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- obstacle culling for correct simulation in 3d
- flag for steering actuator termination on reaching target
- path recalculation period
- advance by waypoints (for path following)
This commit is contained in:
Nick Samarin
2010-06-18 23:48:52 +00:00
parent 700c32e738
commit c92d0dfdf6
14 changed files with 215 additions and 65 deletions
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65
source/gameengine/Ketsji/KX_NavMeshObject.cpp
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@@ -333,32 +333,53 @@ void KX_NavMeshObject::DrawNavMesh()
if (!m_navMesh)
return;
MT_Vector3 color(0.f, 0.f, 0.f);
for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
enum RenderMode {DETAILED_TRIS, WALLS};
static const RenderMode renderMode = DETAILED_TRIS;
switch (renderMode)
{
const dtStatPoly* p = m_navMesh->getPoly(i);
const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i);
for (int j = 0; j < pd->ntris; ++j)
case WALLS :
for (int pi=0; pi<m_navMesh->getPolyCount(); pi++)
{
const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j);
MT_Vector3 tri[3];
for (int k = 0; k < 3; ++k)
{
const float* v;
if (t[k] < p->nv)
v = m_navMesh->getVertex(p->v[t[k]]);
else
v = m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv));
float pos[3];
vcopy(pos, v);
flipAxes(pos);
tri[k].setValue(pos);
}
const dtStatPoly* poly = m_navMesh->getPoly(pi);
for (int k=0; k<3; k++)
KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color);
for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
{
if (poly->n[j]) continue;
const float* vj = m_navMesh->getVertex(poly->v[j]);
const float* vi = m_navMesh->getVertex(poly->v[i]);
KX_RasterizerDrawDebugLine(MT_Vector3(vj[0], vj[2], vj[1]), MT_Vector3(vi[0], vi[2], vi[1]), color);
}
}
break;
case DETAILED_TRIS :
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)
{
const float* v;
if (t[k] < p->nv)
v = m_navMesh->getVertex(p->v[t[k]]);
else
v = m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv));
float pos[3];
vcopy(pos, v);
flipAxes(pos);
tri[k].setValue(pos);
}
for (int k=0; k<3; k++)
KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color);
}
}
break;
}
}