End/godot-recast-navigation
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Your Name 2024-06-29 15:06:02 +02:00
parent 41177d737e
commit c5fafea817
1 changed files with 93 additions and 16 deletions
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109
src/RecastNavMesh.cpp
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@ -102,9 +102,9 @@ void godot::RecastNavMesh::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "partition_type", PROPERTY_HINT_ENUM, "Watershed,Monotone,Layers"), "set_partition_type", "get_partition_type"); ADD_PROPERTY(PropertyInfo(Variant::INT, "partition_type", PROPERTY_HINT_ENUM, "Watershed,Monotone,Layers"), "set_partition_type", "get_partition_type");
// Recast calls // Recast calls
ClassDB::bind_method(D_METHOD("clear_vertices"), &RecastNavMesh::clear_vertices); ClassDB::bind_method(D_METHOD("get_walkable_triangles", "vertices", "indices", "areas"), &RecastNavMesh::get_walkable_triangles);
ClassDB::bind_method(D_METHOD("add_vertices", "vertices", "area_id"), &RecastNavMesh::add_vertices); ClassDB::bind_method(D_METHOD("add_vertices", "vertices", "area_id"), &RecastNavMesh::add_vertices);
ClassDB::bind_method(D_METHOD("recalculate_navmesh"), &RecastNavMesh::recalculate_navmesh); ClassDB::bind_method(D_METHOD("build"), &RecastNavMesh::build);
ClassDB::bind_method(D_METHOD("is_calculated"), &RecastNavMesh::is_calculated); ClassDB::bind_method(D_METHOD("is_calculated"), &RecastNavMesh::is_calculated);
} }
@ -138,20 +138,14 @@ void godot::RecastNavMesh::cleanup() {
rcFreeContourSet(m_contour_set); rcFreeContourSet(m_contour_set);
m_contour_set = NULL; m_contour_set = NULL;
} }
/* if(m_poly_mesh) {
rcFreeHeightField(m_solid); rcFreePolyMesh(m_poly_mesh);
m_solid = 0; m_poly_mesh = NULL;
rcFreeCompactHeightfield(m_chf); }
m_chf = 0; if(m_poly_mesh_detail) {
rcFreeContourSet(m_cset); rcFreePolyMeshDetail(m_poly_mesh_detail);
m_cset = 0; m_poly_mesh_detail = NULL;
rcFreePolyMesh(m_pmesh); }
m_pmesh = 0;
rcFreePolyMeshDetail(m_dmesh);
m_dmesh = 0;
dtFreeNavMesh(m_navMesh);
m_navMesh = 0;
*/
} }
void godot::RecastNavMesh::get_walkable_triangles(PackedFloat32Array vertices, PackedInt32Array indices, PackedByteArray areas) { void godot::RecastNavMesh::get_walkable_triangles(PackedFloat32Array vertices, PackedInt32Array indices, PackedByteArray areas) {
@ -192,5 +186,88 @@ bool godot::RecastNavMesh::build() {
rcFreeHeightField(m_heightfield); rcFreeHeightField(m_heightfield);
m_heightfield = NULL; m_heightfield = NULL;
if (!rcErodeWalkableArea(this, config.walkableRadius, *m_compact_heightfield))
{
log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
return false;
}
if (partition_type == WATERSHED)
{
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(this, *m_compact_heightfield))
{
log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
return false;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(this, *m_compact_heightfield, 0, config.minRegionArea, config.mergeRegionArea))
{
log(RC_LOG_ERROR, "buildNavigation: Could not build watershed regions.");
return false;
}
}
else if (partition_type == MONOTONE)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
if (!rcBuildRegionsMonotone(this, *m_compact_heightfield, 0, config.minRegionArea, config.mergeRegionArea))
{
log(RC_LOG_ERROR, "buildNavigation: Could not build monotone regions.");
return false;
}
}
else // SAMPLE_PARTITION_LAYERS
{
// Partition the walkable surface into simple regions without holes.
if (!rcBuildLayerRegions(this, *m_compact_heightfield, 0, config.minRegionArea))
{
log(RC_LOG_ERROR, "buildNavigation: Could not build layer regions.");
return false;
}
}
m_contour_set = rcAllocContourSet();
if(!m_contour_set) {
log(RC_LOG_ERROR, "couldn't alloc contour set!");
return false;
}
if(!rcBuildContours(this, *m_compact_heightfield, config.maxSimplificationError, config.maxEdgeLen, *m_contour_set)) {
log(RC_LOG_ERROR, "couldn't build contours!");
return false;
}
m_poly_mesh = rcAllocPolyMesh();
if(!m_poly_mesh) {
log(RC_LOG_ERROR, "couldn't alloc poly mesh!");
return false;
}
if(!rcBuildPolyMesh(this, *m_contour_set, config.maxVertsPerPoly, *m_poly_mesh)) {
log(RC_LOG_ERROR, "couldn't build poly mesh!");
return false;
}
m_poly_mesh_detail = rcAllocPolyMeshDetail();
if(!m_poly_mesh_detail) {
log(RC_LOG_ERROR, "couldn't alloc detail mesh!");
return false;
}
if(!rcBuildPolyMeshDetail(this, *m_poly_mesh, *m_compact_heightfield, config.detailSampleDist, config.detailSampleMaxError, *m_poly_mesh_detail)) {
log(RC_LOG_ERROR, "couldn't build detail mesh!");
return false;
}
rcFreeCompactHeightfield(m_compact_heightfield);
m_compact_heightfield = NULL;
rcFreeContourSet(m_contour_set);
m_contour_set = NULL;
m_calculated = true;
return true;
} }