diff options
Diffstat (limited to 'Runtime/NavMesh/NavMeshAgent.h')
| -rw-r--r-- | Runtime/NavMesh/NavMeshAgent.h | 313 |
1 files changed, 313 insertions, 0 deletions
diff --git a/Runtime/NavMesh/NavMeshAgent.h b/Runtime/NavMesh/NavMeshAgent.h new file mode 100644 index 0000000..fe5a943 --- /dev/null +++ b/Runtime/NavMesh/NavMeshAgent.h @@ -0,0 +1,313 @@ +#pragma once +#ifndef RUNTIME_NAVMESH_AGENT +#define RUNTIME_NAVMESH_AGENT + +#include "Runtime/GameCode/Behaviour.h" +#include "Runtime/Graphics/Transform.h" +#include "NavMeshTypes.h" +#include "Runtime/Math/Vector2.h" + +class NavMeshPath; +struct OffMeshLinkData; +struct NavMeshHit; + +class dtNavMeshQuery; +class dtCrowd; +class dtQueryFilter; +struct dtCrowdAgentParams; +struct dtCrowdAgent; + + +class NavMeshAgent : public Behaviour +{ +public: + REGISTER_DERIVED_CLASS (NavMeshAgent, Behaviour) + DECLARE_OBJECT_SERIALIZE (NavMeshAgent) + + NavMeshAgent (MemLabelId& label, ObjectCreationMode mode); + // ~NavMeshAgent (); declared by a macro + + static void InitializeClass (); + static void CleanupClass () {} // Avoid double free of Behavior + + virtual void AwakeFromLoad (AwakeFromLoadMode mode); + virtual void CheckConsistency (); + + inline bool InCrowdSystem () const; + inline void SetManagerHandle (int handle); + bool SetDestination (const Vector3f& position); + Vector3f GetDestination () const; + void SetInternalAgentPosition (const Vector3f& position); + + int CalculatePolygonPath (const Vector3f& targetPosition, NavMeshPath* path); + bool SetPath (const NavMeshPath* path); + void CopyPath (NavMeshPath* path) const; + void ResetPath (); + bool PathPending () const; + bool HasPath () const; + bool DistanceToEdge (NavMeshHit* hit) const; + bool Raycast (const Vector3f& position, NavMeshHit* hitPos); + float GetRemainingDistance () const; + + // Consider moving these to the 'NavMeshPath' class + bool SamplePathPosition (int collisionMask, float maxDistance, NavMeshHit* hit); + Vector3f GetEndPositionOfCurrentPath () const; + bool IsPathValid () const; + bool IsPathPartial () const; + bool IsPathStale () const; + NavMeshPathStatus GetPathStatus () const; + inline void ResetCachedPolyRef (); + + UInt32 GetWalkableMask () const { return m_WalkableMask; } + void SetWalkableMask (UInt32 mask); + + void SetLayerCost (unsigned int layer, float cost); + float GetLayerCost (unsigned int layer) const; + + inline ObstacleAvoidanceType GetObstacleAvoidanceType () const; + void SetObstacleAvoidanceType (int type); + + void SetAvoidancePriority (int value); + inline int GetAvoidancePriority () const; + + inline float GetSpeed () const; + void SetSpeed (float value); + + inline float GetAngularSpeed () const; + void SetAngularSpeed (float value); + + inline float GetAcceleration () const; + void SetAcceleration (float value); + + inline float GetStoppingDistance () const; + void SetStoppingDistance (float value); + + Vector3f GetVelocity () const; + void SetVelocity (const Vector3f& vel); + Vector3f GetNextPosition () const; + + Vector3f GetNextCorner () const; + Vector3f GetDesiredVelocity () const; + + bool IsOnOffMeshLink () const; + void ActivateCurrentOffMeshLink (bool activated); + bool GetCurrentOffMeshLinkData (OffMeshLinkData* data) const; + bool GetNextOffMeshLinkData (OffMeshLinkData* data) const; + bool SetOffMeshLinkDataFlags (OffMeshLinkData* data, const dtPolyRef polyRef) const; + + inline bool GetUpdatePosition () const; + void SetUpdatePosition (bool inbool); + inline bool GetUpdateRotation () const; + void SetUpdateRotation (bool inbool); + inline bool GetAutoTraverseOffMeshLink () const; + void SetAutoTraverseOffMeshLink (bool inbool); + inline bool GetAutoBraking () const; + void SetAutoBraking (bool inbool); + inline bool GetAutoRepath () const; + void SetAutoRepath (bool inbool); + + inline float GetRadius () const; + inline float GetHeight () const; + inline float GetBaseOffset () const; + + float CalculateScaledRadius () const; + float CalculateScaledHeight () const; + + void SetRadius (float radius); + void SetHeight (float height); + void SetBaseOffset (float baseOffset); + + bool Warp (const Vector3f& newPosition); + void Move (const Vector3f& motion); + void Stop (bool stopUpdates); + void Resume (); + void CompleteOffMeshLink (); + + void UpdateState (); + void UpdateTransform (float deltaTime); + + inline Vector3f GetGroundPositionFromTransform () const; + + void OnNavMeshChanged (); + inline void OnNavMeshCleanup (); + +protected: + virtual void AddToManager (); + virtual void RemoveFromManager (); + virtual void Reset (); + virtual void SmartReset (); + + void OnTransformChanged (int mask); + +private: + + void AddToCrowdSystem (); + void RemoveFromCrowdSystem (); + void ReinstateInCrowdSystem (); + void StopOrResume (float remainingDistance); + void RepathIfStuck (float remainingDistance); + void UpdateRotation (Transform& transform, float deltaTime); + + void FillAgentParams (dtCrowdAgentParams& params); + void UpdateActiveAgentParameters (); + Vector2f CalculateDimensionScales () const; + + inline float CalculateScaledBaseOffset (const Transform& transform) const; + inline void SetTransformFromGroundPosition (const Vector3f& groundPosition); + + int GetCurrentPolygonMask () const; + const dtQueryFilter& GetFilter () const; + const dtCrowdAgent* GetInternalAgent () const; + static const dtNavMeshQuery* GetInternalNavMeshQuery (); + static dtCrowd* GetCrowdSystem (); + static inline float EnsurePositive (float value); + + Vector3f m_Destination; + Vector3f m_RequestedDestination; + float m_Radius; + float m_Height; + float m_BaseOffset; + float m_Speed; + float m_AngularSpeed; + float m_Angle; + float m_Acceleration; + float m_StoppingDistance; + + // Internal Crowd system agent index + dtCrowdHandle m_AgentHandle; + int m_InstanceID; + // Persistent manager handle + int m_ManagerHandle; + + dtPolyRef m_CachedPolyRef; + + ObstacleAvoidanceType m_ObstacleAvoidanceType; ///< enum { None = 0, Low Quality, Medium Quality, Good Quality, High Quality } + UInt32 m_WalkableMask; + int m_AvoidancePriority; + bool m_AutoTraverseOffMeshLink; + bool m_AutoBraking; + bool m_AutoRepath; + + bool m_UpdatePosition : 1; + bool m_UpdateRotation : 1; + bool m_StopDistance : 1; + bool m_StopExplicit : 1; + bool m_StopRotating : 1; + bool m_Request : 1; + + friend void DrawNavMeshAgent (const NavMeshAgent& agent); +}; + +inline float NavMeshAgent::EnsurePositive (float value) +{ + return std::max (0.00001F, value); +} + +inline Vector3f NavMeshAgent::GetGroundPositionFromTransform () const +{ + const Transform& transform = GetComponent (Transform); + return transform.TransformPoint (Vector3f (0, -m_BaseOffset, 0)); +} + +inline void NavMeshAgent::SetTransformFromGroundPosition (const Vector3f& groundPosition) +{ + Transform& transform = GetComponent (Transform); + transform.SetPositionWithLocalOffset (groundPosition, Vector3f (0.0f, -m_BaseOffset, 0.0f)); +} + +inline float NavMeshAgent::CalculateScaledBaseOffset (const Transform& transform) const +{ + return m_BaseOffset * Abs (transform.GetWorldScaleLossy ().y); +} + +inline bool NavMeshAgent::InCrowdSystem () const +{ + return m_AgentHandle.IsValid (); +} + +inline void NavMeshAgent::SetManagerHandle (int handle) +{ + m_ManagerHandle = handle; +} + +inline void NavMeshAgent::ResetCachedPolyRef () +{ + m_CachedPolyRef = -1; +} + +inline ObstacleAvoidanceType NavMeshAgent::GetObstacleAvoidanceType () const +{ + return m_ObstacleAvoidanceType; +} + +inline int NavMeshAgent::GetAvoidancePriority () const +{ + return m_AvoidancePriority; +} + +inline float NavMeshAgent::GetSpeed () const +{ + return m_Speed; +} + +inline float NavMeshAgent::GetAngularSpeed () const +{ + return m_AngularSpeed; +} + +inline float NavMeshAgent::GetAcceleration () const +{ + return m_Acceleration; +} + +inline float NavMeshAgent::GetStoppingDistance () const +{ + return m_StoppingDistance; +} + +inline bool NavMeshAgent::GetUpdatePosition () const +{ + return m_UpdatePosition; +} + +inline bool NavMeshAgent::GetUpdateRotation () const +{ + return m_UpdateRotation; +} + +inline bool NavMeshAgent::GetAutoTraverseOffMeshLink () const +{ + return m_AutoTraverseOffMeshLink; +} + +inline bool NavMeshAgent::GetAutoBraking () const +{ + return m_AutoBraking; +} + +inline bool NavMeshAgent::GetAutoRepath () const +{ + return m_AutoRepath; +} + +inline float NavMeshAgent::GetRadius () const +{ + return m_Radius; +} + +inline float NavMeshAgent::GetHeight () const +{ + return m_Height; +} + +inline float NavMeshAgent::GetBaseOffset () const +{ + return m_BaseOffset; +} + +inline void NavMeshAgent::OnNavMeshCleanup () +{ + RemoveFromCrowdSystem (); +} + +#endif |