mirror of
https://github.com/FyroxEngine/Fyrox.git
synced 2026-10-11 22:50:08 +00:00
clean up path straightening + navmesh dev example improvement
This commit is contained in:
Dmitry Stepanov
Binary file not shown.
+5
-41
@@ -1,12 +1,3 @@
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//! Example 01. Simple scene.
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//!
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//! Difficulty: Easy.
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//!
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//! This example shows how to create simple scene with animated model.
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use fyrox::event_loop::EventLoop;
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use fyrox::scene::camera::CameraBuilder;
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use fyrox::scene::node::NodeTrait;
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use fyrox::{
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asset::manager::ResourceManager,
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core::{
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@@ -19,25 +10,21 @@ use fyrox::{
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dpi::LogicalPosition,
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engine::{executor::Executor, GraphicsContext, GraphicsContextParams},
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event::{ElementState, Event, WindowEvent},
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gui::{
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message::MessageDirection,
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text::{TextBuilder, TextMessage},
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widget::WidgetBuilder,
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BuildContext, UiNode,
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},
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event_loop::EventLoop,
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keyboard::KeyCode,
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material::{Material, PropertyValue, SharedMaterial},
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plugin::{Plugin, PluginConstructor, PluginContext},
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resource::model::{Model, ModelResourceExtension},
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scene::{
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base::BaseBuilder,
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camera::CameraBuilder,
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debug::Line,
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graph::physics::{Intersection, RayCastOptions},
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mesh::{
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surface::{SurfaceBuilder, SurfaceData, SurfaceSharedData},
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MeshBuilder,
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},
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node::Node,
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node::{Node, NodeTrait},
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transform::TransformBuilder,
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Scene,
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},
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@@ -45,10 +32,6 @@ use fyrox::{
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};
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use winit::keyboard::PhysicalKey;
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fn create_ui(ctx: &mut BuildContext) -> Handle<UiNode> {
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TextBuilder::new(WidgetBuilder::new()).build(ctx)
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}
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struct GameScene {
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scene: Scene,
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agent: Handle<Node>,
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@@ -77,7 +60,7 @@ async fn create_scene(resource_manager: ResourceManager) -> GameScene {
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));
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resource_manager
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.request::<Model, _>("examples/data/navmesh_scene2.rgs")
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.request::<Model, _>("examples/data/navmesh_scene.rgs")
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.await
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.unwrap()
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.instantiate(&mut scene);
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@@ -143,7 +126,6 @@ struct Game {
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target_position: Vector3<f32>,
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mouse_position: Vector2<f32>,
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navmesh_agent: NavmeshAgent,
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debug_text: Handle<UiNode>,
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}
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impl Plugin for Game {
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@@ -180,15 +162,13 @@ impl Plugin for Game {
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}
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}
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let navmesh_handle = scene.graph.find_by_name_from_root("Navmesh0").unwrap().0;
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let navmesh_handle = scene.graph.find_by_name_from_root("Navmesh").unwrap().0;
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let navmesh_node = scene.graph[navmesh_handle].as_navigational_mesh_mut();
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navmesh_node.debug_draw(&mut scene.drawing_context);
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let navmesh = navmesh_node.navmesh_mut();
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let last = std::time::Instant::now();
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self.navmesh_agent.set_target(self.target_position);
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let _ = self.navmesh_agent.update(context.dt, navmesh);
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let agent_time = std::time::Instant::now() - last;
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scene.graph[self.agent]
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.local_transform_mut()
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@@ -201,19 +181,6 @@ impl Plugin for Game {
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color: Color::opaque(255, 0, 0),
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});
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}
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if let GraphicsContext::Initialized(ref graphics_context) = context.graphics_context {
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let fps = graphics_context.renderer.get_statistics().frames_per_second;
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let text = format!(
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"Example 12 - Navigation Mesh\nFPS: {}\nAgent time: {:?}",
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fps, agent_time
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);
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context.user_interface.send_message(TextMessage::text(
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self.debug_text,
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MessageDirection::ToWidget,
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text,
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));
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}
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}
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fn on_os_event(&mut self, event: &Event<()>, context: PluginContext) {
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@@ -251,8 +218,6 @@ impl PluginConstructor for GameConstructor {
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_override_scene: Option<&str>,
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context: PluginContext,
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) -> Box<dyn Plugin> {
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let debug_text = create_ui(&mut context.user_interface.build_ctx());
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// Create test scene.
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let GameScene {
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scene,
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@@ -280,7 +245,6 @@ impl PluginConstructor for GameConstructor {
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target_position: Default::default(),
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mouse_position: Default::default(),
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navmesh_agent,
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debug_text,
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})
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}
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}
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+40
-52
@@ -121,7 +121,7 @@ struct Portal {
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left: usize,
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right: usize,
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}
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fn signed_triangle_area_2d(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> f32 {
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fn triangle_area_2d(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> f32 {
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let abx = b[0] - a[0];
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let abz = b[2] - a[2];
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let acx = c[0] - a[0];
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@@ -136,7 +136,7 @@ enum Winding {
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}
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fn winding(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> Winding {
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if signed_triangle_area_2d(a, b, c) > 0.0 {
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if triangle_area_2d(a, b, c) > 0.0 {
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Winding::Clockwise
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} else {
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Winding::CounterClockwise
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@@ -669,16 +669,14 @@ impl NavmeshAgent {
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self.path.push(src_position);
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if path_triangles.len() > 1 {
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let mut portal_apex = src_position;
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let mut portal_left = src_position;
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let mut portal_right = src_position;
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let mut left_index = 0;
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let mut right_index = 0;
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let mut funnel_apex = src_position;
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let mut funnel_vertices = [funnel_apex; 2];
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let mut side_indices = [0; 2];
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let side_signs = [1.0, -1.0];
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let mut i = 0;
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while i < path_triangles.len() {
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let (left, right) = if i + 1 < path_triangles.len() {
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let portal_vertices = if i + 1 < path_triangles.len() {
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let portal = navmesh
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.portal_between(path_triangles[i], path_triangles[i + 1])
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.unwrap();
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@@ -695,54 +693,44 @@ impl NavmeshAgent {
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right -= offset;
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}
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(left, right)
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[left, right]
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} else {
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(dest_position, dest_position)
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[dest_position, dest_position]
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};
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// Update right vertex.
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if signed_triangle_area_2d(portal_apex, portal_right, right) <= 0.0 {
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if portal_apex == portal_right
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|| signed_triangle_area_2d(portal_apex, portal_left, right) > 0.0
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for current in 0..2 {
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let opposite = 1 - current;
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let side_sign = side_signs[current];
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if side_sign
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* triangle_area_2d(
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funnel_apex,
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funnel_vertices[current],
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portal_vertices[current],
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)
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>= 0.0
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{
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// Tighten the funnel.
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portal_right = right;
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right_index = i;
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} else {
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// Right over left, insert left to path and restart scan from portal left point.
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self.path.push(portal_left);
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// Make current left the new apex.
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portal_apex = portal_left;
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// Reset portal
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portal_left = portal_apex;
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portal_right = portal_apex;
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right_index = left_index;
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// Restart scan
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i = left_index + 1;
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continue;
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}
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}
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if funnel_apex == funnel_vertices[current]
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|| side_sign
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* triangle_area_2d(
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funnel_apex,
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funnel_vertices[opposite],
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portal_vertices[current],
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)
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< 0.0
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{
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funnel_vertices[current] = portal_vertices[current];
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side_indices[current] = i;
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} else {
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funnel_apex = funnel_vertices[opposite];
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funnel_vertices = [funnel_apex; 2];
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// Update left vertex.
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if signed_triangle_area_2d(portal_apex, portal_left, left) >= 0.0 {
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if portal_apex == portal_left
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|| signed_triangle_area_2d(portal_apex, portal_right, left) < 0.0
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{
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// Tighten the funnel.
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portal_left = left;
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left_index = i;
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} else {
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// Left over right, insert right to path and restart scan from portal right point.
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self.path.push(portal_right);
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// Make current right the new apex.
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portal_apex = portal_right;
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// Reset portal
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portal_left = portal_apex;
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portal_right = portal_apex;
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left_index = right_index;
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// Restart scan
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i = right_index + 1;
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continue;
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self.path.push(funnel_apex);
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i = side_indices[opposite];
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side_indices[current] = i;
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break;
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}
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}
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}
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