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nav_mesh_manager.go
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nav_mesh_manager.go
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package unityai
import (
"fmt"
"math"
"math/rand"
"unsafe"
"github.com/lazytiger/unityai/format"
)
const kNodePoolSize int32 = 4096
type NavMeshHit struct {
position Vector3f
normal Vector3f
distance float32
mask uint32
hit bool
}
func (this *NavMeshHit) GetPosition() Vector3f {
return this.position
}
func (this *NavMeshHit) GetNormal() Vector3f {
return this.normal
}
func (this *NavMeshHit) GetDistance() float32 {
return this.distance
}
func (this *NavMeshHit) GetMask() uint32 {
return this.mask
}
func (this *NavMeshHit) Hit() bool {
return this.hit
}
type NavMeshManager struct {
m_SurfaceID int32
m_CarvingSystem *NavMeshCarving
m_NavMeshData *NavMeshData
m_NavMesh *NavMesh
m_NavMeshQuery *NavMeshQuery
m_Filter *QueryFilter
m_LegacyQueryExtents Vector3f
m_LegacyLinkQueryExtents Vector3f
m_AddedTileRefs []NavMeshTileRef
}
func NewManagerFromData(nvData *format.NavMeshData) (*NavMeshManager, error) {
data := NewDataFromFormat(nvData)
manager := NewNavMeshManager()
err := manager.LoadData(data)
return manager, err
}
func NewNavMeshManager() *NavMeshManager {
navMesh := NewNavMesh()
query := NewNavMeshQuery(navMesh, kNodePoolSize)
return &NavMeshManager{0, nil,
nil,
navMesh,
query,
NewQueryFilter(),
Vector3f{0, 0, 0},
Vector3f{0, 0, 0}, nil,
}
}
func (this *NavMeshManager) Clone() *NavMeshManager {
filter := *this.m_Filter
return &NavMeshManager{this.m_SurfaceID, nil,
nil,
this.m_NavMesh, NewNavMeshQuery(this.m_NavMesh, kNodePoolSize), &filter,
this.m_LegacyQueryExtents, this.m_LegacyLinkQueryExtents, nil,
}
}
func (this *NavMeshManager) DeepClone() *NavMeshManager {
manager := NewNavMeshManager()
//data := this.m_NavMeshData.Clone()
manager.LoadData(this.m_NavMeshData)
return manager
}
func (this *NavMeshManager) LoadData(nvData *NavMeshData) error {
this.m_NavMeshData = nvData
this.m_CarvingSystem = NewNavMeshCarving(this)
position := nvData.GetPosition()
rotation := nvData.GetRotation()
settings := nvData.GetNavMeshBuildSettings()
this.m_Filter.SetAreaCosts(nvData.GetFilterAreaCosts())
this.m_LegacyQueryExtents = Vector3f{settings.agentRadius, settings.agentHeight, settings.agentRadius}
this.m_LegacyLinkQueryExtents = Vector3f{settings.agentRadius, settings.agentClimb, settings.agentRadius}
tiles := nvData.GetNavMeshTiles()
surfaceID := this.m_NavMesh.CreateSurface(len(tiles), settings, position, rotation)
this.m_SurfaceID = surfaceID
this.m_AddedTileRefs = make([]NavMeshTileRef, len(tiles))
for i := range tiles {
tile := tiles[i]
data := tile.GetData()
if len(data) == 0 {
continue
}
var ref NavMeshTileRef
status := this.m_NavMesh.AddTile(data, int32(len(data)), kTileLeakData, surfaceID, &ref)
if NavMeshStatusFailed(status) {
if NavMeshStatusDetail(status, kNavMeshWrongMagic) || NavMeshStatusDetail(status, kNavMeshWrongVersion) {
return fmt.Errorf("Loading NavMesh failed - wrong format. Please rebake the NavMesh")
} else if NavMeshStatusDetail(status, kNavMeshOutOfMemory) {
return fmt.Errorf("Loading NavMesh failed - out of memory")
} else {
return fmt.Errorf("Loading NavMesh tile #%d failed. Error code:%x\n", i, status)
}
}
this.m_AddedTileRefs[i] = ref
}
// server temporarily no use offMeshLinks data
offMeshLinks := nvData.GetOffMeshLinks()
for i := range offMeshLinks {
continue
data := offMeshLinks[i]
var conn OffMeshConnectionParams
conn.startPos = data.m_Start
conn.endPos = data.m_End
conn.up = Vector3f{0, 1, 0}
conn.width = 0.0
conn.costModifier = -1.0
conn.linkDirection = data.m_LinkDirection
conn.flags = 1 << data.m_Area
conn.area = data.m_Area
conn.linkType = data.m_LinkType
conn.userID = 0
conn.agentTypeID = nvData.GetAgentTypeId()
ref := this.m_NavMesh.AddOffMeshConnection(&conn, settings.agentRadius, settings.agentClimb)
if ref == 0 {
return fmt.Errorf("add offmeshlink failed")
}
}
return nil
}
func InvalidateNavMeshHit(hit *NavMeshHit) {
inf := float32(math.MaxFloat32)
hit.position = Vector3f{inf, inf, inf}
hit.normal.SetZero()
hit.distance = inf
hit.mask = 0
hit.hit = false
}
func (this *NavMeshManager) Raycast(hit *NavMeshHit, sourcePosition, targetPosition Vector3f) bool {
var mappedPolyRef NavMeshPolyRef
var mappedPosition Vector3f
ext := this.m_LegacyQueryExtents
if !this.MapPosition(&mappedPolyRef, &mappedPosition, sourcePosition, ext) {
InvalidateNavMeshHit(hit)
return false
}
var result NavMeshRaycastResult
status := this.m_NavMeshQuery.Raycast(mappedPolyRef, mappedPosition, targetPosition,
this.m_Filter, &result, nil, nil, 0)
if NavMeshStatusFailed(status) {
InvalidateNavMeshHit(hit)
return false
}
lpos := LerpVector3f(mappedPosition, targetPosition, result.t)
var pos Vector3f
this.m_NavMeshQuery.ProjectToPoly(&pos, result.lastPoly, lpos)
blocked := result.t < 1.0
hit.position = pos
hit.normal = result.normal
hit.distance = Magnitude(hit.position.Sub(sourcePosition))
hit.mask = this.m_NavMesh.GetPolyFlags(result.hitPoly)
hit.hit = blocked
return blocked
}
func (this *NavMeshManager) DistanceToEdge(hit *NavMeshHit, sourcePosition Vector3f) bool {
var mappedPolyRef NavMeshPolyRef
var mappedPosition Vector3f
ext := this.m_LegacyQueryExtents
if !this.MapPosition(&mappedPolyRef, &mappedPosition, sourcePosition, ext) {
InvalidateNavMeshHit(hit)
return false
}
mask := uint32(0)
status := this.m_NavMeshQuery.FindDistanceToWall(mappedPolyRef, mappedPosition, this.m_Filter,
&hit.distance, &hit.position, &hit.normal,
&mask)
hit.mask = mask
if NavMeshStatusFailed(status) {
InvalidateNavMeshHit(hit)
return false
}
hit.hit = true
return true
}
func (this *NavMeshManager) SamplePosition(hit *NavMeshHit, sourcePosition Vector3f, maxDistance float32) bool {
var mappedPolyRef NavMeshPolyRef
var mappedPosition Vector3f
extents := Vector3f{maxDistance, maxDistance, maxDistance}
if !this.MapPosition(&mappedPolyRef, &mappedPosition, sourcePosition, extents) {
InvalidateNavMeshHit(hit)
return false
}
distance := Magnitude(mappedPosition.Sub(sourcePosition))
if distance > maxDistance {
InvalidateNavMeshHit(hit)
return false
}
hit.position = mappedPosition
hit.normal.SetZero()
hit.distance = distance
hit.mask = this.m_NavMesh.GetPolyFlags(mappedPolyRef)
hit.hit = true
return true
}
func (this *NavMeshManager) MapPosition(mappedPolyRef *NavMeshPolyRef, mappedPosition *Vector3f, position, extents Vector3f) bool {
if this.m_NavMeshQuery == nil {
return false
}
this.m_NavMeshQuery.FindNearestPoly(position, extents, this.m_Filter, mappedPolyRef, mappedPosition)
return *mappedPolyRef != 0
}
func (this *NavMeshManager) CalculatePolygonPath(path *NavMeshPath, sourcePosition, targetPosition Vector3f, maxIter int32) int32 {
path.SetTimeStamp(0)
path.SetPolygonCount(0)
path.SetStatus(kPathInvalid)
if this.m_NavMeshQuery == nil {
return 0
}
var targetMappedPos, sourceMappedPos Vector3f
query := this.m_NavMeshQuery
ext := this.m_LegacyQueryExtents
var targetPolyRef NavMeshPolyRef
query.FindNearestPoly(targetPosition, ext, this.m_Filter, &targetPolyRef, &targetMappedPos)
if targetPolyRef == 0 {
return 0
}
var sourcePolyRef NavMeshPolyRef
query.FindNearestPoly(sourcePosition, ext, this.m_Filter, &sourcePolyRef, &sourceMappedPos)
if sourcePolyRef == 0 {
return 0
}
polygonCount := int32(0)
status := query.InitSlicedFindPath2(sourcePolyRef, targetPolyRef, sourceMappedPos, targetMappedPos, this.m_Filter)
if !NavMeshStatusFailed(status) {
status = query.UpdateSlicedFindPath(maxIter, nil)
}
if !NavMeshStatusFailed(status) {
status = query.FinalizeSlicedFindPath(&polygonCount)
}
path.ReservePolygons(polygonCount)
if !NavMeshStatusFailed(status) {
status = query.GetPath(path.GetPolygonPath(), &polygonCount, path.GetPolygonCapacity())
}
path.SetTimeStamp(this.m_NavMesh.GetTimeStamp())
path.SetPolygonCount(polygonCount)
path.SetSourcePosition(sourceMappedPos)
path.SetTargetPosition(targetMappedPos)
if NavMeshStatusFailed(status) || polygonCount == 0 {
path.SetStatus(kPathInvalid)
return 0
}
if NavMeshStatusDetail(status, kNavMeshPartialResult) {
// when path is partial we project the target position
// to the last polygon in the path.
polygonPath := path.GetPolygonPath()
lastPolyRef := polygonPath[polygonCount-1]
var partialTargetPos Vector3f
status := query.ClosestPointOnPoly(lastPolyRef, targetMappedPos, &partialTargetPos)
if NavMeshStatusFailed(status) {
path.SetStatus(kPathInvalid)
return 0
}
path.SetStatus(kPathPartial)
path.SetTargetPosition(partialTargetPos)
// If the pathfinding req ran out of nodes - we mark the path as stale
// i.e. outdating the path by settings the time-stamp to 0
if NavMeshStatusDetail(status, kNavMeshOutOfNodes) {
path.SetTimeStamp(0)
}
} else {
path.SetStatus(kPathComplete)
}
return polygonCount
}
func (this *NavMeshManager) CalculatePathCorners(corners []Vector3f, maxCorners int32, path *NavMeshPath) int32 {
if this.m_NavMeshQuery == nil || corners == nil || maxCorners < 2 || path.GetPolygonCount() < 1 {
return 0
}
cornerCount := int32(0)
var result NavMeshStatus
sourcePos := path.GetSourcePosition()
targetPos := path.GetTargetPosition()
refs := make([]NavMeshPolyRef, maxCorners)
flags := make([]uint8, maxCorners)
query := this.m_NavMeshQuery
result = query.FindStraightPath(sourcePos, targetPos,
path.GetPolygonPath(), path.GetPolygonCount(),
corners, flags, refs, &cornerCount, maxCorners)
Assert(cornerCount <= maxCorners)
if NavMeshStatusFailed(result) {
return 0
}
return cornerCount
}
func (this *NavMeshManager) WalkableBetween(source, target Vector3f) bool {
var sourceRef, targetRef NavMeshPolyRef
this.m_NavMeshQuery.FindNearestPoly(source, this.m_LegacyQueryExtents, this.m_Filter, &sourceRef, &source)
if sourceRef == 0 {
return false
}
this.m_NavMeshQuery.FindNearestPoly(target, this.m_LegacyQueryExtents, this.m_Filter, &targetRef, &target)
if targetRef == 0 {
return false
}
visited := make(map[NavMeshPolyRef]bool)
openList := make([]NavMeshPolyRef, 1, 10)
openList[0] = sourceRef
for count := 1; count > 0; count = len(openList) {
ref := openList[count-1]
visited[ref] = true
openList = openList[:count-1]
for link := this.m_NavMesh.GetFirstLink(ref); link != nil; link = this.m_NavMesh.GetNextLink(link) {
if link.ref == targetRef {
return true
}
if !visited[link.ref] {
openList = append(openList, link.ref)
}
}
}
return false
}
func (this *NavMeshManager) CalculatePath(source, target Vector3f, maxIter int32) ([]Vector3f, bool) {
path := NewNavMeshPath()
if this.CalculatePolygonPath(path, source, target, maxIter) <= 0 {
return []Vector3f{}, true
}
cornerCount := path.GetPolygonCount() + 2
corners := make([]Vector3f, cornerCount)
cornerCount = this.CalculatePathCorners(corners, cornerCount, path)
return corners[:cornerCount], path.m_status == kPathPartial
}
func (this *NavMeshManager) GetNavMesh() *NavMesh {
return this.m_NavMesh
}
func (this *NavMeshManager) GetNavMeshQuery() *NavMeshQuery {
return this.m_NavMeshQuery
}
func (this *NavMeshManager) GetFilter() *QueryFilter {
return this.m_Filter
}
func (this *NavMeshManager) FindNearestPoly(center Vector3f, nearestRef *NavMeshPolyRef, nearestPt *Vector3f) {
this.m_NavMeshQuery.FindNearestPoly(center, this.m_LegacyQueryExtents,
this.m_Filter, nearestRef, nearestPt)
}
func (this *NavMeshManager) MoveAlongSurface(startRef NavMeshPolyRef, startPos Vector3f, endPos Vector3f, resultPos *Vector3f, visited []NavMeshPolyRef, visitedCount *int32, maxVisitedSize int32) NavMeshStatus {
status := this.m_NavMeshQuery.MoveAlongSurface(startRef, startPos, endPos, this.m_Filter, resultPos, visited, visitedCount, maxVisitedSize)
if !NavMeshStatusSucceed(status) {
return status
}
var resultRef = startRef
for index, viRef := range visited {
if viRef == 0 && index > 0 {
resultRef = visited[index-1]
break
}
}
var height float32
status = this.m_NavMeshQuery.GetPolyHeightLocal(resultRef, *resultPos, &height)
if !NavMeshStatusSucceed(status) {
return status
}
resultPos.SetData(1, height)
return status
}
func (this *NavMeshManager) FindRandomPointInCircle(center Vector3f, radius float32, maxCount int) (Vector3f, error) {
var result Vector3f
var centerRef NavMeshPolyRef
this.m_NavMeshQuery.FindNearestPoly(center, this.m_LegacyQueryExtents, this.m_Filter, ¢erRef, &result)
if centerRef == 0 {
return result, fmt.Errorf("center:%v not found in navmesh", center)
}
var resultRef [32]NavMeshPolyRef
var refCount int32
status := this.m_NavMeshQuery.FindLocalNeighbourhood(centerRef, center, radius, this.m_Filter, resultRef[:], nil, &refCount, 32)
if !NavMeshStatusSucceed(status) {
return result, fmt.Errorf("find local neighbourhood failed")
}
//calculate all the polygon area, randomed with weight as area
var verts [kNavMeshVertsPerPoly]Vector3f
weights := make([]float32, refCount)
var areaSum float32
for i := int32(0); i < refCount; i++ {
vertCount := this.m_NavMesh.GetPolyGeometry(resultRef[i], verts[:], nil, 0)
var polyArea float32
for i := int32(2); i < vertCount; i++ {
va := verts[0]
vb := verts[i-1]
vc := verts[i-2]
polyArea += TriangleAreaXZ(va, vb, vc)
}
weights[i] = polyArea
areaSum += polyArea
}
targetArea := rand.Float32() * areaSum
var searchArea float32
var targetPolyRef NavMeshPolyRef
for i := int32(0); i < refCount; i++ {
searchArea += weights[i]
if searchArea >= targetArea {
targetPolyRef = resultRef[i]
break
}
}
for i := 0; i < maxCount; i++ {
//find the targeted polygon, random a point in the polygon
vertCount := this.m_NavMesh.GetPolyGeometry(targetPolyRef, verts[:], nil, 0)
result = RandomPointInConvexPoly(verts[:], int(vertCount))
result = TileToWorld(this.m_NavMesh.GetTileByRef(NavMeshTileRef(targetPolyRef)), result)
//fix height
var height float32
status = this.m_NavMeshQuery.GetPolyHeightLocal(targetPolyRef, result, &height)
if !NavMeshStatusSucceed(status) {
return result, fmt.Errorf("find poly height failed")
}
result.y = height
if Distance(center, result) <= radius {
return result, nil
}
}
return result, fmt.Errorf("center %+v radius %v points not found at this random", center, radius)
}
func (this *NavMeshManager) GetSourceTileData(id int32, index int32) *NavMeshTileData {
return &this.m_NavMeshData.m_NavMeshTiles[index]
}
func (this *NavMeshManager) GetNavMeshBuildSettings(id int32) *NavMeshBuildSettings {
return &this.m_NavMeshData.m_NavMeshBuildSettings
}
func (this *NavMeshManager) AddObstacle(obs *NavMeshObstacle) int32 {
var handle int32
this.m_CarvingSystem.AddObstacle(obs, &handle)
return handle
}
func (this *NavMeshManager) RemoveObstacle(handle int32) {
this.m_CarvingSystem.RemoveObstacle(&handle)
}
func (this *NavMeshManager) UpdateCarvingImmediately() bool {
this.m_CarvingSystem.PrepareCarving()
this.m_CarvingSystem.Carve()
return this.m_CarvingSystem.ApplyCarveResults()
}
func (this *NavMeshManager) GetSourceTileDataBounds(locations *[]TileLocation) {
navMeshData := this.m_NavMeshData
tiles := navMeshData.GetNavMeshTiles()
for i := 0; i < len(tiles); i++ {
header := (*NavMeshDataHeader)(unsafe.Pointer(&tiles[i].m_MeshData[0]))
var loc TileLocation
loc.m_Bounds = NewMinMaxAABB(header.bmin, header.bmax)
loc.m_SurfaceID = this.m_SurfaceID
loc.m_TileIndex = int32(i)
*locations = append(*locations, loc)
}
}
func (this *NavMeshManager) RemoveTile(surfaceID int32, tileIndex int32) {
Assert(this.m_NavMesh != nil)
if surfaceID != this.m_SurfaceID {
return
}
ref := this.m_AddedTileRefs[tileIndex]
this.m_NavMesh.RemoveTile(ref, surfaceID, nil, nil)
this.m_AddedTileRefs[tileIndex] = 0
}
func (this *NavMeshManager) RestoreTile(surfaceID int32, tileIndex int32) {
Assert(this.m_NavMesh != nil)
if surfaceID != this.m_SurfaceID {
return
}
navMeshData := this.m_NavMeshData
tiles := navMeshData.GetNavMeshTiles()
tileData := &tiles[tileIndex]
byteData := tileData.m_MeshData
dataSize := len(tileData.m_MeshData)
ref := this.m_AddedTileRefs[tileIndex]
if ref != 0 {
tile := this.m_NavMesh.GetTileByRef(ref)
if len(tile.data) == len(byteData) {
equal := true
for i := range tile.data {
if tile.data[i] != byteData[i] {
equal = false
break
}
}
if equal {
return
}
}
this.m_NavMesh.RemoveTile(ref, surfaceID, nil, nil)
this.m_AddedTileRefs[tileIndex] = 0
}
var addRef NavMeshTileRef = 0
this.m_NavMesh.AddTile(byteData, int32(dataSize), kTileLeakData, surfaceID, &addRef)
this.m_AddedTileRefs[tileIndex] = addRef
}
func (this *NavMeshManager) ReplaceTile(surfaceID int32, tileIndex int32, tileData []byte, tileDataSize int32) {
Assert(this.m_NavMesh != nil)
Assert(this.m_SurfaceID == surfaceID) //< assumes the surface exists
Assert(this.m_AddedTileRefs[tileIndex] == 0) //< assumes tile in this place was first removed
var ref NavMeshTileRef = 0
status := this.m_NavMesh.AddTile(tileData, tileDataSize, kTileFreeData, surfaceID, &ref)
if NavMeshStatusFailed(status) {
} else {
this.m_AddedTileRefs[tileIndex] = ref
}
}
func (this *NavMeshManager) GetSurfaceId() int32 {
return this.m_SurfaceID
}
func (this *NavMeshManager) GetMaxTileIndex() int {
return len(this.m_AddedTileRefs)
}