Adding Navigation mesh example

FeatureExamples/Resources/Scripts/15_Navigation.cs

@@ -0,0 +1,368 @@
+//
+// Copyright (c) 2008-2015 the Urho3D project.
+// Copyright (c) 2015 Xamarin Inc
+// Copyright (c) 2016 THUNDERBEAST GAMES LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+using System.Collections.Generic;
+using System.Linq;
+using AtomicEngine;
+
+namespace FeatureExamples
+{
+    public class NavigationSample : Sample
+    {
+        Scene scene;
+        float yaw;
+        float pitch;
+        bool drawDebug;
+        Node jackNode;
+        Vector3 endPos;
+        List<Vector3> currentPath = new List<Vector3>();
+
+        public NavigationSample() : base() { }
+
+        public override void Start()
+        {
+            base.Start();
+            CreateScene();
+            CreateUI();
+            SetupViewport();
+            SubscribeToEvents();
+        }
+
+        void SubscribeToEvents()
+        {
+            SubscribeToEvent<PostRenderUpdateEvent>(e =>
+            {
+                // If draw debug mode is enabled, draw viewport debug geometry, which will show eg. drawable bounding boxes and skeleton
+                // bones. Note that debug geometry has to be separately requested each frame. Disable depth test so that we can see the
+                // bones properly
+                if (drawDebug)
+                    GetSubsystem<Renderer>().DrawDebugGeometry(false);
+
+                if (currentPath.Count > 0)
+                {
+                    // Visualize the current calculated path
+                    DebugRenderer debug = scene.GetComponent<DebugRenderer>();
+                    debug.AddBoundingBox(new BoundingBox(endPos - new Vector3(0.1f, 0.1f, 0.1f), endPos + new Vector3(0.1f, 0.1f, 0.1f)),
+                        new Color(1.0f, 1.0f, 1.0f), true);
+
+                    // Draw the path with a small upward bias so that it does not clip into the surfaces
+                    Vector3 bias = new Vector3(0.0f, 0.05f, 0.0f);
+                    debug.AddLine(jackNode.Position + bias, currentPath[0] + bias, new Color(1.0f, 1.0f, 1.0f), true);
+
+                    if (currentPath.Count > 1)
+                    {
+                        for (int i = 0; i < currentPath.Count - 1; ++i)
+                            debug.AddLine(currentPath[i] + bias, currentPath[i + 1] + bias, new Color(1.0f, 1.0f, 1.0f), true);
+                    }
+                }
+            });
+        }
+
+        protected override void Update(float timeStep)
+        {
+            base.Update(timeStep);
+            MoveCamera(timeStep);
+            FollowPath(timeStep);
+        }
+
+        void MoveCamera(float timeStep)
+        {
+            var input = GetSubsystem<Input>();
+
+            // Right mouse button controls mouse cursor visibility: hide when pressed
+            bool rightMouseDown = input.GetMouseButtonDown(Constants.MOUSEB_RIGHT);
+
+            // Movement speed as world units per second
+            const float moveSpeed = 20.0f;
+            // Mouse sensitivity as degrees per pixel
+            const float mouseSensitivity = 0.1f;
+
+            // Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
+            // Only move the camera when the cursor is hidden
+            if (rightMouseDown)
+            {
+                IntVector2 mouseMove = input.MouseMove;
+                yaw += mouseSensitivity * mouseMove.X;
+                pitch += mouseSensitivity * mouseMove.Y;
+                pitch = MathHelper.Clamp(pitch, -90.0f, 90.0f);
+
+                // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+                CameraNode.Rotation = new Quaternion(pitch, yaw, 0.0f);
+            }
+
+            // Read WASD keys and move the camera scene node to the corresponding direction if they are pressed
+            if (input.GetKeyDown(Constants.KEY_W))
+                CameraNode.Translate(Vector3.UnitZ * moveSpeed * timeStep);
+            if (input.GetKeyDown(Constants.KEY_S))
+                CameraNode.Translate(-Vector3.UnitZ * moveSpeed * timeStep);
+            if (input.GetKeyDown(Constants.KEY_A))
+                CameraNode.Translate(-Vector3.UnitX * moveSpeed * timeStep);
+            if (input.GetKeyDown(Constants.KEY_D))
+                CameraNode.Translate(Vector3.UnitX * moveSpeed * timeStep);
+
+            // Set destination or teleport with left mouse button
+            if (input.GetMouseButtonPress(Constants.MOUSEB_LEFT))
+                SetPathPoint();
+            // Add or remove objects with middle mouse button, then rebuild navigation mesh partially
+            if (input.GetMouseButtonPress(Constants.MOUSEB_MIDDLE))
+                AddOrRemoveObject();
+
+            // Toggle debug geometry with space
+            if (input.GetKeyPress(Constants.KEY_SPACE))
+                drawDebug = !drawDebug;
+        }
+
+        void SetupViewport()
+        {
+            var renderer = GetSubsystem<Renderer>();
+            renderer.SetViewport(0, new Viewport(scene, CameraNode.GetComponent<Camera>()));
+        }
+
+        void CreateUI()
+        {
+
+            SimpleCreateInstructions(
+                "Use WASD keys to move, RMB to rotate view\n" +
+                "LMB to set destination, SHIFT+LMB to teleport\n" +
+                "MMB to add or remove obstacles\n" +
+                "Space to toggle debug geometry");
+        }
+
+        void CreateScene()
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+            scene = new Scene();
+
+            // Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
+            // Also create a DebugRenderer component so that we can draw debug geometry
+            scene.CreateComponent<Octree>();
+            scene.CreateComponent<DebugRenderer>();
+
+            // Create scene node & StaticModel component for showing a static plane
+            Node planeNode = scene.CreateChild("Plane");
+            planeNode.Scale = new Vector3(100.0f, 1.0f, 100.0f);
+            StaticModel planeObject = planeNode.CreateComponent<StaticModel>();
+            planeObject.Model = cache.Get<Model>("Models/Plane.mdl");
+            planeObject.SetMaterial(cache.Get<Material>("Materials/StoneTiled.xml"));
+
+            // Create a Zone component for ambient lighting & fog control
+            Node zoneNode = scene.CreateChild("Zone");
+            Zone zone = zoneNode.CreateComponent<Zone>();
+            zone.SetBoundingBox(new BoundingBox(-1000.0f, 1000.0f));
+            zone.AmbientColor = new Color(0.15f, 0.15f, 0.15f);
+            zone.FogColor = new Color(0.5f, 0.5f, 0.7f);
+            zone.FogStart = 100.0f;
+            zone.FogEnd = 300.0f;
+
+            // Create a directional light to the world. Enable cascaded shadows on it
+            Node lightNode = scene.CreateChild("DirectionalLight");
+            lightNode.SetDirection(new Vector3(0.6f, -1.0f, 0.8f));
+            Light light = lightNode.CreateComponent<Light>();
+            light.LightType = LightType.LIGHT_DIRECTIONAL;
+            light.CastShadows = true;
+            light.ShadowBias = new BiasParameters(0.00025f, 0.5f);
+            // Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
+            light.ShadowCascade = new CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);
+
+            // Create some mushrooms
+            const uint numMushrooms = 100;
+            for (uint i = 0; i < numMushrooms; ++i)
+                CreateMushroom(new Vector3(NextRandom(90.0f) - 45.0f, 0.0f, NextRandom(90.0f) - 45.0f));
+
+            // Create randomly sized boxes. If boxes are big enough, make them occluders
+            const uint numBoxes = 20;
+            for (uint i = 0; i < numBoxes; ++i)
+            {
+                Node boxNode = scene.CreateChild("Box");
+                float size = 1.0f + NextRandom(10.0f);
+                boxNode.Position = new Vector3(NextRandom(80.0f) - 40.0f, size * 0.5f, NextRandom(80.0f) - 40.0f);
+                boxNode.SetScale(size);
+                StaticModel boxObject = boxNode.CreateComponent<StaticModel>();
+                boxObject.Model = cache.Get<Model>("Models/Box.mdl");
+                boxObject.SetMaterial(cache.Get<Material>("Materials/Stone.xml"));
+                boxObject.CastShadows = true;
+                if (size >= 3.0f)
+                    boxObject.Occluder = true;
+            }
+
+            // Create Jack node that will follow the path
+            jackNode = scene.CreateChild("Jack");
+            jackNode.Position = new Vector3(-5.0f, 0.0f, 20.0f);
+            AnimatedModel modelObject = jackNode.CreateComponent<AnimatedModel>();
+            modelObject.Model = cache.Get<Model>("Models/Jack.mdl");
+            modelObject.SetMaterial(cache.Get<Material>("Materials/Jack.xml"));
+            modelObject.CastShadows = true;
+
+            // Create a NavigationMesh component to the scene root
+            NavigationMesh navMesh = scene.CreateComponent<NavigationMesh>();
+            // Create a Navigable component to the scene root. This tags all of the geometry in the scene as being part of the
+            // navigation mesh. By default this is recursive, but the recursion could be turned off from Navigable
+            scene.CreateComponent<Navigable>();
+            // Add padding to the navigation mesh in Y-direction so that we can add objects on top of the tallest boxes
+            // in the scene and still update the mesh correctly
+            navMesh.Padding = new Vector3(0.0f, 10.0f, 0.0f);
+            // Now build the navigation geometry. This will take some time. Note that the navigation mesh will prefer to use
+            // physics geometry from the scene nodes, as it often is simpler, but if it can not find any (like in this example)
+            // it will use renderable geometry instead
+            navMesh.Build();
+
+            // Create the camera. Limit far clip distance to match the fog
+            CameraNode = scene.CreateChild("Camera");
+            Camera camera = CameraNode.CreateComponent<Camera>();
+            camera.FarClip = 300.0f;
+
+            // Set an initial position for the camera scene node above the plane
+            CameraNode.Position = new Vector3(0.0f, 5.0f, 0.0f);
+        }
+
+        void SetPathPoint()
+        {
+            var input = GetSubsystem<Input>();
+
+            Vector3 hitPos;
+            Drawable hitDrawable;
+            NavigationMesh navMesh = scene.GetComponent<NavigationMesh>();
+
+            if (Raycast(250.0f, out hitPos, out hitDrawable))
+            {
+                Vector3 pathPos = navMesh.FindNearestPoint(hitPos, new Vector3(1.0f, 1.0f, 1.0f));
+
+                if (input.GetQualifierDown(Constants.QUAL_SHIFT))
+                {
+                    // Teleport
+                    currentPath.Clear();
+                    jackNode.LookAt(new Vector3(pathPos.X, jackNode.Position.Y, pathPos.Z), Vector3.UnitY, TransformSpace.TS_WORLD);
+                    jackNode.Position = (pathPos);
+                }
+                else
+                {
+                    // Calculate path from Jack's current position to the end point
+                    endPos = pathPos;
+                    var result = navMesh.FindPath(currentPath, jackNode.Position, endPos);
+                }
+            }
+        }
+
+        void AddOrRemoveObject()
+        {
+            // Raycast and check if we hit a mushroom node. If yes, remove it, if no, create a new one
+            Vector3 hitPos;
+            Drawable hitDrawable;
+
+            if (Raycast(250.0f, out hitPos, out hitDrawable))
+            {
+                // The part of the navigation mesh we must update, which is the world bounding box of the associated
+                // drawable component
+                BoundingBox updateBox;
+
+                Node hitNode = hitDrawable.Node;
+                if (hitNode.Name == "Mushroom")
+                {
+                    updateBox = hitDrawable.WorldBoundingBox;
+                    hitNode.Remove();
+                }
+                else
+                {
+                    Node newNode = CreateMushroom(hitPos);
+                    updateBox = newNode.GetComponent<StaticModel>().WorldBoundingBox;
+                }
+
+                // Rebuild part of the navigation mesh, then recalculate path if applicable
+                NavigationMesh navMesh = scene.GetComponent<NavigationMesh>();
+                navMesh.Build(updateBox);
+                if (currentPath.Count > 0)
+                    navMesh.FindPath(currentPath, jackNode.Position, endPos);
+            }
+        }
+
+        Node CreateMushroom(Vector3 pos)
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+            Node mushroomNode = scene.CreateChild("Mushroom");
+            mushroomNode.Position = pos;
+            mushroomNode.Rotation = new Quaternion(0.0f, NextRandom(360.0f), 0.0f);
+            mushroomNode.SetScale(2.0f + NextRandom(0.5f));
+            StaticModel mushroomObject = mushroomNode.CreateComponent<StaticModel>();
+            mushroomObject.Model = (cache.Get<Model>("Models/Mushroom.mdl"));
+            mushroomObject.SetMaterial(cache.Get<Material>("Materials/Mushroom.xml"));
+            mushroomObject.CastShadows = true;
+
+            return mushroomNode;
+        }
+
+        bool Raycast(float maxDistance, out Vector3 hitPos, out Drawable hitDrawable)
+        {
+            var input = GetSubsystem<Input>();
+
+            hitDrawable = null;
+            hitPos = new Vector3();
+
+            var graphics = GetSubsystem<Graphics>();
+            Camera camera = CameraNode.GetComponent<Camera>();
+
+            IntVector2 pos = input.MousePosition;
+            Ray cameraRay = camera.GetScreenRay((float)pos.X / graphics.Width, (float)pos.Y / graphics.Height);
+            RayOctreeQuery query = new RayOctreeQuery(cameraRay, RayQueryLevel.RAY_TRIANGLE, maxDistance, Constants.DRAWABLE_GEOMETRY);
+
+            // Pick only geometry objects, not eg. zones or lights, only get the first (closest) hit
+            scene.GetComponent<Octree>().RaycastSingle(query);
+
+            if (query.Results.Count > 0)
+            {
+                var first = query.Results.First();
+                hitPos = first.Position;
+                hitDrawable = first.Drawable;
+                return true;
+            }
+
+            return false;
+
+        }
+
+
+        void FollowPath(float timeStep)
+        {
+            if (currentPath.Count > 0)
+            {
+                Vector3 nextWaypoint = currentPath[0]; // NB: currentPath[0] is the next waypoint in order
+
+                // Rotate Jack toward next waypoint to reach and move. Check for not overshooting the target
+                float move = 5.0f * timeStep;
+                float distance = (jackNode.Position - nextWaypoint).Length;
+                if (move > distance)
+                    move = distance;
+
+                jackNode.LookAt(nextWaypoint, Vector3.UnitY, TransformSpace.TS_WORLD);
+                jackNode.Translate(Vector3.UnitZ * move, TransformSpace.TS_LOCAL);
+
+                // Remove waypoint if reached it
+                if (distance < 0.1f)
+                    currentPath.RemoveAt(0);
+            }
+        }
+
+    }
+}

FeatureExamples/Resources/Scripts/15_Navigation.cs.asset

@@ -0,0 +1,5 @@
+{
+	"version": 1,
+	"guid": "ba1bf1f9581854c6e4739a40ce9e6ee6",
+	"CSharpImporter": null
+}