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Stabilised on nav mesh #117

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Merged
sebsjames merged 2 commits into from
Jan 28, 2026
Merged

Stabilised on nav mesh #117

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b47c509
Added a stabilisation bool flag to NavMesh which sets rotation to zer…
blenk13 Jan 27, 2026
b7a638f
Comments, tweaks to code
sebsjames Jan 28, 2026
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2 changes: 1 addition & 1 deletion maths
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Submodule maths updated 1 files
+28 −0 sm/scale
12 changes: 10 additions & 2 deletions mplot/NavMesh.h
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,13 @@ namespace mplot
*/
sm::vec<float> tn0 = {};

/*!
* Stabilisation flag: if true, no rotation is applied when moving over a triangle boundary
* in NavMesh::compute_mesh_movement. If false, then a rotation about the triangle boundary
* is made.
*/
bool stabilised = false;

/*!
* Return index of this->vertex that is closest to scene_coord. Can use vertexidx_to_indices
* to find the indices into vertexPositions and vertexNormals that this index in the
Expand Down Expand Up @@ -1297,8 +1304,9 @@ namespace mplot
if (flags.test (cmm_fl::vertex_crossing)) { cd.tri_edge = this->tn0.cross (_tn); }

// Compute the reorientation due to the requested movement.
// Rotate by the angle between the normals. I think this is constrained to be <= pi
float rotn_angle = this->tn0.angle (_tn, cd.tri_edge);
float rotn_angle = 0.0f;
// Rotate by the angle between the normals (if stabilised is false). I think this is constrained to be <= pi
if (stabilised == false) { this->tn0.angle (_tn, cd.tri_edge); }
// If tn0 and _tn are identical, then rotn_angle will be NaN, but in that case we want no rotation
if (std::isnan (rotn_angle)) { rotn_angle = 0.0f; }
sm::mat44<float> reorient_model; // reorientation transformation in sf
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