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Add support for using NavAreas for navigation

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This commit is contained in:
Wojtek Figat
2021-01-18 13:18:26 +01:00
parent ba050b9eaa
commit fdc8e371c4
10 changed files with 155 additions and 9 deletions
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17
Source/Engine/Navigation/NavMeshRuntime.cpp
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@@ -1,6 +1,7 @@
// Copyright (c) 2012-2021 Wojciech Figat. All rights reserved.
#include "NavMeshRuntime.h"
#include "NavigationSettings.h"
#include "NavMesh.h"
#include "Engine/Core/Log.h"
#include "Engine/Core/Math/Matrix.h"
@@ -18,6 +19,14 @@
#define DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL 50.0f
#define DEFAULT_NAV_QUERY_EXTENT_VERTICAL 250.0f
namespace
{
FORCE_INLINE void InitFilter(dtQueryFilter& filter)
{
Platform::MemoryCopy(filter.m_areaCost, NavMeshRuntime::NavAreasCosts, sizeof(NavMeshRuntime::NavAreasCosts));
}
}
NavMeshRuntime::NavMeshRuntime(const NavMeshProperties& properties)
: Properties(properties)
{
@@ -48,6 +57,7 @@ bool NavMeshRuntime::FindDistanceToWall(const Vector3& startPosition, NavMeshHit
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL);
Vector3 startPositionNavMesh;
@@ -85,6 +95,7 @@ bool NavMeshRuntime::FindPath(const Vector3& startPosition, const Vector3& endPo
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL);
Vector3 startPositionNavMesh, endPositionNavMesh;
@@ -153,6 +164,7 @@ bool NavMeshRuntime::TestPath(const Vector3& startPosition, const Vector3& endPo
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL);
Vector3 startPositionNavMesh, endPositionNavMesh;
@@ -199,6 +211,7 @@ bool NavMeshRuntime::ProjectPoint(const Vector3& point, Vector3& result) const
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL);
Vector3 pointNavMesh;
@@ -229,6 +242,7 @@ bool NavMeshRuntime::RayCast(const Vector3& startPosition, const Vector3& endPos
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL);
Vector3 startPositionNavMesh, endPositionNavMesh;
@@ -513,7 +527,8 @@ void DrawPoly(NavMeshRuntime* navMesh, const Matrix& navMeshToWorld, const dtMes
{
const unsigned int ip = (unsigned int)(&poly - tile.polys);
const dtPolyDetail& pd = tile.detailMeshes[ip];
const Color color = navMesh->Properties.Color;
const Color& areaColor = NavMeshRuntime::NavAreasColors[poly.getArea()];
const Color color = Color::Lerp(navMesh->Properties.Color, areaColor, areaColor.A);
const float drawOffsetY = 10.0f + ((float)GetHash(color) / (float)MAX_uint32) * 10.0f; // Apply some offset to prevent Z-fighting for different navmeshes
const Color fillColor = color * 0.5f;
const Color edgesColor = Color::FromHSV(color.ToHSV() + Vector3(20.0f, 0, -0.1f), color.A);