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OpenMW/components/detournavigator/recastparams.hpp

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Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTPARAMS_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTPARAMS_H
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
#include "agentbounds.hpp"
Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
#include <osg/Vec3f>
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
#include <algorithm>
#include <cassert>
Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
#include <cmath>
namespace DetourNavigator
{
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
inline float getAgentHeight(const AgentBounds& agentBounds)
Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
{
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
return 2.0f * agentBounds.mHalfExtents.z();
Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
}
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
inline float getAgentRadius(const AgentBounds& agentBounds)
Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
{
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
switch (agentBounds.mShapeType)
{
case CollisionShapeType::Aabb:
return std::max(agentBounds.mHalfExtents.x(), agentBounds.mHalfExtents.y()) * std::sqrt(2);
case CollisionShapeType::RotatingBox:
return agentBounds.mHalfExtents.x();
Support cylinder and rotating box collision shape types for actors Cylinder collision shape should give the best consistency between physics simulation and pathfinding. Rotating box is already used by some actors, so add it to have the same collision shape type for all actors.
2022-06-03 22:44:42 +00:00
case CollisionShapeType::Cylinder:
return std::max(agentBounds.mHalfExtents.x(), agentBounds.mHalfExtents.y());
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
}
assert(false && "Unsupported agent shape type");
return 0;
Use proper agent height and radius when render actor path That are based on half extents used to find path over navmesh which is different for interior and exterior cells. Use common functions to get agent height and radius for actor path rendering and navmesh generation.
2022-06-14 23:09:33 +00:00
}
}
#endif
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