Sara/behaviour-tree-test
1
0
Fork 0
Code Issues Pull requests Projects Releases 2 Packages Wiki Activity Actions

Implement Navigation layers

Browse source
This commit is contained in:
Gilles Roudière 2021-03-08 20:56:33 +01:00
parent a9dc53d152
commit ba1344408f
33 changed files with 410 additions and 35 deletions
Download patch file Download diff file Expand all files Collapse all files

14
modules/gdnavigation/nav_map.cpp
View file

@ -70,7 +70,7 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
return p;
}
Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const {
Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
const gd::Polygon *begin_poly = nullptr;
const gd::Polygon *end_poly = nullptr;
Vector3 begin_point;
@ -82,6 +82,11 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
for (size_t i(0); i < polygons.size(); i++) {
const gd::Polygon &p = polygons[i];
// Only consider the polygon if it in a region with compatible layers.
if ((p_layers & p.owner->get_layers()) == 0) {
continue;
}
// For each point cast a face and check the distance between the origin/destination
for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
@ -144,6 +149,11 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
// Only consider the polygon if it in a region with compatible layers.
if ((p_layers & least_cost_poly->poly->owner->get_layers()) == 0) {
continue;
}
const gd::Edge &edge = least_cost_poly->poly->edges[i];
if (!edge.other_polygon) {
continue;
@ -629,7 +639,7 @@ void NavMap::sync() {
connection->get().B->edges[connection->get().B_edge].other_edge = connection->get().A_edge;
} else {
// The edge is already connected with another edge, skip.
ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the Navigation3D's `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem.");
ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the current `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem.");
}
}
}