diff options
Diffstat (limited to 'scene/2d/navigation2d.cpp')
| -rw-r--r-- | scene/2d/navigation2d.cpp | 42 |
1 files changed, 37 insertions, 5 deletions
diff --git a/scene/2d/navigation2d.cpp b/scene/2d/navigation2d.cpp index b7d51730a0..fe1760b84a 100644 --- a/scene/2d/navigation2d.cpp +++ b/scene/2d/navigation2d.cpp @@ -494,7 +494,29 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect open_list.erase(least_cost_poly); } - +#if 0 +debug path + { + Polygon *p=end_poly; + int idx=0; + + while(true) { + int prev = p->prev_edge; + int prev_n = (p->prev_edge+1)%p->edges.size(); + Vector2 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point))*0.5; + String points; + for(int i=0;i<p->edges.size();i++) { + if (i>0) + points+=", "; + points+=_get_vertex(p->edges[i].point); + } + //print_line("poly "+itos(idx++)+" - "+points); + p = p->edges[prev].C; + if (p==begin_poly) + break; + } + } +#endif if (found_route) { Vector<Vector2> path; @@ -538,22 +560,29 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect bool skip=false; - /* print_line("-----\nAPEX: "+(apex_point-end_point)); + /* + print_line("-----\nAPEX: "+(apex_point-end_point)); print_line("LEFT:"); print_line("\tPortal: "+(portal_left-end_point)); print_line("\tPoint: "+(left-end_point)); - print_line("\tFree: "+itos(CLOCK_TANGENT(apex_point,portal_left,left) >= 0)); + print_line("\tLeft Tangent: "+rtos(CLOCK_TANGENT(apex_point,portal_left,left))); + print_line("\tLeft Distance: "+rtos(portal_left.distance_squared_to(apex_point))); + print_line("\tLeft Test: "+rtos(CLOCK_TANGENT(apex_point,left,portal_right))); print_line("RIGHT:"); print_line("\tPortal: "+(portal_right-end_point)); print_line("\tPoint: "+(right-end_point)); - print_line("\tFree: "+itos(CLOCK_TANGENT(apex_point,portal_right,right) <= 0)); -*/ + print_line("\tRight Tangent: "+rtos(CLOCK_TANGENT(apex_point,portal_right,right))); + print_line("\tRight Distance: "+rtos(portal_right.distance_squared_to(apex_point))); + print_line("\tRight Test: "+rtos(CLOCK_TANGENT(apex_point,right,portal_left))); + */ + if (CLOCK_TANGENT(apex_point,portal_left,left) >= 0){ //process if (portal_left.distance_squared_to(apex_point)<CMP_EPSILON || CLOCK_TANGENT(apex_point,left,portal_right) > 0) { left_poly=p; portal_left=left; + //print_line("***ADVANCE LEFT"); } else { //_clip_path(path,apex_poly,portal_right,right_poly); @@ -568,6 +597,7 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect path.push_back(apex_point); skip=true; //print_line("addpoint left"); + //print_line("***CLIP LEFT"); } } @@ -576,6 +606,7 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect if (portal_right.distance_squared_to(apex_point)<CMP_EPSILON || CLOCK_TANGENT(apex_point,right,portal_left) < 0) { right_poly=p; portal_right=right; + //print_line("***ADVANCE RIGHT"); } else { //_clip_path(path,apex_poly,portal_left,left_poly); @@ -589,6 +620,7 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect if (path[path.size()-1].distance_to(apex_point)>CMP_EPSILON) path.push_back(apex_point); //print_line("addpoint right"); + //print_line("***CLIP RIGHT"); } } |