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Differential D2457 Diff 8102 source/gameengine/Ketsji/KX_NavMeshObject.cpp

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source/gameengine/Ketsji/KX_NavMeshObject.cpp

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#include "KX_NavMeshObject.h" #include "KX_NavMeshObject.h"
#include "RAS_MeshObject.h" #include "RAS_MeshObject.h"
#include "RAS_Polygon.h" #include "RAS_Polygon.h"
#include "RAS_ITexVert.h"
#include "DNA_mesh_types.h" #include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h" #include "DNA_meshdata_types.h"
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#include "BKE_navmesh_conversion.h" #include "BKE_navmesh_conversion.h"
} }
#include "KX_PythonInit.h" #include "KX_Globals.h"
#include "KX_PyMath.h" #include "KX_PyMath.h"
#include "EXP_Value.h" #include "EXP_Value.h"
#include "Recast.h" #include "Recast.h"
#include "DetourStatNavMeshBuilder.h" #include "DetourStatNavMeshBuilder.h"
#include "KX_ObstacleSimulation.h" #include "KX_ObstacleSimulation.h"
#include "CM_Message.h"
#define MAX_PATH_LEN 256 #define MAX_PATH_LEN 256
static const float polyPickExt[3] = {2, 4, 2}; static const float polyPickExt[3] = {2, 4, 2};
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KX_GameObject::ProcessReplica(); KX_GameObject::ProcessReplica();
m_navMesh = NULL; /* without this, building frees the navmesh we copied from */ m_navMesh = NULL; /* without this, building frees the navmesh we copied from */
if (!BuildNavMesh()) { if (!BuildNavMesh()) {
std::cout << "Error in " << __func__ << ": unable to build navigation mesh" << std::endl; CM_FunctionError("unable to build navigation mesh");
return; return;
} }
KX_Scene* scene = KX_GetActiveScene(); KX_ObstacleSimulation* obssimulation = GetScene()->GetObstacleSimulation();
KX_ObstacleSimulation* obssimulation = scene->GetObstacleSimulation();
if (obssimulation) if (obssimulation)
obssimulation->AddObstaclesForNavMesh(this); obssimulation->AddObstaclesForNavMesh(this);
} }
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int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx); int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx);
if (idxInPoly==-1) if (idxInPoly==-1)
{ {
printf("Building NavMeshObject: Error! Can't find vertex in polygon\n"); CM_Error("building NavMeshObject, can't find vertex in polygon\n");
return false; return false;
} }
dtri[k] = idxInPoly; dtri[k] = idxInPoly;
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raspoly = meshobj->GetPolygon(p); raspoly = meshobj->GetPolygon(p);
for (int v=0; v<raspoly->VertexCount()-2; v++) for (int v=0; v<raspoly->VertexCount()-2; v++)
{ {
poly[0] = raspoly->GetVertex(0)->getOrigIndex(); poly[0] = raspoly->GetVertexInfo(0).getOrigIndex();
for (size_t i=1; i<3; i++) for (size_t i=1; i<3; i++)
{ {
poly[i] = raspoly->GetVertex(v+i)->getOrigIndex(); poly[i] = raspoly->GetVertexInfo(v+i).getOrigIndex();
} }
poly += 6; poly += 6;
} }
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if (GetMeshCount()==0) if (GetMeshCount()==0)
{ {
printf("Can't find mesh for navmesh object: %s\n", m_name.ReadPtr()); CM_Error("can't find mesh for navmesh object: " << m_name);
return false; return false;
} }
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dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly ) dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly )
|| vertsPerPoly<3) || vertsPerPoly<3)
{ {
printf("Can't build navigation mesh data for object:%s\n", m_name.ReadPtr()); CM_Error("can't build navigation mesh data for object: " << m_name);
if (vertices) { if (vertices) {
delete[] vertices; delete[] vertices;
} }
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return false; return false;
} }
MT_Point3 pos; MT_Vector3 pos;
if (dmeshes==NULL) if (dmeshes==NULL)
{ {
for (int i=0; i<nverts; i++) for (int i=0; i<nverts; i++)
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} }
if (!buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly)) { if (!buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly)) {
std::cout << __func__ << ": unable to build mesh adjacency information." << std::endl; CM_FunctionError("unable to build mesh adjacency information.");
delete[] vertices; delete[] vertices;
return false; return false;
} }
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{ {
if (!m_navMesh) if (!m_navMesh)
return; return;
MT_Vector3 color(0.f, 0.f, 0.f); MT_Vector4 color(0.0f, 0.0f, 0.0f, 1.0f);
switch (renderMode) switch (renderMode)
{ {
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continue; continue;
const float* vif = m_navMesh->getVertex(poly->v[i]); const float* vif = m_navMesh->getVertex(poly->v[i]);
const float* vjf = m_navMesh->getVertex(poly->v[j]); const float* vjf = m_navMesh->getVertex(poly->v[j]);
MT_Point3 vi(vif[0], vif[2], vif[1]); MT_Vector3 vi(vif[0], vif[2], vif[1]);
MT_Point3 vj(vjf[0], vjf[2], vjf[1]); MT_Vector3 vj(vjf[0], vjf[2], vjf[1]);
vi = TransformToWorldCoords(vi); vi = TransformToWorldCoords(vi);
vj = TransformToWorldCoords(vj); vj = TransformToWorldCoords(vj);
KX_RasterizerDrawDebugLine(vi, vj, color); KX_RasterizerDrawDebugLine(vi, vj, color);
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for (int j = 0; j < pd->ntris; ++j) for (int j = 0; j < pd->ntris; ++j)
{ {
const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j); const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j);
MT_Point3 tri[3]; MT_Vector3 tri[3];
for (int k = 0; k < 3; ++k) for (int k = 0; k < 3; ++k)
{ {
const float* v; const float* v;
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} }
} }
MT_Point3 KX_NavMeshObject::TransformToLocalCoords(const MT_Point3& wpos) MT_Vector3 KX_NavMeshObject::TransformToLocalCoords(const MT_Vector3& wpos)
{ {
MT_Matrix3x3 orientation = NodeGetWorldOrientation(); MT_Matrix3x3 orientation = NodeGetWorldOrientation();
const MT_Vector3& scaling = NodeGetWorldScaling(); const MT_Vector3& scaling = NodeGetWorldScaling();
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MT_Transform worldtr(NodeGetWorldPosition(), orientation); MT_Transform worldtr(NodeGetWorldPosition(), orientation);
MT_Transform invworldtr; MT_Transform invworldtr;
invworldtr.invert(worldtr); invworldtr.invert(worldtr);
MT_Point3 lpos = invworldtr(wpos); MT_Vector3 lpos = invworldtr(wpos);
return lpos; return lpos;
} }
MT_Point3 KX_NavMeshObject::TransformToWorldCoords(const MT_Point3& lpos) MT_Vector3 KX_NavMeshObject::TransformToWorldCoords(const MT_Vector3& lpos)
{ {
MT_Matrix3x3 orientation = NodeGetWorldOrientation(); MT_Matrix3x3 orientation = NodeGetWorldOrientation();
const MT_Vector3& scaling = NodeGetWorldScaling(); const MT_Vector3& scaling = NodeGetWorldScaling();
orientation.scale(scaling[0], scaling[1], scaling[2]); orientation.scale(scaling[0], scaling[1], scaling[2]);
MT_Transform worldtr(NodeGetWorldPosition(), orientation); MT_Transform worldtr(NodeGetWorldPosition(), orientation);
MT_Point3 wpos = worldtr(lpos); MT_Vector3 wpos = worldtr(lpos);
return wpos; return wpos;
} }
int KX_NavMeshObject::FindPath(const MT_Point3& from, const MT_Point3& to, float* path, int maxPathLen) int KX_NavMeshObject::FindPath(const MT_Vector3& from, const MT_Vector3& to, float* path, int maxPathLen)
{ {
if (!m_navMesh) if (!m_navMesh)
return 0; return 0;
MT_Point3 localfrom = TransformToLocalCoords(from); MT_Vector3 localfrom = TransformToLocalCoords(from);
MT_Point3 localto = TransformToLocalCoords(to); MT_Vector3 localto = TransformToLocalCoords(to);
float spos[3], epos[3]; float spos[3], epos[3];
localfrom.getValue(spos); flipAxes(spos); localfrom.getValue(spos); flipAxes(spos);
localto.getValue(epos); flipAxes(epos); localto.getValue(epos); flipAxes(epos);
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for (int i=0; i<pathLen; i++) for (int i=0; i<pathLen; i++)
{ {
flipAxes(&path[i*3]); flipAxes(&path[i*3]);
MT_Point3 waypoint(&path[i*3]); MT_Vector3 waypoint(&path[i*3]);
waypoint = TransformToWorldCoords(waypoint); waypoint = TransformToWorldCoords(waypoint);
waypoint.getValue(&path[i*3]); waypoint.getValue(&path[i*3]);
} }
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return pathLen; return pathLen;
} }
float KX_NavMeshObject::Raycast(const MT_Point3& from, const MT_Point3& to) float KX_NavMeshObject::Raycast(const MT_Vector3& from, const MT_Vector3& to)
{ {
if (!m_navMesh) if (!m_navMesh)
return 0.f; return 0.f;
MT_Point3 localfrom = TransformToLocalCoords(from); MT_Vector3 localfrom = TransformToLocalCoords(from);
MT_Point3 localto = TransformToLocalCoords(to); MT_Vector3 localto = TransformToLocalCoords(to);
float spos[3], epos[3]; float spos[3], epos[3];
localfrom.getValue(spos); flipAxes(spos); localfrom.getValue(spos); flipAxes(spos);
localto.getValue(epos); flipAxes(epos); localto.getValue(epos); flipAxes(epos);
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return t; return t;
} }
void KX_NavMeshObject::DrawPath(const float *path, int pathLen, const MT_Vector3& color) void KX_NavMeshObject::DrawPath(const float *path, int pathLen, const MT_Vector4& color)
{ {
MT_Vector3 a,b; MT_Vector3 a,b;
for (int i=0; i<pathLen-1; i++) for (int i=0; i<pathLen-1; i++)
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}; };
PyAttributeDef KX_NavMeshObject::Attributes[] = { PyAttributeDef KX_NavMeshObject::Attributes[] = {
{ NULL } //Sentinel KX_PYATTRIBUTE_NULL //Sentinel
}; };
//KX_PYMETHODTABLE_NOARGS(KX_GameObject, getD), //KX_PYMETHODTABLE_NOARGS(KX_GameObject, getD),
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PyObject *ob_from, *ob_to; PyObject *ob_from, *ob_to;
if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to)) if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to))
return NULL; return NULL;
MT_Point3 from, to; MT_Vector3 from, to;
if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to)) if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to))
return NULL; return NULL;
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PyObject *pathList = PyList_New( pathLen ); PyObject *pathList = PyList_New( pathLen );
for (int i=0; i<pathLen; i++) for (int i=0; i<pathLen; i++)
{ {
MT_Point3 point(&path[3*i]); MT_Vector3 point(&path[3*i]);
PyList_SET_ITEM(pathList, i, PyObjectFrom(point)); PyList_SET_ITEM(pathList, i, PyObjectFrom(point));
} }
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PyObject *ob_from, *ob_to; PyObject *ob_from, *ob_to;
if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to)) if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to))
return NULL; return NULL;
MT_Point3 from, to; MT_Vector3 from, to;
if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to)) if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to))
return NULL; return NULL;
float hit = Raycast(from, to); float hit = Raycast(from, to);
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