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Add FindRandomPoint and FindRandomPointAroundCircle to the navigation utilities

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This commit is contained in:
Wojtek Figat
2021-03-01 14:32:35 +01:00
parent 31d1932d55
commit 99bc3289e8
4 changed files with 114 additions and 1 deletions
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68
Source/Engine/Navigation/NavMeshRuntime.cpp
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@@ -4,7 +4,7 @@
#include "NavigationSettings.h"
#include "NavMesh.h"
#include "Engine/Core/Log.h"
#include "Engine/Core/Math/Matrix.h"
#include "Engine/Core/Random.h"
#include "Engine/Profiler/ProfilerCPU.h"
#include "Engine/Threading/Threading.h"
#include <ThirdParty/recastnavigation/DetourNavMesh.h>
@@ -231,6 +231,71 @@ bool NavMeshRuntime::ProjectPoint(const Vector3& point, Vector3& result) const
return true;
}
bool NavMeshRuntime::FindRandomPoint(Vector3& result) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
dtPolyRef randomPoly = 0;
query->findRandomPoint(&filter, Random::Rand, &randomPoly, &result.X);
if (!randomPoly)
{
return false;
}
Quaternion invRotation;
Quaternion::Invert(Properties.Rotation, invRotation);
Vector3::Transform(result, invRotation, result);
return true;
}
bool NavMeshRuntime::FindRandomPointAroundCircle(const Vector3& center, float radius, Vector3& result) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL);
Vector3 centerNavMesh;
Vector3::Transform(center, Properties.Rotation, centerNavMesh);
dtPolyRef centerPoly = 0;
query->findNearestPoly(&centerNavMesh.X, &extent.X, &filter, &centerPoly, nullptr);
if (!centerPoly)
{
return false;
}
dtPolyRef randomPoly = 0;
query->findRandomPointAroundCircle(centerPoly, &centerNavMesh.X, radius, &filter, Random::Rand, &randomPoly, &result.X);
if (!randomPoly)
{
return false;
}
Quaternion invRotation;
Quaternion::Invert(Properties.Rotation, invRotation);
Vector3::Transform(result, invRotation, result);
return true;
}
bool NavMeshRuntime::RayCast(const Vector3& startPosition, const Vector3& endPosition, NavMeshHit& hitInfo) const
{
ScopeLock lock(Locker);
@@ -522,6 +587,7 @@ void NavMeshRuntime::RemoveTiles(bool (* prediction)(const NavMeshRuntime* navMe
#if COMPILE_WITH_DEBUG_DRAW
#include "Engine/Debug/DebugDraw.h"
#include "Engine/Core/Math/Matrix.h"
void DrawPoly(NavMeshRuntime* navMesh, const Matrix& navMeshToWorld, const dtMeshTile& tile, const dtPoly& poly)
{