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Change algorithm to edge cheks instead of triangulation

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This commit is contained in:
Kiro 2024-10-17 09:29:28 +02:00
parent db66bd35af
commit a87bdecedc
1 changed files with 48 additions and 8 deletions
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56
modules/navigation/3d/nav_mesh_queries_3d.cpp
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@ -657,15 +657,55 @@ gd::ClosestPointQueryResult NavMeshQueries3D::polygons_get_closest_point_info(co
real_t closest_point_distance_squared = FLT_MAX;
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);
bool inside = true;
Vector3 previous = polygon.points[polygon.points.size() - 1].pos;
for (size_t point_id = 0; point_id < polygon.points.size(); point_id += 1) {
Vector3 edge = polygon.points[point_id].pos - previous;
Vector3 to_point = p_point - previous;
Vector3 edgeToPointNormal = edge.cross(to_point);
bool clockwise = edgeToPointNormal.dot(plane_normal) > 0;
// If we are not clockwise, the point will never be inside the polygon and so the closest point will be on an edge
if (clockwise == false) {
inside = false;
real_t point_projected_on_edge = edge.dot(to_point);
real_t edgeSquare = edge.length_squared();
// If the projection is greater than the edge size, the result will be on the next edge
if (point_projected_on_edge <= edgeSquare) {
real_t percent = point_projected_on_edge / edgeSquare;
Vector3 closest_on_edge = previous + MAX(percent, 0.f) * edge;
real_t distance_squared = closest_on_edge.distance_squared_to(p_point);
if (distance_squared < closest_point_distance_squared) {
closest_point_distance_squared = distance_squared;
result.point = closest_on_edge;
result.normal = plane_normal;
result.owner = polygon.owner->get_self();
}
// 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
// then we must stop, we will not find a better point for this polygon
if((point_id > 0) || (percent >= 0.f)) {
break;
}
}
}
previous = polygon.points[point_id].pos;
}
if (inside) {
Vector3 plane_normalized = plane_normal.normalized();
real_t distance = plane_normalized.dot(p_point - polygon.points[0].pos);
real_t distance_squared = distance * distance;
if (distance_squared < closest_point_distance_squared) {
closest_point_distance_squared = distance_squared;
result.point = p_point - plane_normalized * distance;
result.normal = plane_normal;
result.owner = polygon.owner->get_self();
closest_point_distance_squared = distance_squared_to_point;
if (Math::is_equal_approx(distance, 0.f)) {
break;
}
}
}
}