寻路库recastnavigation改造

简介: 寻路库recastnavigation改造

本文是介绍对寻路库recastnavigation 改造,使得使用更加友好。

Git仓库:

https://github.com/jiangguilong2000/recastnavigation

首先,我们要做一些前置操作

SDL: 开放源代码的跨平台多媒体开发库

Premake:量跨平台构建系统

环境:

VS 2019以及完整的C++编译环境

Rider For Unreal Engine 2022.2.1(下面简称Rider)

Unity 2019.4.8 lts

.Net Core 2.2

1.首先把git库拉到本地,先将下载的SDL库放到ecastnavigation\RecastDemo\Contrib,需要改名为SDL,应该得到如下目录recastnavigation-master\RecastDemo\Contrib\SDL\lib\x64

2/然后将下载premake5.exe放入

recastnavigation\RecastDemo

3.然后通过命令行控制premake编译recastnavigation为sln工程

PS E:\recastnavigation\RecastDemo> .\premake5.exe vs2019
Building configurations...
Running action 'vs2019'...
Generated Build/vs2019/recastnavigation.sln...
Generated Build/vs2019/DebugUtils.vcxproj...
Generated Build/vs2019/DebugUtils.vcxproj.filters...
Generated Build/vs2019/Detour.vcxproj...
Generated Build/vs2019/Detour.vcxproj.filters...
Generated Build/vs2019/DetourCrowd.vcxproj...
Generated Build/vs2019/DetourCrowd.vcxproj.filters...
Generated Build/vs2019/DetourTileCache.vcxproj...
Generated Build/vs2019/DetourTileCache.vcxproj.filters...
Generated Build/vs2019/Recast.vcxproj...
Generated Build/vs2019/Recast.vcxproj.filters...
Generated Build/vs2019/RecastDemo.vcxproj...
Generated Build/vs2019/RecastDemo.vcxproj.user...
Generated Build/vs2019/RecastDemo.vcxproj.filters...
Generated Build/vs2019/Tests.vcxproj...
Generated Build/vs2019/Tests.vcxproj.user...
Generated Build/vs2019/Tests.vcxproj.filters...
Done (160ms).

然后目录中会生成一个Build文件夹,里面是我们编译出来的sln工程

recastnavigation\RecastDemo\Build\vs2019\recastnavigation.sln

用rider打开,直接运行,我们就能看到编辑器画面了

接下去我们要对源码进行一些改造:

原始的recast是没有开始点和结束点的坐标的,那如何能显示出来呢?

void NavMeshTesterTool::handleRenderOverlay(double* proj, double* model, int* view)
{
  GLdouble x, y, z;
  char buf[64];
  // Draw start and end point labels
  if (m_sposSet && gluProject((GLdouble)m_spos[0], (GLdouble)m_spos[1], (GLdouble)m_spos[2],
    model, proj, view, &x, &y, &z))
  {
    if (m_showCoord)
    {
      snprintf(buf, sizeof(buf), "Start (%.1f, %.1f, %.1f)", m_spos[0], m_spos[1], m_spos[2]);
      imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, buf, imguiRGBA(0, 0, 0, 220));
    }
    else
      imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, "Start", imguiRGBA(0, 0, 0, 220));
  }
  if (m_toolMode == TOOLMODE_RAYCAST && m_hitResult && m_showCoord &&
    gluProject((GLdouble)m_hitPos[0], (GLdouble)m_hitPos[1], (GLdouble)m_hitPos[2],
      model, proj, view, &x, &y, &z))
  {
    snprintf(buf, sizeof(buf), "HitPos (%.1f, %.1f, %.1f)", m_hitPos[0], m_hitPos[1], m_hitPos[2]);
    imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, buf, imguiRGBA(0, 0, 0, 220));
  }
  if (m_eposSet && gluProject((GLdouble)m_epos[0], (GLdouble)m_epos[1], (GLdouble)m_epos[2],
    model, proj, view, &x, &y, &z))
  {
    if (m_showCoord)
    {
      float totalCost = 0.0f;
      for (int i = 0; i + 1 < m_nstraightPath; i++)
        totalCost += dtVdist(&m_straightPath[i * 3], &m_straightPath[(i + 1) * 3]);
      snprintf(buf, sizeof(buf), "End (%.1f, %.1f, %.1f), Cost %.1f", m_epos[0], m_epos[1], m_epos[2], totalCost);
      imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, buf, imguiRGBA(0, 0, 0, 220));
    }
    else
      imguiDrawText((int)x, (int)(y - 25), IMGUI_ALIGN_CENTER, "End", imguiRGBA(0, 0, 0, 220));
  }
}

那么,如何能显示出关键点point list?,首先,路径搜索的模式要改成TOOLMODE_PATHFIND_STRAIGHT模式,代码需要增加如下的打印,

在NavMeshTesterTool.cpp中增加,

void NavMeshTesterTool::recalc(){
....
....
  if (m_toolMode == TOOLMODE_PATHFIND_STRAIGHT&& m_nstraightPath>0) 
      {
        stringstream os;
        os << "total point size=" << m_nstraightPath<< ",";
        //m_sample->getContext()->log(RC_LOG_PROGRESS, "total point size=%d", m_nstraightPath);
        for (int i = 0; i < m_nstraightPath; ++i)
        {
          if (i > 0&&i%10==0) {
            m_sample->getContext()->log(RC_LOG_PROGRESS, "%s", os.str().c_str());
            os.str("");
          }
          os << "[" << m_straightPath[i * 3] << "," << m_straightPath[i * 3 + 1] << "," << m_straightPath[i * 3 + 2] << "] ";
        }
        m_sample->getContext()->log(RC_LOG_PROGRESS, "%s", os.str().c_str());
      }
}

在Sample.h中增加

public:
  Sample();
  virtual ~Sample();
  void setContext(BuildContext* ctx) { m_ctx = ctx; }
  BuildContext* getContext() {
    return m_ctx;
  }

最后一个问题,如何把显示日志的地方的文本能鼠标选中?做了个曲线救国,通过按钮复制来搞定!

//拷贝
  if (imguiButton("Copy Log"))
  {
    HGLOBAL hGlobal;
    string allLog = "";
    string prefix = "total point";
    bool flag=false;
    for (int i = 0; i < m_sample->getContext()->getLogCount(); ++i)
    {
      string content = string(m_sample->getContext()->getLogText(i));
      if(flag)
      {
        allLog += content + "\n";
      }else
      {
        size_t index = content.find(prefix);
        if(index < content.length())
        {
          flag=true;
          allLog += content + "\n";
        }
      }
    }
    const char* content = allLog.c_str();
    int bufSize = MultiByteToWideChar(CP_ACP, 0, content, -1, NULL, 0);
    wchar_t* wbuf = new wchar_t[bufSize];
    MultiByteToWideChar(CP_ACP, 0, content, -1, wbuf, bufSize);
    hGlobal = GlobalAlloc(GHND, (lstrlenW(wbuf) + 1) * sizeof(wchar_t)); // lstrlenW sizeof(wchar_t)
    wchar_t* pGlobal = (wchar_t*)GlobalLock(hGlobal); // wchar_t
    lstrcpyW(pGlobal, wbuf); // lstrcpyW
    GlobalUnlock(hGlobal);
    OpenClipboard(NULL);
    EmptyClipboard();
    SetClipboardData(CF_UNICODETEXT, hGlobal); // UnicodeCF_UNICODETEXT
    CloseClipboard();
    recalc();
  }

效果如下:

复制出来的结果:

total point start{-31.7925,0,85.1438} end{-91.9496,0,109.848}  size=6,[-31.7925,0,85.1438] [-55.1,1.6,104.598] [-56.3,2,105.498] [-61.1,2.4,107.298] [-65.6,1.6,107.898] [-91.9496,0,109.848]
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