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2D pathfinder fixes, should now always find the best path.

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This commit is contained in:
Juan Linietsky 2015-05-02 16:35:43 -03:00
parent 524d9fad59
commit 2296b0508e
2 changed files with 37 additions and 3 deletions
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38
scene/2d/navigation2d.cpp
View file

@ -32,6 +32,7 @@ void Navigation2D::_navpoly_link(int p_id) {
p.edges.resize(plen); p.edges.resize(plen);
Vector2 center; Vector2 center;
float sum=0;
for(int j=0;j<plen;j++) { for(int j=0;j<plen;j++) {
@ -46,8 +47,23 @@ void Navigation2D::_navpoly_link(int p_id) {
center+=ep; center+=ep;
e.point=_get_point(ep); e.point=_get_point(ep);
p.edges[j]=e; p.edges[j]=e;
int idxn = indices[(j+1)%plen];
if (idxn<0 || idxn>=len) {
valid=false;
break;
} }
Vector2 epn = nm.xform.xform(r[idxn]);
sum+=(epn.x-ep.x)*(epn.y+ep.y);
}
p.clockwise=sum>0;
if (!valid) { if (!valid) {
nm.polygons.pop_back(); nm.polygons.pop_back();
ERR_CONTINUE(!valid); ERR_CONTINUE(!valid);
@ -493,17 +509,30 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
left = _get_vertex(p->edges[prev].point); left = _get_vertex(p->edges[prev].point);
right = _get_vertex(p->edges[prev_n].point); right = _get_vertex(p->edges[prev_n].point);
if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5) < 0){ if (p->clockwise) {
SWAP(left,right); SWAP(left,right);
} }
/*if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5) < 0){
SWAP(left,right);
}*/
} }
bool skip=false; bool skip=false;
/* print_line("-----\nAPEX: "+(apex_point-end_point));
print_line("LEFT:");
print_line("\tPortal: "+(portal_left-end_point));
print_line("\tPoint: "+(left-end_point));
print_line("\tFree: "+itos(CLOCK_TANGENT(apex_point,portal_left,left) >= 0));
print_line("RIGHT:");
print_line("\tPortal: "+(portal_right-end_point));
print_line("\tPoint: "+(right-end_point));
print_line("\tFree: "+itos(CLOCK_TANGENT(apex_point,portal_right,right) <= 0));
*/
if (CLOCK_TANGENT(apex_point,portal_left,left) >= 0){ if (CLOCK_TANGENT(apex_point,portal_left,left) >= 0){
//process //process
if (portal_left==apex_point || CLOCK_TANGENT(apex_point,left,portal_right) > 0) { if (portal_left.distance_squared_to(apex_point)<CMP_EPSILON || CLOCK_TANGENT(apex_point,left,portal_right) > 0) {
left_poly=p; left_poly=p;
portal_left=left; portal_left=left;
} else { } else {
@ -519,12 +548,13 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
if (path[path.size()-1].distance_to(apex_point)>CMP_EPSILON) if (path[path.size()-1].distance_to(apex_point)>CMP_EPSILON)
path.push_back(apex_point); path.push_back(apex_point);
skip=true; skip=true;
//print_line("addpoint left");
} }
} }
if (!skip && CLOCK_TANGENT(apex_point,portal_right,right) <= 0){ if (!skip && CLOCK_TANGENT(apex_point,portal_right,right) <= 0){
//process //process
if (portal_right==apex_point || CLOCK_TANGENT(apex_point,right,portal_left) < 0) { if (portal_right.distance_squared_to(apex_point)<CMP_EPSILON || CLOCK_TANGENT(apex_point,right,portal_left) < 0) {
right_poly=p; right_poly=p;
portal_right=right; portal_right=right;
} else { } else {
@ -539,6 +569,8 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
portal_left=apex_point; portal_left=apex_point;
if (path[path.size()-1].distance_to(apex_point)>CMP_EPSILON) if (path[path.size()-1].distance_to(apex_point)>CMP_EPSILON)
path.push_back(apex_point); path.push_back(apex_point);
//print_line("addpoint right");
} }
} }

2
scene/2d/navigation2d.h
View file

@ -60,6 +60,8 @@ class Navigation2D : public Node2D {
float distance; float distance;
int prev_edge; int prev_edge;
bool clockwise;
NavMesh *owner; NavMesh *owner;
}; };