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add bbox checks to pathfinding graphs

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Thayol
2025-01-21 23:57:45 +09:00
parent 8ce1a2266f
commit fa2dbb5237
5 changed files with 176 additions and 76 deletions
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src/pathfind.js
+36 -12
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@@ -77,17 +77,26 @@ export default class Pathfind {
return []
}
static buildGraph(waypoints = [], colliders = [], radius = 0, mergeNodes = true) {
static buildGraph(waypoints, bboxes, obstacles, radius) {
const filteredWaypoints = []
const checked = new Set()
if (radius > 0) {
for (const waypoint of waypoints) {
const bbox = Entity.bbox(waypoint[0], waypoint[1], radius) // TODO: duplicate bbox calculation logic for speed
const bboxCheckedObstacles = colliders.filter((it) => SATX.bboxCheck(bbox, it[0]))
const bbox = Entity.bbox(waypoint[0], waypoint[1], radius)
const bboxCheckedObstacles = []
for (let i = 0; i < bboxes.length; i += 5) {
if (bbox[0] <= bboxes[i + 2]) { continue }
if (bbox[1] <= bboxes[i + 3]) { continue }
if (bbox[2] >= bboxes[i]) { continue }
if (bbox[3] >= bboxes[i + 1]) { continue }
bboxCheckedObstacles.push(obstacles[bboxes[i + 4]])
}
if (bboxCheckedObstacles.length > 0) {
const collider = Entity.collider(waypoint[0], waypoint[1], radius)
const colliding = bboxCheckedObstacles.some((it) => it[1].some((c) => SATX.collideObject(collider, c)))
const colliding = bboxCheckedObstacles.flat().some((it) => SATX.collideObject(collider, it))
if (colliding) {
continue
}
@@ -111,7 +120,7 @@ export default class Pathfind {
if (i == j) {
continue
}
if (Math.abs(mergedWaypoints[i] - mergedWaypoints[j]) < Pathfind.precision && Math.abs(mergedWaypoints[i + 1] - mergedWaypoints[j + 1]) < Pathfind.precision) {
continue
}
@@ -124,11 +133,21 @@ export default class Pathfind {
checked.add(key)
checked.add(Pathfind.floatKey4(mergedWaypoints[j], mergedWaypoints[j + 1], mergedWaypoints[i], mergedWaypoints[i + 1]))
const bbox = Entity.tunnelBbox(mergedWaypoints[i], mergedWaypoints[i + 1], mergedWaypoints[j], mergedWaypoints[j + 1], radius) // TODO: duplicate bbox calculation logic for speed
const bboxCheckedObstacles = colliders.filter((it) => SATX.bboxCheck(bbox, it[0]))
const bbox = Entity.tunnelBbox(mergedWaypoints[i], mergedWaypoints[i + 1], mergedWaypoints[j], mergedWaypoints[j + 1], radius)
const bboxCheckedObstacles = []
for (let i = 0; i < bboxes.length; i += 5) {
if (bbox[0] <= bboxes[i + 2]) { continue }
if (bbox[1] <= bboxes[i + 3]) { continue }
if (bbox[2] >= bboxes[i]) { continue }
if (bbox[3] >= bboxes[i + 1]) { continue }
bboxCheckedObstacles.push(obstacles[bboxes[i + 4]])
}
if (bboxCheckedObstacles.length > 0) {
const tunnel = Entity.tunnelCollider(mergedWaypoints[i], mergedWaypoints[i + 1], mergedWaypoints[j], mergedWaypoints[j + 1], radius)
const colliding = bboxCheckedObstacles.some((it) => it[1].some((c) => SATX.collideObject(tunnel, c)))
const colliding = bboxCheckedObstacles.some((it) => it.some((c) => SATX.collideObject(tunnel, c)))
if (colliding) {
continue
}
@@ -152,10 +171,6 @@ export default class Pathfind {
}
}
if (!mergeNodes) {
return nodes
}
const graph = new Float32Array(nodes.length * 5)
let graphIndex = 0
for (const node of nodes) {
@@ -167,6 +182,15 @@ export default class Pathfind {
graphIndex += 5
}
// const niceGraph = []
// for (let i = 0; i < graph.length / 5; i += 5) {
// niceGraph.push({
// from: [graph[i], graph[i + 1]],
// to: [graph[i + 2], graph[i + 3]],
// distance: graph[i + 4],
// })
// }
// console.log(niceGraph)
return graph
}