{"id":604,"date":"2019-10-27T21:21:09","date_gmt":"2019-10-27T13:21:09","guid":{"rendered":"http:\/\/blog.coolcoding.cn\/?p=604"},"modified":"2020-09-27T11:23:13","modified_gmt":"2020-09-27T03:23:13","slug":"%e8%bd%ac%e8%bd%bdrecastnavigation","status":"publish","type":"post","link":"https:\/\/blog.coolcoding.cn\/?p=604","title":{"rendered":"[\u8f6c\u8f7d]RecastNavigation"},"content":{"rendered":"\n

\u4e00\u3001RecastNavigation\u8be6\u89e3<\/p>\n\n\n\n

\u3000\u3000RecastNavigation\u5b9a\u4e49\uff1a
\u3000\u3000\u3000\u3000RecastNavigation\u662f\u4e00\u4e2a\u5bfc\u822a\u5bfb\u8def\u5de5\u5177\u96c6\uff0c\u4f7f\u7528\u90bb\u63a5\u7684\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\u63cf\u8ff0\u4e00\u4e2a3D\u573a\u666f\uff0cA*\u5bfb\u8def\u7b97\u6cd5\u4f7f3D\u573a\u666f\u7684\u53ef\u8fbe\u6027\u5f97\u5230\u4fdd\u8bc1\u3002
\u3000\u3000\u3000\u3000Polygon\u662fDetour\u7684\u57fa\u672c\u5bfb\u8def\u5355\u5143\uff0c\u5728Poly\uff08Polygon\u51f8\u591a\u8fb9\u5f62\uff09\u4e2d\uff0c\u4efb\u610f\u4e24\u4e2a\u70b9\u662f\u53ef\u4ee5\u76f4\u7ebf\u5230\u8fbe\u7684\u3002
\u3000\u3000\u3000\u3000github\uff1ahttps:\/\/github.com\/recastnavigation\/recastnavigation<\/a><\/p>\n\n\n\n

\u3000\u3000RecastNavigation\u529f\u80fd\uff1a
\u3000\u3000\u3000\u3000\u80fd\u8868\u8fbe\u4e00\u4e2a3D\u573a\u666f\uff1b
\u3000\u3000\u3000\u3000\u80fd\u63a5\u8fd1\u7cbe\u786e\u7684\u8d4b\u4e88\u6e38\u620f\u5bf9\u8c613\u7ef4\u5750\u6807\u5c5e\u6027\uff1b
\u3000\u3000\u3000\u3000\u80fd\u5224\u65ad3D\u573a\u666f\u8868\u97622\u4e2a\u70b9\u7684\u53ef\u8fbe\u6027\uff1b
\u3000\u3000\u3000\u3000\u80fd\u52a8\u6001\u6539\u53d83D\u573a\u666f\u5730\u5f62\u3002<\/p>\n\n\n\n

\u3000\u3000RecastNavigation\u5185\u5bb9\uff1a
\u3000\u3000\u3000\u3000NavMesh\uff08\u5bfc\u822a\u7f51\u683c\u5bfb\u8def\uff09= \u90bb\u63a5\u7684\u51f8\u591a\u8fb9\u5f62\uff08Recast\uff09 + A*\u5bfb\u8def\uff08Detour\uff09
\u3000\u3000\u3000\u30001\u3001Recast\uff0c\u7528\u4e8e\u751f\u6210\u90bb\u63a5\u7684\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\u6570\u636e\uff0c\u4f7f\u7528\u53c2\u7167\u793a\u4f8b\uff1aRecastDemo\/Sample_SoloMesh.cpp
\u3000\u3000\u3000\u3000\u3000\u3000\u2460 Solo Mesh\uff0c\u7eaf\u7cb9\u7684\u90bb\u63a5\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\u3002
\u3000\u3000\u3000\u3000\u3000\u3000\u2461 Tile Mesh\uff0c\u57fa\u4e8eTile\u5212\u5206\u7684N\u4e2a\u90bb\u63a5\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\u3002
\u3000\u3000\u3000\u3000\u3000\u3000\u2462 Temp Obstacles\uff0c\u652f\u6301\u52a8\u6001\u969c\u788d\u7269\u7684\uff0c\u57fa\u4e8etile\u5212\u5206\u7684N\u4e2a\u90bb\u63a5\u7684\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\u3002
\u3000\u3000\u3000\u30002\u3001Detour\uff0c\u57fa\u4e8e\u90bb\u63a5\u7684\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\u7684A*\u5bfb\u8def\u7b97\u6cd5\uff0c\u793a\u4f8b\u53c2\u7167\uff1aRecastDemo\/NavMeshTesterTool.cpp<\/p>\n\n\n\n

\u3000\u3000*RecastNavigation\u7684\u6240\u6709\u64cd\u4f5c\u90fd\u662f\u57fa\u4e8e\u5730\u8868\u9762\u7684\uff0c\u5bf9\u4e8e\u7a7a\u4e2d\u5bf9\u8c61\u7684\u4ea4\u4e92\u662f\u65e0\u6cd5\u5b8c\u6210\u7684\uff0c\u8fd9\u65f6\u53ef\u4ee5\u7ed3\u5408\u5176\u4ed6\u5f15\u64ce\uff0c\u5982physx\u8fdb\u884c\u5bf9\u8c61\u7684\u7a7a\u4e2d\u4ea4\u4e92\u3002<\/p>\n\n\n\n

\u3000\u3000\u6e90\u7801\u7ed3\u6784\uff1a
\u3000\u3000\u3000\u3000DebugUtils \u8c03\u8bd5
\u3000\u3000\u3000\u3000Detour \u5229\u7528\u5bfc\u822a\u7f51\u683c\u505a\u5bfb\u8def\u64cd\u4f5c\u3002\u5bfc\u822a\u7f51\u683c\u53ef\u4ee5\u4f7fRecast\u751f\u6210\u7684\uff0c\u4e5f\u53ef\u4ee5\u662f\u5176\u4ed6\u5de5\u5177\u751f\u6210\u7684\u3002
\u3000\u3000\u3000\u3000DetourCrowd \u63d0\u4f9b\u7fa4\u4f53\u5bfb\u8def\u884c\u4e3a\u7684\u529f\u80fd
\u3000\u3000\u3000\u3000DetourTileCache Tile\u7f13\u5b58
\u3000\u3000\u3000\u3000Recast \u6839\u636e\u63d0\u4f9b\u7684\u6a21\u578b\u751f\u6210\u7528\u4e8e\u5bfb\u8def\u7684\u5bfc\u822a\u7f51\u683c
\u3000\u3000\u3000\u3000RecastDemo \u5c55\u73b0Recast\u3001Detour\u63d0\u4f9b\u7684\u529f\u80fd\u7684Demo
\u3000\u3000\u3000\u3000Test \u6d4b\u8bd5<\/p>\n\n\n\n

\u3000\u3000SoloMesh\u751f\u6210\u8fc7\u7a0b\uff08RecastDemo\/Sample_SoloMesh.cpp\u4e2dhandleBuild\u51fd\u6570\uff09\uff0c\u5bfc\u822a\u7f51\u683c\u751f\u6210\u6b65\u9aa4\uff1a
\u3000\u3000\u3000\u3000\u573a\u666f\u6a21\u578b\u4f53\u7d20\u5316\uff08Voxelization\uff09\uff0c\u6216\u8005\u53eb\u5149\u6805\u5316\uff08Rasterization\uff09\u3002
\u3000\u3000\u3000\u3000\u8fc7\u6ee4\u53ef\u884c\u8d70\u8868\u9762\uff08Walkable Suface\uff09
\u3000\u3000\u3000\u3000\u533a\u57df\u751f\u6210\uff08Region\uff09
\u3000\u3000\u3000\u3000\u8f6e\u5ed3\u751f\u6210\uff08Contour\u8fb9\u7f18\uff09
\u3000\u3000\u3000\u3000\u8f6e\u5ed3\u7f51\u683c\u751f\u6210\uff08Poly Mesh\uff09
\u3000\u3000\u3000\u3000\u4e09\u89d2\u5f62\u5316\uff08Triangulation\uff09\u751f\u6210\u7ec6\u8282\u7f51\u683c\uff08Detailed Mesh\uff09<\/p>\n\n\n\n

\u4e8c\u3001RecastNavigation\u6784\u5efa
\u3000\u3000RecastNavigation\u4f7f\u7528Premake5\u6784\u5efa\uff0c\u9700\u8981\u81ea\u884c\u5b89\u88c5\uff0c\u5982\u679c\u4f7f\u7528make\u8fdb\u884c\u6784\u5efa\uff0c\u9700\u8981\u7f16\u5199Makefile\u3002
\u3000\u3000Premake\u4e0b\u8f7d\u5730\u5740\uff1ahttps:\/\/premake.github.io\/download.html<\/p>\n\n\n\n

\u3000\u3000Windows\u4e0b\u4f7f\u7528vs\u7f16\u8bd1
\u3000\u3000\u3000\u30001\u3001RecastNavigation\u4f9d\u8d56\u4e8eSDL\u5e93\uff0c\u4e0b\u8f7dSDL\u6e90\u7801\uff0c\u89e3\u538b\u5230RecastNavigation\/RecastDemo\/Contrib\/\u76ee\u5f55\u4e0b
\u3000\u3000\u3000\u30002\u3001\u8fdb\u5165SDL\/VisualC\/\u76ee\u5f55\uff0c\u6253\u5f00\u5f00\u89e3\u51b3\u65b9\u6848\uff0c\u7f16\u8bd1\u5728SDL\/VisualC\/Win32\/Debug\u4e0b\u751f\u6210 SDL2.dll\u3001SDL2.lib\u3001SDL2main.lib
\u3000\u3000\u3000\u30003\u3001\u590d\u5236\u5230SDL\/lib\/x86\u4e0b\uff0c\u5b9e\u9645\u4e0a\u8fd9\u4e9b\u6587\u4ef6\u4e0b\u8f7d\u7684\u65f6\u5019\u5df2\u7ecf\u5b58\u5728\u4e86\uff0c\u4e0d\u9700\u89812\u4e2d\u7684\u6b65\u9aa4
\u3000\u3000\u3000\u30004\u3001\u4e0b\u8f7dpremake5.exe\u5230\u5de5\u7a0b\u76ee\u5f55RecastNavigation\/RecastDemo\/\u4e0b\uff0ccmd\u547d\u4ee4\u884c\u8fdb\u5165\u6b64\u76ee\u5f55\uff0c\u6267\u884cpremake.exe\n vs2017 premake5.lua\uff0c\u751f\u6210\u89e3\u51b3\u65b9\u6848\u5728RecastNavigation\/RecastDemo\/build\/\u4e0b\u3002
\u3000\u3000\u3000\u30005\u3001\u6253\u5f00\u89e3\u51b3\u65b9\u6848\uff0c\u5728RecastNavigation\/RecastDemo\/Bin\/\u4e0b\u751f\u6210RecastDemo.exe\u53ef\u6267\u884c\u6587\u4ef6<\/p>\n\n\n\n

\u3000\u3000Linux\u4e0b\u7f16\u8bd1
\u3000\u3000\u3000\u30001\u3001git clone https:\/\/github.com\/recastnavigation\/recastnavigation.git
\u3000\u3000\u3000\u30002\u3001\u5b89\u88c5SDL\uff0cOpenGL
\u3000\u3000\u3000\u3000SDL\u8981\u7f16\u8bd1
\u3000\u3000\u3000\u3000\u3000\u3000\u8fdb\u5165\u76ee\u5f55 .\/configure make make install
\u3000\u3000\u3000\u3000OpenGL\u53ef\u4ee5\u901a\u8fc7\u547d\u4ee4\u5b89\u88c5
\u3000\u3000\u3000\u3000\u3000\u3000yum install mesa-libGL-devel.x86_64
\u3000\u3000\u3000\u3000\u3000\u3000yum install mesa-libGLU-devel.x86_64
\u3000\u3000\u3000\u3000\u8bbe\u7f6e\u73af\u5883\u53d8\u91cfexport PKG_CONFIG_PATH=SDL\u76ee\u5f55\uff0c\u5426\u5219make\u7684\u65f6\u5019\u627e\u4e0d\u5230SDL.h\u6587\u4ef6
\u3000\u3000\u3000\u30003\u3001cd recastnavigation\/RecastDemo\/
\u3000\u3000\u3000\u30004\u3001premake5 gmake
\u3000\u3000\u3000\u30005\u3001cd Build\/gmake\/
\u3000\u3000\u3000\u30006\u3001make<\/p>\n\n\n\n

\u4e09\u3001\u76f8\u5173\u77e5\u8bc6
\u3000\u30001\u3001\u5305\u56f4\u7403\uff1a
\u3000\u3000\u3000\u3000……
\u3000\u30002\u3001AABB\u5305\u56f4\u76d2\uff1a
\u3000\u3000\u3000\u3000xmin < x < xmax
\u3000\u3000\u3000\u3000ymin < y < ymax
\u3000\u3000\u3000\u3000zmin < z < zmax
\u3000\u3000\u3000\u3000\u9876\u70b9 \uff08xmin, ymin, zmin\uff09,\uff08xmax, ymax, zmax\uff09
\u3000\u3000\u3000\u3000\u4e2d\u5fc3\u70b9
\u3000\u3000\u3000\u3000float center()
\u3000\u3000\u3000\u3000{
\u3000\u3000\u3000\u3000\u3000\u3000center[0] = (min[0] + max[0]) * 0.5;
\u3000\u3000\u3000\u3000\u3000\u3000center[1] = (min[1] + max[1]) * 0.5;
\u3000\u3000\u3000\u3000\u3000\u3000center[2] = (min[2] + max[2]) * 0.5;<\/p>\n\n\n\n

\u3000\u3000\u3000\u3000\u3000\u3000return center;
\u3000\u3000\u3000\u3000}
\u3000\u30003\u3001OBB\u5305\u56f4\u76d2\uff1a
\u3000\u3000\u3000\u3000……<\/p>\n\n\n\n

\u3000\u3000\u5730\u5f62\u5efa\u6a21\u65b9\u6cd5\uff1a
\u3000\u3000\u3000\u3000grid\uff08\u65b9\u683c\uff09
\u3000\u3000\u3000\u3000waypoint\uff08\u8def\u5f84\u70b9\uff09
\u3000\u3000\u3000\u3000navmesh\uff08\u5bfc\u822a\u7f51\u683c\uff09<\/p>\n\n\n\n

\u56db\u3001\u670d\u52a1\u5668\u4f7f\u7528RecastNavigation
\u3000\u30001\u3001\u4eceUnity\u5bfc\u51fa\u573a\u666f\uff0c\u4f7f\u7528navigation\u5bfb\u8def\u7ec4\u4ef6bake\u5b8c\u6210\u751f\u6210\u597d\u7684\u5bfc\u822a\u7f51\u683c\uff08navmesh\uff09\uff0c\u751f\u6210recast\u53ef\u8bc6\u522b\u7684obj\u6587\u4ef6\u3002
\u3000\u30002\u3001\u4f7f\u7528RecastNavigation\u52a0\u8f7d\u573a\u666f\uff0c\u5e76\u9a8c\u8bc1\u5176\u6b63\u786e\u6027\u3002<\/p>\n\n\n\n

\/\/ \u8fd9\u91cc\u8981\u7528\u5230Sample_TileMesh.h\u4e2d\u7ed3\u6784\u4f53\nstruct NavMeshSetHeader\n{\n\u3000\u3000int magic;\n\u3000\u3000int version;\n\u3000\u3000int numTiles;\n\u3000\u3000dtNavMeshParams params;\n};\n \nstruct NavMeshTileHeader\n{\n\u3000\u3000dtTileRef tileRef;\n\u3000\u3000int dataSize;\n};\n \n\/\/ \u6253\u5f00\u8bfb\u53d6\u5ba2\u6237\u7aef\u751f\u6210\u7684NavMesh\u6587\u4ef6\nFILE* fp = fopen(navameshpath, \"rb\");\nif (!fp) return 0;\n \nNavMeshSetHeader meshHeader;\nsize_t len = fread(&meshHeader, sizeof(NavMeshSetHeader), 1, fp);\nf (len != 1 || meshHeader.magic != NAVMESHSET_MAGIC || meshHeader.version != NAVMESHSET_VERSION)\n{\n\u3000\u3000fclose(fp);\n\u3000\u3000return 0;\n}\n \ndtNavMesh* dtMesh = dtAllocNavMesh();\nif (!dtMesh)\n{\n\u3000\u3000fclose(fp);\n\u3000\u3000return 0;\n}\n \ndtStatus dtStatus = dtMesh->init(&meshHeader.params);\nif (dtStatusFailed(dtStatus)\n{\n\u3000\u3000fclose(fp);\n\u3000\u3000return 0;\n}\n \n\/\/ \u8bfb\u53d6\u6240\u6709Tiles\uff0c\u83b7\u53d6MeshQuery\u5bf9\u8c61\uff0c\u4e0b\u4e00\u6b65\u53ef\u4ee5\u7528MeshQuery\u5bf9\u8c61\u8fdb\u884c\u5bfb\u8def\nfor (int i =0; i < meshHeader.numTiles; ++i)\n{\n\u3000\u3000NavMeshTileHeader tileHeader;\n\u3000\u3000len = fread(&tileHeader, sizeof(NavMeshTileHeader), 1, fp)\n\u3000\u3000......\n}<\/code><\/pre>\n\n\n\n
 3\u3001Detour\u9a71\u52a8AI\u5bfb\u8def\u3002 <\/p>\n\n\n\n\n\n\n\n
\u57283D \nMMO\u6216\u8005\u5176\u4ed6\u7c7b\u578b\u7684\u6e38\u620f\u4e2d\uff0c\u901a\u5e38\u9700\u8981\u8fdb\u884c\u5bfb\u8def\u5904\u7406\uff0c\u5730\u56fe\u9488\u5bf9\u5bfb\u8def\u6709\u591a\u79cd\u65b9\u6848\uff0c\u6bd4\u5982\u5212\u5206\u683c\u5b50\uff0c\u51f8\u591a\u8fb9\u5f62\u7b49\uff0c\u672c\u7bc7\u4ecb\u7ecd\u4e00\u79cd\u6bd4\u8f83\u5e38\u7528\u7684navigation \nmesh\u7684\u65b9\u5f0f\u6765\u8fdb\u884c\u5bfb\u8def\u3002\u4e0d\u8fc7\u6574\u5957navmesh\u7684\u7b97\u6cd5\u6bd4\u8f83\u590d\u6742\uff0c\u6ca1\u6709\u6df1\u5165\u7684\u7814\u7a76\u5199\u4e0d\u51fa\u6765\uff0c\u6211\u4eec\u4f7f\u7528\u7f51\u4e0a\u5f00\u6e90\u7684\u89e3\u51b3\u65b9\u6848\uff0cgoogle\u7684recast\u65b9\u6848\u3002\u6211\u4eec\u4f7f\u7528\u7684\u5f00\u53d1\u73af\u5883\u662fwin7\n + vs2013.<\/p>\n\n\n\n
\u3000\u3000\u4e00\u3001\u670d\u52a1\u5668\u7aefrecast\u7684\u5b89\u88c5\u548c\u4f7f\u7528<\/p>\n\n\n\n
\u3000\u30001\u3001\u5148\u4ecegithub\u4e0a\u9762\u4e0b\u8f7drecast\u7684\u6e90\u4ee3\u7801<\/p>\n\n\n\n
\u3000\u30002. \n\u6e90\u4ee3\u7801\u4e0b\u8f7d\u4e0b\u6765\u4e4b\u540e\uff0c\u9700\u8981\u6211\u4eec\u81ea\u5df1\u8fdb\u884c\u7f16\u8bd1\uff0crecast\u4f7f\u7528\u9884\u7f16\u8bd1\u5de5\u5177premake\uff0c\u9700\u8981premake.lua\u3002\u5148\u4e0b\u8f7dlua\uff0c\u7136\u540e\u5355\u72ec\u4e0b\u8f7dpremake5\uff0c\u5426\u5219premake5.lua\u4e0d\u80fd\u4f7f\u7528\u3002\u5c06\u4e0b\u8f7d\u597d\u7684premake.exe\u653e\u5230\u548cpremake5.lua\u7684\u540c\u4e00\u76ee\u5f55\u4e0b\uff0c\u7136\u540e\u5728\u63a7\u5236\u53f0\u8fd0\u884cpremake.exe\n vs2013(\u6839\u636e\u81ea\u5df1\u7684IDE\u7248\u672c\u53f7)\uff0c\u5c31\u4f1a\u751f\u6210vs2013\u7684\u89e3\u51b3\u65b9\u6848sln\u6587\u4ef6\u3002<\/p>\n\n\n\n
\u3000\u30002. \nrecast\u7684\u6d4b\u8bd5\u7a0b\u5e8f\u4e2d\uff0c\u7528\u5230\u4e86SDL\u7684\u76f8\u5173\u5e93\uff0c\u8fd9\u4e2a\u6bd4\u8f83\u7b80\u5355\uff0c\u4e0b\u8f7d\u4e00\u4e2aSDL-devel\u7684\u5e93\u5c31\u53ef\u4ee5\u4e86\uff0c\u7136\u540e\u770b\u4e0bRecastDemo\u91cc\u9762\u7684\u914d\u7f6e\u76ee\u5f55\uff0ccopy\u8fdb\u53bb\u5c31\u53ef\u4ee5\u7f16\u8bd1\u901a\u8fc7\u4e86\u3002\u4e2d\u95f4\u7f16\u8bd1\u7684\u65f6\u5019\uff0c\u53ef\u80fd\u7531\u4e8evs2013\u7248\u672c\uff0c\u4f1a\u63d0\u793amin\uff0cmax\u8fd9\u4e9b\u51fd\u6570\u6ca1\u6709\u5b9a\u4e49\uff0c\u53ea\u8981#include\u5bf9\u5e94\u7684STL\u5e93\u5934\u6587\u4ef6<algorithm>\u5c31\u53ef\u4ee5\u4e86<\/p>\n\n\n\n
\u3000\u30003. \u6210\u529f\u7f16\u8bd1\u4e86recast\u76f8\u5173\u7684\u5e93\uff0cDetour\uff0cRecast\u7b49\uff0c\u6211\u4eec\u4e00\u5f00\u59cb\u5bf9\u4e8e\u5982\u4f55\u4f7f\u7528recast\u53ef\u80fd\u4e00\u70b9\u6982\u5ff5\u90fd\u6ca1\u6709\uff0c\u4e0d\u8fc7recast\u5df2\u7ecf\u8003\u8651\u5230\u4e86\u8fd9\u4e00\u70b9\uff0c\u5de5\u7a0b\u4e2d\u6709\u4e00\u4e2aRecastDemo\u7a0b\u5e8f\uff0c\u662f\u7528\u6765\u793a\u4f8b\u5982\u4f55\u4f7f\u7528recast\u7684\u3002<\/p>\n\n\n\n
\u3000\u30004. \u4f7f\u7528recastDemo\uff0c\u6211\u4eec\u53ef\u4ee5\u6839\u636e\u573a\u666f\u7684.obj\u6587\u4ef6\uff0c\u6765\u751f\u6210navmesh\uff0c\u548c\u5bfc\u5165\u6211\u4eec\u81ea\u5df1\u751f\u6210\u7684navmesh\uff0c\u4e0d\u8fc7\u8fd9\u90fd\u662f\u6211\u4eec\u901a\u8fc7recast\u5f00\u6e90\u5de5\u5177\u751f\u6210\u7684\u3002\u5b9e\u9645\u7684\u6e38\u620f\u4e2d\uff0c\u6211\u4eec\u9700\u8981\u7684\u662f\u4ece\u5ba2\u6237\u7aef\u751f\u6210\u7684navmesh\uff0c\u7136\u540e\u5bfc\u5165\u5230\u670d\u52a1\u5668\u4e2d\u8fdb\u884c\u89e3\u6790\u3002<\/p>\n\n\n\n
\u3000\u3000\u4e8c\u3001Unity3D\u5ba2\u6237\u7aef\u7684navmesh\u751f\u6210<\/p>\n\n\n\n
\u3000\u3000unity3D\u662f\u81ea\u5e26navmesh \nagent\u7684\uff0c\u53ef\u4ee5\u81ea\u5df1\u751f\u6210navmesh\uff0c\u5e76\u4e14\u5bfc\u51fanavmesh\uff0c\u4e0d\u8fc7\u5b83\u7684\u5bfc\u51fanavmesh\uff0c\u6211\u67e5\u4e0b\u6765\u662f\u9700\u8981\u81ea\u5df1\u5199\u4ee3\u7801\u7684\uff0c\u800c\u4e14navmesh \nagent\u662f\u4fee\u6539\u8fc7\u5bfc\u51fanavmesh\u6587\u4ef6\u683c\u5f0f\u7684\uff0c\u4e5f\u5c31\u662f\u8bf4\u6211\u4eecrecast C++\u4ee3\u7801\u662f\u4e0d\u80fd\u76f4\u63a5\u4f7f\u7528\u7684\u3002\u540e\u6765\u6211\u53c8\u641c\u7d22\u4e86\u4e00\u4e0brecast for \nUnity\u8fd9\u4e2a\u63d2\u4ef6\uff0c\u8fd9\u4e2a\u63d2\u4ef6\u662f\u6709\u6e90\u4ee3\u7801\u7684\uff0c\u4e0d\u8fc7\u5982\u679c\u6b63\u5e38\u8d2d\u4e70\u9700\u8981\uff0450\u3002<\/p>\n\n\n\n
\u3000\u3000\u5bf9\u4e8e\u8fd9\u4e2a\u63d2\u4ef6\u5f53\u65f6\u7814\u7a76\u4e86\u6bd4\u8f83\u957f\u7684\u65f6\u95f4\uff0c\u4e00\u5f00\u59cb\u5bfc\u51fa\u4e86\u4e00\u4e0b\u5b83\u7684navmesh\u683c\u5f0f\uff0c\u7136\u540e\u7528C++recast\u5bfc\u5165\u8bd5\u4e86\u4e00\u4e0b\uff0c\u53d1\u73b0\u683c\u5f0f\u80af\u5b9a\u662f\u4e0d\u4e00\u6837\u7684\u4e86\u3002\u7136\u540e\u5c31\u4ed4\u7ec6\u7814\u7a76\u4e86\u4e00\u4e0b\u4e24\u8fb9\u751f\u6210navmesh\u65f6\u7684\u683c\u5f0f\u5dee\u5f02\uff0c\u9488\u5bf9TileMesh\u5b58\u50a8\u7684\u65f6\u5019\uff0c\u4e24\u8fb9\u662f\u4e0d\u4e00\u81f4\u7684\uff0c\u672c\u6765\u60f3\u76f4\u63a5\u4fee\u6539C#\u4ee3\u7801\u6765\u8fbe\u5230\u4e24\u8fb9\u4e00\u81f4\uff0c\u4e0d\u8fc7\u7531\u4e8e\u5bf9C#\u7684\u5e8f\u5217\u5316\u4e0d\u591f\u719f\u6089\uff0c\u5c31\u653e\u5f03\u4e86\u3002\u4e0d\u8fc7\u5e94\u8be5\u53ef\u4ee5\u76f4\u63a5\u6539\u6210\u4e00\u81f4\uff0c\u8fd9\u4e2a\u540e\u9762\u6709\u65f6\u95f4\u53ef\u4ee5\u518d\u6df1\u5165\u7814\u7a76\u4e00\u4e0b\u3002<\/p>\n\n\n\n
\u3000\u3000\u540e\u6765\u4f7f\u7528\u4e86KBEngine\u4fee\u6539\u8fc7\u7684CritterAI\uff0c\u5b83\u5bfc\u51fa\u6765\u7684navmesh\u6587\u4ef6\uff0c\u5728KBEngine\u4e2d\u662f\u80fd\u76f4\u63a5\u4f7f\u7528\u7684\u3002\u7136\u540e\u628a\u6211\u4eec\u670d\u52a1\u5668\u4e2d\u89e3\u6790navmesh\u7684\u683c\u5f0f\uff0c\u6539\u6210\u548cKBEngine\u4e00\u81f4\u5c31\u53ef\u4ee5\u4e86\u3002\u4ee3\u7801\u8fd8\u662f\u975e\u5e38\u7b80\u5355\u7684\uff0c\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n
bool NavMeshLoader::load_cai(const char* path) {\n        FILE* fp = fopen(path, \"rb\");\n        if (!fp) return false;\n\n        \/\/ Read header.\n        NavMeshSetHeader_CAI header;\n        size_t readLen = fread(&header, sizeof(NavMeshSetHeader_CAI), 1, fp);\n        if (readLen != 1)\n        {\n            fclose(fp);\n            return false;\n        }\n\n        if (header.version != NAVMESHSET_VERSION)\n        {\n            fclose(fp);\n            return false;\n        }\n\n        dtNavMesh* mesh = dtAllocNavMesh();\n        if (!mesh)\n        {\n            fclose(fp);\n            return false;\n        }\n        dtStatus status = mesh->init(&header.params);\n        if (dtStatusFailed(status))\n        {\n            fclose(fp);\n            return false;\n        }\n\n        \/\/ Read tiles.\n        for (int i = 0; i < header.tileCount; ++i)\n        {\n            NavMeshTileHeader tileHeader;\n            readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);\n            if (readLen != 1)\n            {\n                fclose(fp);\n                return false;\n            }\n\n            if (!tileHeader.tileRef || !tileHeader.dataSize)\n                break;\n\n            unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);\n            if (!data) break;\n            memset(data, 0, tileHeader.dataSize);\n            readLen = fread(data, tileHeader.dataSize, 1, fp);\n            if (readLen != 1)\n            {\n                fclose(fp);\n                return false;\n            }\n\n            mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);\n        }\n\n        fclose(fp);\n        m_navMesh = mesh;\n        m_navQuery = dtAllocNavMeshQuery();\n\n        status = m_navQuery->init(m_navMesh, 2048);\n        if (dtStatusFailed(status))\n        {\n            return false;\n        }\n\n        return true;\n    }<\/code><\/pre>\n\n\n\n
KBEngine\u4e2d\u548cRecastDemo\u4e2d\u89e3\u6790navmesh\u4e3b\u8981\u5c31\u662fNavMeshSetHeader\u5934\u7ed3\u6784\u4e0d\u4e00\u81f4\uff0c\u5176\u4ed6\u7684\u90fd\u4e00\u6837\uff0c\u6240\u4ee5\u8fd8\u662f\u6bd4\u8f83\u7b80\u5355\u7684\u3002<\/p>\n\n\n\n
\u3000\u3000\u80fd\u6b63\u5e38\u89e3\u6790navmesh\u6587\u4ef6\u4e4b\u540e\uff0c\u5c31\u662f\u5bf9\u5730\u56fe\u8fdb\u884c\u5bfb\u8def\u4e86\uff0c\u5728\u8fd9\u91cc\u4e3b\u8981\u4f7f\u7528\u4e86RecastDemo\u4e2d\u5bfb\u8def\u7684\u4ee3\u7801\uff0c\u8fdb\u884c\u4e86\u672c\u5730\u5316\u7684\u4fee\u6539\u3002<\/p>\n\n\n\n
\u3000\u3000\u4e09\u3001 \u4f7f\u7528recast navigation\u9047\u5230\u7684\u95ee\u9898<\/p>\n\n\n\n
\u3000\u30001\u3001\u5176\u4e2d\u6709\u6bb5\u65f6\u95f4\uff0c\u6211\u5bf9\u4e8e\u5ba2\u6237\u7aef\u751f\u6210\u7684navmesh\uff0c\u548c\u670d\u52a1\u5668\u751f\u6210\u7684navmesh\u5728\u5750\u6807\u7cfb\u4e0a\u4e0d\u4e00\u81f4\uff0c\u611f\u89c9\u5f88\u56f0\u60d1\uff0c\u751a\u81f3\u60f3\u8981\u4e0d\u8981\u81ea\u5df1\u75283DMax\u4e4b\u7c7b\u7684\u5de5\u5177\u91cd\u65b0\u5bfc\u5165\u5730\u56fe\u6a21\u578b\uff0c\u7136\u540e\u4fee\u6539\u5750\u6807\u7cfb\uff0c\u8fd9\u73b0\u5728\u770b\u6765\u5f88\u53ef\u7b11\uff0c\u4e3b\u8981\u8fd8\u662f\u5bf9\u4e8enavmesh\u7684\u751f\u6210\u539f\u7406\u4e0d\u662f\u5f88\u61c2\u3002\u5176\u5b9e\u5ba2\u6237\u7aef\u751f\u6210\u7684navmesh\u662f\u5e26\u6709\u81ea\u8eab\u5750\u6807\u7cfb\u548c\u76f8\u5bf9\u5750\u6807\u7684\u3002\u4e4b\u524d\u4e4b\u6240\u4ee5\u6709\u90a3\u79cd\u56f0\u60d1\uff0c\u662f\u56e0\u4e3a\u670d\u52a1\u5668\u7528\u7684\u662frecastDemo\u4e2d\u751f\u6210\u7684navmesh\uff0c\u5ba2\u6237\u7aef\u751f\u6210\u4e86\u81ea\u5df1\u7684\uff0c\u6839\u672c\u5c31\u662f\u4e24\u79cd\u4e16\u754c\uff0c\u4e24\u79cd\u5750\u6807\uff0c\u5f53\u7136\u4e0d\u4e00\u81f4\u4e86\uff01\uff01<\/p>\n\n\n\n
\u3000\u30002\u3001\u5176\u5b9eCritterAI\u7684\u5e95\u5c42\u662fC++\u5199\u7684dll\uff0c\u901a\u8fc7unity\u5bfc\u5165\u8fdb\u5de5\u7a0b\uff0c\u7136\u540e\u751f\u6210navmesh\u7684\uff0c\u53ea\u8981\u7b26\u5408unity\u4f7f\u7528dll\u7684\u89c4\u5219\uff0c\u6211\u4eec\u5176\u5b9e\u4e5f\u53ef\u4ee5\u4f7f\u7528recast\u7684\u6e90\u7801\uff0c\u7136\u540e\u6539\u6210unity\u80fd\u591f\u4f7f\u7528\u7684dll\u6765\u5bfc\u51fanavmesh\u3002<\/p>\n\n\n\n\n\n\n\n
http:\/\/www.critterai.org\/projects\/cainav\/<\/a><\/p>\n\n\n\n
RecastNavigation\u4e0b\u8f7d\u5730\u5740<\/p>\n\n\n\n
https:\/\/github.com\/recastnavigation\/recastnavigation<\/a><\/p>\n\n\n\n
CritterAI \u4e0b\u8f7d\u5730\u5740<\/p>\n\n\n\n
http:\/\/www.critterai.org\/<\/a><\/p>\n\n\n\n
Recast\/Detour\u6587\u6863<\/p>\n\n\n\n
http:\/\/masagroup.github.io\/recastdetour\/index.html<\/a><\/p>\n\n\n\n
\u7406\u89e3 Heightfileds<\/p>\n\n\n\n
http:\/\/www.critterai.org\/projects\/cainav\/doc\/html\/6fb3041b-e9be-4f03-868b-dcac944df19b.htm<\/a><\/p>\n\n\n\n
\u5904\u7406\u8fc7\u7a0b\uff08\u8fd9\u4e2a\u6587\u6863\u63cf\u8ff0\u7684\u66f4\u4e3a\u8be6\u7ec6\uff09<\/p>\n\n\n\n
http:\/\/www.critterai.org\/projects\/cainav\/doc\/html\/e72bd1ee-04b0-4bbb-a21d-d8d7ecaa11af.htm<\/a><\/p>\n\n\n\n
Recast Navigation<\/p>\n\n\n\n
Recsat \u662f\u5148\u8fdb\u7684\u6e38\u620f\u5bfc\u822a\u7f51\u683c\u5236\u4f5c\u5de5\u5177\u3002<\/p>\n\n\n\n
\u81ea\u52a8\u751f\u6210\uff0c\u53ef\u8f93\u5165\u4efb\u610f\u5173\u5361\u51e0\u4f55\u4f53\u5e76\u4f1a\u751f\u6210\u7f51\u683c\u3002\n\u5feb\u901f\uff0c\u53ef\u5feb\u901f\u751f\u6210\u5173\u5361\u6570\u636e\u3002\n\u4ee3\u7801\u5f00\u653e\uff0c\u53ef\u81ea\u5b9a\u4e49\u6838\u5fc3\u6570\u636e\u3002<\/code><\/pre>\n\n\n\n
Recast \u5148\u7528\u5173\u5361\u51e0\u4f55\u4f53\u751f\u6210\u4f53\u7d20\u6a21\u578b\uff0c\u7136\u540e\u518d\u751f\u6210\u5bfc\u822a\u7f51\u683c\u8986\u76d6\u5b83\u3002\u5904\u7406\u8fc7\u7a0b\u6709\u4e09\u6b65\u7ec4\u6210\uff1a\u2460\u6784\u5efa\u4f53\u7d20\u6a21\u578b \u2461\u628a\u6a21\u578b\u5212\u5206\u5230\u7b80\u5355\u7684\u533a\u57df \u2462\u7528\u591a\u8fb9\u5f62\u66ff\u6362\u8fd9\u4e9b\u533a\u57df<\/p>\n\n\n\n
\u4f53\u7d20\u6a21\u578b\u662f\u5c06\u8f93\u5165\u7684\u4e09\u89d2\u9762\u6805\u683c\u5316\u5230\u591a\u5c42\u9ad8\u5ea6\u57df\uff0c\u5e76\u7b80\u5355\u5254\u89d2\u8272\u4e0d\u4f1a\u79fb\u52a8\u7684\u4f4d\u7f6e\u800c\u6210\u3002\n\u53ef\u79fb\u52a8\u533a\u88ab\u5212\u5206\u4e3a\u591a\u5c42\u4e8c\u7ef4\u533a\u57df\u3002\u8fd9\u4e9b\u533a\u57df\u90fd\u6709\u552f\u4e00\u7684\u975e\u91cd\u53e0\u7b49\u9ad8\u7ebf\uff0c\u8fd9\u6837\u53ef\u4ee5\u7b80\u5316\u6700\u540e\u4e00\u6b65\u7684\u5904\u7406\u8fc7\u7a0b\u3002\n\u7528\u591a\u8fb9\u5f62\u66ff\u6362\u8fd9\u4e9b\u533a\u57df\uff1a\u5bfc\u822a\u591a\u8fb9\u5f62\u6cbf\u7740\u8fd9\u4e9b\u533a\u57df\u7684\u8fb9\u754c\u88ab\u5265\u79bb\u5e76\u7b80\u5316\u3002<\/code><\/pre>\n\n\n\n
Detour<\/p>\n\n\n\n
<\/p>\n\n\n\n
Recast<\/p>\n\n\n\n
Recast \u4e2d\u7684\u6a21\u5757\u7528\u4e8e\u521b\u5efa\u7f51\u683c\u6570\u636e\uff0cDetour\u4f1a\u7528\u8fd9\u4e9b\u6570\u636e\u521b\u5efa\u5bfc\u822a\u7f51\u683c\u3002\n\n\u521b\u5efa\u5bfc\u822a\u7f51\u683c\u9700\u8981\u597d\u591a\u6b65\u9aa4\uff0c\u5177\u4f53\u5982\u4e0b\uff1a\n\n\u51c6\u5907\u4e09\u89d2\u9762\n\u6784\u5efa rcHeightfield\uff1a\u63cf\u8ff0\u9ad8\u5ea6\u57df\u963b\u6321\uff0crcCreateHeightfield\uff0crcAllocHeightfield\n\u6784\u5efa rcCompactHeightfield\uff1a\u63cf\u8ff0\u65e0\u963b\u6321\u9ad8\u5ea6\u57df\n\u6784\u5efa rcContourSet\uff1a\u63cf\u8ff0\u6240\u6709\u8f6e\u5ed3\u7684\u96c6\u5408\n\u6784\u5efa rcPolyMesh\uff1a\u63cf\u8ff0\u591a\u8fb9\u5f62\u7f51\u683c\uff0c\u7528\u4e8e\u6784\u5efa\u5bfc\u822a\u7f51\u683c\uff08\u672a\u4e09\u89d2\u5316\u7684\u51f8\u591a\u8fb9\u5f62\u96c6\u5408\uff09\n\u6784\u5efa rcPolyMeshDetail\uff1a\u4e09\u89d2\u9762\u7f51\u683c\n\u7528 rcPolyMesh \u548c rcPolyMeshDetail \u6784\u5efa Detour \u7684\u5bfc\u822a\u7f51\u683c\n\n \u6b63\u5e38\u751f\u547d\u5468\u671f\u5927\u81f4\u5982\u4e0b\uff1a\n\n\u5206\u914d Recast allocator \u5206\u914d\u5bf9\u8c61\uff08\u5982 rcAllocHeightfield\uff09\n\u521d\u59cb\u5316\u5e76\u6784\u5efa\u5bf9\u8c61\uff08\u5982 rcCreateHeightfield\uff09\n\u66f4\u65b0\u5bf9\u8c61\uff08\u5982 rcRasterizeTriangles\uff09\n\u628a\u5bf9\u8c61\u4f5c\u4e3a\u7ba1\u7ebf\u7684\u4e00\u90e8\u5206\n\u91ca\u653e Recast allocator \u5206\u914d\u5bf9\u8c61\uff08\u5982 rcFreeHeightField\uff09\n\n\u4f53\u7d20\u5316\uff1aRecast\u901a\u8fc7\u6805\u683c\u5316\u4e09\u89d2\u5f62\u5c06\u8f93\u5165\u573a\u666f\u53d8\u4e3a\u4f53\u7d20\u6570\u7ec4\uff08\u4f7f\u7528 Conservative voxelization \u7b97\u6cd5\uff09\u3002\u53ef\u4ee5\u6307\u5b9a\u957f\u3001\u5bbd\u3001\u9ad8(3D\u77e9\u5f62\uff0c\u6cbf\u7740 X,Z,Y\u8f74\u65b9\u5411\u7684)\u3002\u4f53\u7d20\u4f53\u79ef\u8d8a\u5c0f\uff0c\u8ba1\u7b97\u91cf\u8d8a\u5927\u3002Conservative voxelization\u7b97\u6cd5\u80fd\u591f\u786e\u4fdd\u8f93\u5165\u7684\u4e09\u89d2\u5f62\u9762\u88ab\u5b8c\u5168\u5305\u88f9\u5728\u751f\u6210\u7684\u4f53\u7d20\u4e2d\u3002\n\u8fc7\u6ee4\uff1a\u4f53\u7d20\u6570\u7ec4\u751f\u6210\u540e\uff0c\u4f1a\u901a\u8fc7\u4e00\u4e9b\u7b80\u5355\u8fc7\u6ee4\u9694\u79bb\u53ef\u884c\u8d70\u533a\u57df\u7684\u4f53\u7d20\u3002\u4f53\u7d20\u662f\u5426\u53ef\u884c\u8d70\u53d7\u8bb8\u591a\u56e0\u7d20\u5f71\u54cd\u3002\u9664\u53d7\u81ea\u8eab\u5927\u5c0f\u56e0\u7d20\uff0c\u8fd8\u53d7\u5230\u8bb8\u591a\u4ee3\u7406\u53c2\u6570\u5f71\u54cd\u3002\u4f8b\u5982\uff1a\n    \u9ad8\u5ea6\n    \u534a\u5f84\n    \u80fd\u722c\u7684\u6700\u5927\u9ad8\u5ea6\n    \u80fd\u884c\u8d70\u659c\u5761\u7684\u6700\u5927\u89d2\u5ea6\n\u5206\u5272\uff1a\u53ef\u884c\u8d70\u533a\u786e\u5b9a\u540e\uff0cRecast\u5c06\u628a\u8fd9\u4e9b\u533a\u57df\u8f6c\u5316\u52302D\u533a\u57df\u3002\u8fd9\u4e9b\u533a\u57df\u4e0d\u91cd\u53e0\uff08\u5e94\u8be5\u662fY\u8f74\u91cd\u53e0\u7684\u533a\u57df\uff09\uff0c\u8fd9\u4e48\u505a\u6709\u5229\u4e8e\u4e0b\u4e00\u6b65\u9aa4\u7684\u5904\u7406\u3002\n\u521b\u5efa\u591a\u8fb9\u5f62\uff1aRecast\u7528\u4e4b\u524d\u521b\u5efa\u7684\u533a\u57df\u548c\u8fb9\u754c\u751f\u6210\u7b80\u5355\u7684\u51f8\u591a\u8fb9\u5f62\u3002\u533a\u57df\u7684\u8fb9\u754c\u5c31\u662f\u591a\u8fb9\u5f62\u7684\u9876\u70b9\uff08\u5c3d\u53ef\u80fd\u5927\uff09\uff0c\u8fd9\u4e9b\u51f8\u591a\u8fb9\u5f62\u7528\u6765\u8ba1\u7b97\u4e24\u70b9\u95f4\u7684\u6700\u77ed\u8def\u5f84\u3002\u6700\u7ec8\u4f1a\u751f\u6210\u4e24\u79cd\u7f51\u683c\uff1a\u5bfc\u822a\u7f51\u683c\u548c\u8be6\u7ec6\u7f51\u683c\u3002\n    \u5bfc\u822a\u7f51\u683c\uff1a\u53ef\u884c\u8d70\u533a\u57df\u8fde\u63a5\u8d77\u6765\u7684\u7f51\u683c\uff0c\u7528\u4e8e\u63cf\u8ff0\u5bfb\u5f84\u7a7a\u95f4\u3002\n    \u8be6\u7ec6\u7f51\u683c\uff1a\u8fd9\u4e2a\u7f51\u683c\u5bf9\u5e94\u4e8e\u5bfc\u822a\u7f51\u683c\uff0c\u4f46\u6709\u66f4\u8be6\u7ec6\u7684\u9ad8\u5ea6\u4fe1\u606f\u3002\u8fd9\u4e2a\u9ad8\u5ea6\u4fe1\u606f\u51b3\u5b9a\u662f\u5426\u5c06\u4e0d\u540c\u9ad8\u5ea6\u5dee\u591a\u8fb9\u5f62\u8fde\u63a5\u8d77\u6765\u3002<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"
\u4e00\u3001RecastNavigation\u8be6\u89e3 \u3000\u3000RecastNavigation\u5b9a\u4e49\uff1a\u3000\u3000\u3000\u3000RecastNav […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[],"_links":{"self":[{"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=\/wp\/v2\/posts\/604"}],"collection":[{"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=604"}],"version-history":[{"count":2,"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=\/wp\/v2\/posts\/604\/revisions"}],"predecessor-version":[{"id":606,"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=\/wp\/v2\/posts\/604\/revisions\/606"}],"wp:attachment":[{"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=604"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=604"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.coolcoding.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=604"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}