forked from bartvdbraak/blender
added converting mesh of game object to Detour StatNavMesh (game object is defined by property "navmesh")
This commit is contained in:
Nick Samarin
parent
34058faa0e
commit
56784fcde9
@ -26,4 +26,8 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
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const unsigned char* dtris, const int ndtris,
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unsigned char** outData, int* outDataSize);
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int createBVTree(const unsigned short* verts, const int nverts,
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const unsigned short* polys, const int npolys, const int nvp,
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float cs, float ch, int nnodes, dtStatBVNode* nodes);
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#endif // DETOURSTATNAVMESHBUILDER_H
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@ -160,7 +160,7 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNod
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}
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}
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static int createBVTree(const unsigned short* verts, const int nverts,
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/*static*/ int createBVTree(const unsigned short* verts, const int nverts,
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const unsigned short* polys, const int npolys, const int nvp,
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float cs, float ch,
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int nnodes, dtStatBVNode* nodes)
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@ -496,5 +496,6 @@ bool rcBuildPolyMeshDetail(const rcPolyMesh& mesh, const rcCompactHeightfield& c
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bool rcMergePolyMeshDetails(rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
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bool buildMeshAdjacency(unsigned short* polys, const int npolys, const int nverts, const int vertsPerPoly);
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#endif // RECAST_H
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@ -32,7 +32,7 @@ struct rcEdge
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unsigned short poly[2];
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};
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static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
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/*static */bool buildMeshAdjacency(unsigned short* polys, const int npolys,
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const int nverts, const int vertsPerPoly)
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{
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// Based on code by Eric Lengyel from:
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@ -1,7 +1,7 @@
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<?xml version="1.0" encoding="Windows-1252"?>
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<VisualStudioProject
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ProjectType="Visual C++"
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Version="9,00"
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Version="9.00"
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Name="KX_converter"
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ProjectGUID="{F90BD995-FFA4-4B18-81E8-FA4322C939E8}"
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RootNamespace="KX_converter"
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@ -119,7 +119,7 @@
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Name="VCCLCompilerTool"
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Optimization="2"
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InlineFunctionExpansion="1"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"
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PreprocessorDefinitions="NDEBUG,WIN32,_LIB,USE_SUMO_SOLID"
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StringPooling="true"
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RuntimeLibrary="0"
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@ -195,7 +195,7 @@
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<Tool
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Name="VCCLCompilerTool"
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Optimization="0"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"
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PreprocessorDefinitions="WIN32,_LIB,_DEBUG"
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BasicRuntimeChecks="3"
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RuntimeLibrary="1"
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@ -1,7 +1,7 @@
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<?xml version="1.0" encoding="Windows-1252"?>
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<VisualStudioProject
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ProjectType="Visual C++"
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Version="9,00"
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Version="9.00"
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Name="KX_ketsji"
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ProjectGUID="{E645CC32-4823-463E-82F0-46ADDE664018}"
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RootNamespace="KX_ketsji"
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@ -194,7 +194,7 @@
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<Tool
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Name="VCCLCompilerTool"
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Optimization="0"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"
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PreprocessorDefinitions="JANCODEPANCO;WIN32;_LIB;EXP_PYTHON_EMBEDDING;_DEBUG;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"
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BasicRuntimeChecks="3"
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RuntimeLibrary="1"
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@ -271,7 +271,7 @@
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Name="VCCLCompilerTool"
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Optimization="2"
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InlineFunctionExpansion="1"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"
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AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"
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PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"
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StringPooling="true"
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RuntimeLibrary="0"
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@ -551,6 +551,10 @@
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RelativePath="..\..\..\source\gameengine\Ketsji\KX_MotionState.cpp"
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>
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</File>
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<File
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RelativePath="..\..\..\source\gameengine\Ketsji\KX_Pathfinder.cpp"
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>
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</File>
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<File
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RelativePath="..\..\..\source\gameengine\Ketsji\KX_PhysicsObjectWrapper.cpp"
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>
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@ -856,6 +860,10 @@
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RelativePath="..\..\..\source\gameengine\Ketsji\KX_OdePhysicsController.h"
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>
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</File>
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<File
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RelativePath="..\..\..\source\gameengine\Ketsji\KX_Pathfinder.h"
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>
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</File>
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<File
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RelativePath="..\..\..\source\gameengine\Ketsji\KX_PhysicsEngineEnums.h"
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>
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@ -172,6 +172,8 @@ extern "C" {
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#include "BL_ArmatureObject.h"
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#include "BL_DeformableGameObject.h"
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#include "KX_Pathfinder.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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@ -2669,6 +2671,25 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
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logicbrick_conversionlist->Release();
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//create navigation mesh
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KX_Pathfinder* pathfinder = kxscene->GetPathfinder();
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if (pathfinder)
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{
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for ( i=0;i<objectlist->GetCount();i++)
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{
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KX_GameObject* gameobj = static_cast<KX_GameObject*>(objectlist->GetValue(i));
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struct Object* blenderobject = gameobj->GetBlenderObject();
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if (blenderobject->type==OB_MESH && gameobj->GetProperty("navmesh") && gameobj->GetMeshCount()>0)
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{
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RAS_MeshObject* meshobj = gameobj->GetMesh(0);
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pathfinder->createFromMesh(meshobj);
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gameobj->SetVisible(0, 0);
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}
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}
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}
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// Calculate the scene btree -
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// too slow - commented out.
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//kxscene->SetNodeTree(tf.MakeTree());
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@ -75,6 +75,8 @@
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#include "DNA_world_types.h"
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#include "DNA_scene_types.h"
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#include "KX_Pathfinder.h"
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// If define: little test for Nzc: guarded drawing. If the canvas is
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// not valid, skip rendering this frame.
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//#define NZC_GUARDED_OUTPUT
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@ -1323,6 +1325,9 @@ void KX_KetsjiEngine::RenderFrame(KX_Scene* scene, KX_Camera* cam)
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if (scene->GetPhysicsEnvironment())
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scene->GetPhysicsEnvironment()->debugDrawWorld();
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if (scene->GetPathfinder())
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scene->GetPathfinder()->debugDraw();
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}
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/*
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To run once per scene
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332
source/gameengine/Ketsji/KX_Pathfinder.cpp
Normal file
332
source/gameengine/Ketsji/KX_Pathfinder.cpp
Normal file
@ -0,0 +1,332 @@
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/**
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* $Id:
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#include "KX_Pathfinder.h"
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#include "RAS_MeshObject.h"
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#include "DNA_mesh_types.h"
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#include "DNA_meshdata_types.h"
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extern "C" {
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#include "BKE_scene.h"
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#include "BKE_customdata.h"
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#include "BKE_cdderivedmesh.h"
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#include "BKE_DerivedMesh.h"
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}
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#include "KX_PythonInit.h"
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#include "Recast.h"
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#include "DetourStatNavMeshBuilder.h"
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|
||||
static void calcMeshBounds(const float* vert, int nverts, float* bmin, float* bmax)
|
||||
{
|
||||
bmin[0] = bmax[0] = vert[0];
|
||||
bmin[1] = bmax[1] = vert[1];
|
||||
bmin[2] = bmax[2] = vert[2];
|
||||
for (int i=1; i<nverts; i++)
|
||||
{
|
||||
if (bmin[0]>vert[i+0]) bmin[0] = vert[i+0];
|
||||
if (bmin[1]>vert[i+1]) bmin[1] = vert[i+1];
|
||||
if (bmin[2]>vert[i+2]) bmin[2] = vert[i+2];
|
||||
|
||||
if (bmax[0]<vert[i+0]) bmax[0] = vert[i+0];
|
||||
if (bmax[1]<vert[i+1]) bmax[2] = vert[i+1];
|
||||
if (bmax[2]<vert[i+2]) bmax[1] = vert[i+2];
|
||||
}
|
||||
}
|
||||
|
||||
KX_Pathfinder::KX_Pathfinder()
|
||||
: m_navMesh(NULL)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
KX_Pathfinder::~KX_Pathfinder()
|
||||
{
|
||||
if (m_navMesh)
|
||||
delete m_navMesh;
|
||||
}
|
||||
|
||||
bool KX_Pathfinder::buildVertIndArrays(RAS_MeshObject* meshobj, float *&vertices, int& nverts,
|
||||
unsigned short* &faces, int& npolys)
|
||||
{
|
||||
if (!meshobj || meshobj->HasColliderPolygon()==false)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
DerivedMesh* dm = CDDM_from_mesh(meshobj->GetMesh(), NULL);
|
||||
|
||||
MVert *mvert = dm->getVertArray(dm);
|
||||
MFace *mface = dm->getFaceArray(dm);
|
||||
int numpolys = dm->getNumFaces(dm);
|
||||
int numverts = dm->getNumVerts(dm);
|
||||
int* index = (int*)dm->getFaceDataArray(dm, CD_ORIGINDEX);
|
||||
MTFace *tface = (MTFace *)dm->getFaceDataArray(dm, CD_MTFACE);
|
||||
|
||||
vector<bool> vert_tag_array(numverts, false);
|
||||
vector<size_t> vert_remap_array(numverts, 0);
|
||||
|
||||
// Tag verts we're using
|
||||
for (int p2=0; p2<numpolys; p2++)
|
||||
{
|
||||
MFace* mf = &mface[p2];
|
||||
RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
|
||||
// only add polygons that have the collision flag set
|
||||
if (poly->IsCollider())
|
||||
{
|
||||
if (vert_tag_array[mf->v1]==false)
|
||||
{vert_tag_array[mf->v1]= true;vert_remap_array[mf->v1]= (size_t)nverts;nverts++;}
|
||||
if (vert_tag_array[mf->v2]==false)
|
||||
{vert_tag_array[mf->v2]= true;vert_remap_array[mf->v2]= (size_t)nverts;nverts++;}
|
||||
if (vert_tag_array[mf->v3]==false)
|
||||
{vert_tag_array[mf->v3]= true;vert_remap_array[mf->v3]= (size_t)nverts;nverts++;}
|
||||
if (mf->v4 && vert_tag_array[mf->v4]==false)
|
||||
{vert_tag_array[mf->v4]= true;vert_remap_array[mf->v4]= (size_t)nverts;nverts++;}
|
||||
npolys += (mf->v4 ? 2:1); /* a quad or a tri */
|
||||
}
|
||||
}
|
||||
|
||||
if (nverts >= 0xffff)
|
||||
return false;
|
||||
|
||||
vertices = new float[nverts*3];
|
||||
faces = new unsigned short[npolys*3*2];
|
||||
memset(faces,0xff,sizeof(unsigned short)*3*2*npolys);
|
||||
float *bt= vertices;
|
||||
unsigned short *tri_pt= faces;
|
||||
|
||||
for (int p2=0; p2<numpolys; p2++)
|
||||
{
|
||||
MFace* mf = &mface[p2];
|
||||
MTFace* tf = (tface) ? &tface[p2] : NULL;
|
||||
RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
|
||||
// only add polygons that have the collisionflag set
|
||||
if (poly->IsCollider())
|
||||
{
|
||||
MVert *v1= &mvert[mf->v1];
|
||||
MVert *v2= &mvert[mf->v2];
|
||||
MVert *v3= &mvert[mf->v3];
|
||||
|
||||
// the face indicies
|
||||
tri_pt[0]= vert_remap_array[mf->v1];
|
||||
tri_pt[1]= vert_remap_array[mf->v2];
|
||||
tri_pt[2]= vert_remap_array[mf->v3];
|
||||
tri_pt= tri_pt+6;
|
||||
|
||||
// the vertex location
|
||||
if (vert_tag_array[mf->v1]==true) { /* *** v1 *** */
|
||||
vert_tag_array[mf->v1]= false;
|
||||
*bt++ = v1->co[0];
|
||||
*bt++ = v1->co[1];
|
||||
*bt++ = v1->co[2];
|
||||
}
|
||||
if (vert_tag_array[mf->v2]==true) { /* *** v2 *** */
|
||||
vert_tag_array[mf->v2]= false;
|
||||
*bt++ = v2->co[0];
|
||||
*bt++ = v2->co[1];
|
||||
*bt++ = v2->co[2];
|
||||
}
|
||||
if (vert_tag_array[mf->v3]==true) { /* *** v3 *** */
|
||||
vert_tag_array[mf->v3]= false;
|
||||
*bt++ = v3->co[0];
|
||||
*bt++ = v3->co[1];
|
||||
*bt++ = v3->co[2];
|
||||
}
|
||||
|
||||
if (mf->v4)
|
||||
{
|
||||
MVert *v4= &mvert[mf->v4];
|
||||
|
||||
tri_pt[0]= vert_remap_array[mf->v1];
|
||||
tri_pt[1]= vert_remap_array[mf->v3];
|
||||
tri_pt[2]= vert_remap_array[mf->v4];
|
||||
tri_pt= tri_pt+3;
|
||||
|
||||
// the vertex location
|
||||
if (vert_tag_array[mf->v4]==true) { /* *** v4 *** */
|
||||
vert_tag_array[mf->v4]= false;
|
||||
*bt++ = v4->co[0];
|
||||
*bt++ = v4->co[1];
|
||||
*bt++ = v4->co[2];
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
dm->release(dm);
|
||||
dm = NULL;
|
||||
const int vertsPerPoly = 3;
|
||||
buildMeshAdjacency(faces, npolys, nverts, vertsPerPoly);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool KX_Pathfinder::createFromMesh(RAS_MeshObject* meshobj)
|
||||
{
|
||||
float* vertices = NULL;
|
||||
unsigned short* faces = NULL;
|
||||
int nverts = 0, npolys = 0;
|
||||
if (!buildVertIndArrays(meshobj, vertices, nverts, faces, npolys))
|
||||
return false;
|
||||
|
||||
|
||||
int ndtris = npolys;
|
||||
int uniqueDetailVerts = 0;
|
||||
float cs = 0.2f;
|
||||
|
||||
if (!nverts || !npolys)
|
||||
return false;
|
||||
|
||||
float bmin[3], bmax[3];
|
||||
calcMeshBounds(vertices, nverts, bmin, bmax);
|
||||
|
||||
// Calculate data size
|
||||
const int headerSize = sizeof(dtStatNavMeshHeader);
|
||||
const int vertsSize = sizeof(float)*3*nverts;
|
||||
const int polysSize = sizeof(dtStatPoly)*npolys;
|
||||
const int nodesSize = sizeof(dtStatBVNode)*npolys*2;
|
||||
const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys;
|
||||
const int detailVertsSize = sizeof(float)*3*uniqueDetailVerts;
|
||||
const int detailTrisSize = sizeof(unsigned char)*4*ndtris;
|
||||
|
||||
const int dataSize = headerSize + vertsSize + polysSize + nodesSize +
|
||||
detailMeshesSize + detailVertsSize + detailTrisSize;
|
||||
unsigned char* data = new unsigned char[dataSize];
|
||||
if (!data)
|
||||
return false;
|
||||
memset(data, 0, dataSize);
|
||||
|
||||
unsigned char* d = data;
|
||||
dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize;
|
||||
float* navVerts = (float*)d; d += vertsSize;
|
||||
dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize;
|
||||
dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize;
|
||||
dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize;
|
||||
float* navDVerts = (float*)d; d += detailVertsSize;
|
||||
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
|
||||
|
||||
// Store header
|
||||
header->magic = DT_STAT_NAVMESH_MAGIC;
|
||||
header->version = DT_STAT_NAVMESH_VERSION;
|
||||
header->npolys = npolys;
|
||||
header->nverts = nverts;
|
||||
header->cs = cs;
|
||||
header->bmin[0] = bmin[0];
|
||||
header->bmin[1] = bmin[1];
|
||||
header->bmin[2] = bmin[2];
|
||||
header->bmax[0] = bmax[0];
|
||||
header->bmax[1] = bmax[1];
|
||||
header->bmax[2] = bmax[2];
|
||||
header->ndmeshes = npolys;
|
||||
header->ndverts = uniqueDetailVerts;
|
||||
header->ndtris = ndtris;
|
||||
|
||||
memcpy(navVerts, vertices, nverts*3*sizeof(float));
|
||||
|
||||
// Store polygons
|
||||
const int nvp = 3;
|
||||
const unsigned short* src = faces;
|
||||
for (int i = 0; i < npolys; ++i)
|
||||
{
|
||||
dtStatPoly* p = &navPolys[i];
|
||||
p->nv = 0;
|
||||
for (int j = 0; j < nvp; ++j)
|
||||
{
|
||||
p->v[j] = src[j];
|
||||
p->n[j] = src[nvp+j]+1;
|
||||
p->nv++;
|
||||
}
|
||||
src += nvp*2;
|
||||
}
|
||||
|
||||
//quantize vertex pos to creating BVTree
|
||||
unsigned short* vertsi = new unsigned short[3*nverts];
|
||||
float* vf = vertices;
|
||||
unsigned short* vi = vertsi;
|
||||
float ics = 1.f/cs;
|
||||
for (int i=0; i<nverts*3; i++)
|
||||
{
|
||||
vi[i] = static_cast<unsigned short>(vf[i]*ics);
|
||||
}
|
||||
header->nnodes = createBVTree(vertsi, nverts, faces, npolys, nvp,
|
||||
cs, cs, npolys*2, navNodes);
|
||||
|
||||
//create fake detail meshes
|
||||
unsigned short vbase = 0;
|
||||
for (int i = 0; i < npolys; ++i)
|
||||
{
|
||||
dtStatPolyDetail& dtl = navDMeshes[i];
|
||||
dtl.vbase = 0;
|
||||
dtl.nverts = 0;
|
||||
dtl.tbase = i;
|
||||
dtl.ntris = 1;
|
||||
}
|
||||
// setup triangles.
|
||||
unsigned char* tri = navDTris;
|
||||
const unsigned short* face = faces;
|
||||
for(size_t i=0; i<ndtris; i++)
|
||||
{
|
||||
for (size_t j=0; j<3; j++)
|
||||
tri[4*i+j] = j;
|
||||
}
|
||||
|
||||
m_navMesh = new dtStatNavMesh;
|
||||
m_navMesh->init(data, dataSize, true);
|
||||
|
||||
delete [] vertices;
|
||||
delete [] faces;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void KX_Pathfinder::debugDraw()
|
||||
{
|
||||
if (!m_navMesh)
|
||||
return;
|
||||
MT_Vector3 color(0.f, 0.f, 0.f);
|
||||
|
||||
for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
|
||||
{
|
||||
const dtStatPoly* p = m_navMesh->getPoly(i);
|
||||
const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i);
|
||||
|
||||
for (int j = 0; j < pd->ntris; ++j)
|
||||
{
|
||||
const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j);
|
||||
MT_Vector3 tri[3];
|
||||
for (int k = 0; k < 3; ++k)
|
||||
{
|
||||
if (t[k] < p->nv)
|
||||
tri[k].setValue(m_navMesh->getVertex(p->v[t[k]]));
|
||||
else
|
||||
tri[k].setValue(m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv)));
|
||||
}
|
||||
|
||||
for (int k=0; k<3; k++)
|
||||
KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color);
|
||||
}
|
||||
}
|
||||
}
|
||||
51
source/gameengine/Ketsji/KX_Pathfinder.h
Normal file
51
source/gameengine/Ketsji/KX_Pathfinder.h
Normal file
@ -0,0 +1,51 @@
|
||||
/**
|
||||
* $Id:
|
||||
*
|
||||
* ***** BEGIN GPL LICENSE BLOCK *****
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU General Public License
|
||||
* as published by the Free Software Foundation; either version 2
|
||||
* of the License, or (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program; if not, write to the Free Software Foundation,
|
||||
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
||||
*
|
||||
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
|
||||
* All rights reserved.
|
||||
*
|
||||
* The Original Code is: all of this file.
|
||||
*
|
||||
* Contributor(s): none yet.
|
||||
*
|
||||
* ***** END GPL LICENSE BLOCK *****
|
||||
*/
|
||||
#ifndef __KX_PATHFINDER
|
||||
#define __KX_PATHFINDER
|
||||
#include "DetourStatNavMesh.h"
|
||||
#include <vector>
|
||||
|
||||
class RAS_MeshObject;
|
||||
|
||||
class KX_Pathfinder
|
||||
{
|
||||
public:
|
||||
KX_Pathfinder();
|
||||
~KX_Pathfinder();
|
||||
bool createFromMesh(RAS_MeshObject* meshobj);
|
||||
void debugDraw();
|
||||
protected:
|
||||
bool buildVertIndArrays(RAS_MeshObject* meshobj, float *&vertices, int& nverts,
|
||||
unsigned short *&faces, int& npolys);
|
||||
|
||||
dtStatNavMesh* m_navMesh;
|
||||
};
|
||||
|
||||
#endif //__KX_PATHFINDER
|
||||
|
||||
@ -94,7 +94,7 @@
|
||||
#endif
|
||||
|
||||
#include "KX_Light.h"
|
||||
|
||||
#include "KX_Pathfinder.h"
|
||||
#include <stdio.h>
|
||||
|
||||
void* KX_SceneReplicationFunc(SG_IObject* node,void* gameobj,void* scene)
|
||||
@ -150,7 +150,8 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
|
||||
m_networkDeviceInterface(ndi),
|
||||
m_active_camera(NULL),
|
||||
m_ueberExecutionPriority(0),
|
||||
m_blenderScene(scene)
|
||||
m_blenderScene(scene),
|
||||
m_pathfinder(NULL)
|
||||
{
|
||||
m_suspendedtime = 0.0;
|
||||
m_suspendeddelta = 0.0;
|
||||
@ -211,6 +212,8 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
|
||||
|
||||
m_bucketmanager=new RAS_BucketManager();
|
||||
|
||||
m_pathfinder = new KX_Pathfinder();
|
||||
|
||||
#ifndef DISABLE_PYTHON
|
||||
m_attr_dict = PyDict_New(); /* new ref */
|
||||
m_draw_call_pre = NULL;
|
||||
@ -265,6 +268,11 @@ KX_Scene::~KX_Scene()
|
||||
delete m_bucketmanager;
|
||||
}
|
||||
|
||||
if (m_pathfinder)
|
||||
{
|
||||
delete m_pathfinder;
|
||||
}
|
||||
|
||||
#ifndef DISABLE_PYTHON
|
||||
PyDict_Clear(m_attr_dict);
|
||||
Py_DECREF(m_attr_dict);
|
||||
|
||||
@ -83,6 +83,7 @@ class SCA_JoystickManager;
|
||||
class btCollisionShape;
|
||||
class KX_BlenderSceneConverter;
|
||||
struct KX_ClientObjectInfo;
|
||||
class KX_Pathfinder;
|
||||
|
||||
/* for ID freeing */
|
||||
#define IS_TAGGED(_id) ((_id) && (((ID *)_id)->flag & LIB_DOIT))
|
||||
@ -276,6 +277,8 @@ protected:
|
||||
struct Scene* m_blenderScene;
|
||||
|
||||
RAS_2DFilterManager m_filtermanager;
|
||||
|
||||
KX_Pathfinder* m_pathfinder;
|
||||
public:
|
||||
KX_Scene(class SCA_IInputDevice* keyboarddevice,
|
||||
class SCA_IInputDevice* mousedevice,
|
||||
@ -611,7 +614,7 @@ public:
|
||||
// m_bucketmanager->PrintStats(verbose_level)
|
||||
//}
|
||||
|
||||
|
||||
KX_Pathfinder *GetPathfinder() {return m_pathfinder; };
|
||||
};
|
||||
|
||||
typedef std::vector<KX_Scene*> KX_SceneList;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user