere(vb, ib, sphere);
e.RasterizeTriangles();
}
else if (const auto* capsuleCollider = dynamic_cast<CapsuleCollider*>(actor))
{
PROFILE_CPU_NAMED("CapsuleCollider");
const BoundingBox box = capsuleCollider->GetBox();
TriangulateBox(vb, ib, box);
e.RasterizeTriangles();
}