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【golang/navmesh】使用recast navigation进行寻路

article 2024/11/1 12:27:24

说在前面

go version：1.20.2 linux/amd64
操作系统：wsl2
detour-go版本：v0.2.0
github：这里，求star!

安装

使用go mod安装即可
```
go get github.com/o0olele/detour-go
```

使用

使用场景模型构建navmesh
- 通过recast navigation demo进行构建；构建完成后点击Save保存二进制文件
- 通过在线工具构建；完成后点击Export as Recast NavMesh保存二进制文件

使用detour-go加载二进制navmesh文件

var mesh = loader.LoadTileMesh("./navmesh.bin")
if mesh == nil {
	panic("load mesh failed.")
}

进行寻路

// 初始化nav mesh query
var meshQuery = detour.DtAllocNavMeshQuery()
var status = meshQuery.Init(mesh, 2048)
if detour.DtStatusFailed(status) {
	panic("init mesh query failed.")
}

// 初始化 query filter
var meshFilter = detour.DtAllocDtQueryFilter()

// 确定寻路起点
var agentPos [3]float32
var agentHalfExtents = [3]float32{1, 0.75, 1}
var agentNearestPoly detour.DtPolyRef
status = meshQuery.FindNearestPoly(agentPos[:], agentHalfExtents[:], meshFilter, &agentNearestPoly, agentPos[:])
if detour.DtStatusFailed(status) {
	panic("find closest point failed.")
}

// 确定寻路终点
var agentTarget = [3]float32{1.1322085857391357, 10.197294235229492, -5.400757312774658}
var agentTragetRef detour.DtPolyRef
status = meshQuery.FindNearestPoly(agentTarget[:], agentHalfExtents[:], meshFilter, &agentTragetRef, agentTarget[:])
if detour.DtStatusFailed(status) {
	panic("find agent target closest point failed.")
}

// 寻路
var path [256]detour.DtPolyRef
var pathCount int
meshQuery.FindPath(agentNearestPoly, agentTragetRef, agentPos[:], agentTarget[:], meshFilter, path[:], &pathCount, 256)

// 详细路径
var straightPath [256 * 3]float32
var straightPathFlags [256]detour.DtStraightPathFlags
var straightPathRef [256]detour.DtPolyRef
var straightPathCount int
meshQuery.FindStraightPath(agentPos[:], agentTarget[:], path[:], pathCount, straightPath[:], straightPathFlags[:], straightPathRef[:], &straightPathCount, 256, 0)
fmt.Println(straightPath[:straightPathCount*3])