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Added recastnavigation support

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This commit is contained in:
Sergey Lapin
2026-02-06 18:07:42 +03:00
parent 0405214388
commit d4bac06d94
42 changed files with 12227 additions and 158 deletions
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13
src/gamedata/CharacterAIModule.cpp
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@@ -338,15 +338,6 @@ CharacterAIModule::CharacterAIModule(flecs::world &ecs)
.interval(0.1f)
.each([this](flecs::entity town, ActionNodeList &alist,
TownAI &ai, const TownNPCs &npcs) {
for (auto it = npcs.npcs.begin(); it != npcs.npcs.end();
it++) {
const auto &npc = npcs.npcs.at(it->first);
if (ai.blackboards.find(it->first) ==
ai.blackboards.end())
continue;
ai.blackboards.at(it->first).setPosition(
npc.position);
}
Ogre::Root::getSingleton().getWorkQueue()->addTask(
[this, town, &alist, npcs, &ai]() {
{
@@ -471,6 +462,7 @@ void CharacterAIModule::buildPlans(flecs::entity town, const TownNPCs &npcs,
const auto &npc = npcs.npcs.at(it->first);
int index = it->first;
ai.plans[index] = {};
bb.query_ai();
for (const auto &goal : ai.goals)
plan_tasks.emplace_back(bb, goal,
ai.planner.get());
@@ -601,6 +593,8 @@ void CharacterAIModule::updateBlackboards(flecs::entity town,
continue;
ai.blackboards.at(it->first).index = it->first;
ai.blackboards.at(it->first).town = town;
ai.blackboards.at(it->first).setPosition(
npcs.npcs.at(it->first).position);
for (auto e : ai.memoryUpdates) {
std::string key = e.name;
auto &memory = ai.memory.at(it->first);
@@ -613,7 +607,6 @@ void CharacterAIModule::updateBlackboards(flecs::entity town,
}
auto &bb = ai.blackboards.at(it->first);
bb.updateBits(ai, ai.memory.at(it->first), it->second.props);
bb.query_ai();
}
}

27
src/gamedata/GameData.cpp
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@@ -106,17 +106,22 @@ void setupExteriorScene(Ogre::SceneManager *scnMgr, Ogre::SceneNode *cameraNode,
ecs.set<Camera>({ cameraNode, camera, false });
ecs.add<GameData>();
ecs.add<Input>();
ecs.add<WaterSurface>();
ecs.set<Sun>({ nullptr, nullptr, nullptr, nullptr });
ecs.set<Terrain>({ nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
false,
{ 0, 0, 0 } });
ecs.observer<GameState>("Game_Start_Scen_Startup")
.event(flecs::OnAdd)
.each([](GameState &game) {
ECS::get().add<WaterSurface>();
ECS::get().set<Sun>(
{ nullptr, nullptr, nullptr, nullptr });
ECS::get().set<Terrain>({ nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
nullptr,
false,
{ 0, 0, 0 } });
});
if (!ecs.has<LuaBase>())
ecs.add<LuaBase>();
if (!ecs.has<LuaEvent>())

134
src/gamedata/PhysicsModule.cpp
View File

@@ -70,19 +70,6 @@ PhysicsModule::PhysicsModule(flecs::world &ecs)
c.mCameraNode);
ECS::modified<Physics>();
});
#if 0
ecs.system<PhysicsBody>("create_body")
.kind(flecs::OnUpdate)
.without<JPH::BodyID>()
.each([&](flecs::entity e, PhysicsBody &rb) {
JPH::BodyID id =
JoltPhysicsWrapper::getSingleton().createBody(
rb.shape.get(), rb.node,
(JPH::EMotionType)rb.motion,
(JPH::ObjectLayer)rb.layer);
e.set<JPH::BodyID>(id);
});
#endif
ecs.system<EngineData, Physics>("physics_update")
.kind(PhysicsUpdate)
.each([&](EngineData &e, Physics &ph) {
@@ -285,57 +272,10 @@ PhysicsModule::PhysicsModule(flecs::world &ecs)
"_exit",
trigger_e,
other_e);
#if 0
/* do not delete triggers until exit from actuator */
other_e.remove<InTrigger>(
trigger_e);
trigger_e.remove<TriggeredBy>(
other_e);
#endif
}
ECS::modified<LuaEvent>();
});
});
#if 0
ecs.system<const EngineData, const EventTrigger, const JPH::BodyID>(
"UpdateTriggerPhysicsPre")
.kind(PhysicsPreUpdate)
.with<TerrainReady>()
.with<WaterReady>()
.with<WaterBody>()
.each([](flecs::entity e, const EngineData &eng,
const EventTrigger &trigger, const JPH::BodyID &id) {
/* FIXME: update positions for triggers, probably need to move somewhere */
JoltPhysicsWrapper::getSingleton()
.setPositionAndRotation(
id, trigger.node->_getDerivedPosition(),
trigger.node->_getDerivedOrientation());
#if 0
std::cout << trigger.node->_getDerivedPosition() << " "
<< trigger.node->getPosition() << " "
<< trigger.node->getParent()->getName()
<< ": " << trigger.node->getName()
<< std::endl;
// OgreAssert(false, "update triggers");
#endif
});
ecs.system<const EngineData, const EventTrigger, const JPH::BodyID>(
"UpdateTriggerPhysicsPost")
.kind(PhysicsPostUpdate)
.with<TerrainReady>()
.with<WaterReady>()
.with<WaterBody>()
.each([](flecs::entity e, const EngineData &eng,
const EventTrigger &trigger, const JPH::BodyID &id) {
/* FIXME: update positions for triggers, probably need to move somewhere */
Ogre::Vector3 position;
Ogre::Quaternion rotation;
JoltPhysicsWrapper::getSingleton()
.getPositionAndRotation(id, position, rotation);
trigger.node->_setDerivedPosition(position);
trigger.node->_setDerivedOrientation(rotation);
});
#endif
ecs.system<const EngineData>("init_water")
.kind(PhysicsPreUpdate)
.with<TerrainReady>()
@@ -344,16 +284,6 @@ PhysicsModule::PhysicsModule(flecs::world &ecs)
.each([this](const EngineData &eng) {
ECS::get().set<WaterBody>({});
});
#if 0
ecs.system<const EngineData>("DebugData")
.kind(PhysicsPostUpdate)
.each([this](const EngineData &eng) {
std::cout << "TerrainReady: "
<< ECS::get().has<TerrainReady>();
std::cout << " WaterReady: "
<< ECS::get().has<WaterReady>() << std::endl;
});
#endif
ecs.system<const EngineData, WaterBody>("update_water")
.kind(PhysicsPostUpdate)
.with<TerrainReady>()
@@ -365,57 +295,6 @@ PhysicsModule::PhysicsModule(flecs::world &ecs)
eng.delta,
water.mWaterNode->_getDerivedPosition(),
body.inWater);
#if 0
for (JPH::BodyID inBodyID : body.inWater) {
if (JoltPhysicsWrapper::getSingleton().isActive(
inBodyID)) {
float my =
JoltPhysicsWrapper::getSingleton()
.getPosition(inBodyID)
.y;
float myv =
JoltPhysicsWrapper::getSingleton()
.getLinearVelocity(
inBodyID)
.y;
float b = 1.0f;
float drag = 0.5f;
float adrag = 0.05f;
float level = -1.3f;
float mdec = 1.0f;
float minc = 1.0f;
float h = -my + level;
if (h < 0)
h = 0;
if (my < level - 0.1f)
b *= 1.1f * (1.0f + 1.2f * h);
else if (my > level + 0.1f) {
b *= 0.8f;
if (myv > 0.1f)
b *= 0.9f;
if (my > level + 0.4f)
b *= 0.5f;
}
if (myv < 0.0f)
drag = 0.7f;
JoltPhysicsWrapper::getSingleton().applyBuoyancyImpulse(
inBodyID,
water.mWaterNode->_getDerivedPosition() -
Ogre::Vector3(0, 0.1f,
0),
Ogre::Vector3::UNIT_Y, b, drag,
adrag, Ogre::Vector3::ZERO,
eng.delta);
// std::cout << b << std::endl;
#if 0
std::cout << "addHit: "
<< JoltPhysics::convert(
body.GetPosition())
<< std::endl;
#endif
}
}
#endif
ECS::get().add<WaterReady>();
});
ecs.system<const JPH::BodyID, const WaterBody>("update_water_status1")
@@ -507,12 +386,6 @@ PhysicsModule::PhysicsModule(flecs::world &ecs)
float myv = JoltPhysicsWrapper::getSingleton()
.getLinearVelocity(id)
.y;
#if 0
if (my < level && myv < 0)
b = 10.0f;
else if (my > level && myv > 0)
b = 0.8f;
#endif
/* max = 2.7; min = 1.7 */
if (my < level)
b = 2.2f;
@@ -601,13 +474,6 @@ PhysicsModule::PhysicsModule(flecs::world &ecs)
Ogre::Vector3::UNIT_Y, b, drag,
adrag, Ogre::Vector3::ZERO,
eng.delta);
// std::cout << b << std::endl;
#if 0
std::cout << "addHit: "
<< JoltPhysics::convert(
body.GetPosition())
<< std::endl;
#endif
}
});
ecs.system<const EngineData, const CharacterBody>("UpdatePhysics")

2
src/gamedata/StaticGeometryModule.cpp
View File

@@ -84,6 +84,8 @@ StaticGeometryModule::StaticGeometryModule(flecs::world &ecs)
new Ogre::MeshLodGenerator();
ecs.system("AddGeometryQueue").kind(flecs::OnUpdate).run([&](flecs::iter &it) {
std::list<flecs::entity> items;
if (!ECS::get().has<Terrain>())
return;
if (!ECS::get<Terrain>().mTerrainGroup)
return;
if (!itemsLoaded) {