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corrected collision of tree

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This commit is contained in:
Ariari04 2026-05-01 16:01:32 +06:00
parent cebbb8bb5d
commit 8b0a18a6cf
5 changed files with 1204 additions and 88 deletions
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433
resources/config2/navigation.json
View File

@ -3,175 +3,472 @@
"agentRadius": 0.45, "agentRadius": 0.45,
"floorY": 0.0, "floorY": 0.0,
"objectPadding": 0.25, "objectPadding": 0.25,
"boundaryPadding": 0.35,
"areas": [ "areas": [
{ {
"name": "main_corridor", "name": "main_corridor",
"available": true, "available": true,
"polygon": [ "polygon": [
[-2.2, 0.8], [
[2.2, 0.8], -2.2,
[2.2, -40.8], 0.8
[-2.2, -40.8] ],
[
2.2,
0.8
],
[
2.2,
-40.8
],
[
-2.2,
-40.8
]
] ]
}, },
{ {
"name": "left_door_05", "name": "left_door_05",
"available": true, "available": true,
"polygon": [ "polygon": [
[-3.4, -4.2], [
[-2.0, -4.2], -3.4,
[-2.0, -5.8], -4.2
[-3.4, -5.8] ],
[
-2.0,
-4.2
],
[
-2.0,
-5.8
],
[
-3.4,
-5.8
]
] ]
}, },
{ {
"name": "right_door_05", "name": "right_door_05",
"available": true, "available": true,
"polygon": [ "polygon": [
[2.0, -4.2], [
[3.4, -4.2], 2.0,
[3.4, -5.8], -4.2
[2.0, -5.8] ],
[
3.4,
-4.2
],
[
3.4,
-5.8
],
[
2.0,
-5.8
]
] ]
}, },
{ {
"name": "left_room_05", "name": "left_room_05",
"available": true, "available": true,
"polygon": [ "polygon": [
[-8.8, -1.0], [
[-3.0, -1.0], -8.8,
[-3.0, -9.0], -1.0
[-8.8, -9.0] ],
[
-3.0,
-1.0
],
[
-3.0,
-9.0
],
[
-8.8,
-9.0
]
] ]
}, },
{ {
"name": "right_room_05", "name": "right_room_05",
"available": true, "available": true,
"polygon": [ "polygon": [
[3.0, -1.0], [
[8.8, -1.0], 3.0,
[8.8, -9.0], -1.0
[3.0, -9.0] ],
[
8.8,
-1.0
],
[
8.8,
-9.0
],
[
3.0,
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]
] ]
}, },
{ {
"name": "left_door_15", "name": "left_door_15",
"available": true, "available": true,
"polygon": [ "polygon": [
[-3.4, -14.2], [
[-2.0, -14.2], -3.4,
[-2.0, -15.8], -14.2
[-3.4, -15.8] ],
[
-2.0,
-14.2
],
[
-2.0,
-15.8
],
[
-3.4,
-15.8
]
] ]
}, },
{ {
"name": "right_door_15", "name": "right_door_15",
"available": true, "available": true,
"polygon": [ "polygon": [
[2.0, -14.2], [
[3.4, -14.2], 2.0,
[3.4, -15.8], -14.2
[2.0, -15.8] ],
[
3.4,
-14.2
],
[
3.4,
-15.8
],
[
2.0,
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]
] ]
}, },
{ {
"name": "left_room_15", "name": "left_room_15",
"available": true, "available": true,
"polygon": [ "polygon": [
[-8.8, -11.0], [
[-3.0, -11.0], -8.8,
[-3.0, -19.0], -11.0
[-8.8, -19.0] ],
[
-3.0,
-11.0
],
[
-3.0,
-19.0
],
[
-8.8,
-19.0
]
] ]
}, },
{ {
"name": "right_room_15", "name": "right_room_15",
"available": true, "available": true,
"polygon": [ "polygon": [
[3.0, -11.0], [
[8.8, -11.0], 3.0,
[8.8, -19.0], -11.0
[3.0, -19.0] ],
[
8.8,
-11.0
],
[
8.8,
-19.0
],
[
3.0,
-19.0
]
] ]
}, },
{ {
"name": "left_door_25", "name": "left_door_25",
"available": true, "available": true,
"polygon": [ "polygon": [
[-3.4, -24.2], [
[-2.0, -24.2], -3.4,
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[-3.4, -25.8] ],
[
-2.0,
-24.2
],
[
-2.0,
-25.8
],
[
-3.4,
-25.8
]
] ]
}, },
{ {
"name": "right_door_25", "name": "right_door_25",
"available": true, "available": true,
"polygon": [ "polygon": [
[2.0, -24.2], [
[3.4, -24.2], 2.0,
[3.4, -25.8], -24.2
[2.0, -25.8] ],
[
3.4,
-24.2
],
[
3.4,
-25.8
],
[
2.0,
-25.8
]
] ]
}, },
{ {
"name": "left_room_25", "name": "left_room_25",
"available": true, "available": true,
"polygon": [ "polygon": [
[-8.8, -21.0], [
[-3.0, -21.0], -8.8,
[-3.0, -29.0], -21.0
[-8.8, -29.0] ],
[
-3.0,
-21.0
],
[
-3.0,
-29.0
],
[
-8.8,
-29.0
]
] ]
}, },
{ {
"name": "right_room_25", "name": "right_room_25",
"available": true, "available": true,
"polygon": [ "polygon": [
[3.0, -21.0], [
[8.8, -21.0], 3.0,
[8.8, -29.0], -21.0
[3.0, -29.0] ],
[
8.8,
-21.0
],
[
8.8,
-29.0
],
[
3.0,
-29.0
]
] ]
}, },
{ {
"name": "left_door_35", "name": "left_door_35",
"available": true, "available": true,
"polygon": [ "polygon": [
[-3.4, -34.2], [
[-2.0, -34.2], -3.4,
[-2.0, -35.8], -34.2
[-3.4, -35.8] ],
[
-2.0,
-34.2
],
[
-2.0,
-35.8
],
[
-3.4,
-35.8
]
] ]
}, },
{ {
"name": "right_door_35", "name": "right_door_35",
"available": true, "available": true,
"polygon": [ "polygon": [
[2.0, -34.2], [
[3.4, -34.2], 2.0,
[3.4, -35.8], -34.2
[2.0, -35.8] ],
[
3.4,
-34.2
],
[
3.4,
-35.8
],
[
2.0,
-35.8
]
] ]
}, },
{ {
"name": "left_room_35", "name": "left_room_35",
"available": true, "available": true,
"polygon": [ "polygon": [
[-8.8, -31.0], [
[-3.0, -31.0], -8.8,
[-3.0, -39.0], -31.0
[-8.8, -39.0] ],
[
-3.0,
-31.0
],
[
-3.0,
-39.0
],
[
-8.8,
-39.0
]
] ]
}, },
{ {
"name": "right_room_35", "name": "right_room_35",
"available": true, "available": true,
"polygon": [ "polygon": [
[3.0, -31.0], [
[8.8, -31.0], 3.0,
[8.8, -39.0], -31.0
[3.0, -39.0] ],
[
8.8,
-31.0
],
[
8.8,
-39.0
],
[
3.0,
-39.0
]
]
}
],
"obstacles": [
{
"name": "firebox",
"polygon": [
[
-2.49468,
-32.87888
],
[
-2.05776,
-32.87888
],
[
-2.05776,
-31.51618
],
[
-2.49468,
-31.51618
]
]
},
{
"name": "bench",
"polygon": [
[
-2.54485,
-9.31999
],
[
-2.51786,
-9.3557
],
[
-2.48369,
-9.37177
],
[
-2.45574,
-9.38357
],
[
-2.17907,
-9.39566
],
[
-1.80829,
-9.40749
],
[
-1.7521,
-9.36413
],
[
-1.66462,
-9.28728
],
[
-1.65801,
-9.14512
],
[
-1.65114,
-7.22169
],
[
-1.65535,
-6.51944
],
[
-1.72626,
-6.42306
],
[
-1.76837,
-6.39498
],
[
-2.47166,
-6.39746
],
[
-2.5309,
-6.44135
],
[
-2.53691,
-7.18464
]
] ]
} }
] ]

666
resources/config2/navigation2.json
View File

@ -8,10 +8,668 @@
"name": "main_corridor", "name": "main_corridor",
"available": true, "available": true,
"polygon": [ "polygon": [
[-200, 200], [
[200, 200], -200,
[200, -200], 200
[-200, -200] ],
[
200,
200
],
[
200,
-200
],
[
-200,
-200
]
]
}
],
"obstacles": [
{
"name": "door",
"polygon": [
[
-5.2,
7.08001
],
[
-5.19904,
7.07025
],
[
-5.19619,
7.06087
],
[
-5.19157,
7.05223
],
[
-5.18536,
7.04465
],
[
-5.17778,
7.03843
],
[
-5.16913,
7.03381
],
[
-5.15975,
7.03097
],
[
-5.15,
7.03001
],
[
-3.75,
7.13001
],
[
-3.625,
7.43001
],
[
-3.625,
8.83001
],
[
-3.75,
9.13001
],
[
-5.15,
9.23001
],
[
-5.15975,
9.22905
],
[
-5.16913,
9.2262
],
[
-5.17778,
9.22158
],
[
-5.18536,
9.21536
],
[
-5.19157,
9.20778
],
[
-5.19619,
9.19914
],
[
-5.19904,
9.18976
],
[
-5.2,
9.18001
]
]
},
{
"name": "inai",
"polygon": [
[
-3.75,
-15.0
],
[
3.75,
-15.0
],
[
3.75,
15.0
],
[
-3.75,
15.0
]
]
},
{
"name": "tree001",
"polygon": [
[
10.45,
12.0
],
[
10.38971,
12.225
],
[
10.225,
12.38971
],
[
10.0,
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],
[
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],
[
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],
[
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],
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],
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],
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],
[
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],
[
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]
]
},
{
"name": "tree002",
"polygon": [
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],
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],
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],
[
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],
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],
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],
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],
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],
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],
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]
]
},
{
"name": "tree003",
"polygon": [
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],
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]
]
},
{
"name": "tree004",
"polygon": [
[
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0.0
],
[
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],
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],
[
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],
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],
[
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],
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[
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],
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]
]
},
{
"name": "tree005",
"polygon": [
[
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],
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],
[
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],
[
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],
[
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],
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],
[
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],
[
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],
[
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]
]
},
{
"name": "tree006",
"polygon": [
[
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],
[
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],
[
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],
[
8.49915,
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],
[
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],
[
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],
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],
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],
[
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],
[
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],
[
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]
]
},
{
"name": "tree007",
"polygon": [
[
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],
[
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],
[
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],
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],
[
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],
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],
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],
[
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],
[
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]
]
},
{
"name": "tree008",
"polygon": [
[
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],
[
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],
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],
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],
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],
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],
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],
[
24.1545,
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],
[
24.31921,
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]
]
},
{
"name": "tree009",
"polygon": [
[
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],
[
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],
[
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],
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],
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[
29.8128,
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],
[
30.0378,
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],
[
30.20251,
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]
]
},
{
"name": "tree010",
"polygon": [
[
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],
[
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],
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],
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33.1771,
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],
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32.9521,
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],
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],
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],
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]
] ]
} }
] ]

19
src/Location.cpp
View File

@ -197,22 +197,9 @@ namespace ZL
void Location::setupNavigation(const std::string& navigationJsonPath) void Location::setupNavigation(const std::string& navigationJsonPath)
{ {
std::vector<PathFinder::ObstacleMesh> obstacles; // Static navigation blockers are defined in the navigation JSON as polygons.
obstacles.reserve(gameObjects.size() + interactiveObjects.size()); // NPC + player are handled as dynamic obstacles, so they are intentionally NOT in JSON.
navigation.build({}, navigationJsonPath, CONST_ZIP_FILE);
for (const auto& item : gameObjects) {
const LoadedGameObject& gameObj = item.second;
obstacles.push_back({ &gameObj.mesh.data, Eigen::Vector3f::Zero() });
}
for (const InteractiveObject& intObj : interactiveObjects) {
if (!intObj.isActive) {
continue;
}
obstacles.push_back({ &intObj.mesh.data, intObj.position });
}
navigation.build(obstacles, navigationJsonPath, CONST_ZIP_FILE);
#ifdef SHOW_PATH #ifdef SHOW_PATH
buildDebugNavMeshes(); buildDebugNavMeshes();

166
src/navigation/PathFinder.cpp
View File

@ -38,6 +38,52 @@ namespace {
return polygon; return polygon;
} }
float distancePointToSegment2D(const Eigen::Vector2f& p,
const Eigen::Vector2f& a,
const Eigen::Vector2f& b)
{
const Eigen::Vector2f ab = b - a;
const float abLenSq = ab.squaredNorm();
if (abLenSq <= 1e-8f) {
return (p - a).norm();
}
float t = (p - a).dot(ab) / abLenSq;
t = (std::max)(0.0f, (std::min)(1.0f, t));
const Eigen::Vector2f proj = a + t * ab;
return (p - proj).norm();
}
Eigen::Vector2f closestPointOnSegment2D(const Eigen::Vector2f& p,
const Eigen::Vector2f& a,
const Eigen::Vector2f& b)
{
const Eigen::Vector2f ab = b - a;
const float abLenSq = ab.squaredNorm();
if (abLenSq <= 1e-8f) {
return a;
}
float t = (p - a).dot(ab) / abLenSq;
t = (std::max)(0.0f, (std::min)(1.0f, t));
return a + t * ab;
}
float distancePointToPolygonEdges(const Eigen::Vector2f& p,
const std::vector<Eigen::Vector2f>& polygon)
{
if (polygon.size() < 2) {
return (std::numeric_limits<float>::max)();
}
float best = (std::numeric_limits<float>::max)();
for (size_t i = 0; i < polygon.size(); ++i) {
const Eigen::Vector2f& a = polygon[i];
const Eigen::Vector2f& b = polygon[(i + 1) % polygon.size()];
best = (std::min)(best, distancePointToSegment2D(p, a, b));
}
return best;
}
} }
void PathFinder::build(const std::vector<ObstacleMesh>& obstacleMeshes, void PathFinder::build(const std::vector<ObstacleMesh>& obstacleMeshes,
@ -369,7 +415,9 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
agentRadius = 0.45f; agentRadius = 0.45f;
floorY = 0.0f; floorY = 0.0f;
objectPadding = 0.25f; objectPadding = 0.25f;
boundaryPadding = 0.0f;
areas.clear(); areas.clear();
obstaclePolygons.clear();
try { try {
std::string content; std::string content;
@ -390,6 +438,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
agentRadius = root.value("agentRadius", agentRadius); agentRadius = root.value("agentRadius", agentRadius);
floorY = root.value("floorY", floorY); floorY = root.value("floorY", floorY);
objectPadding = root.value("objectPadding", objectPadding); objectPadding = root.value("objectPadding", objectPadding);
boundaryPadding = root.value("boundaryPadding", boundaryPadding);
if (!root.contains("areas") || !root["areas"].is_array()) { if (!root.contains("areas") || !root["areas"].is_array()) {
std::cerr << "[nav] Navigation config has no 'areas' array: " << configPath << "\n"; std::cerr << "[nav] Navigation config has no 'areas' array: " << configPath << "\n";
@ -413,6 +462,18 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
areas.push_back(area); areas.push_back(area);
} }
if (root.contains("obstacles") && root["obstacles"].is_array()) {
for (const auto& item : root["obstacles"]) {
ObstaclePolygon obstacle;
obstacle.name = item.value("name", "");
obstacle.polygon = readPolygon(item);
if (obstacle.polygon.size() < 3) {
continue;
}
obstaclePolygons.push_back(std::move(obstacle));
}
}
} catch (const std::exception& e) { } catch (const std::exception& e) {
std::cerr << "[nav] Failed to load config '" << configPath << "': " << e.what() << "\n"; std::cerr << "[nav] Failed to load config '" << configPath << "': " << e.what() << "\n";
} }
@ -420,6 +481,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
cellSize = (std::max)(cellSize, 0.1f); cellSize = (std::max)(cellSize, 0.1f);
agentRadius = (std::max)(agentRadius, 0.0f); agentRadius = (std::max)(agentRadius, 0.0f);
objectPadding = (std::max)(objectPadding, 0.0f); objectPadding = (std::max)(objectPadding, 0.0f);
boundaryPadding = (std::max)(boundaryPadding, 0.0f);
} }
void PathFinder::resetGridBounds() void PathFinder::resetGridBounds()
@ -458,6 +520,12 @@ void PathFinder::resetGridBounds()
} }
} }
for (const ObstaclePolygon& obstacle : obstaclePolygons) {
for (const Eigen::Vector2f& point : obstacle.polygon) {
includePoint(point.x(), point.y());
}
}
const float padding = cellSize * 2.0f + agentRadius + objectPadding; const float padding = cellSize * 2.0f + agentRadius + objectPadding;
minX -= padding; minX -= padding;
minZ -= padding; minZ -= padding;
@ -473,20 +541,75 @@ void PathFinder::rebuildWalkableGrid()
walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0); walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
markAvailableAreasWalkable(); markAvailableAreasWalkable();
markObstacleMeshesBlocked(); markObstacleMeshesBlocked();
markObstaclePolygonsBlocked();
} }
void PathFinder::markAvailableAreasWalkable() void PathFinder::markAvailableAreasWalkable()
{ {
const auto insideAvailableArea = [this](const Eigen::Vector2f& point) {
for (const NavigationArea& area : areas) {
if (!area.available) {
continue;
}
if (pointInPolygon(point.x(), point.y(), area.polygon)) {
return true;
}
}
return false;
};
const auto externalBoundaryDistance = [this, &insideAvailableArea](const Eigen::Vector2f& point) {
if (boundaryPadding <= 0.0f) {
return (std::numeric_limits<float>::max)();
}
const float sampleOffset = (std::max)(cellSize * 0.25f, 0.05f);
float best = (std::numeric_limits<float>::max)();
for (const NavigationArea& area : areas) {
if (!area.available || area.polygon.size() < 2) {
continue;
}
for (size_t i = 0; i < area.polygon.size(); ++i) {
const Eigen::Vector2f& a = area.polygon[i];
const Eigen::Vector2f& b = area.polygon[(i + 1) % area.polygon.size()];
const Eigen::Vector2f edge = b - a;
if (edge.squaredNorm() <= 1e-8f) {
continue;
}
const Eigen::Vector2f closest = closestPointOnSegment2D(point, a, b);
Eigen::Vector2f normal(-edge.y(), edge.x());
normal.normalize();
const bool sideAInside = insideAvailableArea(closest + normal * sampleOffset);
const bool sideBInside = insideAvailableArea(closest - normal * sampleOffset);
if (sideAInside && sideBInside) {
continue;
}
best = (std::min)(best, distancePointToSegment2D(point, a, b));
}
}
return best;
};
for (int z = 0; z < gridDepth; ++z) { for (int z = 0; z < gridDepth; ++z) {
for (int x = 0; x < gridWidth; ++x) { for (int x = 0; x < gridWidth; ++x) {
const Cell cell{ x, z }; const Cell cell{ x, z };
const Eigen::Vector3f center = cellCenter(cell); const Eigen::Vector3f center = cellCenter(cell);
const Eigen::Vector2f point(center.x(), center.z());
for (const NavigationArea& area : areas) { for (const NavigationArea& area : areas) {
if (!area.available) { if (!area.available) {
continue; continue;
} }
if (pointInPolygon(center.x(), center.z(), area.polygon)) { if (pointInPolygon(center.x(), center.z(), area.polygon)) {
if (boundaryPadding > 0.0f && externalBoundaryDistance(point) < boundaryPadding) {
continue;
}
walkable[static_cast<size_t>(indexOf(cell))] = 1; walkable[static_cast<size_t>(indexOf(cell))] = 1;
break; break;
} }
@ -495,8 +618,51 @@ void PathFinder::markAvailableAreasWalkable()
} }
} }
void PathFinder::markObstaclePolygonsBlocked()
{
if (obstaclePolygons.empty()) {
return;
}
const float padding = agentRadius + objectPadding;
for (int z = 0; z < gridDepth; ++z) {
for (int x = 0; x < gridWidth; ++x) {
const Cell cell{ x, z };
const int idx = indexOf(cell);
if (idx < 0 || idx >= static_cast<int>(walkable.size())) {
continue;
}
if (!walkable[static_cast<size_t>(idx)]) {
continue;
}
const Eigen::Vector3f center3 = cellCenter(cell);
const Eigen::Vector2f center(center3.x(), center3.z());
for (const ObstaclePolygon& obstacle : obstaclePolygons) {
if (pointInPolygon(center.x(), center.y(), obstacle.polygon)) {
walkable[static_cast<size_t>(idx)] = 0;
break;
}
if (padding > 0.0f &&
distancePointToPolygonEdges(center, obstacle.polygon) <= padding) {
walkable[static_cast<size_t>(idx)] = 0;
break;
}
}
}
}
}
void PathFinder::markObstacleMeshesBlocked() 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; const float padding = agentRadius + objectPadding;
for (const ObstacleMesh& obstacle : obstacles) { for (const ObstacleMesh& obstacle : obstacles) {

8
src/navigation/PathFinder.h
View File

@ -14,6 +14,11 @@ public:
Eigen::Vector3f offset = Eigen::Vector3f::Zero(); Eigen::Vector3f offset = Eigen::Vector3f::Zero();
}; };
struct ObstaclePolygon {
std::string name;
std::vector<Eigen::Vector2f> polygon;
};
struct DynamicObstacle { struct DynamicObstacle {
Eigen::Vector3f position = Eigen::Vector3f::Zero(); Eigen::Vector3f position = Eigen::Vector3f::Zero();
float radius = 0.0f; float radius = 0.0f;
@ -53,6 +58,7 @@ private:
float agentRadius = 0.45f; float agentRadius = 0.45f;
float floorY = 0.0f; float floorY = 0.0f;
float objectPadding = 0.25f; float objectPadding = 0.25f;
float boundaryPadding = 0.0f;
float minX = 0.0f; float minX = 0.0f;
float minZ = 0.0f; float minZ = 0.0f;
@ -63,6 +69,7 @@ private:
std::string loadedConfigPath; std::string loadedConfigPath;
std::string loadedZipPath; std::string loadedZipPath;
std::vector<ObstacleMesh> obstacles; std::vector<ObstacleMesh> obstacles;
std::vector<ObstaclePolygon> obstaclePolygons;
std::vector<unsigned char> walkable; std::vector<unsigned char> walkable;
std::vector<NavigationArea> areas; std::vector<NavigationArea> areas;
@ -71,6 +78,7 @@ private:
void rebuildWalkableGrid(); void rebuildWalkableGrid();
void markAvailableAreasWalkable(); void markAvailableAreasWalkable();
void markObstacleMeshesBlocked(); void markObstacleMeshesBlocked();
void markObstaclePolygonsBlocked();
bool worldToCell(const Eigen::Vector3f& point, Cell& out) const; bool worldToCell(const Eigen::Vector3f& point, Cell& out) const;
Eigen::Vector3f cellCenter(const Cell& cell) const; Eigen::Vector3f cellCenter(const Cell& cell) const;