refactor and navmesh color change
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ce71745c1d
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c72f9bc768
26
Map.pde
26
Map.pde
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@ -286,7 +286,7 @@ class Map
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}
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}
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boolean isReachable(PVector point)
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public boolean isReachable(PVector point)
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{
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if (!isPointInPolygon(point, outline)) return false;
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for (Obstacle o: obstacles)
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@ -295,29 +295,5 @@ class Map
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}
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return true;
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}
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PVector percentFromPoint(PVector from, PVector to, float percent)
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{
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//p1 + ((p2 - p1) * percent)
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return PVector.add(from, PVector.mult(PVector.sub(to, from),percent));
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}
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boolean intersectsWall(PVector from, PVector to)
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{
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//5% of the way from the start
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PVector start = percentFromPoint(from, to, 0.01);
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//95% of the way from the start
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PVector end = percentFromPoint(from, to, 0.99);
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if (!isReachable(start)) return true;
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//println("Start: " + start);
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//println("End: " + end);
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for (Wall w : walls)
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{
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if (w.crosses(start, end)) return true;
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}
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return false;
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}
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}
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107
NavMesh.pde
107
NavMesh.pde
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@ -25,8 +25,8 @@ class Node
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x_avg += w.start.x;
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y_avg += w.start.y;
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}
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x_avg /=polygon.size();
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y_avg /=polygon.size();
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x_avg /= polygon.size();
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y_avg /= polygon.size();
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return new PVector(x_avg, y_avg);
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}
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@ -35,7 +35,7 @@ class Node
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int prev = indices.get(indices.size()-1);
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for(Integer i: indices)
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{
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if (n.indices.contains(prev) && n.indices.contains(i)) return true;
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if (n.indices.contains(i) && n.indices.contains(prev)) return true;
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prev = i;
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}
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@ -74,11 +74,11 @@ class NavMesh
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{
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ArrayList<Node> nodes = new ArrayList<Node>();
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int rec_stack_count = 0;
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int maxDepth = 1000;
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int pointAmount = 0;
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int max_depth = 1000;
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HashMap<PVector, Integer> vert_lookup_map = new HashMap<PVector, Integer>();
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ArrayList<PVector> mapVectors = new ArrayList<PVector>();
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ArrayList<PVector> map_vecs = new ArrayList<PVector>();
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PVector midpoint(Node a, Node b)
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{
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@ -88,19 +88,19 @@ class NavMesh
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int prev_index = a.indices.get(a.indices.size()-1);
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for(Integer i: a.indices)
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{
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if (b.indices.contains(prev_index) && b.indices.contains(i)) {
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if (b.indices.contains(i) && b.indices.contains(prev_index)) {
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start = prev_index;
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end = i;
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break;
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}
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prev_index = i;
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}
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println(a.id + " and " + b.id + " share indices " + start + " and " + end);
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PVector start_vect, end_vect;
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start_vect = mapVectors.get(start);
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end_vect = mapVectors.get(end);
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start_vect = map_vecs.get(start);
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end_vect = map_vecs.get(end);
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return new PVector(start_vect.x + (end_vect.x - start_vect.x)/2,
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start_vect.y + (end_vect.y - start_vect.y)/2);
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@ -134,7 +134,7 @@ class NavMesh
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}
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}
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}
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void setIndices(Node node)
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void setNodeIndices(Node node)
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{
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for(Wall w: node.polygon)
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{
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@ -142,7 +142,7 @@ class NavMesh
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}
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}
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//assume index_1 < index_2
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void splitMap(Node node, int index_1, int index_2)
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{
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@ -189,17 +189,17 @@ class NavMesh
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}
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Node nodeA = new Node(rec_stack_count+"A", polygon_1);
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setIndices(nodeA);
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setNodeIndices(nodeA);
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nodes.add(nodeA);
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Node nodeB = new Node(rec_stack_count+"B", polygon_2);
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setIndices(nodeB);
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setNodeIndices(nodeB);
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nodes.add(nodeB);
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rec_stack_count++;
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if (rec_stack_count == maxDepth) return;
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if (rec_stack_count == max_depth) return;
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if (findReflexVertex(polygon_1) != -1) {
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nodes.remove(nodeA);
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@ -228,7 +228,32 @@ class NavMesh
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return -1;
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}
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PVector percentFromPoint(PVector from, PVector to, float percent)
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{
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//p1 + ((p2 - p1) * percent)
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return PVector.add(from, PVector.mult(PVector.sub(to, from),percent));
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}
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boolean intersectsWall(PVector from, PVector to)
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{
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//threshold to see if wall intersects with 1% margin.
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PVector start = percentFromPoint(from, to, 0.01);
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//95% of the way from the start
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PVector end = percentFromPoint(from, to, 0.99);
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if (!map.isReachable(start)) return true;
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//println("Start: " + start);
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//println("End: " + end);
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for (Wall w : map.walls)
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{
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if (w.crosses(start, end)) return true;
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}
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return false;
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}
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int joiningVertex(ArrayList<Wall> polygon, int convex_index)
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{
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@ -248,16 +273,16 @@ class NavMesh
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int lastIndex = convex_index - 1;
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if (lastIndex < 0) lastIndex = vertices.size() - 1;
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for (int potentialConnecting = vertices.size()-1; potentialConnecting>=0; potentialConnecting--)
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for (int conn_point = vertices.size()-1; conn_point>=0; conn_point--)
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{
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if (potentialConnecting == next_index || potentialConnecting == convex_index || potentialConnecting == lastIndex) continue;
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if (conn_point == next_index || conn_point == convex_index || conn_point == lastIndex) continue;
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PVector potentialConnectingPoint = vertices.get(potentialConnecting);
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PVector conn_pointPoint = vertices.get(conn_point);
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if (!map.intersectsWall(pointAtIndex, potentialConnectingPoint))
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if (!intersectsWall(pointAtIndex, conn_pointPoint))
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{
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return potentialConnecting;
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return conn_point;
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}
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}
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@ -282,13 +307,13 @@ class NavMesh
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void setVertexMap(Map map)
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{
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//clear all lookups and map vectors
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mapVectors.clear();
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map_vecs.clear();
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vert_lookup_map.clear();
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for (int i = 0; i < map.walls.size(); i++)
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{
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vert_lookup_map.put(map.walls.get(i).start, i);
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mapVectors.add(map.walls.get(i).start);
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map_vecs.add(map.walls.get(i).start);
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}
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}
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@ -300,18 +325,18 @@ class NavMesh
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// to keep track of recursive calls
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rec_stack_count = 0;
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nodes.clear();
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pointAmount = map.walls.size();
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origin_map = map;
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vert_lookup_map.clear();
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mapVectors.clear();
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map_vecs.clear();
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//make hashmap of vertices
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setVertexMap(map);
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//create a node with the whole map walls
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Node m = new Node("Map", map.outline);
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setIndices(m);
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setNodeIndices(m);
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convexDecomposition(m);
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@ -333,26 +358,19 @@ class NavMesh
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//Uses A* to find a path from start to dest
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ArrayList<PVector> findPath(PVector start, PVector dest)
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{
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println("dest vec " + dest);
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ArrayList<SearchFrontier> frontier = new ArrayList<SearchFrontier>();
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ArrayList<Node> visited_nodes = new ArrayList<Node>();
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Node node_start = nodeFromPoint(start);
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Node node_dest = nodeFromPoint(dest);
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println("dest node " + node_dest);
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//for (Node n: nodes)
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//{
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// if (isPointInPolygon(start,n.polygon)) node_start = n;
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// else if (isPointInPolygon(dest,n.polygon)) node_dest = n;
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// //else println("node_dest is null");
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//}
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SearchFrontier s = new SearchFrontier(node_start, null, node_dest.findCenter());
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frontier.add(s);
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visited_nodes.add(frontier.get(0).node);
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println("frontier " + frontier);
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//till the end of of frontier
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while (frontier.get(0).node != node_dest)
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{
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@ -362,7 +380,7 @@ class NavMesh
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for (Node neighbours: first_frontier.node.neighbours)
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{
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println("loop");
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if (!visited_nodes.contains(neighbours))
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{
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frontier.add(new SearchFrontier(neighbours, first_frontier, node_dest.findCenter()));
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@ -405,7 +423,7 @@ class NavMesh
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Collections.reverse(res);
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println("result " + res);
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return res;
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}
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@ -425,14 +443,21 @@ class NavMesh
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{
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for (Wall w: n.polygon)
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{
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stroke(0,255,255);
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strokeWeight(3);
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stroke(255);
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strokeWeight(1);
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line(w.start.x, w.start.y, w.end.x, w.end.y);
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//w.draw();
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}
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}
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for( Wall w: map.outline){
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stroke(255,0,0);
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strokeWeight(3);
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line(w.start.x, w.start.y, w.end.x, w.end.y);
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}
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}
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}
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26
lab1.pde
26
lab1.pde
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@ -37,26 +37,26 @@ void mousePressed() {
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if (mouseButton == LEFT)
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{
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if (!entering_path) //if you haven't made a path yet
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if (!entering_path)
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{
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//println("node size " + nm.nodes.size());
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if (nm.nodes.size() > 0) //if you're on a map
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if (nm.nodes.size() > 0) // if map is pressed and nodes are still left
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{
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println("Pathfinding to single target");
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waypoints = nm.findPath(billy.kinematic.position, target);
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println("waypoints " + waypoints);
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//Collections.reverse(waypoints);
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billy.follow(waypoints);
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}
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else { //if you're not on a map
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println("Simply seeking target");
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else { //target seeking on plain space
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billy.seek(target);
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}
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}
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else //if you have a path
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else
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{
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//finish the path
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if (nm.nodes.size() > 0) //if you're on a map
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if (nm.nodes.size() > 0) //remaining map if left
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{
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PVector start_vectoint = waypoints.get(waypoints.size() -1);
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ArrayList<PVector> finalRoute = nm.findPath(start_vectoint, target);
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@ -65,13 +65,13 @@ void mousePressed() {
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waypoints.add(p);
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}
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}
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else //if you're not on a map
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else //waypoints to be added
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{
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waypoints.add(target);
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}
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println("Finishing Path");
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entering_path = false;
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println(waypoints);
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billy.follow(waypoints);
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}
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}
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