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commit a87bdecedc
Author: Kiro <mouton.guillaume88@gmail.com>
Date:   Thu Oct 17 09:29:28 2024 +0200

    Change algorithm to edge cheks instead of triangulation
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Kiro 2024-10-17 16:03:34 +02:00
commit 70897fe976
1 changed files with 2 additions and 10 deletions
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12
modules/navigation/3d/nav_mesh_queries_3d.cpp
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@ -657,13 +657,6 @@ gd::ClosestPointQueryResult NavMeshQueries3D::polygons_get_closest_point_info(co
real_t closest_point_distance_squared = FLT_MAX; real_t closest_point_distance_squared = FLT_MAX;
for (const gd::Polygon &polygon : p_polygons) { for (const gd::Polygon &polygon : p_polygons) {
for (size_t point_id = 2; point_id < polygon.points.size(); point_id += 1) {
const Face3 face(polygon.points[0].pos, polygon.points[point_id - 1].pos, polygon.points[point_id].pos);
const Vector3 closest_point_on_face = face.get_closest_point_to(p_point);
const real_t distance_squared_to_point = closest_point_on_face.distance_squared_to(p_point);
if (distance_squared_to_point < closest_point_distance_squared) {
result.point = closest_point_on_face;
result.normal = face.get_plane().normal;
Vector3 plane_normal = (polygon.points[1].pos - polygon.points[0].pos).cross(polygon.points[2].pos - polygon.points[0].pos); Vector3 plane_normal = (polygon.points[1].pos - polygon.points[0].pos).cross(polygon.points[2].pos - polygon.points[0].pos);
bool inside = true; bool inside = true;
Vector3 previous = polygon.points[polygon.points.size() - 1].pos; Vector3 previous = polygon.points[polygon.points.size() - 1].pos;
@ -692,7 +685,7 @@ gd::ClosestPointQueryResult NavMeshQueries3D::polygons_get_closest_point_info(co
// The projection being below 1 is our usual stop, but if we are on the first side we check // The projection being below 1 is our usual stop, but if we are on the first side we check
// and we are below 0 there could be a better point on the previous side. If we are between 0 and 1 // and we are below 0 there could be a better point on the previous side. If we are between 0 and 1
// then we must stop, we will not find a better point for this polygon // then we must stop, we will not find a better point for this polygon
if((point_id > 0) || (percent >= 0.f)) { if ((point_id > 0) || (percent >= 0.f)) {
break; break;
} }
} }
@ -709,9 +702,8 @@ gd::ClosestPointQueryResult NavMeshQueries3D::polygons_get_closest_point_info(co
result.point = p_point - plane_normalized * distance; result.point = p_point - plane_normalized * distance;
result.normal = plane_normal; result.normal = plane_normal;
result.owner = polygon.owner->get_self(); result.owner = polygon.owner->get_self();
closest_point_distance_squared = distance_squared_to_point;
if (Math::is_equal_approx(distance, 0.f)) { if (Math::is_equal_approx(distance, (real_t)0)) {
break; break;
} }
} }