little cleanup

src/navigation/PathFinder.cpp

@@ -87,14 +87,12 @@ namespace {
     }
 }
 
-void PathFinder::build(const std::vector<ObstacleMesh>& obstacleMeshes,
-                       const std::string& configPath,
+void PathFinder::build(const std::string& configPath,
                        const std::string& zipPath)
 {
     ready = false;
     loadedConfigPath = configPath;
     loadedZipPath = zipPath;
-    obstacles = obstacleMeshes;
 
     loadConfig(configPath, zipPath);
     resetGridBounds();
@@ -563,16 +561,6 @@ void PathFinder::resetGridBounds()
         }
     }
 
-    for (const ObstacleMesh& obstacle : obstacles) {
-        if (!obstacle.mesh) {
-            continue;
-        }
-        for (const Eigen::Vector3f& point : obstacle.mesh->PositionData) {
-            const Eigen::Vector3f worldPoint = point + obstacle.offset;
-            includePoint(worldPoint.x(), worldPoint.z());
-        }
-    }
-
     for (const ObstaclePolygon& obstacle : obstaclePolygons) {
         for (const Eigen::Vector2f& point : obstacle.polygon) {
             includePoint(point.x(), point.y());
@@ -593,7 +581,6 @@ void PathFinder::rebuildWalkableGrid()
 {
     walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
     markAvailableAreasWalkable();
-    markObstacleMeshesBlocked();
     markObstaclePolygonsBlocked();
 }
 
@@ -708,49 +695,6 @@ void PathFinder::markObstaclePolygonsBlocked()
     }
 }
 
-void PathFinder::markObstacleMeshesBlocked()
-{
-    if (!obstaclePolygons.empty()) {
-        // Prefer JSON-defined obstacle polygons over mesh-derived blockers.
-        // Mesh blockers tend to over-block (e.g. tree crowns) and are harder to author/tune.
-        return;
-    }
-
-    const float padding = agentRadius + objectPadding;
-
-    for (const ObstacleMesh& obstacle : obstacles) {
-        if (!obstacle.mesh || obstacle.mesh->PositionData.empty()) {
-            continue;
-        }
-
-        Eigen::Vector3f minPoint = obstacle.mesh->PositionData[0] + obstacle.offset;
-        Eigen::Vector3f maxPoint = minPoint;
-        for (const Eigen::Vector3f& localPoint : obstacle.mesh->PositionData) {
-            const Eigen::Vector3f point = localPoint + obstacle.offset;
-            minPoint = minPoint.cwiseMin(point);
-            maxPoint = maxPoint.cwiseMax(point);
-        }
-
-        Cell from;
-        Cell to;
-        worldToCell({ minPoint.x() - padding, floorY, minPoint.z() - padding }, from);
-        worldToCell({ maxPoint.x() + padding, floorY, maxPoint.z() + padding }, to);
-        from.x = (std::max)(from.x, 0);
-        from.z = (std::max)(from.z, 0);
-        to.x = (std::min)(to.x, gridWidth - 1);
-        to.z = (std::min)(to.z, gridDepth - 1);
-
-        for (int z = from.z; z <= to.z; ++z) {
-            for (int x = from.x; x <= to.x; ++x) {
-                const Cell cell{ x, z };
-                if (isInsideGrid(cell)) {
-                    walkable[static_cast<size_t>(indexOf(cell))] = 0;
-                }
-            }
-        }
-    }
-}
-
 bool PathFinder::worldToCell(const Eigen::Vector3f& point, Cell& out) const
 {
     if (gridWidth <= 0 || gridDepth <= 0) {

src/navigation/PathFinder.h

@@ -9,10 +9,6 @@ namespace ZL {
 
 class PathFinder {
 public:
-    struct ObstacleMesh {
-        const VertexDataStruct* mesh = nullptr;
-        Eigen::Vector3f offset = Eigen::Vector3f::Zero();
-    };
 
     struct ObstaclePolygon {
         std::string name;
@@ -35,8 +31,7 @@ public:
         std::vector<Eigen::Vector2f> polygon;
     };
 
-    void build(const std::vector<ObstacleMesh>& obstacleMeshes,
-               const std::string& configPath,
+    void build(const std::string& configPath,
                const std::string& zipPath = "");
 
     std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
@@ -72,7 +67,6 @@ private:
 
     std::string loadedConfigPath;
     std::string loadedZipPath;
-    std::vector<ObstacleMesh> obstacles;
     std::vector<ObstaclePolygon> obstaclePolygons;
     std::vector<unsigned char> walkable;
     std::vector<NavigationArea> areas;
@@ -81,7 +75,6 @@ private:
     void resetGridBounds();
     void rebuildWalkableGrid();
     void markAvailableAreasWalkable();
-    void markObstacleMeshesBlocked();
     void markObstaclePolygonsBlocked();
 
     bool worldToCell(const Eigen::Vector3f& point, Cell& out) const;