nav-rs.rs

use debug_gfx::draw_nav_mesh;
use std::fs::File;
use std::io::prelude::*;
use std::io::Result;

mod debug_gfx;

fn read_file(path: &str) -> Result<String> {
    let mut text = String::new();
    let mut file = File::open(path)?;
    file.read_to_string(&mut text)?;
    Ok(text)
}

fn main() -> nav::AnyResult<()> {
    // let params = nav::MeshParams {
    //     agent_height: None,
    //     agent_max_climb: None,
    //     agent_radius: 1.0,
    //     max_polys_per_region: 20,
    //     mesh_origin: nav::Point::new(0.0, 0.0, 0.0),
    //     voxels_per_region: nav::Count3D::new(10, 10, 10),
    //     voxel_length: 1.0,
    // };

    let params = nav::MeshParams {
        agent_height: None,
        agent_max_climb: None,
        agent_radius: 1.0,
        max_polys_per_region: 2000,
        mesh_origin: nav::Point::new(-16.0, 0.0, -16.0),
        voxel_length: 1.0,
        voxels_per_region: nav::Count3D::new(2500, 10, 2500),
    };

    let mut mesh = nav::NavMesh::new(&params)?;

    let data = read_file("example-mesh2d/coords-data.csv")?;
    let polygons = data.lines().map(|line| {
        let columns: Vec<&str> = line.split(",").collect();
        let points = columns.chunks(2).map(|vector| {
            let x: f32 = vector[0].parse().expect("Could not parse value for x");
            let z: f32 = vector[1].parse().expect("Could not parse value for z");

            nav::Point::new(x, 0.0, z)
        }).collect();
        nav::PolyData::new(points).unwrap()
    }).collect();

    let region = nav::Region {
        index_in_mesh: nav::Index3D::new(0, 0, 0),
        polygons,
    };

    mesh.put_region(&region).unwrap();

    // add_region(&mut mesh, (0, 1), vec![
    //     vec![(0, 10), (0, 20), (3, 17), (3, 13)],
    //     vec![(0, 20), (10, 20), (7, 17), (3, 17)],
    //     vec![(10, 20), (10, 10), (7, 13), (7, 17)],
    //     vec![(10, 10), (0, 10), (3, 13), (7, 13)],
    // ]);

    // add_region(&mut mesh, (1, 0), vec![
    //     vec![(15, 2), (10, 0), (10, 10), (15, 10)],
    //     vec![(15, 2), (20, 2), (20, 0), (10, 0)],
    // ]);

    // add_region(&mut mesh, (1, 1), vec![
    //     vec![(15, 15), (15, 10), (10, 10), (10, 20)],
    //     vec![(15, 15), (10, 20), (20, 20), (20, 15)],
    // ]);

    // add_region(&mut mesh, (2, 0), vec![
    //     vec![(20, 0), (20, 10), (30, 10), (30, 0)],       // 1 polygon, full tile
    // ]);

    // add_region(&mut mesh, (2, 1), vec![
    //     vec![(20, 10), (20, 20), (30, 20), (30, 10)],       // 1 polygon, full tile
    // ]);

    // let from = nav::Point::new(2.0, 0.0, 14.0);
    // let to = nav::Point::new(26.0, 0.0, 8.0);

    let from = nav::Point::new(0.0, 0.0, 0.0);
    let to = nav::Point::new(10.0, 0.0, 10.0);

    // let from = nav::Point::new(0.0, 0.0, 0.0);
    // let to = nav::Point::new(2000.0 / 32.0, 0.0, 600.0 / 32.0);

    let path = mesh.find_path(from, to).ok();

    println!("{:?}", path);

    draw_nav_mesh(&mesh, path.as_ref());
    Ok(())
}


fn add_region(
    mesh: &mut nav::NavMesh,
    (x, z): (i32, i32),
    polygons: Vec<Vec<(i32, i32)>>,
) {
    let polygons = polygons.into_iter()
        .map(|verts: Vec<(i32, i32)>| {
            let points = verts.into_iter()
                .map(|(x, z)| nav::Point::new(x as f32, 0.0, z as f32))
                .collect();

            nav::PolyData::new(points).unwrap()
        })
        .collect();

    let region = nav::Region {
        index_in_mesh: nav::Index3D::new(x, 0, z),
        polygons,
    };

    mesh.put_region(&region).unwrap();
}