salmon-engine-projects/shadow-over-bishkek001
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Added collision

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anime committed 2026-04-26 22:18:42 +06:00
1 parent 2ee288cbe0
commit cebbb8bb5d
6 files changed
+465 -21
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src/navigation/PathFinder.h
+14
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@@ -14,6 +14,11 @@ public:
Eigen::Vector3f offset = Eigen::Vector3f::Zero();
};
struct DynamicObstacle {
Eigen::Vector3f position = Eigen::Vector3f::Zero();
float radius = 0.0f;
};
struct Cell {
int x = 0;
int z = 0;
@@ -32,6 +37,10 @@ public:
std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
const Eigen::Vector3f& end) const;
std::vector<Eigen::Vector3f> findPath(const Eigen::Vector3f& start,
const Eigen::Vector3f& end,
const std::vector<DynamicObstacle>& dynamicObstacles) const;
bool setAreaAvailable(const std::string& areaName, bool available);
bool isReady() const { return ready; }
bool isWalkable(const Eigen::Vector3f& point) const;
@@ -74,6 +83,11 @@ private:
std::vector<Cell> smoothCells(const std::vector<Cell>& cells) const;
static bool pointInPolygon(float x, float z, const std::vector<Eigen::Vector2f>& polygon);
bool isCellWalkable(const Cell& cell, const std::vector<unsigned char>& walkableGrid) const;
bool findNearestWalkableCell(const Eigen::Vector3f& point, Cell& out, const std::vector<unsigned char>& walkableGrid) const;
bool hasLineOfSight(const Cell& from, const Cell& to, const std::vector<unsigned char>& walkableGrid) const;
std::vector<Cell> smoothCells(const std::vector<Cell>& cells, const std::vector<unsigned char>& walkableGrid) const;
};
} // namespace ZL