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Fixing Detour raw data implementation, pathfinding works.
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@jondwillis
jondwillis committed May 13, 2020
1 parent 1717306 commit ab8056f
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Showing 4 changed files with 226 additions and 127 deletions.
141 changes: 107 additions & 34 deletions EasyFarm/Classes/NavMesh.cs
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Expand Up @@ -2,14 +2,17 @@
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.Linq;
using MemoryAPI;
using MemoryAPI.Navigation;


public class NavMesh
{

static int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET';
static int NAVMESHSET_VERSION = 1;
private Detour.dtNavMesh dtNavMesh;
private IMemoryAPI api;

public NavMesh(IMemoryAPI api)
{
Expand Down Expand Up @@ -63,8 +66,8 @@ public static int ByteSize()
{
var start = 0;

start += sizeof(int);
start += sizeof(uint);
start += sizeof(int);

return start;
}
Expand All @@ -88,19 +91,30 @@ public bool LoadZone(Zone zone)
Unload();
}

//var context = new Recast.rcContext();
//polyMesh = new Recast.rcPolyMesh();
//Recast.rcBuildPolyMesh(context, )

var headerBufferSize = NavMeshSetHeader.ByteSize();
var headerBuffer = new byte[headerBufferSize];

if (!File.Exists(path))
{
return false;
}

var file = File.OpenRead(path);
file.Read(headerBuffer, 0, headerBufferSize);

NavMeshSetHeader header = new NavMeshSetHeader();
var headerBytesRead = header.FromBytes(headerBuffer, 0);

if (header.magic != NAVMESHSET_MAGIC)
{
return false;
}

if (header.version != NAVMESHSET_VERSION)
{
return false;
}

var navMesh = new Detour.dtNavMesh();
navMesh.init(header.meshParams);

Expand All @@ -117,15 +131,9 @@ public bool LoadZone(Zone zone)
var rawTileData = new Detour.dtRawTileData();
var data = new byte[tileHeader.dataSize];
file.Read(data, 0, data.Length);
//try
//{
rawTileData.FromBytes(data, 0);
//} catch(Exception e)
//{
// break;
//}
rawTileData.FromBytes(data, 0);
uint result = 0;
navMesh.addTile(rawTileData, 0x01 /*DT_TILE_FREE_DATA*/, tileHeader.tileRef, ref result);
navMesh.addTile(rawTileData, tileHeader.dataSize, 0x01 /*DT_TILE_FREE_DATA*/, tileHeader.tileRef, ref result);
if (Detour.dtStatusFailed(result))
{
return false;
Expand All @@ -143,12 +151,6 @@ public bool LoadZone(Zone zone)
}

dtNavMesh = navMesh;
//var meshHeader = new Detour.dtMeshHeader();

//var meshHeaderResult = meshHeader.FromBytes(headerBuffer, 0);

//var navMesh = new Detour.dtNavMesh();


return headerBytesRead > 0;
}
Expand All @@ -163,8 +165,8 @@ private static Position ToFFXIPosition(float[] detourPosition)
var ffxiPosition = new Position();

ffxiPosition.X = detourPosition[0];
ffxiPosition.Z = -detourPosition[1];
ffxiPosition.Y = -detourPosition[2];
ffxiPosition.Y = -detourPosition[1];
ffxiPosition.Z = -detourPosition[2];

return ffxiPosition;

Expand All @@ -174,19 +176,20 @@ private static float[] ToDetourPosition(Position position)
float[] detourPosition = new float[3];

detourPosition[0] = position.X;
detourPosition[1] = -position.Z;
detourPosition[2] = -position.Y;
detourPosition[1] = -position.Y;
detourPosition[2] = -position.Z;

return detourPosition;
}

public Queue<Position> FindPathBetween(Position start, Position end)
public Queue<Position> FindPathBetween(Position start, Position end, bool useStraightPath = false)
{
var path = new Queue<Position>();

if (dtNavMesh == null)
{
return new Queue<Position>(0);
return path;
}

var startDetourPosition = ToDetourPosition(start);
var endDetourPosition = ToDetourPosition(end);

Expand All @@ -197,39 +200,109 @@ public Queue<Position> FindPathBetween(Position start, Position end)

if (Detour.dtStatusFailed(status))
{
return new Queue<Position>(0);
return path;
}

queryFilter.setIncludeFlags(0xffff);
queryFilter.setIncludeFlags(0x0);
queryFilter.setExcludeFlags(0x0);

uint startRef = 0;
uint endRef = 0;
float[] startNearest = new float[3];
float[] endNearest = new float[3];

float[] extents = new float[] { 10000.0F, 20000.0F, 10000.0F };
float[] extents = new float[] { 10.0F, 20.0F, 10.0F };

status = navMeshQuery.findNearestPoly(startDetourPosition, extents, queryFilter, ref startRef, ref startNearest);

if (Detour.dtStatusFailed(status))
{
return new Queue<Position>(0);
return path;
}

status = navMeshQuery.findNearestPoly(endDetourPosition, extents, queryFilter, ref endRef, ref endNearest);

if (Detour.dtStatusFailed(status))
{
return new Queue<Position>(0);
return path;
}

if (!dtNavMesh.isValidPolyRef(startRef) || !dtNavMesh.isValidPolyRef(endRef))
{
return new Queue<Position>(0);
return path;
}

uint[] pathPolys = new uint[256];

int pathCount = 0;

status = navMeshQuery.findPath(startRef, endRef, startNearest, endNearest, queryFilter, pathPolys, ref pathCount, 256);

if (Detour.dtStatusFailed(status))
{
return path;
}

return new Queue<Position>();
// i starts at 3 so the start position is ignored
for (int i = 1; i < pathCount; i++)
{
float[] pathPos = new float[3];
bool posOverPoly = false;
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPoly(pathPolys[i], startDetourPosition, pathPos, ref posOverPoly)))
//if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPolyBoundary(pathPolys[i], startDetourPosition, pathPos)))
return path;

var position = ToFFXIPosition(pathPos);

path.Enqueue(position);
}

/*if (path.Count < 3)
{
float[] straightPath = new float[256 * 3];
byte[] straightPathFlags = new byte[256];
uint[] straightPathPolys = new uint[256];
int straightPathCount = 256 * 3;
status = navMeshQuery.findStraightPath(
startNearest,
endNearest,
pathPolys,
pathCount,
straightPath,
straightPathFlags,
straightPathPolys,
ref straightPathCount,
256,
0
);
if (straightPathCount > 1)
{
if (Detour.dtStatusFailed(status))
{
return path;
}
path.Clear();
// i starts at 3 so the start position is ignored
for (int i = 3; i < straightPathCount * 3;)
{
float[] pathPos = new float[3];
pathPos[0] = straightPath[i++];
pathPos[1] = straightPath[i++];
pathPos[2] = straightPath[i++];
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
}*/

return path;

}

public Position NextRandomPosition(Position start)
Expand Down

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