admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-04-18 17:03:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

improved walkbot

Browse Source
This commit is contained in:
Orange
2026-04-12 12:05:40 +03:00
parent bb974da0e2
commit ea07d17dbb
2 changed files with 34 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
source/pathfinding/walk_bot.cpp
View File

@@ -7,26 +7,41 @@
namespace omath::pathfinding
{
void WalkBot::update(const Vector3<float>& bot_position, const Vector3<float>& target_position,
const float min_node_distance) const
{
const auto nav_mesh = m_mav_mesh.lock();
WalkBot::WalkBot(std::shared_ptr<NavigationMesh> mesh) : m_mav_mesh(std::move(mesh)) {}
void WalkBot::set_nav_mesh(std::shared_ptr<NavigationMesh> mesh)
{
m_mav_mesh = std::move(mesh);
}
void WalkBot::update(const Vector3<float>& bot_position, const Vector3<float>& target_position,
const float min_node_distance)
{
if (!m_on_next_path_node.has_value())
return;
const auto nav_mesh = m_mav_mesh.lock();
if (!nav_mesh)
return;
const auto path = Astar::find_path(bot_position, target_position, *nav_mesh);
if (path.empty())
return;
if (!m_on_next_path_node.has_value())
return;
const auto& nearest = path.front();
if (path.size() > 1 && path.front().distance_to(bot_position) <= min_node_distance)
// Record the nearest node as visited once we are close enough to it.
if (nearest.distance_to(bot_position) <= min_node_distance)
m_last_visited = nearest;
// If the nearest node was already visited, advance to the next one so
// we never oscillate back to a node we just left.
// If the bot was displaced (blown back), nearest will be an unvisited
// node, so we route to it first before continuing forward.
if (m_last_visited.has_value() && *m_last_visited == nearest && path.size() > 1)
m_on_next_path_node->operator()(path[1]);
else
m_on_next_path_node->operator()(path.front());
m_on_next_path_node->operator()(nearest);
}
void WalkBot::on_path(std::function<void(const Vector3<float>&)> callback)
{