merge

src/Character.h

@@ -8,6 +8,7 @@
 #include <map>
 #include <string>
 #include <cstdint>
+#include <vector>
 
 namespace ZL {
 
@@ -22,6 +23,10 @@ enum class AnimationState {
 
 class Character {
 public:
+    using PathPlanner = std::function<std::vector<Eigen::Vector3f>(
+        const Eigen::Vector3f& start,
+        const Eigen::Vector3f& end)>;
+
     void loadAnimation(AnimationState state, const std::string& filename, const std::string& zipFile = "");
     void loadBinaryAnimation(AnimationState state, const std::string& filename, const std::string& zipFile = "");
     // void setTexture(std::shared_ptr<Texture> texture);
@@ -33,6 +38,7 @@ public:
     // From Python you can chain further commands (walk, wait, trigger others).
     void setTarget(const Eigen::Vector3f& target,
                    std::function<void()> onArrived = nullptr);
+    void setPathPlanner(PathPlanner planner);
     void draw(Renderer& renderer);
     void drawShadowDepth(Renderer& renderer);
     void drawWithShadow(Renderer& renderer, const Eigen::Matrix4f& lightFromCamera, GLuint shadowMapTex, const Eigen::Vector3f& lightDirCamera);
@@ -83,13 +89,18 @@ private:
     };
 
     std::map<AnimationState, AnimationData> animations;
-     std::shared_ptr<Texture> texture;
+    std::shared_ptr<Texture> texture;
 
     Eigen::Vector3f walkTarget = Eigen::Vector3f(0.f, 0.f, 0.f);
+    Eigen::Vector3f requestedWalkTarget = Eigen::Vector3f(0.f, 0.f, 0.f);
+    std::vector<Eigen::Vector3f> pathWaypoints;
+    size_t currentWaypointIndex = 0;
+    PathPlanner pathPlanner;
     float targetFacingAngle = 0.0f;
     std::function<void()> onArrivedCallback;
 
     static constexpr float WALK_THRESHOLD = 0.05f;
+    static constexpr float TARGET_REPLAN_THRESHOLD = 0.25f;
 
     // Returns the animation state to actually play/draw, falling back to IDLE
     // if the requested state has no loaded animation.