統合フェーズ 5: キャラクタにパスの計算およびパスの追従を設定する

#include "gwnavruntime/world/bot.h"
...

class MyGameEntity
{
public:

    MyGameEntity()
        : m_startPosition(0.0f, 0.0f, 0.0f)
        , m_destinationPosition(0.0f, 0.0f, 0.0f)
        , m_position(0.0f, 0.0f, 0.0f)
        , m_velocity(0.0f, 0.0f, 0.0f)
        , m_navBot(KY_NULL)
    {}

    void Initialize(Kaim::World* world, const Kaim::Vec3f& startPosition, const Kaim::Vec3f& destination);
    void Destroy();
    void Update(KyFloat32 simulationStepsInSeconds);
    bool HasArrived();

public:
    Kaim::Vec3f m_startPosition;
    Kaim::Vec3f m_destinationPosition;

    Kaim::Vec3f m_position;
    Kaim::Vec3f m_velocity;

    Kaim::Ptr<Kaim::Bot> m_navBot;
};

void MyGameEntity::Initialize(Kaim::World* world, const Kaim::Vec3f& startPosition, const Kaim::Vec3f& destination)
{
    m_position = startPosition;
    m_startPosition = startPosition;
    m_destinationPosition = destination;

    m_navBot = *KY_NEW Kaim::Bot;

    // We initialize the Bot at our desired start position
    Kaim::BotInitConfig botInitConfig;
    botInitConfig.m_database = world->GetDatabase(0);
    botInitConfig.m_startPosition = m_position;
    m_navBot->Init(botInitConfig);

    ...

    // We add the Bot to our Database.
    m_navBot->AddToDatabase();
    ...
}

void MyGameEntity::Destroy()
{
    m_navBot->RemoveFromDatabase();
    m_navBot = KY_NULL;
}

void MyGameEntity::Update(KyFloat32 simulationStepsInSeconds)
{
    if (m_navBot->GetFollowedPath() == KY_NULL && m_navBot->IsComputingNewPath() == false) // We need to compute a Path!
    {
        // Here, we ask the Bot to launch a path computation.
        // We should test the return code of this function, but as this tutorial is pretty simple, we are sure it cannot fail:
        //  - The AStarQuery is set from the default NavigationProfile.
        //  - We do not ask for a path computation while another path computation is in process.
        // Note that Kaim::Bot::ComputeNewPathToDestination() will run the query during the Kaim::World::Update().
        m_navBot->ComputeNewPathToDestination(m_destinationPosition); 
    }

    // If we are arrived...
    if (HasArrived())
    {
        m_velocity = Kaim::Vec3f::Zero();

        // Clear the followed path.
        m_navBot->ClearFollowedPath();

        // Swap the positions.
        Kaim::Vec3f swap = m_destinationPosition;
        m_destinationPosition = m_startPosition;
        m_startPosition = swap;

        // Restart a move.
        m_navBot->ComputeNewPathToDestination(m_destinationPosition);
    }

    // Retrieve the velocity suggested by the path following system, if available.
    m_velocity = m_navBot->GetBotOutput().m_outputVelocity;

    // Perform a simple integration.
    m_position += m_velocity*simulationStepsInSeconds;

    // Inform our Bot that the entity has moved.
    // Note that the update will be effective after next World::Update() call
    m_navBot->SetPosition(m_position);
    m_navBot->SetVelocityAndFrontDirection(m_velocity);
}

bool MyGameEntity::HasArrived()
{  
    KyFloat32 arrivalPrecisionRadius = m_navBot->GetConfig().m_pathProgressConfig.m_checkPointRadius;
    if (m_navBot->HasReachedPosition(m_destinationPosition, arrivalPrecisionRadius))
    {
        return true;
    }

    return false;
}

class MyGameLevel
{
public:
    ...
    void Update(float deltaTimeInSeconds);
    ...
protected:
    ...     
    MyGameEntity m_entity;
};

bool MyGameLevel::Initialize(Kaim::World* world)
{
    ... Do all other initializations
 
    // Initialize my entity
    m_entity.Initialize(world, Kaim::Vec3f(-11.5963f,1.06987f,10.4563f), Kaim::Vec3f(-16.636f,-26.7078f,8.10107f));
    ...

    return true;
}
...

void MyGameLevel::Update(float deltaTimeInSeconds)
{
    ...
    m_entity.Update(deltaTimeInSeconds);
}

void MyGameLevel::Destroy()
{
    // Destroy my entity.
    m_entity.Destroy();
 
    ... Do all other destructions and releases.
}