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move nav leaf origins to closest floor position
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improves path costs and fixes routing problems with leaves that are both over ground and a deep gap
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@wootguy
wootguy committed Jul 7, 2024
1 parent 4e26714 commit 508cb90
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Showing 5 changed files with 167 additions and 102 deletions.
121 changes: 53 additions & 68 deletions src/editor/Renderer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -478,31 +478,43 @@ void Renderer::renderLoop() {
if (route.size()) {
LeafNode* lastNode = &debugLeafNavMesh->nodes[route[0]];

vec3 lastPos = lastNode->bottom;
drawBox(lastNode->bottom, 2, COLOR4(0, 255, 255, 255));
vec3 lastPos = lastNode->origin;
drawBox(lastNode->origin, 2, COLOR4(0, 255, 255, 255));

for (int i = 1; i < route.size(); i++) {
LeafNode& node = debugLeafNavMesh->nodes[route[i]];

vec3 nodeCenter = node.bottom;
vec3 nodeCenter = node.origin;

for (int k = 0; k < lastNode->links.size(); k++) {
LeafLink& link = lastNode->links[k];

if (link.node == route[i]) {
vec3 linkPoint = link.bottom;
vec3 linkPoint = link.pos;

if (link.baseCost > 16000) {
drawLine(lastPos, linkPoint, COLOR4(255, 0, 0, 255));
drawLine(linkPoint, node.bottom, COLOR4(255, 0, 0, 255));
drawLine(linkPoint, node.origin, COLOR4(255, 0, 0, 255));
}
else if (link.baseCost > 0) {
drawLine(lastPos, linkPoint, COLOR4(255, 64, 0, 255));
drawLine(linkPoint, node.origin, COLOR4(255, 64, 0, 255));
}
else if (link.costMultiplier > 99.0f) {
drawLine(lastPos, linkPoint, COLOR4(255, 255, 0, 255));
drawLine(linkPoint, node.bottom, COLOR4(255, 255, 0, 255));
drawLine(linkPoint, node.origin, COLOR4(255, 255, 0, 255));
}
else if (link.costMultiplier > 9.0f) {
drawLine(lastPos, linkPoint, COLOR4(255, 0, 255, 255));
drawLine(linkPoint, node.origin, COLOR4(255, 0, 255, 255));
}
else if (link.costMultiplier > 1.9f) {
drawLine(lastPos, linkPoint, COLOR4(64, 255, 0, 255));
drawLine(linkPoint, node.origin, COLOR4(64, 255, 0, 255));
}
else {
drawLine(lastPos, linkPoint, COLOR4(0, 255, 255, 255));
drawLine(linkPoint, node.bottom, COLOR4(0, 255, 255, 255));
drawLine(linkPoint, node.origin, COLOR4(0, 255, 255, 255));
}
drawBox(nodeCenter, 2, COLOR4(0, 255, 255, 255));
lastPos = nodeCenter;
Expand All @@ -519,7 +531,7 @@ void Renderer::renderLoop() {
else {
LeafNode& node = debugLeafNavMesh->nodes[leafNavIdx];

drawBox(node.bottom, 2, COLOR4(0, 255, 0, 255));
drawBox(node.origin, 2, COLOR4(0, 255, 0, 255));

std::string linkStr;

Expand All @@ -532,92 +544,65 @@ void Renderer::renderLoop() {
Polygon3D& linkArea = link.linkArea;

if (link.baseCost > 16000) {
drawLine(node.bottom, link.bottom, COLOR4(255, 0, 0, 255));
drawLine(link.bottom, linkLeaf.bottom, COLOR4(255, 0, 0, 255));
drawLine(node.origin, link.pos, COLOR4(255, 0, 0, 255));
drawLine(link.pos, linkLeaf.origin, COLOR4(255, 0, 0, 255));
}
else if (link.baseCost > 0) {
drawLine(node.bottom, link.bottom, COLOR4(255, 255, 0, 255));
drawLine(link.bottom, linkLeaf.bottom, COLOR4(255, 255, 0, 255));
drawLine(node.origin, link.pos, COLOR4(255, 128, 0, 255));
drawLine(link.pos, linkLeaf.origin, COLOR4(255, 128, 0, 255));
}
else if (link.costMultiplier > 99.0f) {
drawLine(node.origin, link.pos, COLOR4(255, 255, 0, 255));
drawLine(link.pos, linkLeaf.origin, COLOR4(255, 255, 0, 255));
}
else if (link.costMultiplier > 9.0f) {
drawLine(node.origin, link.pos, COLOR4(255, 0, 255, 255));
drawLine(link.pos, linkLeaf.origin, COLOR4(255, 0, 255, 255));
}
else if (link.costMultiplier > 1.9f) {
drawLine(node.origin, link.pos, COLOR4(64, 255, 0, 255));
drawLine(link.pos, linkLeaf.origin, COLOR4(64, 255, 0, 255));
}
else {
drawLine(node.bottom, link.bottom, COLOR4(0, 255, 255, 255));
drawLine(link.bottom, linkLeaf.bottom, COLOR4(0, 255, 255, 255));
drawLine(node.origin, link.pos, COLOR4(0, 255, 255, 255));
drawLine(link.pos, linkLeaf.origin, COLOR4(0, 255, 255, 255));
}

for (int k = 0; k < linkArea.verts.size(); k++) {
//drawBox(linkArea.verts[k], 1, COLOR4(255, 255, 0, 255));
}
drawBox(link.bottom, 1, COLOR4(0, 255, 0, 255));
drawBox(linkLeaf.bottom, 2, COLOR4(0, 255, 255, 255));
drawBox(link.pos, 1, COLOR4(0, 255, 0, 255));
drawBox(linkLeaf.origin, 2, COLOR4(0, 255, 255, 255));
linkStr += to_string(link.node) + " (" + to_string(linkArea.verts.size()) + "v), ";

/*
for (int k = 0; k < node.links.size(); k++) {
if (i == k)
continue;
drawLine(link.pos, node.links[k].pos, COLOR4(64, 0, 255, 255));
}
*/
}

//logf("Leaf node idx: %d, links: %s\n", leafNavIdx, linkStr.c_str());
}

}
/*
Polygon3D linkPoly;
LeafNode& node = debugLeafNavMesh->nodes[1441];
for (int i = 0; i < MAX_NAV_LEAF_LINKS; i++) {
LeafLink& link = node.links[i];
if (link.node == 1442) {
linkPoly = link.linkArea;
break;
}
}
drawPolygon3D(linkPoly, COLOR4(255, 255, 255, 255));

/*
colorShader->pushMatrix(MAT_PROJECTION);
colorShader->pushMatrix(MAT_VIEW);
projection.ortho(0, windowWidth, windowHeight, 0, -1.0f, 1.0f);
view.loadIdentity();
colorShader->updateMatrixes();
drawPolygon2D(linkPoly, vec2(800, 100), vec2(500, 500), COLOR4(255, 0, 0, 255));
drawPolygon2D(debugPoly, vec2(800, 100), vec2(500, 500), COLOR4(255, 0, 0, 255));
colorShader->popMatrix(MAT_PROJECTION);
colorShader->popMatrix(MAT_VIEW);
*/
}

if (debugPoly.isValid) {
if (debugPoly.verts.size() > 1) {
vec3 v1 = debugPoly.verts[0];
vec3 v2 = debugPoly.verts[1];
drawLine(v1, v1 + (v2 - v1) * 0.5f, COLOR4(0, 255, 0, 255));
}
for (int i = 0; i < debugPoly.verts.size(); i++) {
drawBox(debugPoly.verts[i], 4, COLOR4(128, 128, 0, 255));
}

glLineWidth(1);
vec3 xaxis = debugPoly.plane_x * 16;
vec3 yaxis = debugPoly.plane_y * 16;
vec3 zaxis = debugPoly.plane_z * 16;
vec3 center = getCenter(debugPoly.verts) + debugPoly.plane_z*8;
drawLine(center, center + xaxis, COLOR4(255, 0, 0, 255));
drawLine(center, center + yaxis, COLOR4(255, 255, 0, 255));
drawLine(center, center + zaxis, COLOR4(0, 255, 0, 255));

glDisable(GL_DEPTH_TEST);

colorShader->pushMatrix(MAT_PROJECTION);
colorShader->pushMatrix(MAT_VIEW);
projection.ortho(0, windowWidth, windowHeight, 0, -1.0f, 1.0f);
view.loadIdentity();
float sz = min(windowWidth*0.8f, windowHeight*0.8f);
model.translate((windowWidth- sz)*0.5f, (windowHeight- sz)*0.5f, 0);
colorShader->updateMatrixes();

float scale = drawPolygon2D(debugPoly, vec2(0, 0), vec2(sz, sz), COLOR4(255, 255, 0, 255));

colorShader->popMatrix(MAT_PROJECTION);
colorShader->popMatrix(MAT_VIEW);
}

glLineWidth(1);
}

Expand Down Expand Up @@ -1861,12 +1846,12 @@ float Renderer::drawPolygon2D(Polygon3D poly, vec2 pos, vec2 maxSz, COLOR4 color
}
}

// draw camera origin in the same coordinate space
{
vec2 cam = poly.project(cameraOrigin);
drawBox2D(offset + cam*scale, 16, poly.isInside(cam) ? COLOR4(0, 255, 0, 255) : COLOR4(255, 32, 0, 255));
drawBox2D(offset + cam * scale, 16, poly.isInside(cam) ? COLOR4(0, 255, 0, 255) : COLOR4(255, 32, 0, 255));
}

drawLine2D(offset + debugCut.start * scale, offset + debugCut.end * scale, color);


return scale;
}
Expand Down
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