added forbidden zones

resources/config2/navigation2.json

@@ -113,6 +113,17 @@
           [1, -5.5],
           [-0.2, -5.5]
         ]
+      },
+      {
+        "name": "main_corridor",
+        "available": true,
+        "forbidden": true,
+        "polygon": [
+            [-15, 15],
+            [15, 15],
+            [15, 2.2],
+            [-15, 2.2]
+        ]
       }
     ]
   }

src/Location.cpp

@@ -400,6 +400,7 @@ void Location::setup()
 		}
 //#ifdef SHOW_PATH
 		buildDebugNavMeshes();
+		buildDebugForbiddenMeshes();
 //#endif
 
 		auto planner = [this](const Eigen::Vector3f& start, const Eigen::Vector3f& end) {
@@ -444,6 +445,35 @@ void Location::setup()
 		renderer.shaderManager.PopShader();
 		renderer.SetMatrix();
 	}
+
+	void Location::buildDebugForbiddenMeshes()
+	{
+		debugForbiddenMeshes.clear();
+		const auto& areas = navigation.getAreas();
+		float y = navigation.getFloorY() + 0.2f;
+		Eigen::Vector3f blue(0.0f, 0.0f, 1.0f);
+
+		for (const auto& area : areas) {
+			if (area.forbidden && area.polygon.size() >= 3) {
+				VertexRenderStruct mesh;
+				mesh.data = CreatePolygonFloor(area.polygon, y, blue);
+				mesh.RefreshVBO();
+				debugForbiddenMeshes.push_back(std::move(mesh));
+			}
+		}
+	}
+
+	void Location::drawDebugForbidden()
+	{
+		if (debugForbiddenMeshes.empty()) return;
+		renderer.shaderManager.PushShader("defaultColor");
+		renderer.SetMatrix();
+		for (const auto& mesh : debugForbiddenMeshes) {
+			renderer.DrawVertexRenderStruct(mesh);
+		}
+		renderer.shaderManager.PopShader();
+		renderer.SetMatrix();
+	}
 //#endif
 
 
@@ -609,6 +639,7 @@ void Location::setup()
 
 //#ifdef SHOW_PATH
 		drawDebugNavigation();
+		drawDebugForbidden();
 //#endif
 
 		renderer.PopMatrix();
@@ -785,6 +816,7 @@ void Location::setup()
 		CheckGlError(__FILE__, __LINE__);
 
 		drawDebugNavigation();
+		drawDebugForbidden();
 
 		renderer.PopMatrix();
 		renderer.PopProjectionMatrix();

src/Location.h

@@ -72,6 +72,10 @@ namespace ZL
 		std::vector<VertexRenderStruct> debugNavMeshes;
 		void buildDebugNavMeshes();
 		void drawDebugNavigation();
+
+		std::vector<VertexRenderStruct> debugForbiddenMeshes;
+		void buildDebugForbiddenMeshes();
+		void drawDebugForbidden();
 //#endif
 		bool rightMouseDown = false;
 		int lastMouseX = 0;

src/navigation/PathFinder.cpp

@@ -246,6 +246,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
             NavigationArea area;
             area.name = item.value("name", "");
             area.available = item.value("available", true);
+            area.forbidden = item.value("forbidden", false);
             area.polygon = readPolygon(item);
 
             if (area.name.empty()) {
@@ -314,10 +315,44 @@ void PathFinder::resetGridBounds()
     gridDepth = static_cast<int>(std::ceil((maxZ - minZ) / cellSize));
 }
 
-void PathFinder::rebuildWalkableGrid()
+/*void PathFinder::rebuildWalkableGrid()
 {
     walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
     markAvailableAreasWalkable();
+    markObstacleMeshesBlocked();
+}*/
+void PathFinder::rebuildWalkableGrid()
+{
+    walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
+
+    for (const NavigationArea& area : areas) {
+        if (area.available && !area.forbidden) {
+            for (int z = 0; z < gridDepth; ++z) {
+                for (int x = 0; x < gridWidth; ++x) {
+                    const Cell cell{ x, z };
+                    const Eigen::Vector3f center = cellCenter(cell);
+                    if (pointInPolygon(center.x(), center.z(), area.polygon)) {
+                        walkable[static_cast<size_t>(indexOf(cell))] = 1;
+                    }
+                }
+            }
+        }
+    }
+
+    for (const NavigationArea& area : areas) {
+        if (area.forbidden) {
+            for (int z = 0; z < gridDepth; ++z) {
+                for (int x = 0; x < gridWidth; ++x) {
+                    const Cell cell{ x, z };
+                    const Eigen::Vector3f center = cellCenter(cell);
+                    if (pointInPolygon(center.x(), center.z(), area.polygon)) {
+                        walkable[static_cast<size_t>(indexOf(cell))] = 0;
+                    }
+                }
+            }
+        }
+    }
+
     markObstacleMeshesBlocked();
 }
 

src/navigation/PathFinder.h

@@ -22,6 +22,7 @@ public:
     struct NavigationArea {
         std::string name;
         bool available = true;
+        bool forbidden = false;
         std::vector<Eigen::Vector2f> polygon;
     };