clean up path straightening + navmesh dev example improvement

examples/navmesh.rs

@@ -1,12 +1,3 @@
-//! Example 01. Simple scene.
-//!
-//! Difficulty: Easy.
-//!
-//! This example shows how to create simple scene with animated model.
-
-use fyrox::event_loop::EventLoop;
-use fyrox::scene::camera::CameraBuilder;
-use fyrox::scene::node::NodeTrait;
 use fyrox::{
     asset::manager::ResourceManager,
     core::{
@@ -19,25 +10,21 @@ use fyrox::{
     dpi::LogicalPosition,
     engine::{executor::Executor, GraphicsContext, GraphicsContextParams},
     event::{ElementState, Event, WindowEvent},
-    gui::{
+    event_loop::EventLoop,
-        message::MessageDirection,
-        text::{TextBuilder, TextMessage},
-        widget::WidgetBuilder,
-        BuildContext, UiNode,
-    },
     keyboard::KeyCode,
     material::{Material, PropertyValue, SharedMaterial},
     plugin::{Plugin, PluginConstructor, PluginContext},
     resource::model::{Model, ModelResourceExtension},
     scene::{
         base::BaseBuilder,
+        camera::CameraBuilder,
         debug::Line,
         graph::physics::{Intersection, RayCastOptions},
         mesh::{
             surface::{SurfaceBuilder, SurfaceData, SurfaceSharedData},
             MeshBuilder,
         },
-        node::Node,
+        node::{Node, NodeTrait},
         transform::TransformBuilder,
         Scene,
     },
@@ -45,10 +32,6 @@ use fyrox::{
 };
 use winit::keyboard::PhysicalKey;
 
-fn create_ui(ctx: &mut BuildContext) -> Handle<UiNode> {
-    TextBuilder::new(WidgetBuilder::new()).build(ctx)
-}
-
 struct GameScene {
     scene: Scene,
     agent: Handle<Node>,
@@ -77,7 +60,7 @@ async fn create_scene(resource_manager: ResourceManager) -> GameScene {
         ));
 
     resource_manager
-        .request::<Model, _>("examples/data/navmesh_scene2.rgs")
+        .request::<Model, _>("examples/data/navmesh_scene.rgs")
         .await
         .unwrap()
         .instantiate(&mut scene);
@@ -143,7 +126,6 @@ struct Game {
     target_position: Vector3<f32>,
     mouse_position: Vector2<f32>,
     navmesh_agent: NavmeshAgent,
-    debug_text: Handle<UiNode>,
 }
 
 impl Plugin for Game {
@@ -180,15 +162,13 @@ impl Plugin for Game {
             }
         }
 
-        let navmesh_handle = scene.graph.find_by_name_from_root("Navmesh0").unwrap().0;
+        let navmesh_handle = scene.graph.find_by_name_from_root("Navmesh").unwrap().0;
         let navmesh_node = scene.graph[navmesh_handle].as_navigational_mesh_mut();
         navmesh_node.debug_draw(&mut scene.drawing_context);
         let navmesh = navmesh_node.navmesh_mut();
 
-        let last = std::time::Instant::now();
         self.navmesh_agent.set_target(self.target_position);
         let _ = self.navmesh_agent.update(context.dt, navmesh);
-        let agent_time = std::time::Instant::now() - last;
 
         scene.graph[self.agent]
             .local_transform_mut()
@@ -201,19 +181,6 @@ impl Plugin for Game {
                 color: Color::opaque(255, 0, 0),
             });
         }
-
-        if let GraphicsContext::Initialized(ref graphics_context) = context.graphics_context {
-            let fps = graphics_context.renderer.get_statistics().frames_per_second;
-            let text = format!(
-                "Example 12 - Navigation Mesh\nFPS: {}\nAgent time: {:?}",
-                fps, agent_time
-            );
-            context.user_interface.send_message(TextMessage::text(
-                self.debug_text,
-                MessageDirection::ToWidget,
-                text,
-            ));
-        }
     }
 
     fn on_os_event(&mut self, event: &Event<()>, context: PluginContext) {
@@ -251,8 +218,6 @@ impl PluginConstructor for GameConstructor {
         _override_scene: Option<&str>,
         context: PluginContext,
     ) -> Box<dyn Plugin> {
-        let debug_text = create_ui(&mut context.user_interface.build_ctx());
-
         // Create test scene.
         let GameScene {
             scene,
@@ -280,7 +245,6 @@ impl PluginConstructor for GameConstructor {
             target_position: Default::default(),
             mouse_position: Default::default(),
             navmesh_agent,
-            debug_text,
         })
     }
 }

src/utils/navmesh.rs

@@ -121,7 +121,7 @@ struct Portal {
     left: usize,
     right: usize,
 }
-fn signed_triangle_area_2d(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> f32 {
+fn triangle_area_2d(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> f32 {
     let abx = b[0] - a[0];
     let abz = b[2] - a[2];
     let acx = c[0] - a[0];
@@ -136,7 +136,7 @@ enum Winding {
 }
 
 fn winding(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> Winding {
-    if signed_triangle_area_2d(a, b, c) > 0.0 {
+    if triangle_area_2d(a, b, c) > 0.0 {
         Winding::Clockwise
     } else {
         Winding::CounterClockwise
@@ -669,16 +669,14 @@ impl NavmeshAgent {
         self.path.push(src_position);
 
         if path_triangles.len() > 1 {
-            let mut portal_apex = src_position;
+            let mut funnel_apex = src_position;
-            let mut portal_left = src_position;
+            let mut funnel_vertices = [funnel_apex; 2];
-            let mut portal_right = src_position;
+            let mut side_indices = [0; 2];
-
+            let side_signs = [1.0, -1.0];
-            let mut left_index = 0;
-            let mut right_index = 0;
 
             let mut i = 0;
             while i < path_triangles.len() {
-                let (left, right) = if i + 1 < path_triangles.len() {
+                let portal_vertices = if i + 1 < path_triangles.len() {
                     let portal = navmesh
                         .portal_between(path_triangles[i], path_triangles[i + 1])
                         .unwrap();
@@ -695,54 +693,44 @@ impl NavmeshAgent {
                         right -= offset;
                     }
 
-                    (left, right)
+                    [left, right]
                 } else {
-                    (dest_position, dest_position)
+                    [dest_position, dest_position]
                 };
 
-                // Update right vertex.
+                for current in 0..2 {
-                if signed_triangle_area_2d(portal_apex, portal_right, right) <= 0.0 {
+                    let opposite = 1 - current;
-                    if portal_apex == portal_right
+                    let side_sign = side_signs[current];
-                        || signed_triangle_area_2d(portal_apex, portal_left, right) > 0.0
+                    if side_sign
+                        * triangle_area_2d(
+                            funnel_apex,
+                            funnel_vertices[current],
+                            portal_vertices[current],
+                        )
+                        >= 0.0
                     {
-                        // Tighten the funnel.
+                        if funnel_apex == funnel_vertices[current]
-                        portal_right = right;
+                            || side_sign
-                        right_index = i;
+                                * triangle_area_2d(
-                    } else {
+                                    funnel_apex,
-                        // Right over left, insert left to path and restart scan from portal left point.
+                                    funnel_vertices[opposite],
-                        self.path.push(portal_left);
+                                    portal_vertices[current],
-                        // Make current left the new apex.
+                                )
-                        portal_apex = portal_left;
+                                < 0.0
-                        // Reset portal
+                        {
-                        portal_left = portal_apex;
+                            funnel_vertices[current] = portal_vertices[current];
-                        portal_right = portal_apex;
+                            side_indices[current] = i;
-                        right_index = left_index;
+                        } else {
-                        // Restart scan
+                            funnel_apex = funnel_vertices[opposite];
-                        i = left_index + 1;
+                            funnel_vertices = [funnel_apex; 2];
-                        continue;
-                    }
-                }
 
-                // Update left vertex.
+                            self.path.push(funnel_apex);
-                if signed_triangle_area_2d(portal_apex, portal_left, left) >= 0.0 {
+
-                    if portal_apex == portal_left
+                            i = side_indices[opposite];
-                        || signed_triangle_area_2d(portal_apex, portal_right, left) < 0.0
+                            side_indices[current] = i;
-                    {
+
-                        // Tighten the funnel.
+                            break;
-                        portal_left = left;
+                        }
-                        left_index = i;
-                    } else {
-                        // Left over right, insert right to path and restart scan from portal right point.
-                        self.path.push(portal_right);
-                        // Make current right the new apex.
-                        portal_apex = portal_right;
-                        // Reset portal
-                        portal_left = portal_apex;
-                        portal_right = portal_apex;
-                        left_index = right_index;
-                        // Restart scan
-                        i = right_index + 1;
-                        continue;
                     }
                 }