Restore back old navigation system
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Vladislav Khorev committed
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@@ -450,16 +450,7 @@ namespace FRG
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const auto addCharacter = [&](const Character* other) {
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if (!other || other == self) return;
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if (other->getHp() <= 0.f || !other->state.enabled) return;
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// Проверяем, находятся ли персонажи в состоянии фактического столкновения
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const float dist = (other->state.position - self->state.position).norm();
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const float collisionDist = self->state.collisionRadius + other->state.collisionRadius;
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// Добавляем epsilon (0.1f) для учета погрешностей при входе в зону коллизии
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const bool isColliding = dist <= (collisionDist + 0.1f);
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// Игнорируем движущегося персонажа, только если мы с ним НЕ сталкиваемся в данный момент
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if (other->isMoving() && !isColliding) return;
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if (other->isMoving()) return;
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if (distancePointToSegmentXZ(other->state.position, start, end) > kDynamicObstacleInfluenceDist) {
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return;
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@@ -469,7 +460,7 @@ namespace FRG
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obs.position = Eigen::Vector3f(other->state.position.x(), navigation->getFloorY(), other->state.position.z());
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obs.radius = (std::max)(0.0f, other->state.collisionRadius * 0.6f);
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dynamicObstacles.push_back(obs);
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};
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};
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addCharacter(player.get());
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for (const auto& npc : npcs) {
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@@ -477,8 +468,8 @@ namespace FRG
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}
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return navigation->findPathToNearest(start, end, dynamicObstacles);
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};
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};
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};
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if (player) {
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player->setPathPlanner(makePlanner(player.get()));
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@@ -600,9 +591,6 @@ namespace FRG
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}
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Character* Location::raycastNpcs(const Eigen::Vector3f& rayOrigin, const Eigen::Vector3f& rayDir, float maxDistance) {
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//return nullptr;
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// Every NPC is treated as a vertical cylinder: radius 1.0m, height 1.85m,
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// base at npc->position (the model's foot). Intersection = circle hit in the
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// XZ plane, then clip the entry/exit t against the [yFoot, yFoot+height] slab.
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@@ -666,6 +654,7 @@ namespace FRG
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else {
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//logger() << "[RAYCAST_NPC] No NPC hit" << std::endl;
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}
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return closestNpc;
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}
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@@ -1424,83 +1413,53 @@ namespace FRG
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continue;
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}
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// 1. ПЕРЕСТРОЕНИЕ ПУТИ (выполняется при пересечении обычного радиуса коллизии)
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Eigen::Vector2f normal(1.f, 0.f);
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if (dist > kMinSeparationEps) {
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normal = delta / dist;
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}
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const float penetration = (minDist - dist);
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const float push = penetration * 0.5f;
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Eigen::Vector3f newA = a->state.position;
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Eigen::Vector3f newB = b->state.position;
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newA.x() -= normal.x() * push;
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newA.z() -= normal.y() * push;
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newA.y() = 0.f;
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newB.x() += normal.x() * push;
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newB.z() += normal.y() * push;
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newB.y() = 0.f;
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const bool aWasMoving = a->isMoving();
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const bool bWasMoving = b->isMoving();
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auto tryReplan = [&](Character* c) {
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if (replanCooldownRemainingMs.find(c) != replanCooldownRemainingMs.end()) {
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return; // Уже находится в откате
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}
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if (c->forceReplan()) {
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replanCooldownRemainingMs[c] = 500; // таймаут на спам
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}
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};
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if (navigation && navigation->isReady()) {
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const bool aOk = navigation->isWalkable(newA);
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const bool bOk = navigation->isWalkable(newB);
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if (aWasMoving || bWasMoving) {
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if (aWasMoving && bWasMoving) {
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tryReplan(a);
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tryReplan(b);
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}
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else if (aWasMoving) {
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tryReplan(a);
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}
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else if (bWasMoving) {
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tryReplan(b);
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}
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}
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// 2. ФИЗИЧЕСКОЕ ВЫТАЛКИВАНИЕ (только если дистанция меньше 0.5 * minDist)
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const float hardMinDist = minDist * 0.5f;
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if (dist < hardMinDist) {
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Eigen::Vector2f normal(1.f, 0.f);
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if (dist > kMinSeparationEps) {
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normal = delta / dist;
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}
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// Вычисляем выталкивание относительно hardMinDist, а не minDist
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const float penetration = (hardMinDist - dist);
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const float push = penetration * 0.5f;
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Eigen::Vector3f newA = a->state.position;
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Eigen::Vector3f newB = b->state.position;
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newA.x() -= normal.x() * push;
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newA.z() -= normal.y() * push;
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newA.y() = 0.f;
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newB.x() += normal.x() * push;
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newB.z() += normal.y() * push;
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newB.y() = 0.f;
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if (navigation && navigation->isReady()) {
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const bool aOk = navigation->isWalkable(newA);
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const bool bOk = navigation->isWalkable(newB);
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if (aOk && bOk) {
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a->state.position = newA;
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b->state.position = newB;
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}
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else if (aOk && !bOk) {
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a->state.position = newA;
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}
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else if (!aOk && bOk) {
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b->state.position = newB;
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}
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}
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else {
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if (aOk && bOk) {
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a->state.position = newA;
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b->state.position = newB;
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}
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else if (aOk && !bOk) {
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a->state.position = newA;
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}
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else if (!aOk && bOk) {
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b->state.position = newB;
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}
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}
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else {
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a->state.position = newA;
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b->state.position = newB;
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}
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// 3. ОСТАНОВКА И КОЛЛБЭКИ
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if (a->state.isPlayer && !aWasMoving) a->stopInPlace();
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if (b->state.isPlayer && !bWasMoving) b->stopInPlace();
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if (aWasMoving && !bWasMoving) {
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nudgeCharacterAside(b, a->state.position);
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fireBumpCallbacks(a, b);
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}
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else if (bWasMoving && !aWasMoving) {
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} else if (bWasMoving && !aWasMoving) {
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nudgeCharacterAside(a, b->state.position);
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fireBumpCallbacks(b, a);
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}
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