A Navigation mesh for dynamic Environments一种动态的环境下的导航网格.pptVIP

A Navigation Mesh for Dynamic EnvironmentsWouter G. van Toll, Atlas F. Cook IV, Roland GeraertsCASA 2012 Problem solved? * / 16 * / 16 Path planning in games and simulations Send virtual characters from start to goal Increasing desire for efficiency and realism Characters: smooth movement, collision avoidance, … Environments: complex (2.5D), dynamic, … Foundation: a navigation mesh Subdivision of the walkable space into 2D polygons Allows smooth, flexible movement Our framework: corridors Based on the 2D medial axis ? Contribution: dynamic updates Motivation * / 16 Preliminaries: 2D medial axis Medial axis: Pruned version ofthe Voronoi diagram Subdivision into cellswith 1 closest obstacle A useful roadmap Maximum clearance to obstacles Preserves connectivity The set of all points with at least two closest obstacle points * / 16 Preliminaries: Explicit Corridor Map ECM: Annotated medial axis (Geraerts, 2010) Bisector vertices storea closest obstacle pointon both sides Exact subdivision of the walkable space An efficient nav. mesh O(n) storage O(n log n) build time * / 16 Preliminaries: Explicit Corridor Map Some features of the ECM Clearance information Supports all character sizes Global planning on the MA Result: path + corridor Following indicative routes Short paths with clearance Local forces can be added Collision avoidance Group coherence Multi-layered environments Dynamic updates * / 16 Contribution: Local updates Dynamic environments can change locally E.g. collapsing bridges, newly built roads, … Complete navmesh reconstruction is expensive! Local operations: adding/removing obstacles Update the mesh only where it is necessary Recall: The ECM is an annotated medial axis We use Voronoi algorithms; skip the annotations today 1. Inserting a point among points 2. Inserting a point among polygons 3. Inserting a polygon among polygons 4. Deleting an obstacle * / 16 1. Inserting a point among points Insertion = 1 step of incr