- fixed bugs with unique vertices of detailed mesh in generation and conversion of navigation mesh
- set default physic type and name for navigation mesh object
This commit is contained in:
Nick Samarin
@@ -44,7 +44,7 @@
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Name="VCCLCompilerTool"
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Optimization="2"
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InlineFunctionExpansion="1"
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AdditionalIncludeDirectories="..\..\..\..\lib\windows\QTDevWin\CIncludes;..\..\..\..\lib\windows\sdl\include;..\..\..\..\lib\windows\python\include\python2.6;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\ghost\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\opennl\include;..\..\..\..\build\msvc_9\intern\bmfont\include;..\..\..\..\build\msvc_9\intern\blenkey\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\memutil\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\smoke\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\source\blender;..\..\..\source\blender\img;..\..\..\source\blender\verify;..\..\..\source\blender\ftfont;..\..\..\source\blender\misc;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\editors\include;..\..\..\source\blender\editors\interface;..\..\..\source\blender\renderui;..\..\..\source\blender\blenloader;..\..\..\source\blender\quicktime;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenfont;..\..\..\source\blender\makesdna;..\..\..\source\blender\makesrna;..\..\..\source\blender\nodes;..\..\..\source\blender\windowmanager;..\..\..\source\blender\blenpluginapi;..\..\..\source\blender\renderconverter;..\..\..\source\blender\readstreamglue;..\..\..\source\blender\render\extern\include;..\..\..\source\blender\radiosity\extern\include;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\network;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\..\build\msvc_9\extern\verse\include;..\..\..\..\lib\windows\pthreads\include;..\..\..\..\lib\windows\ffmpeg\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin;..\..\..\..\lib\windows\openal\include;..\..\..\..\lib\windows\jack\include"
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AdditionalIncludeDirectories="..\..\..\..\lib\windows\QTDevWin\CIncludes;..\..\..\..\lib\windows\sdl\include;..\..\..\..\lib\windows\python\include\python2.6;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\ghost\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\opennl\include;..\..\..\..\build\msvc_9\intern\bmfont\include;..\..\..\..\build\msvc_9\intern\blenkey\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\memutil\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\smoke\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\source\blender;..\..\..\source\blender\img;..\..\..\source\blender\verify;..\..\..\source\blender\ftfont;..\..\..\source\blender\misc;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\editors\include;..\..\..\source\blender\editors\interface;..\..\..\source\blender\renderui;..\..\..\source\blender\blenloader;..\..\..\source\blender\quicktime;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenfont;..\..\..\source\blender\makesdna;..\..\..\source\blender\makesrna;..\..\..\source\blender\nodes;..\..\..\source\blender\windowmanager;..\..\..\source\blender\blenpluginapi;..\..\..\source\blender\renderconverter;..\..\..\source\blender\readstreamglue;..\..\..\source\blender\render\extern\include;..\..\..\source\blender\radiosity\extern\include;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\network;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\..\build\msvc_9\extern\verse\include;..\..\..\..\lib\windows\pthreads\include;..\..\..\..\lib\windows\ffmpeg\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin;..\..\..\..\lib\windows\openal\include;..\..\..\..\lib\windows\jack\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include"
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PreprocessorDefinitions="NDEBUG;WIN32;_LIB;_CONSOLE;GAMEBLENDER=1;WITH_QUICKTIME;INTERNATIONAL;WITH_FREETYPE2;WITH_INTERNATIONAL;WITH_OPENEXR;WITH_DDS;WITH_BULLET=1;WITH_FFMPEG;WITH_SDL;WITH_OPENAL;WITH_JACK"
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StringPooling="true"
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RuntimeLibrary="0"
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@@ -253,7 +253,7 @@
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<Tool
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Name="VCCLCompilerTool"
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Optimization="2"
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AdditionalIncludeDirectories="..\..\..\..\lib\windows\zlib\include;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenkernel\intern;..\..\..\source\blender\makesdna;..\..\..\source\blender\modifiers;..\..\..\source\blender\render\extern\include"
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AdditionalIncludeDirectories="..\..\..\..\lib\windows\zlib\include;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenkernel\intern;..\..\..\source\blender\makesdna;..\..\..\source\blender\modifiers;..\..\..\source\blender\render\extern\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\source\blender\editors\include;..\..\..\source\blender\gpu"
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PreprocessorDefinitions="NDEBUG;WIN32;_LIB;WITH_LZO;WITH_LZMA"
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BasicRuntimeChecks="0"
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RuntimeLibrary="0"
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@@ -38,6 +38,7 @@ extern "C"
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#include "DNA_meshdata_types.h"
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#include "DNA_ID.h"
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#include "BKE_library.h"
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#include "BKE_depsgraph.h"
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#include "BKE_context.h"
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#include "BKE_mesh.h"
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@@ -345,7 +346,7 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
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//create unique verts
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for (j=nv; j<ndv; j++)
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{
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copy_v3_v3(co, &dmesh->verts[vbase + j]);
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copy_v3_v3(co, &dmesh->verts[3*(vbase + j)]);
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SWAP(float, co[1], co[2]);
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addvertlist(em, co, NULL);
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}
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@@ -386,6 +387,11 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
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ED_object_exit_editmode(C, EM_FREEDATA);
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WM_event_add_notifier(C, NC_OBJECT|ND_DRAW, obedit);
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obedit->gameflag &= ~OB_COLLISION;
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obedit->gameflag |= OB_NAVMESH;
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obedit->body_type = OB_BODY_TYPE_NAVMESH;
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rename_id((ID *)obedit, "Navmesh");
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return obedit;
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}
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@@ -70,6 +70,24 @@ inline void flipAxes(float* vec)
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std::swap(vec[1],vec[2]);
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}
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static float distPointToSegmentSq(const float* point, const float* a, const float* b)
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{
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float abx[3], dx[3];
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vsub(abx, b,a);
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vsub(dx, point,a);
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float d = abx[0]*abx[0]+abx[1]*abx[1];
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float t = abx[0]*dx[0]+abx[1]*dx[1];
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if (d > 0)
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t /= d;
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if (t < 0)
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t = 0;
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else if (t > 1)
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t = 1;
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dx[0] = a[0] + t*abx[0] - point[0];
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dx[1] = a[1] + t*abx[1] - point[1];
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return dx[0]*dx[0] + dx[1]*dx[1];
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}
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KX_NavMeshObject::KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks)
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: KX_GameObject(sgReplicationInfo, callbacks)
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, m_navMesh(NULL)
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@@ -177,7 +195,7 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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for (int polyidx=0; polyidx<npolys; polyidx++)
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{
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vector<int> poly;
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vector<unsigned short> poly, tempPoly;
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//search border
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int btri = -1;
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int bedge = -1;
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@@ -239,8 +257,20 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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}
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}
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//.todo: process poly to remove degenerate vertices
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if (poly.size()>=vertsPerPoly)
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size_t nv = poly.size();
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for (size_t i=0; i<nv; i++)
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{
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unsigned short prev = poly[(poly.size()+i-1)%nv];
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unsigned short cur = poly[i];
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unsigned short next = poly[(i+1)%nv];
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float distSq = distPointToSegmentSq(mvert[cur].co, mvert[prev].co, mvert[next].co);
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static const float tolerance = 0.001f;
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if (distSq>tolerance)
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tempPoly.push_back(cur);
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}
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poly = tempPoly;
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if (poly.size()>vertsPerPoly)
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{
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printf("Error! Polygon size exceeds max verts count");
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return false;
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@@ -254,7 +284,6 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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//assumption: vertices in mesh are stored in following order:
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//navigation mesh vertices - unique detailed mesh vertex
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unsigned short maxidx = 0;
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for (int polyidx=0; polyidx<npolys; polyidx++)
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{
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@@ -295,7 +324,7 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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unsigned short minvert = 0xffff, maxvert = 0;
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for (int j=0; j<dmesh[3]; j++)
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{
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unsigned short* dtri = &dtris[dmesh[2]*3*2+j];
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unsigned short* dtri = &dtris[(dmesh[2]+j)*3*2];
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for (int k=0; k<3; k++)
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{
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if (dtri[k]<nverts)
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@@ -308,7 +337,7 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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dmesh[1] = minvert != 0xffff ? maxvert - minvert + 1 : 0; //vnum
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}
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//recalculate detailed mesh indices (it must be local)
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//recalculate detailed mesh indices (they must be local)
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for (int polyIdx=0; polyIdx<npolys; polyIdx++)
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{
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unsigned short * poly = &polys[polyIdx*vertsPerPoly*2];
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@@ -350,6 +379,8 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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}
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}
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}
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if (dmesh[1]>0)
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dmesh[0] -= nverts;
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}
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}
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else
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@@ -434,6 +465,11 @@ bool KX_NavMeshObject::BuildNavMesh()
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{
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flipAxes(&vertices[i*3]);
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}
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for (int i=0; i<ndvertsuniq; i++)
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{
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flipAxes(&dvertices[i*3]);
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}
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/*
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//reorder tris
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for (int i=0; i<npolys; i++)
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@@ -599,7 +635,7 @@ void KX_NavMeshObject::DrawNavMesh()
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MT_Vector3 color(0.f, 0.f, 0.f);
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enum RenderMode {POLYS ,DETAILED_TRIS, WALLS};
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static const RenderMode renderMode = DETAILED_TRIS;//POLYS;
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static const RenderMode renderMode = DETAILED_TRIS;// DETAILED_TRIS POLYS
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switch (renderMode)
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{
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case POLYS :
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