123 lines
2.9 KiB
C++
123 lines
2.9 KiB
C++
#ifndef NAVMESHWALKSIMPLE_H
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#define NAVMESHWALKSIMPLE_H
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#include "../NavMesh.h"
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#include "../NavMeshLocation.h"
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#include "../../geo/Heading.h"
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#include "NavMeshSub.h"
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#include "NavMeshWalkParams.h"
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#include "NavMeshWalkEval.h"
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namespace NM {
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template <typename Tria> class NavMeshWalkSimple {
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private:
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const NavMesh<Tria>& mesh;
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std::vector<NavMeshWalkEval<Tria>*> evals;
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int hits = 0;
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int misses = 0;
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public:
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/** single result */
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struct ResultEntry {
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NavMeshLocation<Tria> location;
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Heading heading;
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double probability;
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ResultEntry() : heading(0) {;}
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};
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/** list of results */
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using ResultList = std::vector<ResultEntry>;
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public:
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/** ctor */
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NavMeshWalkSimple(const NavMesh<Tria>& mesh) : mesh(mesh) {
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}
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/** add a new evaluator to the walker */
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void addEvaluator(NavMeshWalkEval<Tria>* eval) {
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this->evals.push_back(eval);
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}
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ResultEntry getOne(const NavMeshWalkParams<Tria>& params) {
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// sanity checks
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params.check();
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ResultEntry re;
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// to-be-walked distance;
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const float toBeWalkedDist = params.getToBeWalkedDistance();
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const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
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// construct reachable region
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NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
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// get the to-be-reached destination's position (using start+distance+heading)
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const Point2 dir = params.heading.asVector();
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const Point2 dst = params.start.pos.xy() + (dir * toBeWalkedDist);
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const Tria* dstTria = reachable.getContainingTriangle(dst);
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// is above destination reachable?
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if (dstTria) {
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re.heading = params.heading; // heading was OK -> keep
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re.location.pos = dstTria->toPoint3(dst); // new destination position
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re.location.tria = dstTria; // new destination triangle
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++hits;
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} else {
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NavMeshRandom<Tria> rnd = reachable.getRandom(); // random-helper
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re.location = rnd.draw(); // get a random destianation
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re.heading = Heading(params.start.pos.xy(), re.location.pos.xy()); // update the heading
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++misses;
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}
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const int total = (hits + misses);
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if (total % 10000 == 0) {
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//std::cout << "hits: " << (hits*100/total) << "%" << std::endl;
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}
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// calculate probability
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const NavMeshPotentialWalk<Tria> pwalk(params, re.location);
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re.probability = 1.0;
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for (const NavMeshWalkEval<Tria>* eval : evals) {
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const double p1 = eval->getProbability(pwalk);
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re.probability *= p1;
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}
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// done
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return re;
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}
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ResultList getMany(const NavMeshWalkParams<Tria>& params) {
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// sanity checks
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params.check();
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return {getOne(params)};
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}
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};
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}
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#endif // NAVMESHWALKSIMPLE_H
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