Working on navigation system
This commit is contained in:
Vladislav Khorev
parent
d4bc73f732
commit
a479fa4ac1
@ -1,9 +1,9 @@
|
||||
{
|
||||
"cellSize": 0.4,
|
||||
"agentRadius": 0.45,
|
||||
"cellSize": 0.1,
|
||||
"agentRadius": 0.25,
|
||||
"floorY": 0.0,
|
||||
"objectPadding": 0.25,
|
||||
"boundaryPadding": 0.35,
|
||||
"objectPadding": 0.15,
|
||||
"boundaryPadding": 0.15,
|
||||
"areas": [
|
||||
{
|
||||
"name": "main_corridor",
|
||||
@ -29,5 +29,193 @@
|
||||
}
|
||||
],
|
||||
"obstacles": [
|
||||
{
|
||||
"name": "editor_obstacle_1",
|
||||
"polygon": [
|
||||
[
|
||||
1.4521160125732422,
|
||||
-15.647087097167969
|
||||
],
|
||||
[
|
||||
0.7836513519287109,
|
||||
-15.604467391967773
|
||||
],
|
||||
[
|
||||
0.8457736968994141,
|
||||
-17.430662155151367
|
||||
],
|
||||
[
|
||||
1.3778166770935059,
|
||||
-17.40001678466797
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_2",
|
||||
"polygon": [
|
||||
[
|
||||
1.238701343536377,
|
||||
-17.41904640197754
|
||||
],
|
||||
[
|
||||
1.2542033195495605,
|
||||
-16.888349533081055
|
||||
],
|
||||
[
|
||||
8.557634353637695,
|
||||
-16.686010360717773
|
||||
],
|
||||
[
|
||||
8.580190658569336,
|
||||
-17.49493980407715
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_3",
|
||||
"polygon": [
|
||||
[
|
||||
8.581539154052734,
|
||||
-17.44879150390625
|
||||
],
|
||||
[
|
||||
9.2276029586792,
|
||||
-17.467662811279297
|
||||
],
|
||||
[
|
||||
9.311224937438965,
|
||||
-11.442724227905273
|
||||
],
|
||||
[
|
||||
8.525369644165039,
|
||||
-11.465954780578613
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_4",
|
||||
"polygon": [
|
||||
[
|
||||
8.59122085571289,
|
||||
-11.583345413208008
|
||||
],
|
||||
[
|
||||
8.580953598022461,
|
||||
-11.144271850585938
|
||||
],
|
||||
[
|
||||
3.9417855739593506,
|
||||
-11.05494213104248
|
||||
],
|
||||
[
|
||||
3.879462718963623,
|
||||
-11.607364654541016
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_5",
|
||||
"polygon": [
|
||||
[
|
||||
4.017904758453369,
|
||||
-11.611408233642578
|
||||
],
|
||||
[
|
||||
4.006087303161621,
|
||||
-13.59709644317627
|
||||
],
|
||||
[
|
||||
3.777372121810913,
|
||||
-13.521135330200195
|
||||
],
|
||||
[
|
||||
3.7294042110443115,
|
||||
-11.210392951965332
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_6",
|
||||
"polygon": [
|
||||
[
|
||||
2.783853769302368,
|
||||
-13.538301467895508
|
||||
],
|
||||
[
|
||||
2.766845703125,
|
||||
-13.329962730407715
|
||||
],
|
||||
[
|
||||
3.921206474304199,
|
||||
-13.34058952331543
|
||||
],
|
||||
[
|
||||
3.937540054321289,
|
||||
-13.572001457214355
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_7",
|
||||
"polygon": [
|
||||
[
|
||||
2.046168327331543,
|
||||
-13.493659019470215
|
||||
],
|
||||
[
|
||||
2.006760597229004,
|
||||
-13.261573791503906
|
||||
],
|
||||
[
|
||||
1.1306328773498535,
|
||||
-13.21288776397705
|
||||
],
|
||||
[
|
||||
1.190417766571045,
|
||||
-13.537941932678223
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_8",
|
||||
"polygon": [
|
||||
[
|
||||
1.2021913528442383,
|
||||
-14.716050148010254
|
||||
],
|
||||
[
|
||||
1.3182783126831055,
|
||||
-11.532548904418945
|
||||
],
|
||||
[
|
||||
1.0644679069519043,
|
||||
-11.525135040283203
|
||||
],
|
||||
[
|
||||
0.9918317794799805,
|
||||
-14.802279472351074
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "editor_obstacle_9",
|
||||
"polygon": [
|
||||
[
|
||||
1.2470345497131348,
|
||||
-11.599748611450195
|
||||
],
|
||||
[
|
||||
3.9473354816436768,
|
||||
-11.655533790588379
|
||||
],
|
||||
[
|
||||
3.9574456214904785,
|
||||
-11.309428215026855
|
||||
],
|
||||
[
|
||||
1.2795448303222656,
|
||||
-11.27739143371582
|
||||
]
|
||||
]
|
||||
}]
|
||||
}
|
||||
|
||||
@ -25,6 +25,42 @@
|
||||
"type": "End"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "dialog_taxi001",
|
||||
"start": "line_1",
|
||||
"nodes": [
|
||||
{
|
||||
"id": "line_1",
|
||||
"type": "Line",
|
||||
"speaker": "Бекзат",
|
||||
"portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
|
||||
"text": "Прежде чем выходить наружу, я должен заказать такси до универа.",
|
||||
"next": "end_1"
|
||||
},
|
||||
{
|
||||
"id": "end_1",
|
||||
"type": "End"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "dialog_second_floor001",
|
||||
"start": "line_1",
|
||||
"nodes": [
|
||||
{
|
||||
"id": "line_1",
|
||||
"type": "Line",
|
||||
"speaker": "Бекзат",
|
||||
"portrait": "resources/w/gg/gg2_s_podsvetkoy5.png",
|
||||
"text": "На втором этаже женское общежитие, мне там делать нечего.",
|
||||
"next": "end_1"
|
||||
},
|
||||
{
|
||||
"id": "end_1",
|
||||
"type": "End"
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"cutscenes": [
|
||||
|
||||
23
src/Game.cpp
23
src/Game.cpp
@ -473,6 +473,12 @@ namespace ZL
|
||||
onPointerUp(ZL::UiManager::MOUSE_FINGER_ID, eventX, eventY, mx, my);
|
||||
}
|
||||
}
|
||||
else if (event.button.button == SDL_BUTTON_RIGHT
|
||||
&& event.type == SDL_MOUSEBUTTONUP
|
||||
&& navigationEditorMode
|
||||
&& currentLocation) {
|
||||
currentLocation->navigationEditorHandleRightClick();
|
||||
}
|
||||
}
|
||||
else if (event.type == SDL_MOUSEMOTION) {
|
||||
int eventX = event.motion.x;
|
||||
@ -514,6 +520,17 @@ namespace ZL
|
||||
currentLocation->dialogueSystem.startDialogue("test_cutscene_pan_dialogue");
|
||||
break;
|
||||
|
||||
case SDLK_n:
|
||||
navigationEditorMode = !navigationEditorMode;
|
||||
if (currentLocation) {
|
||||
currentLocation->navigationEditorMode = navigationEditorMode;
|
||||
if (navigationEditorMode) {
|
||||
currentLocation->navigationEditorBuildNavMeshes();
|
||||
}
|
||||
}
|
||||
std::cout << "[NAV_EDITOR] Mode: " << (navigationEditorMode ? "ON" : "OFF") << std::endl;
|
||||
break;
|
||||
|
||||
case SDLK_o:
|
||||
//y = y + 0.002;
|
||||
//currentLocation->player->hp = 200;
|
||||
@ -543,6 +560,12 @@ namespace ZL
|
||||
activateSlowMoEffect();
|
||||
break;
|
||||
|
||||
case SDLK_b:
|
||||
if (navigationEditorMode && currentLocation) {
|
||||
currentLocation->navigationEditorSave();
|
||||
}
|
||||
break;
|
||||
|
||||
case SDLK_j:
|
||||
menuManager.toggleQuestJournal();
|
||||
break;
|
||||
|
||||
@ -45,6 +45,8 @@ namespace ZL {
|
||||
std::unordered_map<std::string, std::shared_ptr<Location>> locations;
|
||||
std::shared_ptr<Location> currentLocation;
|
||||
|
||||
bool navigationEditorMode = false;
|
||||
|
||||
Inventory inventory;
|
||||
InteractiveObject* pickedUpObject = nullptr;
|
||||
|
||||
|
||||
172
src/Location.cpp
172
src/Location.cpp
@ -7,12 +7,14 @@
|
||||
#include <random>
|
||||
#include <cmath>
|
||||
#include <algorithm>
|
||||
#include <filesystem>
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <cfloat>
|
||||
#include "GameConstants.h"
|
||||
#include "Character.h"
|
||||
#include "external/nlohmann/json.hpp"
|
||||
#include <SDL.h>
|
||||
|
||||
|
||||
namespace ZL
|
||||
@ -163,6 +165,8 @@ namespace ZL
|
||||
false
|
||||
});*/
|
||||
|
||||
navigationEditorConfigPath = params.navigationJsonPath;
|
||||
|
||||
scriptEngine.init(this, &inventory, params.scriptPath);
|
||||
|
||||
|
||||
@ -233,9 +237,9 @@ namespace ZL
|
||||
// NPC + player are handled as dynamic obstacles, so they are intentionally NOT in JSON.
|
||||
navigation.build({}, navigationJsonPath, CONST_ZIP_FILE);
|
||||
|
||||
#ifdef SHOW_PATH
|
||||
buildDebugNavMeshes();
|
||||
#endif
|
||||
if (navigationEditorMode) {
|
||||
navigationEditorBuildNavMeshes();
|
||||
}
|
||||
|
||||
static constexpr float kDynamicObstacleInfluenceDist = 6.0f;
|
||||
|
||||
@ -278,34 +282,145 @@ namespace ZL
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef SHOW_PATH
|
||||
void Location::buildDebugNavMeshes()
|
||||
void Location::navigationEditorBuildNavMeshes()
|
||||
{
|
||||
debugNavMeshes.clear();
|
||||
const auto& areas = navigation.getAreas();
|
||||
float y = navigation.getFloorY() + 0.02f;
|
||||
Eigen::Vector3f red(1.0f, 0.0f, 0.0f);
|
||||
|
||||
for (const auto& area : areas) {
|
||||
if (area.polygon.size() < 3) continue;
|
||||
navigationEditorNavMeshes.clear();
|
||||
const float y = navigation.getFloorY() + 0.02f;
|
||||
const Eigen::Vector3f red(1.0f, 0.0f, 0.0f);
|
||||
for (const auto& obs : navigation.getObstaclePolygons()) {
|
||||
if (obs.polygon.size() < 3) continue;
|
||||
VertexRenderStruct mesh;
|
||||
mesh.data = CreatePolygonFloor(area.polygon, y, red);
|
||||
mesh.data = CreatePolygonFloor(obs.polygon, y, red);
|
||||
mesh.RefreshVBO();
|
||||
debugNavMeshes.push_back(std::move(mesh));
|
||||
navigationEditorNavMeshes.push_back(std::move(mesh));
|
||||
}
|
||||
}
|
||||
|
||||
void Location::drawDebugNavigation()
|
||||
void Location::navigationEditorDrawNavigation()
|
||||
{
|
||||
renderer.shaderManager.PushShader("defaultColor");
|
||||
renderer.SetMatrix();
|
||||
for (const auto& mesh : debugNavMeshes) {
|
||||
for (const auto& mesh : navigationEditorNavMeshes) {
|
||||
renderer.DrawVertexRenderStruct(mesh);
|
||||
}
|
||||
renderer.shaderManager.PopShader();
|
||||
renderer.SetMatrix();
|
||||
}
|
||||
#endif
|
||||
|
||||
void Location::navigationEditorRebuildPointsMesh()
|
||||
{
|
||||
VertexDataStruct data;
|
||||
const Eigen::Vector3f yellow(1.0f, 1.0f, 0.0f);
|
||||
const float y = navigation.getFloorY() + 0.05f;
|
||||
const float s = 0.2f;
|
||||
|
||||
for (const auto& pt : navigationEditorPoints) {
|
||||
// Small upward-pointing equilateral triangle in the XZ plane
|
||||
Eigen::Vector3f v0(pt.x(), y, pt.z() - s * 1.15f);
|
||||
Eigen::Vector3f v1(pt.x() - s, y, pt.z() + s * 0.58f);
|
||||
Eigen::Vector3f v2(pt.x() + s, y, pt.z() + s * 0.58f);
|
||||
|
||||
data.PositionData.push_back(v0);
|
||||
data.PositionData.push_back(v1);
|
||||
data.PositionData.push_back(v2);
|
||||
data.ColorData.push_back(yellow);
|
||||
data.ColorData.push_back(yellow);
|
||||
data.ColorData.push_back(yellow);
|
||||
}
|
||||
|
||||
navigationEditorPointsMesh.data = std::move(data);
|
||||
navigationEditorPointsMesh.RefreshVBO();
|
||||
}
|
||||
|
||||
void Location::navigationEditorDrawPoints()
|
||||
{
|
||||
if (navigationEditorPoints.empty()) return;
|
||||
renderer.shaderManager.PushShader("defaultColor");
|
||||
renderer.SetMatrix();
|
||||
renderer.DrawVertexRenderStruct(navigationEditorPointsMesh);
|
||||
renderer.shaderManager.PopShader();
|
||||
renderer.SetMatrix();
|
||||
}
|
||||
|
||||
void Location::navigationEditorHandleLeftClick(const Eigen::Vector3f& hit, bool ctrlHeld)
|
||||
{
|
||||
if (ctrlHeld) {
|
||||
const float removeRadius = 1.0f;
|
||||
for (auto it = navigationEditorPoints.begin(); it != navigationEditorPoints.end(); ++it) {
|
||||
const float dx = it->x() - hit.x();
|
||||
const float dz = it->z() - hit.z();
|
||||
if (dx * dx + dz * dz <= removeRadius * removeRadius) {
|
||||
navigationEditorPoints.erase(it);
|
||||
navigationEditorRebuildPointsMesh();
|
||||
std::cout << "[NAV_EDITOR] Removed point, " << navigationEditorPoints.size() << " remaining\n";
|
||||
return;
|
||||
}
|
||||
}
|
||||
std::cout << "[NAV_EDITOR] No point found within " << removeRadius << " units of click\n";
|
||||
} else {
|
||||
navigationEditorPoints.push_back(hit);
|
||||
navigationEditorRebuildPointsMesh();
|
||||
std::cout << "[NAV_EDITOR] Added point (" << hit.x() << ", " << hit.z()
|
||||
<< "), total: " << navigationEditorPoints.size() << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
void Location::navigationEditorHandleRightClick()
|
||||
{
|
||||
if (navigationEditorPoints.size() < 3) {
|
||||
std::cout << "[NAV_EDITOR] Need at least 3 points to form a polygon (have "
|
||||
<< navigationEditorPoints.size() << "); clearing\n";
|
||||
navigationEditorPoints.clear();
|
||||
navigationEditorRebuildPointsMesh();
|
||||
return;
|
||||
}
|
||||
|
||||
PathFinder::ObstaclePolygon poly;
|
||||
poly.name = "editor_obstacle_" + std::to_string(++navigationEditorObstacleCounter);
|
||||
for (const auto& pt : navigationEditorPoints) {
|
||||
poly.polygon.emplace_back(pt.x(), pt.z());
|
||||
}
|
||||
|
||||
navigation.addObstaclePolygon(poly);
|
||||
std::cout << "[NAV_EDITOR] Added obstacle '" << poly.name << "' with "
|
||||
<< poly.polygon.size() << " vertices\n";
|
||||
|
||||
// Add a red mesh for the new obstacle polygon so it's visible immediately.
|
||||
{
|
||||
const float y = navigation.getFloorY() + 0.02f;
|
||||
const Eigen::Vector3f red(1.0f, 0.0f, 0.0f);
|
||||
VertexRenderStruct mesh;
|
||||
mesh.data = CreatePolygonFloor(poly.polygon, y, red);
|
||||
mesh.RefreshVBO();
|
||||
navigationEditorNavMeshes.push_back(std::move(mesh));
|
||||
}
|
||||
|
||||
navigationEditorPoints.clear();
|
||||
navigationEditorRebuildPointsMesh();
|
||||
}
|
||||
|
||||
void Location::navigationEditorSave()
|
||||
{
|
||||
std::string filename;
|
||||
for (int i = 1; ; ++i) {
|
||||
char buf[32];
|
||||
snprintf(buf, sizeof(buf), "saved_mesh%03d.json", i);
|
||||
filename = buf;
|
||||
if (!std::filesystem::exists(filename)) break;
|
||||
}
|
||||
|
||||
if (navigation.saveConfig(filename)) {
|
||||
std::cout << "[NAV_EDITOR] Saved navigation config to: " << filename << "\n";
|
||||
} else {
|
||||
std::cerr << "[NAV_EDITOR] Failed to save to: " << filename << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
void Location::navigationEditorReload()
|
||||
{
|
||||
setupNavigation(navigationEditorConfigPath);
|
||||
std::cout << "[NAV_EDITOR] Reloaded navigation from: " << navigationEditorConfigPath << "\n";
|
||||
}
|
||||
|
||||
|
||||
InteractiveObject* Location::raycastInteractiveObjects(const Eigen::Vector3f& rayOrigin, const Eigen::Vector3f& rayDir) {
|
||||
@ -483,9 +598,10 @@ namespace ZL
|
||||
|
||||
for (auto& tz : teleportZones) tz.draw(renderer, Environment::zoom, Environment::width, Environment::height);
|
||||
|
||||
#ifdef SHOW_PATH
|
||||
drawDebugNavigation();
|
||||
#endif
|
||||
if (navigationEditorMode) {
|
||||
navigationEditorDrawNavigation();
|
||||
navigationEditorDrawPoints();
|
||||
}
|
||||
|
||||
renderer.PopMatrix();
|
||||
|
||||
@ -677,6 +793,12 @@ namespace ZL
|
||||
|
||||
for (auto& tz : teleportZones) tz.draw(renderer, Environment::zoom, Environment::width, Environment::height);
|
||||
#endif
|
||||
|
||||
if (navigationEditorMode) {
|
||||
navigationEditorDrawNavigation();
|
||||
navigationEditorDrawPoints();
|
||||
}
|
||||
|
||||
CheckGlError(__FILE__, __LINE__);
|
||||
|
||||
renderer.PopMatrix();
|
||||
@ -954,6 +1076,16 @@ namespace ZL
|
||||
|
||||
Eigen::Vector3f rayDir = (camForward + camRight * (ndcX * aspect * tanHalfFov) + camUp * (ndcY * tanHalfFov)).normalized();
|
||||
|
||||
if (navigationEditorMode) {
|
||||
if (rayDir.y() < -0.001f) {
|
||||
const float t = -camPos.y() / rayDir.y();
|
||||
const Eigen::Vector3f hit = camPos + rayDir * t;
|
||||
const bool ctrlHeld = (SDL_GetModState() & KMOD_CTRL) != 0;
|
||||
navigationEditorHandleLeftClick(hit, ctrlHeld);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
std::cout << "[CLICK] Camera position: (" << camPos.x() << ", " << camPos.y() << ", " << camPos.z() << ")" << std::endl;
|
||||
std::cout << "[CLICK] Ray direction: (" << rayDir.x() << ", " << rayDir.y() << ", " << rayDir.z() << ")" << std::endl;
|
||||
|
||||
|
||||
@ -73,11 +73,24 @@ namespace ZL
|
||||
TeleportZone* targetTeleportZone = nullptr;
|
||||
std::function<void(const std::string&, const Eigen::Vector3f&, float)> onTeleport;
|
||||
|
||||
#ifdef SHOW_PATH
|
||||
std::vector<VertexRenderStruct> debugNavMeshes;
|
||||
void buildDebugNavMeshes();
|
||||
void drawDebugNavigation();
|
||||
#endif
|
||||
// Navigation editor — toggle with 'N', save with 'B', right-click to finalize polygon
|
||||
bool navigationEditorMode = false;
|
||||
|
||||
std::vector<Eigen::Vector3f> navigationEditorPoints;
|
||||
VertexRenderStruct navigationEditorPointsMesh;
|
||||
std::vector<VertexRenderStruct> navigationEditorNavMeshes;
|
||||
std::string navigationEditorConfigPath;
|
||||
int navigationEditorObstacleCounter = 0;
|
||||
|
||||
void navigationEditorBuildNavMeshes();
|
||||
void navigationEditorDrawNavigation();
|
||||
void navigationEditorRebuildPointsMesh();
|
||||
void navigationEditorDrawPoints();
|
||||
void navigationEditorHandleLeftClick(const Eigen::Vector3f& hit, bool ctrlHeld);
|
||||
void navigationEditorHandleRightClick();
|
||||
void navigationEditorSave();
|
||||
void navigationEditorReload();
|
||||
|
||||
// Set by Game when the user's primary pointer (left mouse / single touch)
|
||||
// has crossed the tap-vs-drag threshold and is now rotating the camera.
|
||||
bool cameraDragging = false;
|
||||
|
||||
@ -3,6 +3,7 @@
|
||||
#include "utils/Utils.h"
|
||||
#include <algorithm>
|
||||
#include <cmath>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <limits>
|
||||
#include <queue>
|
||||
@ -409,6 +410,58 @@ bool PathFinder::isWalkable(const Eigen::Vector3f& point) const
|
||||
return worldToCell(point, cell) && isCellWalkable(cell, walkable);
|
||||
}
|
||||
|
||||
void PathFinder::addObstaclePolygon(const ObstaclePolygon& polygon)
|
||||
{
|
||||
obstaclePolygons.push_back(polygon);
|
||||
if (ready) {
|
||||
rebuildWalkableGrid();
|
||||
}
|
||||
}
|
||||
|
||||
bool PathFinder::saveConfig(const std::string& path) const
|
||||
{
|
||||
json root;
|
||||
root["cellSize"] = cellSize;
|
||||
root["agentRadius"] = agentRadius;
|
||||
root["floorY"] = floorY;
|
||||
root["objectPadding"] = objectPadding;
|
||||
root["boundaryPadding"] = boundaryPadding;
|
||||
|
||||
json areasArr = json::array();
|
||||
for (const auto& area : areas) {
|
||||
json areaObj;
|
||||
areaObj["name"] = area.name;
|
||||
areaObj["available"] = area.available;
|
||||
json poly = json::array();
|
||||
for (const auto& pt : area.polygon) {
|
||||
poly.push_back(json::array({ pt.x(), pt.y() }));
|
||||
}
|
||||
areaObj["polygon"] = poly;
|
||||
areasArr.push_back(areaObj);
|
||||
}
|
||||
root["areas"] = areasArr;
|
||||
|
||||
json obstArr = json::array();
|
||||
for (const auto& obs : obstaclePolygons) {
|
||||
json obsObj;
|
||||
obsObj["name"] = obs.name;
|
||||
json poly = json::array();
|
||||
for (const auto& pt : obs.polygon) {
|
||||
poly.push_back(json::array({ pt.x(), pt.y() }));
|
||||
}
|
||||
obsObj["polygon"] = poly;
|
||||
obstArr.push_back(obsObj);
|
||||
}
|
||||
root["obstacles"] = obstArr;
|
||||
|
||||
std::ofstream f(path);
|
||||
if (!f.is_open()) {
|
||||
return false;
|
||||
}
|
||||
f << root.dump(2);
|
||||
return f.good();
|
||||
}
|
||||
|
||||
void PathFinder::loadConfig(const std::string& configPath, const std::string& zipPath)
|
||||
{
|
||||
cellSize = 0.4f;
|
||||
|
||||
@ -50,8 +50,12 @@ public:
|
||||
bool isReady() const { return ready; }
|
||||
bool isWalkable(const Eigen::Vector3f& point) const;
|
||||
const std::vector<NavigationArea>& getAreas() const { return areas; }
|
||||
const std::vector<ObstaclePolygon>& getObstaclePolygons() const { return obstaclePolygons; }
|
||||
float getFloorY() const { return floorY; }
|
||||
|
||||
void addObstaclePolygon(const ObstaclePolygon& polygon);
|
||||
bool saveConfig(const std::string& path) const;
|
||||
|
||||
private:
|
||||
|
||||
float cellSize = 0.4f;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user