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NavigationMeshInstance: Fix typo to 'vertices'

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Rémi Verschelde 2021-12-03 01:54:15 +01:00
parent cb3cce1134
commit 1f666a972f
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GPG key ID: C3336907360768E1
3 changed files with 29 additions and 29 deletions
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2
doc/classes/SkeletonModification3DTwoBoneIK.xml
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@ -4,7 +4,7 @@
A modification that moves two bones to reach the target.
</brief_description>
<description>
This [SkeletonModification3D] uses an algorithm typically called TwoBoneIK. This algorithm works by leveraging the law of cosigns and the lengths of the bones to figure out what rotation the bones currently have, and what rotation they need to make a complete triangle, where the first bone, the second bone, and the target form the three verticies of the triangle. Because the algorithm works by making a triangle, it can only opperate on two bones.
This [SkeletonModification3D] uses an algorithm typically called TwoBoneIK. This algorithm works by leveraging the law of cosigns and the lengths of the bones to figure out what rotation the bones currently have, and what rotation they need to make a complete triangle, where the first bone, the second bone, and the target form the three vertices of the triangle. Because the algorithm works by making a triangle, it can only opperate on two bones.
TwoBoneIK is great for arms, legs, and really any joints that can be represented by just two bones that bend to reach a target. This solver is more lightweight than [SkeletonModification3DFABRIK], but gives similar, natural looking results.
A [Node3D]-based node can be used to define the pole, or bend direction, allowing control over which direction the joint takes when bending to reach the target when the target is within reach.
</description>

48
modules/navigation/navigation_mesh_generator.cpp
View file

@ -64,17 +64,17 @@
NavigationMeshGenerator *NavigationMeshGenerator::singleton = nullptr;
void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies) {
p_verticies.push_back(p_vec3.x);
p_verticies.push_back(p_vec3.y);
p_verticies.push_back(p_vec3.z);
void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices) {
p_vertices.push_back(p_vec3.x);
p_vertices.push_back(p_vec3.y);
p_vertices.push_back(p_vec3.z);
}
void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) {
void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
int current_vertex_count;
for (int i = 0; i < p_mesh->get_surface_count(); i++) {
current_vertex_count = p_verticies.size() / 3;
current_vertex_count = p_vertices.size() / 3;
if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
continue;
@ -101,7 +101,7 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
const int *ir = mesh_indices.ptr();
for (int j = 0; j < mesh_vertices.size(); j++) {
_add_vertex(p_xform.xform(vr[j]), p_verticies);
_add_vertex(p_xform.xform(vr[j]), p_vertices);
}
for (int j = 0; j < face_count; j++) {
@ -113,9 +113,9 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
} else {
face_count = mesh_vertices.size() / 3;
for (int j = 0; j < face_count; j++) {
_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_verticies);
_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_verticies);
_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_verticies);
_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_vertices);
_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_vertices);
_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_vertices);
p_indices.push_back(current_vertex_count + (j * 3 + 0));
p_indices.push_back(current_vertex_count + (j * 3 + 1));
@ -125,14 +125,14 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
}
}
void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) {
void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
int face_count = p_faces.size() / 3;
int current_vertex_count = p_verticies.size() / 3;
int current_vertex_count = p_vertices.size() / 3;
for (int j = 0; j < face_count; j++) {
_add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_verticies);
_add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_verticies);
_add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_verticies);
_add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_vertices);
_add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_vertices);
_add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_vertices);
p_indices.push_back(current_vertex_count + (j * 3 + 0));
p_indices.push_back(current_vertex_count + (j * 3 + 2));
@ -140,12 +140,12 @@ void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, cons
}
}
void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transform, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
if (Object::cast_to<MeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MeshInstance3D *mesh_instance = Object::cast_to<MeshInstance3D>(p_node);
Ref<Mesh> mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
_add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_verticies, p_indices);
_add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_vertices, p_indices);
}
}
@ -159,7 +159,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
n = multimesh->get_instance_count();
}
for (int i = 0; i < n; i++) {
_add_mesh(mesh, p_accumulated_transform * multimesh->get_instance_transform(i), p_verticies, p_indices);
_add_mesh(mesh, p_accumulated_transform * multimesh->get_instance_transform(i), p_vertices, p_indices);
}
}
}
@ -171,7 +171,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
if (!meshes.is_empty()) {
Ref<Mesh> mesh = meshes[1];
if (mesh.is_valid()) {
_add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_verticies, p_indices);
_add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_vertices, p_indices);
}
}
}
@ -229,7 +229,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
if (concave_polygon) {
_add_faces(concave_polygon->get_faces(), transform, p_verticies, p_indices);
_add_faces(concave_polygon->get_faces(), transform, p_vertices, p_indices);
}
ConvexPolygonShape3D *convex_polygon = Object::cast_to<ConvexPolygonShape3D>(*s);
@ -252,12 +252,12 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
}
}
_add_faces(faces, transform, p_verticies, p_indices);
_add_faces(faces, transform, p_vertices, p_indices);
}
}
if (mesh.is_valid()) {
_add_mesh(mesh, transform, p_verticies, p_indices);
_add_mesh(mesh, transform, p_vertices, p_indices);
}
}
}
@ -272,7 +272,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
for (int i = 0; i < meshes.size(); i += 2) {
Ref<Mesh> mesh = meshes[i + 1];
if (mesh.is_valid()) {
_add_mesh(mesh, p_accumulated_transform * xform * (Transform3D)meshes[i], p_verticies, p_indices);
_add_mesh(mesh, p_accumulated_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
}
}
}
@ -285,7 +285,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
if (p_recurse_children) {
for (int i = 0; i < p_node->get_child_count(); i++) {
_parse_geometry(p_accumulated_transform, p_node->get_child(i), p_verticies, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
_parse_geometry(p_accumulated_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
}
}
}

8
modules/navigation/navigation_mesh_generator.h
View file

@ -49,10 +49,10 @@ class NavigationMeshGenerator : public Object {
protected:
static void _bind_methods();
static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies);
static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices);
static void _add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices);
static void _parse_geometry(Transform3D p_accumulated_transform, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices);
static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _parse_geometry(Transform3D p_accumulated_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
static void _convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh);
static void _build_recast_navigation_mesh(