Merge pull request #177 from janhohenheim/navmesh

Former-commit-id: 4436bbc

src/dev.rs

@@ -14,8 +14,8 @@ pub struct DevPlugin;
 impl Plugin for DevPlugin {
     fn build(&self, app: &mut App) {
         {
-            app.insert_resource(default_editor_controls())
-                .add_plugin(EditorPlugin)
+            app.add_plugin(EditorPlugin)
+                .insert_resource(default_editor_controls())
                 .add_plugin(FrameTimeDiagnosticsPlugin::default())
                 .add_plugin(DebugLinesPlugin::default())
                 .add_plugin(DevEditorPlugin)

src/movement/navigation.rs

@@ -1,5 +1,6 @@
 #[cfg(feature = "dev")]
 use crate::dev::dev_editor::DevEditorWindow;
+use crate::level_instantiation::spawning::objects::npc;
 use crate::movement::general_movement::{apply_walking, reset_movement_components, Walking};
 use crate::player_control::player_embodiment::Player;
 use crate::util::log_error::log_errors;
@@ -8,7 +9,6 @@ use crate::GameState;
 use anyhow::{Context, Result};
 use bevy::prelude::*;
 use bevy_prototype_debug_lines::DebugLines;
-use bevy_rapier3d::prelude::*;
 use oxidized_navigation::{
     query::{find_path, perform_string_pulling_on_path},
     NavMesh, NavMeshGenerationState, NavMeshSettings, OxidizedNavigationPlugin,
@@ -19,25 +19,27 @@ use serde::{Deserialize, Serialize};
 /// Currently only one navmesh is supported. It is loaded automagically from any entity whose name contains `"[navmesh]"`.
 pub struct NavigationPlugin;
 
+const CELL_WIDTH: f32 = 0.5 * npc::RADIUS * 2.;
+
 impl Plugin for NavigationPlugin {
     fn build(&self, app: &mut App) {
         app.add_plugin(OxidizedNavigationPlugin {
             starting_state: NavMeshGenerationState::Running, // Generate tile updates.
         })
         .insert_resource(NavMeshSettings {
-            cell_width: 0.25,
-            cell_height: 0.1,
-            tile_width: 100,
+            cell_width: CELL_WIDTH,
+            cell_height: 0.5 * CELL_WIDTH,
+            tile_width: 150,
             world_half_extents: 250.0,
             world_bottom_bound: -100.0,
             max_traversable_slope_radians: (40.0_f32 - 0.1).to_radians(),
-            walkable_height: 20,
-            walkable_radius: 1,
+            walkable_height: 25,
+            walkable_radius: 2,
             step_height: 3,
-            min_region_area: 100,
+            min_region_area: 50,
             merge_region_area: 500,
             max_contour_simplification_error: 1.1,
-            max_edge_length: 80,
+            max_edge_length: 70,
         })
         .add_system_set(
             SystemSet::on_update(GameState::Playing).with_system(
@@ -56,48 +58,25 @@ pub struct Follower;
 
 #[allow(clippy::type_complexity)]
 fn query_mesh(
-    mut with_follower: Query<(Entity, &Transform, &mut Walking), (With<Follower>, Without<Player>)>,
-    with_player: Query<(Entity, &Transform), (With<Player>, Without<Follower>)>,
+    mut with_follower: Query<(&Transform, &mut Walking), (With<Follower>, Without<Player>)>,
+    with_player: Query<&Transform, (With<Player>, Without<Follower>)>,
     nav_mesh_settings: Res<NavMeshSettings>,
     nav_mesh: Res<NavMesh>,
     mut lines: ResMut<DebugLines>,
-    rapier_context: Res<RapierContext>,
     #[cfg(feature = "dev")] editor_state: Res<bevy_editor_pls::Editor>,
 ) -> Result<()> {
     if let Ok(nav_mesh) = nav_mesh.get().read() {
-        for (follower_entity, follower_transform, mut walking) in &mut with_follower {
-            for (player_entity, player_transform) in &with_player {
+        for (follower_transform, mut walking) in &mut with_follower {
+            for player_transform in &with_player {
                 let from = follower_transform.translation;
                 let to = player_transform.translation;
                 if (to - from).length_squared() < 3.0f32.squared() {
                     continue;
                 }
 
-                let max_toi = 50.;
-                let solid = false;
-                let filter = QueryFilter::new()
-                    .exclude_sensors()
-                    .exclude_collider(follower_entity);
-                let path = if let Some((entity, _toi)) =
-                    rapier_context.cast_ray(from, to - from, max_toi, solid, filter)
-                    && entity == player_entity
-                {
-                    Some(vec![from, to])
-                } else if let Ok(path) = find_path(
-                    &nav_mesh,
-                    &nav_mesh_settings,
-                    from,
-                    to,
-                    None,
-                    None,
-                ) {
-                    let string_path = perform_string_pulling_on_path(&nav_mesh, from, to, &path)
+                if let Ok(path) = find_path(&nav_mesh, &nav_mesh_settings, from, to, None, None) {
+                    let path = perform_string_pulling_on_path(&nav_mesh, from, to, &path)
                         .map_err(|e| anyhow::Error::msg(format!("{e:?}")))?;
-                    Some(string_path)
-                } else {
-                    None
-                };
-                if let Some(path) = path {
                     #[cfg(feature = "dev")]
                     if editor_state
                         .window_state::<DevEditorWindow>()
@@ -108,12 +87,13 @@ fn query_mesh(
                     }
                     let dir = path
                         .into_iter()
-                        .filter_map(|next_point| {
+                        .map(|next_point| {
                             (next_point - from)
                                 .split(follower_transform.up())
                                 .horizontal
-                                .try_normalize()
                         })
+                        .filter(|dir| dir.length_squared() > 1e-3f32.squared())
+                        .filter_map(|dir| dir.try_normalize())
                         .next();
                     walking.direction = dir;
                 }