Turánszki János
44 lines
1.9 KiB
Lua
44 lines
1.9 KiB
Lua
killProcesses() -- stops all running lua coroutine processes
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backlog_post("---> START SCRIPT: pathfinding.lua")
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-- Create a simple voxel grid by inserting some shapes manually:
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local voxelgrid = VoxelGrid(64, 64, 64)
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local voxelsize = voxelgrid.GetVoxelSize()
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voxelsize = vector.Multiply(voxelsize, 0.5) -- reduce the voxelsize by half
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voxelgrid.SetVoxelSize(voxelsize)
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voxelgrid.InjectTriangle(Vector(-10, 0, -10), Vector(-10, 0, 10), Vector(10, 0, -10))
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voxelgrid.InjectTriangle(Vector(-10, 0, 10), Vector(10, 0, 10), Vector(10, 0, -10))
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voxelgrid.InjectAABB(AABB(Vector(4, 0, -2), Vector(4.5, 4, 5)))
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voxelgrid.InjectAABB(AABB(Vector(4, 0, 0.8), Vector(8, voxelsize.GetY() * 2, 5)))
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voxelgrid.InjectAABB(AABB(Vector(4, 0, 3), Vector(8, voxelsize.GetY() * 3.5, 7)))
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voxelgrid.InjectAABB(AABB(Vector(4, 0, 6), Vector(8, voxelsize.GetY() * 4.5, 7)))
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voxelgrid.InjectSphere(Sphere(Vector(-4.8,1.6,-2.5), 1.6))
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voxelgrid.InjectCapsule(Capsule(Vector(4.8,-0.6,-2.5), Vector(2, 1, 1), 0.4))
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-- If teapot model can be loaded, then load it and voxelize it too:
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local scene = Scene()
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local entity = LoadModel(scene, script_dir() .. "../models/teapot.wiscene", matrix.RotationY(math.pi * 0.6))
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if entity ~= INVALID_ENTITY then
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for i,entity in ipairs(scene.Entity_GetObjectArray()) do
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scene.VoxelizeObject(i - 1, voxelgrid)
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end
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end
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-- Create a path query to find paths from start to goal position on voxel grid:
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local pathquery = PathQuery()
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pathquery.SetDebugDrawWaypointsEnabled(true) -- enable waypoint voxel highlighting in DrawPathQuery()
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local start = Vector(-7.63,0,-2.6) -- world space coordinates can be given
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local goal = Vector(6.3,voxelsize.GetY() * 4.5, 6.5) -- world space coordinates can be given
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pathquery.Process(start, goal, voxelgrid) -- this computes the path
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runProcess(function()
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while true do
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DrawVoxelGrid(voxelgrid)
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DrawPathQuery(pathquery)
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render() -- this loop will be blocked until render tick
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end
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end)
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backlog_post("---> END SCRIPT: pathfinding.lua")
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