diff options
Diffstat (limited to 'modules/navigation/3d/nav_mesh_generator_3d.cpp')
| -rw-r--r-- | modules/navigation/3d/nav_mesh_generator_3d.cpp | 21 |
1 files changed, 15 insertions, 6 deletions
diff --git a/modules/navigation/3d/nav_mesh_generator_3d.cpp b/modules/navigation/3d/nav_mesh_generator_3d.cpp index e92a9d304b..3d0697a7cf 100644 --- a/modules/navigation/3d/nav_mesh_generator_3d.cpp +++ b/modules/navigation/3d/nav_mesh_generator_3d.cpp @@ -595,11 +595,17 @@ void NavMeshGenerator3D::generator_parse_navigationobstacle_node(const Ref<Navig return; } - const Transform3D node_xform = p_source_geometry_data->root_node_transform * Transform3D(Basis(), obstacle->get_global_position()); - + const float elevation = obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y; + // Prevent non-positive scaling. + const Vector3 safe_scale = obstacle->get_global_basis().get_scale().abs().maxf(0.001); const float obstacle_radius = obstacle->get_radius(); if (obstacle_radius > 0.0) { + // Radius defined obstacle should be uniformly scaled from obstacle basis max scale axis. + const float scaling_max_value = safe_scale[safe_scale.max_axis_index()]; + const Vector3 uniform_max_scale = Vector3(scaling_max_value, scaling_max_value, scaling_max_value); + const Transform3D obstacle_circle_transform = p_source_geometry_data->root_node_transform * Transform3D(Basis().scaled(uniform_max_scale), obstacle->get_global_position()); + Vector<Vector3> obstruction_circle_vertices; // The point of this is that the moving obstacle can make a simple hole in the navigation mesh and affect the pathfinding. @@ -613,12 +619,15 @@ void NavMeshGenerator3D::generator_parse_navigationobstacle_node(const Ref<Navig for (int i = 0; i < circle_points; i++) { const float angle = i * circle_point_step; - circle_vertices_ptrw[i] = node_xform.xform(Vector3(Math::cos(angle) * obstacle_radius, 0.0, Math::sin(angle) * obstacle_radius)); + circle_vertices_ptrw[i] = obstacle_circle_transform.xform(Vector3(Math::cos(angle) * obstacle_radius, 0.0, Math::sin(angle) * obstacle_radius)); } - p_source_geometry_data->add_projected_obstruction(obstruction_circle_vertices, obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y - obstacle_radius, obstacle_radius, obstacle->get_carve_navigation_mesh()); + p_source_geometry_data->add_projected_obstruction(obstruction_circle_vertices, elevation - obstacle_radius, scaling_max_value * obstacle_radius, obstacle->get_carve_navigation_mesh()); } + // Obstacles are projected to the xz-plane, so only rotation around the y-axis can be taken into account. + const Transform3D node_xform = p_source_geometry_data->root_node_transform * Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), obstacle->get_global_rotation().y), obstacle->get_global_position()); + const Vector<Vector3> &obstacle_vertices = obstacle->get_vertices(); if (obstacle_vertices.is_empty()) { @@ -635,7 +644,7 @@ void NavMeshGenerator3D::generator_parse_navigationobstacle_node(const Ref<Navig obstruction_shape_vertices_ptrw[i] = node_xform.xform(obstacle_vertices_ptr[i]); obstruction_shape_vertices_ptrw[i].y = 0.0; } - p_source_geometry_data->add_projected_obstruction(obstruction_shape_vertices, obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y, obstacle->get_height(), obstacle->get_carve_navigation_mesh()); + p_source_geometry_data->add_projected_obstruction(obstruction_shape_vertices, elevation, safe_scale.y * obstacle->get_height(), obstacle->get_carve_navigation_mesh()); } void NavMeshGenerator3D::generator_parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node) { @@ -660,7 +669,7 @@ void NavMeshGenerator3D::generator_parse_source_geometry_data(const Ref<Navigati for (Node *parse_node : parse_nodes) { generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, parse_node, recurse_children); } -}; +} void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data) { if (p_navigation_mesh.is_null() || p_source_geometry_data.is_null()) { |