147 lines
3.4 KiB
C++
147 lines
3.4 KiB
C++
#ifndef NAVMESHWALKRANDOM_H
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#define NAVMESHWALKRANDOM_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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/**
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* pick a truely random destination within the reachable area
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* weight this area (evaluators)
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* repeat this several times to find a robus destination
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*/
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template <typename Tria> class NavMeshWalkRandom {
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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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public:
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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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struct ResultList : std::vector<ResultEntry> {};
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public:
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/** ctor */
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NavMeshWalkRandom(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) const {
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ResultEntry res;
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res.probability = 0;
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// to-be-walked distance;
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const float toBeWalkedDist = params.getToBeWalkedDistance();
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const float toBeWalkedDistSafe = 1.0 + toBeWalkedDist * 1.1;
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// construct reachable region
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const NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
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NavMeshRandom<Tria> rnd = reachable.getRandom();
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NavMeshPotentialWalk<Tria> pwalk(params);
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// improve quality (the higher, the better)
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for (int i = 0; i < 25; ++i) {
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PERF_REGION(1, "NavMeshWalkRandom::SampleLoop");
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// draw a random destination
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// is this destination within the reachable area? (triangles might be larger!)
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pwalk.end = rnd.draw();
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if (pwalk.end.pos.getDistance(params.start.pos) > toBeWalkedDistSafe) {
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--i; continue;
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}
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// calculate the probability for this destination
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const double p = eval(pwalk);
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// better?
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if (p > res.probability) {
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res.location = pwalk.end;
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res.probability = p;
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}
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}
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// destination is known. update the heading
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res.heading = Heading(params.start.pos.xy(), res.location.pos.xy());
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return res;
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}
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ResultList getMany(const NavMeshWalkParams<Tria>& params) const {
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ResultList res;
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// to-be-walked distance;
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const float toBeWalkedDist = params.getToBeWalkedDistance();
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const float toBeWalkedDistSafe = 1.0 + toBeWalkedDist * 1.1;
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// construct reachable region
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const NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
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NavMeshRandom<Tria> rnd = reachable.getRandom();
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NavMeshPotentialWalk<Tria> pwalk(params);
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// improve quality (the higher, the better)
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for (int i = 0; i < 25; ++i) {
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PERF_REGION(1, "NavMeshWalkRandom::SampleLoop");
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pwalk.end = rnd.drawWithin(params.start.pos, toBeWalkedDistSafe);
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// calculate the probability for this destination
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const double p = eval(pwalk);
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ResultEntry re;
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re.heading = Heading(params.start.pos.xy(), pwalk.end.pos.xy());
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re.location = pwalk.end;
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re.probability = p;
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res.push_back(re);
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}
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return res;
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}
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double eval(const NM::NavMeshPotentialWalk<Tria>& pwalk) const {
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PERF_REGION(2, "NavMeshWalkRandom::EvalLoop");
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double p = 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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p *= p1;
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}
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return p;
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}
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};
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}
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#endif // NAVMESHWALKRANDOM_H
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