admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-04-19 02:03:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

added tests improved API

Browse Source
This commit is contained in:
Orange
2026-04-12 21:21:23 +03:00
parent ea07d17dbb
commit 9c1b6d0ba3
3 changed files with 714 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
source/pathfinding/walk_bot.cpp
View File

@@ -7,31 +7,64 @@
namespace omath::pathfinding
{
WalkBot::WalkBot(std::shared_ptr<NavigationMesh> mesh) : m_mav_mesh(std::move(mesh)) {}
WalkBot::WalkBot(const std::shared_ptr<NavigationMesh>& mesh, const float min_node_distance)
: m_nav_mesh(mesh), m_min_node_distance(min_node_distance) {}
void WalkBot::set_nav_mesh(std::shared_ptr<NavigationMesh> mesh)
void WalkBot::set_nav_mesh(const std::shared_ptr<NavigationMesh>& mesh)
{
m_mav_mesh = std::move(mesh);
m_nav_mesh = mesh;
}
void WalkBot::update(const Vector3<float>& bot_position, const Vector3<float>& target_position,
const float min_node_distance)
void WalkBot::set_min_node_distance(const float distance)
{
m_min_node_distance = distance;
}
void WalkBot::set_target(const Vector3<float>& target)
{
m_target = target;
}
void WalkBot::reset()
{
m_last_visited.reset();
}
void WalkBot::update(const Vector3<float>& bot_position)
{
if (!m_target.has_value())
return;
if (m_target->distance_to(bot_position) <= m_min_node_distance)
{
if (m_on_status_update.has_value())
m_on_status_update->operator()(WalkBotStatus::FINISHED);
return;
}
if (!m_on_next_path_node.has_value())
return;
const auto nav_mesh = m_mav_mesh.lock();
const auto nav_mesh = m_nav_mesh.lock();
if (!nav_mesh)
{
if (m_on_status_update.has_value())
m_on_status_update->operator()(WalkBotStatus::IDLE);
return;
}
const auto path = Astar::find_path(bot_position, target_position, *nav_mesh);
const auto path = Astar::find_path(bot_position, *m_target, *nav_mesh);
if (path.empty())
{
if (m_on_status_update.has_value())
m_on_status_update->operator()(WalkBotStatus::IDLE);
return;
}
const auto& nearest = path.front();
// Record the nearest node as visited once we are close enough to it.
if (nearest.distance_to(bot_position) <= min_node_distance)
if (nearest.distance_to(bot_position) <= m_min_node_distance)
m_last_visited = nearest;
// If the nearest node was already visited, advance to the next one so
@@ -42,9 +75,18 @@ namespace omath::pathfinding
m_on_next_path_node->operator()(path[1]);
else
m_on_next_path_node->operator()(nearest);
if (m_on_status_update.has_value())
m_on_status_update->operator()(WalkBotStatus::PATHING);
}
void WalkBot::on_path(std::function<void(const Vector3<float>&)> callback)
void WalkBot::on_path(const std::function<void(const Vector3<float>&)>& callback)
{
m_on_next_path_node = callback;
}
void WalkBot::on_status(const std::function<void(WalkBotStatus)>& callback)
{
m_on_status_update = callback;
}
} // namespace omath::pathfinding