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Added Navigation System. Added basic AI FSM #438

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maverickdgg merged 9 commits from Navigation into main 2023-03-24 16:11:14 +08:00
Conversation 0 Commits 9 Files Changed 39 +723 -73
14 changed files with 723 additions and 73 deletions
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273
Assets/Scenes/NavigationTest.shade
View File

@ -4,21 +4,10 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Translate: {x: 0, y: 10.2736483, z: 0}
Rotate: {x: -1.48352981, y: 1.5, z: 0.5}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
Camera Component:
Position: {x: 0, y: 0, z: 0}
Pitch: 0
Yaw: 0
Roll: 0
Width: 1920
Near: 0.00999999978
Far: 10000
Perspective: true
FOV: 90
IsActive: true
Scripts: ~
- EID: 1
Name: Floor
@ -56,9 +45,9 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 0}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 1, y: 1, z: 1}
Translate: {x: 11, y: 0, z: 0}
Rotate: {x: -0, y: 1.57079637, z: -0}
Scale: {x: 10.6225176, y: 1, z: 1}
IsActive: true
Renderable Component:
Mesh: 142652392
@ -76,4 +65,256 @@
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 4
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: -11.2958097}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 10.6225176, y: 1, z: 1}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 5
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 11}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 10.6225176, y: 1, z: 1}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 6
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 6.06437206, y: 0, z: -5.60716629}
Rotate: {x: -0, y: 1.57079601, z: -0}
Scale: {x: 4.99989605, y: 1, z: 0.999986947}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 7
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -11, y: 0, z: 0}
Rotate: {x: -0, y: 1.57079637, z: -0}
Scale: {x: 10.6225176, y: 1, z: 1}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 8
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -4.70212746, y: 0, z: -0.00226712227}
Rotate: {x: -0, y: 1.57079601, z: -0}
Scale: {x: 4.99982977, y: 1, z: 0.999978602}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 9
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 1.46194017, y: 0, z: 0.71579361}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 4.99985838, y: 1, z: 0.999982238}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 10
Name: Wall
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -2.30867815, y: 0, z: -6.02849674}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 4, y: 1, z: 0.999974966}
IsActive: true
Renderable Component:
Mesh: 142652392
Material: 126223465
IsActive: true
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 0
Type: Box
Half Extents: {x: 2.5, y: 1, z: 1.60000002}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 11
Name: TestAI
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 8.5, y: -1, z: -8.20610714}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 5, y: 5, z: 5}
IsActive: true
Renderable Component:
Mesh: 140639624
Material: 131956078
IsActive: true
Navigation Component:
Target: {x: 0, y: 0, z: 0}
Forward: {x: 0, y: 0, z: 0}
Recalculate Path: true
Unreachable Target: false
Acceptance threshold: 0.100000001
IsActive: true
Scripts:
- Type: SHADE_Scripting.Gameplay.AIBehaviour.AIRework.NavigationTestScript
Enabled: true
endPoint: 12
speed: 3
- EID: 12
Name: EndPoint
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -0.940230131, y: -1, z: -2.05140448}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 5, y: 5, z: 5}
IsActive: true
Renderable Component:
Mesh: 140639624
Material: 131956078
IsActive: true
Scripts: ~
- EID: 13
Name: Camera
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 10.2736483, z: 0}
Rotate: {x: -1.48352981, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
Camera Component:
Position: {x: 0, y: 0, z: 0}
Pitch: -85
Yaw: 0
Roll: 0
Width: 1920
Near: 0.00999999978
Far: 10000
Perspective: true
FOV: 90
IsActive: true
Scripts: ~

37
Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs Normal file
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@ -0,0 +1,37 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using SHADE;
using static System.IO.Enumeration.FileSystemEnumerable<TResult>;
namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework
{
public class NavigationTestScript :Script
{
public GameObject endPoint;
public float speed = 1.0f;
protected override void start()
{
}
protected override void update()
{
Navigation nav = GetComponent<Navigation>();
Transform transform = GetComponent<Transform>();
if (nav && transform)
{
Transform endTransform = endPoint.GetComponent<Transform>();
if(endTransform)
nav.MoveTo(endTransform.GlobalPosition);
transform.LocalPosition = transform.LocalPosition + ( nav.GetForward() * Time.DeltaTimeF * speed);
}
}
}
}

3
Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs.shmeta Normal file
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@ -0,0 +1,3 @@
Name: NavigationTestScript
ID: 162476480
Type: 9

1
SHADE_Application/src/Application/SBApplication.cpp
View File

@ -131,6 +131,7 @@ namespace Sandbox
SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDraw>();
SHSystemManager::RegisterRoutine<SHNavigationSystem, SHNavigationSystem::NavigationSystemGenerateRoutine>();
#endif
SHSystemManager::RegisterRoutine<SHNavigationSystem, SHNavigationSystem::UpdateNavigationRoutine>();
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
SHSystemManager::RegisterRoutine<SHDebugDrawSystem, SHDebugDrawSystem::ProcessPointsRoutine>();

3
SHADE_Engine/src/Common/SHAllComponents.h
View File

@ -15,4 +15,5 @@
#include "Graphics/MiddleEnd/TextRendering/SHTextRenderableComponent.h"
#include "AudioSystem/SHAudioListenerComponent.h"
#include "Graphics/MiddleEnd/TrajectoryRendering/SHTrajectoryRenderableComponent.h"
#include "Graphics/MiddleEnd/Particles/SHParticleEmitterComponent.h"
#include "Graphics/MiddleEnd/Particles/SHParticleEmitterComponent.h"
#include "Navigation/SHNavigationComponent.h"

6
SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorInspector.cpp
View File

@ -27,6 +27,7 @@
#include "AudioSystem/SHAudioListenerComponent.h"
#include "Graphics/MiddleEnd/TextRendering/SHTextRenderableComponent.h"
#include "Graphics/MiddleEnd/Particles/SHParticleEmitterComponent.h"
#include "Navigation/SHNavigationComponent.h"
#include "Camera/SHCameraSystem.h"
#include "FRC/SHFramerateController.h"
@ -193,6 +194,10 @@ namespace SHADE
{
DrawComponent(particleComponent);
}
if (auto navigationComponent = SHComponentManager::GetComponent_s<SHNavigationComponent>(eid))
{
DrawComponent(navigationComponent);
}
ImGui::Separator();
// Render Scripts
SHScriptEngine* scriptEngine = static_cast<SHScriptEngine*>(SHSystemManager::GetSystem<SHScriptEngine>());
@ -219,6 +224,7 @@ namespace SHADE
DrawAddComponentWithEnforcedComponentButton<SHTextRenderableComponent, SHTransformComponent>(eid);
DrawAddComponentWithEnforcedComponentButton<SHAnimatorComponent, SHTransformComponent, SHRenderable>(eid);
DrawAddComponentWithEnforcedComponentButton<SHAudioListenerComponent, SHTransformComponent>(eid);
DrawAddComponentWithEnforcedComponentButton<SHNavigationComponent, SHTransformComponent>(eid);
//DrawAddComponentWithEnforcedComponentButton<SHParticleEmitterComponent, SHTransformComponent>(eid);
ImGui::EndMenu();

36
SHADE_Engine/src/Navigation/SHNavigationComponent.cpp
View File

@ -4,8 +4,11 @@
namespace SHADE
{
uint16_t NavigationGridIndex::numColumns = 8;
SHNavigationComponent::SHNavigationComponent()
:target{ 0.0f }, path{}, threshold{0.1f}, recalculatePath{false}, unreachableTarget{false}
:target{ 0.0f }, path{}, threshold{ 0.1f }, recalculatePath{ false }, unreachableTarget{ false }, forward{0.0f}
{
}
@ -21,6 +24,16 @@ namespace SHADE
return forward;
}
bool SHNavigationComponent::GetRecalculatePath() const noexcept
{
return recalculatePath;
}
bool SHNavigationComponent::GetUnreachableTarget() const noexcept
{
return unreachableTarget;
}
void SHNavigationComponent::SetTarget(SHVec3 value) noexcept
{
@ -34,5 +47,26 @@ namespace SHADE
}
void SHNavigationComponent::EmptySetBool(bool value) noexcept
{
}
}//namespace SHADE
RTTR_REGISTRATION
{
using namespace SHADE;
using namespace rttr;
registration::class_<SHNavigationComponent>("Navigation Component")
.property("Target", &SHNavigationComponent::GetTarget, &SHNavigationComponent::SetTarget)
.property("Forward", &SHNavigationComponent::GetForward, &SHNavigationComponent::EmptySetForward)
.property("Recalculate Path", &SHNavigationComponent::GetRecalculatePath, &SHNavigationComponent::EmptySetBool)
.property("Unreachable Target", &SHNavigationComponent::GetUnreachableTarget, &SHNavigationComponent::EmptySetBool)
.property("Acceptance threshold", &SHNavigationComponent::threshold)
;
}

39
SHADE_Engine/src/Navigation/SHNavigationComponent.h
View File

@ -14,7 +14,32 @@
namespace SHADE
{
using NavigationGridIndex = std::pair<uint16_t, uint16_t>;
struct NavigationGridIndex
{
uint16_t row;
uint16_t column;
static uint16_t numColumns;
bool operator==(NavigationGridIndex const& rhs) const noexcept
{
return row == rhs.row && column == rhs.column;
}
bool operator!=(NavigationGridIndex const& rhs) const noexcept
{
return row != rhs.row || column != rhs.column;
}
bool operator<(NavigationGridIndex const& rhs) const noexcept
{
return (row * numColumns + column) < (rhs.row * numColumns + rhs.column);
}
};
#define NullGridIndex 9999;
class SH_API SHNavigationComponent final: public SHComponent
@ -26,8 +51,7 @@ namespace SHADE
SHVec3 forward;
//The path to follow to reach the target.
std::queue<NavigationGridIndex> path;
//The distance threshold that indicates when the entity has reached the navigation grid.
float threshold;
//The flag to check against to indicate whether to recalculate path
bool recalculatePath;
//The flag to set if the target is unreachable.
@ -35,6 +59,9 @@ namespace SHADE
public:
friend class SHNavigationSystem;
//The distance threshold that indicates when the entity has reached the navigation grid.
float threshold;
SHNavigationComponent();
virtual ~SHNavigationComponent() = default;
@ -55,6 +82,11 @@ namespace SHADE
********************************************************************/
SHVec3 GetForward() const noexcept;
bool GetRecalculatePath() const noexcept;
bool GetUnreachableTarget() const noexcept;
/********************************************************************
* \brief
@ -77,6 +109,7 @@ namespace SHADE
********************************************************************/
void EmptySetForward(SHVec3 value) noexcept;
void EmptySetBool(bool value) noexcept;
RTTR_ENABLE()
protected:

264
SHADE_Engine/src/Navigation/SHNavigationSystem.cpp
View File

@ -5,16 +5,25 @@
#include "Math/Geometry/SHAABB.h"
#include "Input/SHInputManager.h"
#include "Editor/SHEditor.h"
#include "Scene/SHSceneManager.h"
#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
#include <vector>
#include <stack>
#include <unordered_map>
#include <map>
#include <list>
#define DRAW_NAVIGATION_DATA
#define DRAW_NAVIGATION_PATH
namespace SHADE
{
void SHNavigationSystem::Init()
{
auto id = ComponentFamily::GetID<SHNavigationComponent>();
SHComponentManager::CreateComponentSparseSet<SHNavigationComponent>();
SystemID i = SystemFamily::GetID<SHNavigationSystem>();
}
@ -26,8 +35,8 @@ namespace SHADE
uint16_t SHNavigationSystem::GetIndex(uint16_t row, uint16_t col) noexcept
{
size_t rowOffset = numRows / sizeof(GridDataType);
return row * rowOffset + (col / sizeof(GridDataType));
size_t rowOffset = numRows / NumGridDataTypeBits;
return row * rowOffset + (col / NumGridDataTypeBits );
}
@ -39,7 +48,7 @@ namespace SHADE
GridDataType bitMask = 1 << (col % NumGridDataTypeBits);
if (navigationGrid.size() < index)
if ( index < navigationGrid.size())
{
return navigationGrid[index] & bitMask;
}
@ -51,7 +60,7 @@ namespace SHADE
bool SHNavigationSystem::GetNavigationData(NavigationGridIndex index) noexcept
{
return GetNavigationData(index.first, index.second);
return GetNavigationData(index.row, index.column);
}
@ -63,14 +72,30 @@ namespace SHADE
NavigationGridIndex SHNavigationSystem::GetNavigationGridIndex(SHVec3 const& worldPosition) noexcept
{
NavigationGridIndex result;
SHVec3 pos = worldPosition - origin;
SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) };
SHVec3 pos = worldPosition - topleft;
SHVec2 gridSize = GetGridSize();
result.first = pos.z / gridSize.x;
result.second = pos.x / gridSize.y;
result.row = (pos.z )/ gridSize.y;
result.column = (pos.x )/ gridSize.x;
return result;
}
SHVec3 SHNavigationSystem::GetGridWorldPos(NavigationGridIndex index) noexcept
{
SHVec3 result{0.0f};
SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) };
SHVec2 gridSize = GetGridSize();
result.x = (index.column * gridSize.x);
result.z = (index.row * gridSize.y) ;
result += topleft;
return result;
}
void SHNavigationSystem::GenerateNavigationGridData(SHVec3 origin, SHVec3 size, uint16_t nr, uint16_t nc) noexcept
{
@ -150,12 +175,150 @@ namespace SHADE
SHNavigationSystem* system = static_cast<SHNavigationSystem*>(GetSystem());
if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::H))
{
system->GenerateNavigationGridData(SHVec3{ 0.0f }, SHVec3{ 25.6f, 10.0f, 25.6f }, 128, 128);
system->GenerateNavigationGridData(SHVec3{ 0.0f }, SHVec3{ 25.6f, 1.0f, 25.6f }, 128, 128);
}
auto debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
if (debugDrawSystem)
{
SHTransform trans;
trans.position = SHVec3{ 0.0f };
trans.scale = SHVec3{ 25.6f, 1.0f, 25.6f };
trans.ComputeTRS();
debugDrawSystem->DrawWireCube(trans.trs, SHColour::YELLOW, true);
#ifdef DRAW_NAVIGATION_DATA
for (uint16_t r = 0; r < system->numRows; ++r)
{
for (uint16_t c = 0; c < system->numCols; ++c)
{
if (system->GetNavigationData(r, c) == true)
{
SHVec3 topleft{ system->origin.x - (system->size.x / 2.0f), system->origin.y, system->origin.z - (system->size.z / 2.0f) };
SHVec2 halfGridSize = system->GetGridSize() * 0.5f;
//offset it by row and column and center it with half grid size.
topleft += SHVec3{ c * system->GetGridSize().x, 0.0f, r * system->GetGridSize().y } + SHVec3{ halfGridSize.x,0.0f,halfGridSize.y };
SHTransform t;
t.position = system->GetGridWorldPos({r,c});
t.scale = SHVec3{ halfGridSize.x * 2.0f, 1.0f, halfGridSize.y * 2.0f};
t.ComputeTRS();
debugDrawSystem->DrawCube(t.trs, SHColour::RED, true);
}
else
{
SHVec3 topleft{ system->origin.x - (system->size.x / 2.0f), system->origin.y, system->origin.z - (system->size.z / 2.0f) };
SHVec2 halfGridSize = system->GetGridSize() * 0.5f;
//offset it by row and column and center it with half grid size.
topleft += SHVec3{ c * system->GetGridSize().x, 0.0f, r * system->GetGridSize().y } + SHVec3{ halfGridSize.x,0.0f,halfGridSize.y };
SHTransform t;
t.position = system->GetGridWorldPos({ r,c });
t.scale = SHVec3{ halfGridSize.x * 2.0f, 1.0f, halfGridSize.y * 2.0f };
t.ComputeTRS();
debugDrawSystem->DrawCube(t.trs, SHColour::WHITE, true);
}
}
}
#endif
}
}
#endif
}
void SHNavigationSystem::UpdateNavigationRoutine::Execute(double dt) noexcept
{
SHNavigationSystem* system = static_cast<SHNavigationSystem*>(GetSystem());
auto& dense = SHComponentManager::GetDense<SHNavigationComponent>();
for (auto& comp : dense)
{
if (SHSceneManager::CheckNodeAndComponentsActive<SHNavigationComponent>(comp.GetEID()))
{
if (comp.recalculatePath)
system->GeneratePath(comp);
system->UpdateNavigationComponent(comp);
}
}
}
void SHNavigationSystem::UpdateNavigationComponent(SHNavigationComponent& comp) noexcept
{
if (comp.unreachableTarget == true || comp.path.empty())
{
comp.forward = SHVec3::Zero;
return; // no point continuing because target can't be reached / path is empty.
}
SHTransformComponent* transform = SHComponentManager::GetComponent_s<SHTransformComponent>(comp.GetEID());
if (transform)
{
NavigationGridIndex nxtPoint = comp.path.front();
SHVec3 nxtPointPos = GetGridWorldPos(nxtPoint);
SHVec3 direction = nxtPointPos - transform->GetWorldPosition();
direction.y = 0.0f;
if (direction.LengthSquared() <= comp.threshold * comp.threshold || direction.LengthSquared() <= GetGridSize().LengthSquared() * 0.5f)
{
comp.path.pop();
//Rerun this function
UpdateNavigationComponent(comp);
//return so we don't run the parts after this twice.
return;
}
comp.forward = SHVec3::Normalise(direction);
#ifdef DRAW_NAVIGATION_PATH
auto debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
auto queue = comp.path;
while (!queue.empty())
{
uint16_t r = queue.front().row;
uint16_t c = queue.front().column;
{
SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) };
SHVec2 halfGridSize = GetGridSize() * 0.5f;
//offset it by row and column and center it with half grid size.
topleft += SHVec3{ c * GetGridSize().x, 0.0f, r * GetGridSize().y } + SHVec3{ halfGridSize.x,0.0f,halfGridSize.y };
SHTransform t;
t.position = GetGridWorldPos({ r,c });
t.scale = SHVec3{ halfGridSize.x * 2.0f, 1.0f, halfGridSize.y * 2.0f };
t.ComputeTRS();
debugDrawSystem->DrawCube(t.trs, SHColour::YELLOW, true);
}
queue.pop();
}
#endif
}
}
void SHNavigationSystem::GeneratePath(SHNavigationComponent& comp) noexcept
{
@ -167,7 +330,10 @@ namespace SHADE
return;
}
std::list<NavigationNode> openList;
std::unordered_map<NavigationGridIndex, NavigationNode> closedList;
std::map<NavigationGridIndex, NavigationNode> closedList;
closedList.clear();
NavigationGridIndex::numColumns = numCols;
//Check if ending position is set to true in navigation data.
NavigationGridIndex endIndex = GetNavigationGridIndex(comp.target);
@ -184,8 +350,8 @@ namespace SHADE
NavigationNode startingNode;
startingNode.index = GetNavigationGridIndex(transform->GetWorldPosition());
startingNode.parent.first = NullGridIndex;
startingNode.parent.second = NullGridIndex;
startingNode.parent.row = NullGridIndex;
startingNode.parent.column = NullGridIndex;
startingNode.h = 0;
startingNode.g = 0;
startingNode.f = 0;
@ -194,8 +360,8 @@ namespace SHADE
NavigationNode endNode;
endNode.index.first = NullGridIndex;
endNode.index.second = NullGridIndex;
endNode.index.row = NullGridIndex;
endNode.index.column = NullGridIndex;
endNode.g = std::numeric_limits<uint32_t>::max();
endNode.h = std::numeric_limits<uint32_t>::max();
endNode.f = std::numeric_limits<uint32_t>::max();
@ -235,11 +401,11 @@ namespace SHADE
//Add the surrounding 8 tiles into the open list
{
//Top
if (currNode.index.second > 0)
if (currNode.index.column > 0)
{
NavigationNode topNode;
topNode.index = currNode.index;
topNode.index.second -= 1;
topNode.index.column -= 1;
topNode.parent = currNode.index;
topNode.g = currNode.g + 10;
topNode.h = HCostCalculation(topNode.index, endIndex);
@ -247,12 +413,12 @@ namespace SHADE
AddNodeToOpenList(topNode, openList, closedList);
//TopLeft
if (currNode.index.first > 0)
if (currNode.index.row > 0)
{
NavigationNode newNode;
newNode.index = currNode.index;
newNode.index.second -= 1;
newNode.index.first -= 1;
newNode.index.column -= 1;
newNode.index.row -= 1;
newNode.parent = currNode.index;
newNode.g = currNode.g + 14;
newNode.h = HCostCalculation(newNode.index, endIndex);
@ -262,11 +428,11 @@ namespace SHADE
}
//Bottom
if (currNode.index.second < numRows - 1)
if (currNode.index.column < numCols - 1)
{
NavigationNode btmNode;
btmNode.index = currNode.index;
btmNode.index.second += 1;
btmNode.index.column += 1;
btmNode.parent = currNode.index;
btmNode.g = currNode.g + 10;
btmNode.h = HCostCalculation(btmNode.index, endIndex);
@ -274,12 +440,12 @@ namespace SHADE
AddNodeToOpenList(btmNode, openList, closedList);
//BottomRight
if (currNode.index.first < numCols - 1)
if (currNode.index.row < numRows - 1)
{
NavigationNode newNode;
newNode.index = currNode.index;
newNode.index.second += 1;
newNode.index.first += 1;
newNode.index.column += 1;
newNode.index.row += 1;
newNode.parent = currNode.index;
newNode.g = currNode.g + 14;
newNode.h = HCostCalculation(newNode.index, endIndex);
@ -289,11 +455,11 @@ namespace SHADE
}
//Left
if (currNode.index.first > 0)
if (currNode.index.row > 0)
{
NavigationNode leftNode;
leftNode.index = currNode.index;
leftNode.index.first -= 1;
leftNode.index.row -= 1;
leftNode.parent = currNode.index;
leftNode.g = currNode.g + 10;
leftNode.h = HCostCalculation(leftNode.index, endIndex);
@ -302,12 +468,12 @@ namespace SHADE
//BottomLeft
if (currNode.index.second < numRows - 1)
if (currNode.index.column < numCols - 1)
{
NavigationNode newNode;
newNode.index = currNode.index;
newNode.index.second += 1;
newNode.index.first -= 1;
newNode.index.column += 1;
newNode.index.row -= 1;
newNode.parent = currNode.index;
newNode.g = currNode.g + 14;
newNode.h = HCostCalculation(newNode.index, endIndex);
@ -318,11 +484,11 @@ namespace SHADE
}
//Right
if (currNode.index.first < numCols - 1)
if (currNode.index.row < numRows - 1)
{
NavigationNode rightNode;
rightNode.index = currNode.index;
rightNode.index.first += 1;
rightNode.index.row += 1;
rightNode.parent = currNode.index;
rightNode.g = currNode.g + 10;
rightNode.h = HCostCalculation(rightNode.index, endIndex);
@ -330,12 +496,12 @@ namespace SHADE
AddNodeToOpenList(rightNode, openList, closedList);
//TopRight
if (currNode.index.second > 0)
if (currNode.index.column > 0)
{
NavigationNode newNode;
newNode.index = currNode.index;
newNode.index.second -= 1;
newNode.index.first += 1;
newNode.index.column -= 1;
newNode.index.row += 1;
newNode.parent = currNode.index;
newNode.g = currNode.g + 14;
newNode.h = HCostCalculation(newNode.index, endIndex);
@ -345,10 +511,12 @@ namespace SHADE
}
}
}
}
//Check if there is a path.
if (endNode.g == std::numeric_limits<uint32_t>::max() || endNode.h == std::numeric_limits<uint32_t>::max() || endNode.f == std::numeric_limits<uint32_t>::max())
{
SHLOG_WARNING("Navigation System: End Node not found after running through algo EID: {}", comp.GetEID())
comp.unreachableTarget = true;
return;
}
@ -382,16 +550,12 @@ namespace SHADE
comp.path.push(reversePath.top());
reversePath.pop();
}
comp.recalculatePath = false;
comp.unreachableTarget = false;
}//End GeneratePath
bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list<NavigationNode>& openList, std::unordered_map<NavigationGridIndex, NavigationNode>& closedList) noexcept
bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list<NavigationNode>& openList, std::map<NavigationGridIndex, NavigationNode>& closedList) noexcept
{
if (closedList.find(node.index) != closedList.end())
{
@ -423,4 +587,20 @@ namespace SHADE
}
uint32_t SHNavigationSystem::HCostCalculation(NavigationGridIndex first, NavigationGridIndex second) noexcept
{
uint16_t rDiff = (first.row > second.row)?first.row - second.row: second.row - first.row;
uint16_t cDiff = (first.column > second.column) ? first.column - second.column : second.column - first.column;
if (rDiff > cDiff)
{
return (cDiff * 14) + ((rDiff - cDiff) * 10);
}
else
{
return (rDiff * 14 )+ ((cDiff - rDiff) * 10);
}
}
}

30
SHADE_Engine/src/Navigation/SHNavigationSystem.h
View File

@ -6,14 +6,15 @@
#include "Math/Vector/SHVec2.h"
#include "Math/Vector/SHVec3.h"
#include <vector>
#include "SH_API.h"
namespace SHADE
{
struct NavigationNode
struct SH_API NavigationNode
{
NavigationGridIndex index;
NavigationGridIndex parent;
@ -22,6 +23,7 @@ namespace SHADE
uint32_t f;
};
class SH_API SHNavigationSystem final: public SHSystem
{
private:
@ -46,21 +48,22 @@ namespace SHADE
SHVec2 GetGridSize() noexcept;
uint16_t GetIndex(uint16_t row, uint16_t col) noexcept;
void GeneratePath(SHNavigationComponent& comp) noexcept;
uint32_t HCostCalculation(NavigationGridIndex first, NavigationGridIndex second) noexcept; //TO DO
bool AddNodeToOpenList(NavigationNode node, std::list<NavigationNode>& openList, std::unordered_map<NavigationGridIndex, NavigationNode>& closedList) noexcept;
bool AddNodeToOpenList(NavigationNode node, std::list<NavigationNode>& openList, std::map<NavigationGridIndex, NavigationNode>& closedList) noexcept;
void UpdateNavigationComponent(SHNavigationComponent& comp) noexcept;
SHVec3 GetGridWorldPos(NavigationGridIndex index) noexcept;
public:
SHNavigationSystem() = default;
virtual ~SHNavigationSystem() = default;
void Init();
void Exit();
virtual void Init();
virtual void Exit();
void SaveNavigationData() noexcept;
void GenerateNavigationGridData(SHVec3 origin, SHVec3 size, uint16_t numRow, uint16_t numCol) noexcept;
void GeneratePath(SHNavigationComponent& comp) noexcept;
bool GetNavigationData(uint16_t row, uint16_t col) noexcept;
bool GetNavigationData(NavigationGridIndex index) noexcept;
@ -78,6 +81,15 @@ namespace SHADE
};
friend class NavigationSystemGenerateRoutine;
class SH_API UpdateNavigationRoutine final: public SHSystemRoutine
{
public:
UpdateNavigationRoutine() : SHSystemRoutine("Update Navigation Routine", false) {};
virtual void Execute(double dt)noexcept override final;
};
friend class UpdateNavigationRoutine;
};

8
SHADE_Engine/src/Serialization/SHSerialization.cpp
View File

@ -243,6 +243,8 @@ namespace SHADE
AddComponentToComponentNode<SHToggleButtonComponent>(components, eid);
AddComponentToComponentNode<SHSliderComponent>(components, eid);
AddComponentToComponentNode<SHNavigationComponent>(components, eid);
AddComponentToComponentNode<SHTextRenderableComponent>(components, eid);
AddComponentToComponentNode<SHAnimatorComponent>(components, eid);
AddComponentToComponentNode<SHUIComponent>(components, eid);
@ -306,6 +308,9 @@ namespace SHADE
AddComponentID<SHButtonComponent>(componentIDList, componentsNode);
AddComponentID<SHToggleButtonComponent>(componentIDList, componentsNode);
AddComponentID<SHSliderComponent>(componentIDList, componentsNode);
AddComponentID<SHNavigationComponent>(componentIDList, componentsNode);
AddComponentID<SHTextRenderableComponent>(componentIDList, componentsNode);
AddComponentID<SHAnimatorComponent>(componentIDList, componentsNode);
AddComponentID<SHUIComponent>(componentIDList, componentsNode);
@ -394,6 +399,9 @@ namespace SHADE
SHSerializationHelper::InitializeComponentFromNode<SHButtonComponent>(componentsNode, eid);
SHSerializationHelper::InitializeComponentFromNode<SHToggleButtonComponent>(componentsNode, eid);
SHSerializationHelper::InitializeComponentFromNode<SHSliderComponent>(componentsNode, eid);
SHSerializationHelper::InitializeComponentFromNode<SHNavigationComponent>(componentsNode, eid);
SHSerializationHelper::InitializeComponentFromNode<SHTextRenderableComponent>(componentsNode, eid);
SHSerializationHelper::InitializeComponentFromNode<SHLightComponent>(componentsNode, eid);
SHSerializationHelper::InitializeComponentFromNode<SHAnimatorComponent>(componentsNode, eid);

58
SHADE_Managed/src/Components/Navigation.cxx Normal file
View File

@ -0,0 +1,58 @@
#include "SHpch.h"
#include "Navigation.hxx"
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Navigation/SHNavigationSystem.h"
namespace SHADE
{
Navigation::Navigation(Entity entity)
:Component(entity)
{
}
float Navigation::Threshold::get()
{
return GetNativeComponent()->threshold;
}
void Navigation::Threshold::set(float val)
{
GetNativeComponent()->threshold = val;
}
Vector3 Navigation::Target::get()
{
return Convert::ToCLI(GetNativeComponent()->GetTarget());
}
void Navigation::Target::set(Vector3 val)
{
GetNativeComponent()->SetTarget(Convert::ToNative(val));
}
Vector3 Navigation::GetForward()
{
return Convert::ToCLI(GetNativeComponent()->GetForward());
}
bool Navigation::GetUnreachableTarget()
{
return GetNativeComponent()->GetUnreachableTarget();
}
void Navigation::MoveTo(Vector3 val)
{
GetNativeComponent()->SetTarget(Convert::ToNative(val));
auto system = SHSystemManager::GetSystem<SHNavigationSystem>();
if (system)
{
system->GeneratePath(*GetNativeComponent());
}
}
}

35
SHADE_Managed/src/Components/Navigation.hxx Normal file
View File

@ -0,0 +1,35 @@
#pragma once
#include "Components/Component.hxx"
#include "Math/Vector3.hxx"
//External Dependencies
#include "Navigation/SHNavigationComponent.h"
namespace SHADE
{
public ref class Navigation : public Component<SHNavigationComponent>
{
internal:
Navigation(Entity entity);
public:
property float Threshold
{
float get();
void set(float val);
}
property Vector3 Target
{
Vector3 get();
void set(Vector3 val);
}
Vector3 GetForward();
bool GetUnreachableTarget();
void MoveTo(Vector3 val);
};
}

3
SHADE_Managed/src/Engine/ECS.cxx
View File

@ -52,7 +52,7 @@ of DigiPen Institute of Technology is prohibited.
#include "Components\TrajectoryRenderable.hxx"
#include "Components\Animator.hxx"
#include "Components\ParticleEmitter.hxx"
#include "Components\Navigation.hxx"
namespace SHADE
@ -344,6 +344,7 @@ namespace SHADE
componentMap.Add(createComponentSet<SHTrajectoryRenderableComponent, TrajectoryRenderable>());
componentMap.Add(createComponentSet<SHAnimatorComponent, Animator>());
componentMap.Add(createComponentSet<SHParticleEmitterComponent, ParticleEmitter>());
componentMap.Add(createComponentSet<SHNavigationComponent, Navigation>());
}
/*---------------------------------------------------------------------------------*/