WO2023202188A1

WO2023202188A1 - Method for generating pathfinding data, pathfinding method, and computer device

Info

Publication number: WO2023202188A1
Application number: PCT/CN2023/074974
Authority: WO
Inventors: 欧阳卓能
Original assignee: 腾讯科技（深圳）有限公司
Priority date: 2022-04-18
Filing date: 2023-02-08
Publication date: 2023-10-26
Also published as: CN116943201A

Abstract

The present application relates to a method and apparatus for generating pathfinding data, a pathfinding method and apparatus, a computer device, a storage medium, and a computer program product, applicable in the field of maps. A method of an embodiment comprises: determining a dynamic region layer in a target scene, the dynamic region layer comprising at least one dynamic region (S202); loading basic scene data of a basic region layer of the target scene, and generating basic region pathfinding data of the basic region layer on the basis of the basic scene data (S204); loading the dynamic region layer, and generating dynamic region pathfinding data in the dynamic region of the dynamic region layer (S206); establishing splicing information of the dynamic region layer and the basic region layer (S208); and generating pathfinding data for the target scene on the basis of the basic region pathfinding data, the dynamic region pathfinding data, and the splicing information (S210).

Description

Pathfinding data generation method, pathfinding method and computer equipment

Cross-references to related applications

This application requests the priority of the Chinese patent application submitted to the China Patent Office on April 18, 2022, with the application number 2022104053892, and the application name is "Method for generating pathfinding data, pathfinding method and computer equipment", and its entire content is approved by This reference is incorporated into this application.

Technical field

The present application relates to the field of computer technology, and in particular to a method for generating path-finding data, a device for generating path-finding data, a path-finding method, a path-finding device, computer equipment, computer-readable storage media, and computer program products.

Background technique

With the development of computer technology, various applications that require path finding have emerged, such as in game scenarios, game players or NPCs (Non-Player Characters) in the game, characters in the game that are not controlled by the player. ) will usually require pathfinding. In order to support pathfinding processing, pathfinding data needs to be provided. Pathfinding data is data that needs to be used in the pathfinding process, that is, pathfinding is performed based on pathfinding data. Pathfinding data can be provided in different data dimensions, such as grid, waypoint, voxel, navigation mesh, etc. Taking the navigation grid as an example, there will be various dynamic objects that change dynamically during the game. For example, as the game progress changes, the game player's operations, or the game service provider updates the game content, there may be dynamically added objects on the map. Buildings, scene objects, constructions, etc.

The traditional pathfinding data generation method is to determine when dynamic objects are added during the game, and then combine the added dynamic objects to generate new pathfinding data in real time for pathfinding applications. However, this way of generating pathfinding data requires a lot of memory, CPU and other resources, and will affect the real-time performance of the game's pathfinding process.

Contents of the invention

According to various embodiments of the present application, a pathfinding data generation method, a pathfinding data generation device, a pathfinding method, a pathfinding device, a computer device, a computer-readable storage medium, and a computer program product are provided.

In a first aspect, this application provides a method for generating pathfinding data, which is executed by a computer device. The methods include:

Determine the dynamic area layer in the target scene, and the dynamic area layer includes at least one dynamic area;

Load the basic scene data of the basic area layer of the target scene, and generate the basic area pathfinding data of the basic area layer based on the basic scene data;

Load the dynamic area layer and generate dynamic area pathfinding data within the dynamic area of the dynamic area layer;

Establish the splicing information of the dynamic area layer and the basic area layer;

Based on basic area pathfinding data, dynamic area pathfinding data and splicing information, pathfinding data of the target scene is generated.

In one embodiment, determining the dynamic area layer in the target scene includes:

Determine dynamic areas in the target scene;

According to the overlapping relationship of each dynamic area, the dynamic area layer to which each dynamic area belongs is determined.

In one embodiment, after determining the dynamic area in the target scene, the method further includes: adding a dynamic area mark to the dynamic area.

In one embodiment, adding a dynamic area mark to the dynamic area includes:

According to the shape of the dynamic area, a corresponding shape mark is added to the dynamic area, and a corresponding shape mark identifier is assigned to the shape mark.

Load the basic scene data of the basic area layer of the target scene, and generate the basic area pathfinding data of the basic area layer based on the basic scene data, including:

Load the base map scene of the target scene;

If it is necessary to block the basic map scene, divide the basic map scene into map blocks, generate corresponding block area pathfinding data for each map block, and determine the block area pathfinding data corresponding to each map block. The block area connection relationship between the road data. The basic area pathfinding data includes the block area pathfinding data and the block area connection relationship;

Otherwise, directly generate the corresponding basic area pathfinding data for the map scene.

In one embodiment, after generating the basic area pathfinding data of the basic area layer based on the basic scene data, the method further includes: recording the first boundary information of the boundary between the basic area layer and the dynamic area;

After generating the dynamic area pathfinding data within the dynamic area of the dynamic area layer, it further includes: recording second boundary information of the boundary between the dynamic area of the dynamic area layer and the basic area;

Traversing the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer includes: in the second boundary information, traversing the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer;

Searching for a target base layer boundary line segment that matches a dynamic layer boundary line segment in the base area pathfinding data includes: searching for a target base layer boundary line segment that matches a dynamic layer boundary line segment in the first boundary information.

In one embodiment, if the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, it is determined that the projection condition is met, otherwise the projection condition is not met.

In one embodiment, if the dynamic layer boundary line segment and the base layer boundary line segment are both parallel to the first coordinate axis, the first coordinate axis is determined to be the target coordinate axis.

In one embodiment, if the dynamic layer boundary line segment and the base layer boundary line segment are both parallel to the second coordinate axis, the second coordinate axis is the target coordinate axis.

In one embodiment, if the dynamic layer boundary line segment and the base layer boundary line segment are not parallel to each coordinate axis, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, and the slope of the dynamic layer boundary line segment is Within the predetermined slope range, the first coordinate axis is determined to be the target coordinate axis.

In one embodiment, if the dynamic layer boundary line segment and the base layer boundary line segment are not parallel to each coordinate axis, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, and the slope of the dynamic layer boundary line segment is outside the predetermined slope range, determine the second coordinate axis as the target coordinate axis.

In a second aspect, this application also provides a path-finding method, which is executed by a computer device. Methods include:

Load pathfinding data, the pathfinding data includes target pathfinding data, and the target pathfinding data includes: basic area pathfinding data of the basic area layer, and dynamic area pathfinding data of the dynamic area layer marked as turned on;

Obtain starting point information and end point information;

Based on the starting point information and end point information, pathfinding is performed in the target pathfinding data to obtain the pathfinding path.

In one embodiment, the target pathfinding data also includes: splicing information of the basic area layer and the dynamic area layer.

In one embodiment, the dynamic area pathfinding data of the dynamic area layer is the dynamic area pathfinding data of the dynamic area layer marked as turned on. The dynamic area pathfinding data includes: in each dynamic area of the dynamic area layer, the data is marked as "on". Pathfinding data for enabled dynamic areas.

In one embodiment, based on the starting point information and the end point information, pathfinding is performed in the target pathfinding data to obtain the pathfinding path, including:

Determine the starting point polygon to which the starting point information belongs and the end point polygon to which the end point information belongs;

Start pathfinding from the starting point polygon, perform pathfinding in the target pathfinding data, and sequentially search for expanded adjacent polygons until the end point polygon is found, and obtain the pathfinding path.

In a third aspect, this application also provides a device for generating pathfinding data. Devices include:

a dynamic layer determination module, used to determine the dynamic area layer in the target scene, where the dynamic area layer includes at least one dynamic area;

The basic data generation module is used to load the basic scene data of the basic area layer of the target scene, and generate the basic area pathfinding data of the basic area layer based on the basic scene data;

The dynamic data generation module is used to load the dynamic area layer and generate dynamic area pathfinding data within the dynamic area of the dynamic area layer;

The splicing module is used to establish the splicing information of the dynamic regional layer and the basic regional layer;

Data determination module, used to generate target fields based on basic area pathfinding data, dynamic area pathfinding data and splicing information Pathfinding data for the scene.

In a fourth aspect, this application also provides a pathfinding device. Devices include:

A loading module, used to load pathfinding data. The pathfinding data includes target pathfinding data. The target pathfinding data includes: basic area pathfinding data of the basic area layer, and dynamic area pathfinding data of the dynamic area layer marked as turned on. ;

The starting point acquisition module is used to obtain starting point information and end point information;

The pathfinding module, based on the starting point information and the end point information, performs pathfinding in the target pathfinding data to obtain the pathfinding path.

In a fifth aspect, this application also provides a computer device. The computer device includes one or more memories and a processor. The memory stores a computer program. When one or more processors execute the computer program, the pathfinding data generation method or the pathfinding method provided by the embodiments of the present application is implemented.

In a sixth aspect, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the path-finding data generation method or path-finding method provided by the embodiments of the present application is implemented.

In a seventh aspect, this application also provides a computer program product. The computer program product includes a computer program that, when executed by one or more processors, implements the pathfinding data generation method or the pathfinding method provided by the embodiments of the present application.

The above pathfinding data generation method, pathfinding data generation device, pathfinding method, pathfinding device, computer equipment, computer readable storage medium and computer program product divide the target scene into a basic area layer and a dynamic scene layer, and the dynamic scene The layer includes at least one dynamic area, and generates basic area pathfinding data corresponding to the basic area layer and dynamic area pathfinding data corresponding to the dynamic area layer, and establishes splicing information of the dynamic area layer and the basic area layer, thereby generating The pathfinding data corresponds to the basic area layer, the dynamic area layer, and the splicing information between the basic area layer and the dynamic area layer. When the dynamic area changes during the game, you only need to provide the corresponding dynamic area. The pathfinding data of the layer and the splicing information between the dynamic area layer and the basic area layer are enough. There is no need to generate new pathfinding data for all scene data every time, which reduces the consumption of resources such as memory and improves game search. efficiency of the road process.

Description of the drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a diagram of a pathfinding data generation method and an application environment diagram of the pathfinding method in one embodiment;

Figure 2 is a schematic flowchart of a method for generating pathfinding data in one embodiment;

Figure 3 is a schematic flowchart of determining the dynamic area layer in the target scene in one embodiment;

Figure 4 is a schematic flowchart of generating dynamic area pathfinding data in one embodiment;

Figure 5 is a schematic flowchart of establishing splicing information of the dynamic area layer and the basic area layer in one embodiment;

Figure 6 is a schematic flowchart of searching for target base layer boundary line segments that match dynamic layer boundary line segments in one embodiment;

Figure 7 shows some examples of line segment relationships between dynamic layer boundary line segments and base layer boundary line segments;

Figure 8 is a schematic flowchart of a method for generating pathfinding data in one embodiment;

Figure 9 is a schematic flow chart of generating regional pathfinding data of a regional layer in a dynamic multi-layer and recording its boundary information in an application example;

Figure 10 is a schematic flow chart of generating pathfinding data of a dynamic area in a dynamic multi-layer dynamic area layer and recording its boundary information in an application example;

Figure 11 is a schematic flowchart of generating pathfinding data in an application example;

Figure 12 is a schematic diagram of pathfinding data of the basic area layer generated in one embodiment;

Figure 13 is a schematic diagram of pathfinding data of a dynamic area layer generated in an embodiment;

Figure 14 shows the pathfinding data of the basic area layer in Figure 12 and the pathfinding data of the dynamic area layer in Figure 13 spliced together. Schematic diagram of pathfinding data;

Figure 15 is a schematic flowchart of a pathfinding method in one embodiment;

Figure 16 is a schematic flowchart of a pathfinding method in a specific example;

Figure 17 is a schematic diagram of the pathfinding path at the basic area layer in a specific example;

Figure 18 is a schematic diagram of the pathfinding path when the dynamic area layer is turned on in a specific example;

Figure 19 is an internal structure diagram of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the invention described herein are capable of being practiced in sequences other than those illustrated or described herein. Furthermore, the terms "include" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product or server that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

The pathfinding data generation method and pathfinding method provided by the embodiments of the present application can be applied in the application environment as shown in Figure 1. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system may store data that server 104 needs to process. The data storage system can be integrated on the server 104, or placed on the cloud or other servers. In a specific example, the server 104 may be a game server, and the terminal 102 is a user terminal participating in the game. The embodiments of this application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, etc.

In one of the application scenarios, the server 104 provides scene data. Taking the server 104 as a game server as an example, the server 104 provides game scenes, specifically including basic map scene data, dynamic objects existing in the map scene, etc., and the server 104 is based on these scenes. The data generates pathfinding data. These pathfinding data are the areas that can be walked in the game scene, and are the data that need to be used when pathfinding is required. When pathfinding data is provided from the navigation grid as a dimension, the pathfinding data is composed of many convex polygons. When the terminal 102 accesses the server 104 to play the game, the server 104 implements the processing of the game business logic and provides the game scene screen to the terminal 102 for display. At the same time, the server 104 generates pathfinding data. During the process of the terminal 102 participating in the game, When pathfinding is required, the server 104 performs pathfinding based on the generated pathfinding data, and performs corresponding game operation processing based on the pathfinding path obtained by pathfinding, or provides the pathfinding path obtained by pathfinding to the terminal 102 for display. The server 104 may generate pathfinding data in real time during the game, or may have generated pathfinding data before the game is released. During the game, the server 104 imports the pathfinding data that has been generated, and then based on the pathfinding data when pathfinding is needed. Pathfinding data is used for pathfinding.

In another application scenario, the terminal 102 can also obtain game-related data directly from the server 104, or obtain game-related data from the server 104 through a third-party device, thereby implementing offline game operation. When the terminal 102 runs the game offline, the terminal 102 implements game business logic processing based on the stored game scenes and game logic, and displays the game scene screen. At the same time, the terminal 102 can generate pathfinding data. During the game process When pathfinding is required, pathfinding is performed based on the generated pathfinding data. Among them, if the game-related data obtained from the server 104 includes already generated path-finding data, the terminal 102 does not need to generate the path-finding data by itself, and can directly perform path-finding based on the path-finding data.

Among them, the terminal 102 can be, but is not limited to, various desktop computers, laptops, smartphones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented as an independent server or a server cluster composed of multiple servers.

In one embodiment, as shown in Figure 2, a method for generating pathfinding data is provided, and this method is applied to Figure 1 The terminal 102 or the server 104 in is used as an example for illustration, including the following steps S202 to S210.

Step S202: Determine the dynamic area layer in the target scene, and the dynamic area layer includes at least one dynamic area.

The target scene refers to the scene where corresponding pathfinding data needs to be generated. Taking a game application as an example, the target scene can be a specific game scene. The dynamic area layer refers to the area layer where the dynamic objects in the target scene are located. The dynamic objects refer to objects whose status changes in the game scene. Some possible objects whose status changes can be: for example: Objects that are newly added to the scene as the game progress changes or game operations change; objects whose shape, position, etc. change as the game progress changes or game operations change; due to updates to game content, it is necessary New objects added to the scene, etc.

The dynamic area refers to the area where the dynamic object is located, and a dynamic area layer includes at least one dynamic area. In some embodiments, each dynamic area may be regarded as a dynamic area layer, that is, a dynamic area layer only includes one dynamic area. In some embodiments, a dynamic area layer may also include more than two dynamic areas.

In some embodiments, as shown in Figure 3 , determining the dynamic area layer in the target scene may include the following steps S2022 to S2024.

Step S2022: Determine the dynamic area in the target scene.

As mentioned above, the dynamic area refers to the area where dynamic objects are located. In some embodiments, the dynamic object can be identified by the developer and the dynamic area where the dynamic object is located can be determined. At this time, when determining the dynamic area, the developer can manually determine the dynamic area through frame selection or other methods. The solution of the embodiment of the present application can determine the dynamic area in the target scene based on user operations. In some embodiments, it is also possible to add attributes to objects entering the target scene, and automatically identify whether the object is a dynamic object based on the attributes. When determining that the object is a dynamic object based on the attributes, based on the shape of the dynamic object and the dynamic object The location of the dynamic object is automatically determined in the dynamic area where the dynamic object is located. For example, by setting a dynamic area marker, the dynamic area marker automatically marks the dynamic area based on the dynamic building or dynamic level area.

In some embodiments, after determining the dynamic area in the target scene, it may also include: adding a dynamic area mark to the dynamic area. Therefore, by adding a dynamic area mark to the dynamic area, in subsequent processes, for example, when it is necessary to determine the splicing information of the dynamic area layer and the basic area layer, or during path finding, the dynamic area can be identified through the dynamic area mark.

In some embodiments, adding a dynamic area mark to the dynamic area specifically includes:

Among them, the shape tag is used to mark the shape type of the dynamic area, such as rectangle, circle, cone, staircase, or other polygons. When the dynamic area is manually determined by the developer, it can also be other customized polygons. The added shape mark can be used to identify the shape of the dynamic area, and then in the process of generating pathfinding data, or in the process of pathfinding, the shape of the dynamic area can be combined to complete the generation of pathfinding data. process, or complete the pathfinding process.

The assigned shape mark identifier can be used to uniquely identify the dynamic area, that is, the shape mark identifier can be used to uniquely identify a dynamic area. Therefore, a dynamic region can be uniquely identified through the shape mark identification, and the shape of the dynamic region can be determined through the shape mark. In some embodiments, the shape mark may be included in the shape mark identifier, that is, a dynamic region can be uniquely identified through the shape mark identifier, and the shape of the dynamic region can be determined through the shape mark identifier.

Step S2024: Determine the dynamic area layer to which each dynamic area belongs based on the overlapping relationship of each dynamic area.

The overlapping relationship specifically refers to the relationship between whether each dynamic area appears at the same time, or the relationship between the order in which each dynamic area appears, such as the position area between each dynamic area, the order in which each dynamic area appears, etc., which will all affect the Whether dynamic areas can appear at the same time. For example, in the game scene, the dynamic object "house" needs to be changed into the dynamic object "house ruins" after a certain game operation. Then the dynamic object "house" and the dynamic object "house ruins" must not appear at the same time. They exist in sequence. order. Therefore, the dynamic area of the dynamic object "house" and the dynamic area of the dynamic object "house ruins" need to be in different dynamic area layers.

There can be at least one dynamic area in a dynamic area layer. Multiple dynamic regions exist in a dynamic region layer In this case, these multiple dynamic areas can appear at the same time. In some embodiments, rules can also be set to determine whether each dynamic area in the dynamic area layer is enabled. Only enabled dynamic areas will enter the subsequent process of generating pathfinding data and performing pathfinding.

Step S204: Load the basic scene data of the basic area layer of the target scene, and generate the basic area pathfinding data of the basic area layer based on the basic scene data.

The basic scene data of the basic area layer refers to the scene data belonging to the basic area layer in the target scene. It is the scene data whose status will not change in the target scene, such as maps and buildings that will not change in the target scene. , objects, etc.

When loading the basic scene data of the basic area layer of the target scene and generating the basic area pathfinding data of the basic area layer based on the basic scene data, the existing method of generating pathfinding data can be used. For example, in some embodiments, loading the basic scene data of the basic area layer of the target scene, and generating the basic area pathfinding data of the basic area layer based on the basic scene data may include:

Load the base map scene of the target scene;

If the basic map scene needs to be divided into blocks, divide the basic map scene into map blocks, generate corresponding block area pathfinding data for each map block, and determine the block area corresponding to each map block. The block area connection relationship between the pathfinding data. The basic area pathfinding data includes the pathfinding data of each block area and the block area connection relationship;

If there is no need to segment the basic map scene into blocks, the corresponding basic area pathfinding data can be directly generated for the map scene.

Specifically, in one embodiment, generating corresponding block area pathfinding data for map blocks may include: performing 3D scene voxelization on the block map scene corresponding to the map block to obtain block map voxel data; Filter the non-walkable areas in the voxel data of the block map to obtain the voxel data of the walkable area of the block map; simplify the contour lines in the voxel data of the walkable area of the block map to obtain the walkable area of the dynamic map after the simplified contour lines Data; generate polygons based on traversable area data of the block map; generate detailed networks based on each polygon, and obtain block area pathfinding data based on the detail network.

Step S206: Load the dynamic area layer and generate dynamic area pathfinding data in the dynamic area of the dynamic area layer.

In one embodiment, the dynamic area layer is loaded and dynamic area pathfinding data in the dynamic area of the dynamic area layer is generated, which specifically includes:

A dynamic area pathfinding data generation process is performed, and in the process of executing the dynamic area pathfinding data generation process, data that is not within the dynamic area of the dynamic area layer is filtered.

Therefore, in the process of generating dynamic area pathfinding data, by filtering data that is not within the dynamic area of the dynamic area layer, the generated dynamic area pathfinding data is limited to the dynamic area, thereby improving the accuracy of the generated pathfinding data. and improve the accuracy of the pathfinding path finally obtained based on the pathfinding data.

Among them, in one embodiment, the above-mentioned dynamic area pathfinding data generation process specifically includes:

Load the dynamic map scene of the dynamic area layer;

Perform 3D scene voxelization on the dynamic map scene to obtain dynamic map voxel data;

Filter the non-walkable areas in the dynamic map voxel data and obtain the voxel data of the dynamic map walkable area;

Simplify the contour lines in the voxel data of the dynamic map traversable area, and obtain the dynamic map traversable area data after the simplified contour lines;

Generate polygons based on dynamic map traversable area data;

A detail network is generated based on each polygon, and dynamic area pathfinding data is obtained based on the detail network.

The process of filtering data that is not within the dynamic area of the dynamic area layer can be performed at different times during the above dynamic area pathfinding data generation process.

For example, in one embodiment, triangles that are not within the dynamic area of the dynamic area layer may be filtered before 3D scene voxelization of the dynamic map scene to filter data that are not within the dynamic area of the dynamic area layer.

In another embodiment, after obtaining the dynamic map voxel data and before filtering the non-walkable areas in the dynamic map voxel data, voxels that are not in the dynamic area of the dynamic area layer can be filtered to filter voxels that are not in the dynamic area layer. dynamic area data within.

In another embodiment, the above-mentioned generation of polygons based on the traversable area data of the dynamic map includes: generating polygons located only within the dynamic area of the dynamic area layer based on the traversable area data of the dynamic map. Thus, data that is not within the dynamic area of the dynamic area layer can be filtered by generating polygons that are only located within the dynamic area of the dynamic area layer.

In another embodiment, after polygons are generated based on the dynamic map walkable area data and before detail networks are generated based on each polygon, polygons that are not within the dynamic area of the dynamic area layer can be filtered out to filter out dynamic areas that are not in the dynamic area layer. data within.

In some embodiments, among the above four ways of filtering data that are not within the dynamic area of the dynamic area layer, only one of the methods may be used, or two or more methods may be used simultaneously.

As shown in Figure 4, taking the above four methods as an example, step S206 in a specific example is the process of loading the dynamic area layer and generating the dynamic area pathfinding data in the dynamic area of the dynamic area layer, which may include the following. Step S2061 to step S2069.

Step S2061: Load the dynamic map scene of the dynamic area layer.

Step S2062: Filter triangles that are not within the dynamic area of the dynamic area layer.

Step S2063: Perform 3D scene voxelization on the triangle-filtered dynamic map scene to obtain dynamic map voxel data.

Step S2064: Filter voxels that are not in the dynamic area of the dynamic area layer.

Step S2065: Filter the unwalkable areas in the dynamic map voxel data (that is, the dynamic map voxel data after filtering the voxels that are not in the dynamic area of the dynamic area layer) to obtain the dynamic map walkable area voxel data.

Step S2066: Simplify the contour lines in the voxel data of the dynamic map traversable area, and obtain the dynamic map traversable area data after the simplified contour lines.

Step S2067: Generate polygons based on the traversable area data of the dynamic map; in this step, polygons located only within the dynamic area of the dynamic area layer may be generated based on the traversable area data of the dynamic map.

Step S2068: Filter out polygons that are not in the dynamic area of the dynamic area layer.

Step S2069: Generate a detail network based on each polygon, and obtain dynamic area pathfinding data based on the detail network.

Therefore, by executing at least one of the above multiple filtering methods, it is possible to increase the possibility that the dynamic area pathfinding data finally generated will only contain pathfinding data located within the dynamic area.

Step S208: Establish splicing information of the dynamic area layer and the basic area layer.

Among them, the splicing information refers to the information about the adjacent boundary between the dynamic region layer and the base region layer. The splicing information specifically indicates which side of which polygon in which dynamic region of the dynamic region layer is related to which polygon of the base region layer. Information about which edges can be spliced. For example, the K-th side of the first polygon of the first dynamic area of the dynamic area layer is connected to the Q-th side of the second polygon of the base area layer. The recorded splicing information indicates that the line segment approximately overlaps with other areas. For example, it is recorded that the Kth edge of the first polygon of the first dynamic region of the dynamic region layer is connected to the Qth edge of the second polygon of the base region layer, which represents the Kth edge of the first dynamic region. The Kth edge of a polygon approximately coincides with the Qth edge of the second polygon of the basic region layer, and their overlapping areas on the corresponding reference axes can be recorded.

In one embodiment, as shown in FIG. 5 , establishing the splicing information of the dynamic area layer and the basic area layer in step S208 may include the following steps S2018 to S2038.

Step S2018: Traverse the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer. The dynamic layer boundary includes each dynamic layer boundary line segment.

Wherein, the dynamic layer boundary of the dynamic area pathfinding data that traverses the dynamic area layer refers to the boundaries of all polygons adjacent to the base area layer that traverse the dynamic area layer. For example, if the H-th edge of the first polygon and the J-th edge of the second polygon in the dynamic area layer are at the boundary of the dynamic area layer, then the dynamic layer boundary line segment obtained by traversing includes the first polygon. The Hth side of the polygon and the Jth side of the second polygon.

Step S2028: Find the target base layer boundary line segment in the base area pathfinding data that matches the dynamic layer boundary line segment.

Wherein, the target base layer boundary line segment matching the dynamic layer boundary line segment refers to the base layer boundary line segment that is close to the dynamic layer boundary line segment and can reach the area where the target base layer boundary line segment is located from the dynamic layer boundary line segment.

Step S2038: If the target base layer boundary line segment matching the dynamic layer boundary line segment is found, establish a line segment connection relationship between the dynamic layer boundary line segment and the target base layer boundary line segment.

If the target base layer boundary line segment matching the dynamic layer boundary line segment is found, a line segment connection relationship between the dynamic layer boundary line segment and the target base layer boundary line segment can be established to indicate that the dynamic layer boundary line segment and the target base layer boundary line segment can be spliced. The established line segment connection relationship can be stored in a list or in various other possible ways.

Among them, the splicing information of the dynamic area layer and the basic area layer includes the line segment connection relationship established above.

In one embodiment, in the above step S2028, searching for the target base layer boundary line segment matching the dynamic layer boundary line segment in the base area pathfinding data may specifically include:

Traverse to obtain the base layer boundary of the base area pathfinding data. The base layer boundary includes each base layer boundary line segment;

If the projection conditions are met, determine the first projection overlap area that projects the dynamic layer boundary line segment and the base layer boundary line segment to the target coordinate axis;

If the first projection overlapping area and the second projection overlapping area do not overlap, determine the base layer boundary line segment to be the matching target base layer boundary line segment, and the second projection overlapping area is to combine the found existing target base layer boundary line segment with the dynamic layer The boundary segments are projected onto the overlapping area of the target coordinate axes.

In one embodiment, when the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, it can be determined that the projection condition is met, otherwise the projection condition is not met.

Among them, the determination of the target coordinate axis can be determined based on the positional relationship between the dynamic layer boundary line segment and the base layer boundary line segment and each coordinate axis.

In one embodiment, when the dynamic layer boundary line segment and the base layer boundary line segment are both parallel to the first coordinate axis, the first coordinate axis may be determined to be the target coordinate axis.

In another embodiment, when the dynamic layer boundary line segment and the base layer boundary line segment are both parallel to the second coordinate axis, the second coordinate axis may be determined to be the target coordinate axis.

In another embodiment, the dynamic layer boundary line segment and the base layer boundary line segment are not parallel to each coordinate axis, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, and the slope of the dynamic layer boundary line segment is When the slope is within the predetermined range, the first coordinate axis is determined to be the target coordinate axis.

In another embodiment, the dynamic layer boundary line segment and the base layer boundary line segment are not parallel to each coordinate axis, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, and the slope of the dynamic layer boundary line segment is When the slope is outside the predetermined slope range, the second coordinate axis is determined to be the target coordinate axis.

In the above embodiments, the dynamic layer boundary line segment and the base layer boundary line segment are not parallel to each coordinate axis. This may mean that the dynamic layer boundary line segment is neither parallel to the first coordinate axis nor parallel to the second coordinate axis. And the base layer boundary line segment is neither parallel to the first coordinate axis nor parallel to the second coordinate axis.

In some embodiments, the above search for the target base layer boundary line segment matching the dynamic layer boundary line segment in the base area pathfinding data may also include:

If the first projection overlap area overlaps with the second projection overlap area, determine whether the base layer boundary line segment is better than the existing target base layer boundary line segment;

If the base layer boundary line segment is better than the existing target base layer boundary line segment, delete the existing target base layer boundary line segment from the found target base layer boundary line segments, and determine the base layer boundary line segment as the matching target base layer boundary line segment;

Otherwise, it is determined that the base layer boundary segment is not a matching target base layer boundary segment.

When determining whether the base layer boundary line segment is better than the existing target base layer boundary line segment, any possible method can be used. For example, in one embodiment, if the distance between the dynamic layer boundary line segment and the base layer boundary line segment is less than the distance between the dynamic layer boundary line segment and the existing target base layer boundary line segment, or the distance between the dynamic layer boundary line segment and the base layer boundary line segment is The angle is smaller than the angle between the dynamic layer boundary line segment and the existing target base layer boundary line segment. It is determined that the base layer boundary line segment is better than the existing target base layer boundary line segment. Mark the base layer boundary line segment, otherwise it is determined that the base layer boundary line segment is not better than the existing target base layer boundary line segment.

Among them, the method of calculating the distance between the dynamic layer boundary line segment and the base layer boundary line segment can be performed by any method of calculating line segment distance, for example, the distance between line segments is obtained by calculating the distance from a point to a line segment. The method of calculating the angle between the dynamic layer boundary line segment and the existing target base layer boundary line segment can also be performed by any method of calculating the angle between the line segments, for example, by calculating the line segment vector of the dynamic layer boundary line segment and the existing target base layer boundary line segment. Dot product of line segment vectors to obtain the included angle.

Accordingly, as shown in Figure 6, in a specific example, searching for the target base layer boundary line segment that matches the dynamic layer boundary line segment in the base area pathfinding data may include:

Step S601: Determine the base layer boundary line segment. Wherein, the base layer boundary line segment refers to one of the boundary line segments of the base area layer to be matched.

Step S602: Determine whether the projection condition is met. If the projection condition is met, proceed to step S603. If the projection condition is not met, proceed directly to step S607. The manner of determining whether the projection condition is met may be the same as in the above embodiment.

Step S603: Determine the first projection overlap area that projects the dynamic layer boundary line segment and the base layer boundary line segment to the target coordinate axis.

Wherein, projecting the dynamic layer boundary line segment and the base layer boundary line segment to the first projection overlap area of the target coordinate axis means projecting the dynamic layer boundary line segment to the target coordinate axis to obtain the first projection line segment, and projecting the base layer boundary line segment to After the target coordinate axis obtains the second projection line segment, the mutually overlapping line segment area of the first projection line segment and the second projection line segment.

Step S604: Determine whether the first projection overlap area and the second projection overlap area overlap. If they overlap, proceed to step S605; otherwise, proceed to step S606.

The second projection overlapping area is an overlapping area where the found existing target base layer boundary line segment and the dynamic layer boundary line segment are projected onto the target coordinate axis. The existing target base layer boundary line segments refer to previously found base layer boundary line segments that can be matched. For example, assume that the base layer boundary line segments include line segments L1, L2, L3.... If in the previous matching process, it is assumed that L1 does not match the dynamic layer boundary line segment, and line segment L2 matches the dynamic layer boundary line segment, then L2 is added to the found target base layer boundary line segment list or through other methods. After the method is recorded, the L2 can be used as the boundary line segment of the existing target base layer.

The second projection overlap area refers to projecting the dynamic layer boundary line segment to the target coordinate axis to obtain the first projection line segment, and projecting the existing target base layer boundary line segment to the target coordinate axis to obtain the third projection line segment. Overlapping line segment areas of three projected line segments.

Step S605: Determine whether the base layer boundary line segment is better than the existing target base layer boundary line segment. If so, proceed to step S606; otherwise, proceed to step S607.

If the first projection overlap area overlaps with the second projection overlap area, it means that the current base layer boundary line segment and the existing target base layer boundary line segment can be used as the target base layer boundary line segment to realize the connection between the base area layer and the dynamic area layer. splicing. However, a better line segment needs to be selected as the target base layer boundary line segment that is ultimately used for splicing. Therefore, it is necessary to analyze whether the base layer boundary line segment is better than the existing target base layer boundary line segment. The specific manner may be the same as that in the above embodiment.

Step S606: Determine the base layer boundary line segment as the matching target base layer boundary line segment.

Among them, after determining that the base layer boundary line segment is the matching target base layer boundary line segment, if step S604 directly proceeds to S606, that is, the first projection overlap area and the second projection overlap area do not overlap, the base layer boundary line segment can be directly determined. The matching target base layer boundary line segment is added to the list of found target base layer boundary line segments. If step S605 is entered into step S606, that is, when the base layer boundary line segment is better than the existing target base layer boundary line segment, the existing target base layer boundary line segment can be first deleted from the list of found target base layer boundary line segments. Then add the base layer boundary line segment to the found target base layer boundary line segment list, or add the base layer boundary line segment to the found target base layer boundary line segment list, and then add the existing base layer boundary line segment to the found target base layer boundary line segment list. The target base layer boundary segment is deleted from the list of found target base layer boundary segments.

Step S607: Determine that the base layer boundary line segment is not a matching target base layer boundary line segment.

It should be understood that in other embodiments, if it is determined that the first projection overlap area overlaps with the second projection overlap area, it is not necessary to analyze whether the base layer boundary line segment is better than the existing target base layer boundary line segment, for example, directly retain the existing target base layer boundary line segment. There is a target base layer boundary line segment without adding the base layer boundary line segment to the found target base layer boundary line segment list. Another example is to directly add the existing target base layer boundary line segment from the found target base layer boundary line segment. Delete it from the list, and then add the base layer boundary segment to the list of found target base layer boundary segments. In other embodiments, other methods may also be used to analyze whether the base layer boundary line segment is better than the existing target base layer boundary line segment.

Some examples of line segment relationships between dynamic layer boundary line segments and base layer boundary line segments are shown in FIG. 7 .

As shown in Figure 7, it is assumed that the dotted line segment in Figure 7 is the dynamic layer boundary segment and the solid line segment is the base layer boundary segment. Of course, the dotted line segment can also be the base layer boundary segment, and the solid line segment can be the dynamic layer boundary segment. As shown in Figure 7, in the case of 701, the dynamic layer boundary line segment intersects with the base layer boundary line segment (for example, the four points of the two line segments are approximately on a straight line, the intersection of the two line segments is an X shape, and the intersection of the two line segments is T-shaped, two line segments intersect to form a ∧ shape (two points overlap), and the angle is less than the angle threshold (for example, 35 degrees), then the base layer boundary line segment must be the target base layer boundary line segment of the dynamic layer boundary line segment. In the situation shown in 702, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is too large, or there is no coverage area after projection of the dynamic layer boundary line segment and the base layer boundary line segment, then the base layer boundary line segment must not be The target base layer boundary segment for the dynamic layer boundary segment. In the situation shown in 703, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is less than the angle threshold, and there is a coverage area after projection of the dynamic layer boundary line segment and the base layer boundary line segment, so it is necessary to further combine the two Only by further analyzing the distance between the line segments can it be determined whether the base layer boundary line segment is the target base layer boundary line segment of the dynamic layer boundary line segment.

Based on the description of the above embodiments, it can be determined that in the embodiment of the present application, the following conditions should be met between the matching target base layer boundary line segment and the dynamic layer boundary line segment: the line segment between the target base layer boundary line segment and the dynamic layer boundary line segment The distance is small enough (less than the predetermined distance threshold), the angle between the target base layer boundary line segment and the dynamic layer boundary line segment is small enough (less than the angle threshold), the main axis of the target base layer boundary line segment and the dynamic layer boundary line segment on the horizontal plane ( There is an overlapping portion on the above-mentioned first coordinate axis or second coordinate axis (that is, the above-mentioned first overlapping area is not empty), and the height of the target base layer boundary line segment and the dynamic layer boundary line segment is less than the height of the step that can be climbed (can be pre-configured). ), where the height of the line segment specifically refers to projecting the target base layer boundary line segment to the third coordinate axis to obtain projection line segment one, and projecting the dynamic layer boundary line segment to the third coordinate axis to obtain projection line segment two, and then projecting line segment one and The height difference of projected line segment two.

Step S210: Generate pathfinding data of the target scene based on basic area pathfinding data, dynamic area pathfinding data and splicing information.

Among them, in one embodiment, basic area pathfinding data, dynamic area pathfinding data and splicing information can be summarized to generate pathfinding data of the target scene. That is, the generated pathfinding data of the target scene includes basic area pathfinding data, dynamic area pathfinding data and splicing information.

In some embodiments, the generated pathfinding data of the target scene may also include one or more of a dynamic area layer identifier, a dynamic area mark, and an area shape identifier to respectively identify each dynamic area layer, dynamic area, and dynamic area. Area shape. It should be understood that in some specific examples, these dynamic area layer identifiers, dynamic area markers or area shape identifiers can also be directly included in the above-mentioned dynamic area pathfinding data.

Referring to FIG. 8 , in another embodiment of the pathfinding data generation process, after the basic area pathfinding data is generated in step S204 above, it may also include:

Step S205: Record the first boundary information of the boundary between the base area layer and the dynamic area.

Therefore, after the basic area pathfinding data is generated, the first boundary information of the boundary between the basic area layer and the dynamic area can be directly recorded, so that when the splicing information of the dynamic area layer and the basic area layer is subsequently established, there is no need to search for the basic area. By re-searching the data, the splicing information can be established directly based on the first boundary information of the recorded basic area pathfinding data to improve the efficiency of establishing splicing information. The recorded first boundary information of the boundary between the basic area layer and the dynamic area may be included in the basic area pathfinding data, or may be extracted from the basic area pathfinding data.

The recorded first boundary information may specifically be which polygon of the base area layer and which part of the polygon. The edge is located at the boundary adjacent to the dynamic area layer, that is, the first boundary information recorded. Specifically, it may include the polygon identifier and the identifier of the polygon's side. The polygon identifier and the identifier of the polygon's side may be included in the same information at the same time. , can also be represented by different information.

Referring to FIG. 8 , in another embodiment of the pathfinding data generation process, after the dynamic area pathfinding data is generated in the above step S206, it may also include:

Step S207: Record the second boundary information of the boundary between the dynamic area and the basic area of the dynamic area layer.

Therefore, after the dynamic area pathfinding data is generated, the second boundary information of the dynamic area and the basic area boundary of the dynamic area layer can be directly recorded, so that when the splicing information of the dynamic area layer and the basic area layer is subsequently established, there is no need to target the dynamic area. By re-searching the regional pathfinding data, splicing information can be established directly based on the recorded second boundary information, thereby improving the efficiency of establishing splicing information. The recorded second boundary information may be included in the dynamic area pathfinding data, or may be extracted from the dynamic area pathfinding data.

The recorded second boundary information may specifically be which polygon of the dynamic area of the dynamic area layer and which side of the polygon is located at the boundary adjacent to the base area layer, that is, the recorded second boundary information. Specifically, it may be Contains polygon identifiers and polygon side identifiers, where the polygon identifier and polygon side identifiers may be included in the same information at the same time, or may be represented by different information.

At this time, the above-mentioned step S208 of establishing the splicing information of the dynamic area layer and the basic area layer may specifically include step S2081 as shown in FIG. 8 .

Step S2081: Establish splicing information of the dynamic region layer and the basic region layer based on the first boundary information and the second boundary information.

At this time, traversing the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer in the above step S2018 may specifically include: traversing the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer in the second boundary information.

Correspondingly, in this case, searching for the target base layer boundary line segment matching the dynamic layer boundary line segment in the base area pathfinding data in the above step S2028 may specifically include: in the first boundary information, searching for the target base layer boundary line segment that matches the dynamic layer boundary line segment. The target base layer boundary segment to which the line segment matches.

Therefore, after the basic area pathfinding data is generated, the first boundary information of the basic area pathfinding data is recorded, and after the dynamic area pathfinding data is generated, the second boundary information of the dynamic area pathfinding data is recorded, so that when it is necessary to establish When splicing information between the dynamic area layer and the basic area layer, you can directly search for the recorded first boundary information and second boundary information to establish, without having to search again for all the basic area pathfinding data and dynamic area pathfinding data. Their respective boundaries improve the efficiency of establishing the splicing information of the dynamic area layer and the basic area layer, and at the same time improve the efficiency of generating pathfinding data.

It should be understood that in some embodiments, the first boundary information of the basic area pathfinding data may be recorded only after the basic area pathfinding data is generated in the above step S204, or the first boundary information of the basic area pathfinding data may be recorded only after the dynamic area pathfinding data is generated in the above step S206. After the path data, the second boundary information of the dynamic area path finding data is recorded. Among them, in the specific example of the present application, after generating the basic area path finding data, the process of recording the first boundary information of the basic area path finding data, and after generating the dynamic area path finding data, recording the second boundary of the dynamic area path finding data. The information process can be performed simultaneously, that is, both the first boundary information and the second boundary information are recorded.

Based on the embodiments described above, with reference to FIG. 9 , in one embodiment, the method of generating area pathfinding data of a regional layer in a dynamic multi-layer and recording its boundary information may include the following steps S901 to S911. The regional layer may be a static regional layer or a dynamic regional layer.

Step S901: Input the scene data of the regional layer. The scene data of the regional layer includes: a map scene.

Step S902: Determine whether block processing is required. If not, go to step S903; if yes, go to step S905.

Among them, whether block processing is needed can be determined based on various possible rules. For example, whether block processing is needed can be determined based on the set block size and the size of the map scene. The set block size can be Pre-configured in the configuration file. Taking the judgment of whether block processing is required based on the set block size as an example, if the map size of the map scene is larger than the set block size, it is determined that block processing is required; otherwise, it is determined that block processing is not required. Block processing.

Step S903: Divide the entire map scene into one map block.

Step S904: Generate regional pathfinding data for map blocks, and enter step S909. The method of generating regional pathfinding data for map tiles may be the same as the method mentioned in the above embodiment.

Step S905: Divide the map scene into multiple map blocks.

Among them, any possible method can be used to divide the map scene into blocks. For example, the map scene is divided into multiple map tiles according to the preconfigured tile size, that is, the map scene is divided into map tiles whose size is the preconfigured tile size.

Step S906: Generate block area pathfinding data for map blocks. The method of generating block area pathfinding data for map blocks may be the same as the method mentioned in the above embodiment.

Step S907: Determine whether there are still unprocessed map blocks. If so, return to step S906 for the next unprocessed map block. If not, proceed to step S908.

Step S908: Establish a connection relationship between the pathfinding data of each block area corresponding to each map block, and enter step S909. The specific way to establish a connection relationship can be any available connection establishment method, for example, it can be based on the splicing relationship of each map block provided by the open source navmesh (a pathfinding data generated by an open source pathfinding library) library.

Step S909: Obtain the regional pathfinding data of the regional layer.

Among them, it can be understood that if the map scene is not divided into blocks, that is, the entire map scene is divided into one map block, then the obtained regional pathfinding data includes the regional pathfinding data generated directly from the map block. If the map scene is divided into blocks, the obtained area pathfinding data includes: the block area pathfinding data corresponding to each map block and the connection relationship between the block area pathfinding data.

In addition, it should be noted that the area layer may be a basic area layer or a dynamic area layer. If the area layer is a basic area layer, the obtained area pathfinding data is basic area pathfinding data. If the area layer is a dynamic area layer, the obtained area pathfinding data is the dynamic area pathfinding data of the dynamic area layer.

Step S910: Determine whether there is a target area layer. If so, proceed to step S911. If not, end the pathfinding data generation process for the area layer.

Among them, the target area layer refers to the dynamic area layer with dynamic changes in objects. For example, there are dynamic area layers C1, C2, C3, and C4. Then when generating the navmesh of this layer, it can be considered that there is a target area layer.

Among them, the determination method of the target area layer can be set based on actual technical needs.

For example, in some embodiments, when the pathfinding data generation method in the embodiment of the present application is applied to the scenario of generating pathfinding data offline, it can be directly determined whether there is a dynamic area layer, that is, whether there is a target area layer, Specifically, it can be determined whether a dynamic area layer exists. If a dynamic area layer exists, it can be directly determined that there is a target area layer, without caring about whether the dynamic area layer is turned on when the area layer is a dynamic area layer. Therefore, by generating regional pathfinding data for all regional layers in advance and recording the corresponding boundary information, it is beneficial to directly use the generated data during offline operation.

In other embodiments, if the method for generating pathfinding data in the embodiment of the present application is applied to a scenario where pathfinding data is generated online in a real-time online game, it can be determined whether there is a dynamic area layer and the dynamic area layer. Whether the dynamic area of is turned on, that is, the above judgment indicates that there is a target area layer. Specifically, it can be judged whether there is a dynamic area layer with the dynamic area turned on. If there is a dynamic area layer with the dynamic area layer turned on, it is determined that the target area layer exists, and the The enabled dynamic area layer is determined as the target area layer. Among them, the dynamic area layer is turned on, which means that the dynamic area layer is enabled. It can be specifically set by the developer, taking the game scene as an example, or it can automatically trigger the opening of the corresponding dynamic area layer based on changes in the game scene and game progress.

Step S911: Record the boundary information of the regional pathfinding data of the regional layer, then end the generation process of the pathfinding data of the regional layer, and at the same time, enter the generation process of the pathfinding data of the next regional layer. It should be understood that if the area layer is a basic area layer, the recorded boundary information is the first boundary information as mentioned above; if the area layer is a dynamic area layer, the recorded boundary information is the second boundary information as mentioned above. Boundary information. The specific way of recording boundary information is the same as that mentioned in the above embodiment. and in the same way.

Wherein, when the above-mentioned area layer is a dynamic area layer, the pathfinding data generation process can be performed separately for each dynamic area layer. Specifically, based on the embodiments described above, with reference to FIG. 10 , in one embodiment, for a dynamic region of a dynamic multi-layer dynamic region layer, dynamic region pathfinding data is generated for the dynamic region and its boundary information is recorded. The method can be to target the map scene of the dynamic area in the dynamic area layer. First, determine whether the map area needs to be divided into blocks according to the above method. If block processing is not required, then the dynamic area of the dynamic area layer will be processed into blocks. The entire map scene is divided into one map tile. If block processing is required, block processing is performed on the entire map scene of the dynamic area layer to obtain each map block. Then the following steps S1001 to S1014 are executed.

Step S1001: Load a dynamic map scene of a map block in the dynamic area layer. It can be understood that, in the above case where the blocking process is not performed, the loaded dynamic map scene of the map block is the entire map scene of the dynamic area layer. In the case of the block processing, the loaded map scene A tiled dynamic map scene is a map scene of one of the map tiles.

Step S1002: Filter triangles that are not in the dynamic area. The specific filtering method can be carried out by using the existing method of filtering triangles in the dynamic area.

Step S1003: Perform 3D scene voxelization on the triangle-filtered dynamic map scene to obtain dynamic map voxel data. Among them, the specific 3D scene voxelization method can be performed using the existing 3D scene voxelization method.

Step S1004: Filter voxels that are not in the dynamic area. The specific filtering method can be carried out by using the existing voxel filtering method.

Step S1005: Filter the unwalkable areas in the dynamic map voxel data (that is, the map voxel data of the dynamic layer after filtering the voxels that are not in the dynamic area) to obtain the dynamic map walkable area voxel data. Among them, existing methods can be used to filter unwalkable areas.

Step S1006: Simplify the contour lines in the voxel data of the dynamic map traversable area, and obtain the dynamic map traversable area data after the simplified contour lines. Among them, the method of simplifying the contour lines can be carried out by using the existing method of simplifying the contour lines.

Step S1007: Generate polygons based on the dynamic map walkable area data; in this step, if the above step S1002 or S1004 is executed, or step S1008 will be executed subsequently, then the dynamic map walkable area data can be directly targeted at this time To generate polygons, you can also generate polygons that are only located in the dynamic area of the dynamic area layer based on the traversable area data of the dynamic map. If none of the above steps S1002, S1004, and S1008 are executed, then it is necessary to generate polygons that are only located in the dynamic area of the dynamic area layer based on the dynamic map walkable area data. That is to say, only the polygons in the dynamic area of the dynamic area layer and at least one of S1002, S1004, and S1008 need to be executed.

Step S1008: Filter out polygons that are not in the dynamic area of the dynamic area layer.

Step S1009: Generate a detail network based on each polygon, and obtain block area pathfinding data of the map block based on the detail network. Among them, the method of generating a detail network based on polygons can be carried out in an existing manner, and is not specifically limited in the embodiments of this application.

Step S1010: Determine whether there are still unprocessed map tiles. If so, return to step S1001 for the next unprocessed map tile. If not, proceed to step S1011.

Step S1011: Establish a connection relationship between the pathfinding data of each block area corresponding to each map block, and enter step S1012.

Step S1012: Obtain dynamic area pathfinding data.

It can be understood that if the dynamic area map scene is not divided into blocks, the obtained dynamic area pathfinding data includes pathfinding data directly generated for the dynamic area map scene. If the map scene of the dynamic area is divided into blocks, the obtained dynamic area pathfinding data includes: the block area pathfinding data corresponding to each map block and the connection relationship of the block area pathfinding data.

Step S1013: Record the boundary information of the dynamic area pathfinding data.

The method of recording boundary information is the same as the method mentioned in the above embodiment.

Step S1014: Establish the splicing information of the dynamic area layer and the basic area layer, and then end the processing of the dynamic area layer. The generation process of pathfinding data.

The method of establishing the splicing information of the dynamic area layer and the basic area layer is the same as the method mentioned in the above embodiment.

Based on the above embodiments, a detailed description will be given below with an application example of a process of generating pathfinding data.

Referring to FIG. 11 , the process of generating pathfinding data in a specific application example includes the following steps S1101 to S1108.

Step S1101: Determine the dynamic areas in the target scene, add dynamic area tags to each dynamic area, and determine the dynamic area layer to which each dynamic area belongs.

Step S1102: Load the basic scene data of the basic area layer of the target scene, and generate the basic area pathfinding data of the basic area layer based on the basic scene data.

Step S1103: Record the first boundary information of the basic area pathfinding data.

Step S1104: Determine whether there are other dynamic area layers, that is, whether there are dynamic area layers for which pathfinding data has not been generated. If so, proceed to step S1105; otherwise, proceed to step S1108.

Step S1105: Load the data of the next dynamic area layer and generate dynamic area pathfinding data within the dynamic area of the dynamic area layer.

Step S1106: Record the second boundary information of the dynamic area pathfinding data.

Step S1107: Based on the first boundary information and the second boundary information, establish the splicing information of the dynamic area layer and the basic area layer, and return to the above step S1104.

Step S1108: Derive basic area pathfinding data, dynamic area pathfinding data, and splicing information to obtain pathfinding data of the target scene. The dynamic area pathfinding data includes dynamic area pathfinding data of dynamic areas of each dynamic area layer, and the splicing information includes splicing information of each dynamic area layer and the basic area layer respectively.

Based on the above embodiments, a schematic diagram of generating pathfinding data of the basic area layer in a specific example is shown in Figure 12. The generated pathfinding data of a dynamic area layer is shown in Figure 13. The pathfinding data of the basic area layer is The pathfinding data obtained after splicing and merging the pathfinding data of the path data and the pathfinding data of the dynamic area layer is shown in Figure 14. As shown in Figures 12, 13, and 14, the black line segments represent the area boundaries, and the dotted line segments represent the line segments of the polygons generated in the generated pathfinding data. It should be understood that among the polygons of the ultimately obtained pathfinding data, the The edge may be the boundary line segment of each area (object, static area and dynamic area), or it may be the line segment determined in the process of dividing the polygon. The area enclosed by the dotted line segment in Figure 12 is a dynamic area of the dynamic area layer. Combining Figures 12 and 13, it can be seen that when generating the pathfinding data of the static area layer, the dynamic area of the dynamic area layer is not processed. , the boundary of the dynamic area is used to assist in determining the boundary line segment of the static area layer. When generating the pathfinding data of the dynamic area of the dynamic area layer, each polygon is obtained using the above method only for the walkable area in the dynamic area. The two-way arrows in Figure 14 indicate that the polygons of the corresponding static area layer are adjacent to the polygons of the dynamic area.

In one embodiment, as shown in Figure 15, a pathfinding method is provided. This method is explained by taking the method applied to the terminal 102 or the server 104 in Figure 1 as an example, including the following steps S1501 to S1503.

Step S1501: Load pathfinding data. The pathfinding data includes target pathfinding data. The target pathfinding data includes: basic area pathfinding data of the basic area layer, and dynamic area pathfinding data of the dynamic area layer marked as turned on.

Among them, the target pathfinding data is the pathfinding data that needs to be used in the pathfinding process, and is a resource used to support the pathfinding process. The pathfinding data generation process can be as mentioned in the above embodiments.

Among them, the pathfinding data generated according to the above pathfinding data generation method may need to use all the pathfinding data in the specific pathfinding process, or only part of the pathfinding data may need to be used. This application implements In this example, the pathfinding data that needs to be used in this pathfinding process is called target pathfinding data. Among them, the target pathfinding data must include the basic area pathfinding data of the basic area layer, and also include the dynamic area pathfinding data of the dynamic area layer marked as turned on.

For example, suppose there are two dynamic area layers A and B. If there is a dynamic object a in the current target scene for pathfinding, the dynamic area layer A where the dynamic object a is located will be marked as turned on, so that The dynamic area pathfinding data of the dynamic area layer A is available. Similarly, if dynamic object a changes to dynamic object b through a state change, or dynamic object a disappears and dynamic object b appears, the dynamic area layer A where dynamic object a is located will be marked as not open, and the dynamic area layer A where dynamic object b is located will be marked as not open. Dynamic area layer B will be marked as turned on, so that the dynamic area pathfinding data of dynamic area layer A is in an unavailable state, and the dynamic area pathfinding data of dynamic area layer B is in an available state.

In some embodiments, the dynamic area pathfinding data of the dynamic area layer is the dynamic area pathfinding data of the dynamic area layer marked as enabled. The dynamic area pathfinding data includes: in each dynamic area of the dynamic area layer, the dynamic area pathfinding data of the dynamic area layer is marked as enabled. Pathfinding data for dynamic areas.

Therefore, when the dynamic area layer includes one or more dynamic areas, the dynamic area pathfinding data in the target pathfinding data includes the dynamic areas marked as enabled in each dynamic area of the dynamic area layer. Pathfinding data. That is, the dynamic area pathfinding data of the dynamic area layer marked as disabled will not be included in the target pathfinding data, and in the dynamic area layer marked as enabled, the dynamic area pathfinding data of the dynamic area marked as disabled will not be included in the target pathfinding data. It will also not be included in target pathfinding data to save memory resources.

For example, assume that there are two dynamic area layers C and D. Dynamic area layer C contains two dynamic areas: dynamic area c1 and dynamic area c2. If the mark of dynamic area layer C is turned on, the mark of dynamic area c1 is On, dynamic area c2 is marked as not open, and dynamic area layer D is marked as not on, then the target pathfinding data includes the dynamic area pathfinding data of dynamic area c1 of dynamic area layer C, but does not include the unopened dynamic area layer. The dynamic area pathfinding data of the dynamic area c2 of C, and the dynamic area pathfinding data of the dynamic area layer D.

Accordingly, in one embodiment, before loading the target pathfinding data, the method further includes:

Get the enabled dynamic area layer and the enabled dynamic area;

Generate dynamic area pathfinding data for the enabled dynamic area layer for the enabled dynamic area in the enabled dynamic area layer, and generate splicing information of the basic area layer and the dynamic area layer.

In some embodiments, the target pathfinding data also includes: splicing information of the basic area layer and the dynamic area layer. Therefore, in the subsequent path-finding process, there is no need to spend additional resources and time to find the boundaries of the dynamic area layer and the boundaries of the basic area layer, which is beneficial to saving resources and improving path-finding efficiency.

In some embodiments, the above-mentioned loaded pathfinding data may also include: non-target pathfinding data, where the non-target pathfinding data includes dynamic area pathfinding data marked as an unopened dynamic area layer.

The non-target pathfinding data is pathfinding data that does not need to be used in this pathfinding process. The pathfinding data generation process can be as mentioned in the above embodiments. Therefore, by loading the target pathfinding data and non-target pathfinding data when loading the pathfinding data, that is, the base area pathfinding data of the base area layer, and all dynamic area layers (including those marked as turned on and those marked as unavailable). The dynamic area pathfinding data is loaded), so that after the non-target pathfinding data is subsequently enabled (that is, the corresponding dynamic area layer flag is changed to on), there is no need to reload, and you can directly adjust the pathfinding data according to whether the flag is turned on or not. Corresponding pathfinding data is used for pathfinding to improve pathfinding efficiency.

For example, assume that there are two dynamic area layers E and F. If there is a dynamic object e in the current target scene for pathfinding, the dynamic area layer E where the dynamic object e is located will be marked as turned on, and the dynamic area layer E will be marked as turned on. Area layer F will be marked as not open. And the dynamic object e changes to the dynamic object f after the state change, or the dynamic object e disappears and the dynamic object f appears, then the dynamic area layer E where the dynamic object e is located will be marked as not open, and the dynamic area layer where the dynamic object f is located will be marked. F will be marked as on. In this case, when loading the pathfinding data, both the dynamic area pathfinding data of the dynamic area layers E and F can be loaded. When you actually combine the target pathfinding data for pathfinding later, you only need to combine the basic area pathfinding data and the dynamic area pathfinding data of the dynamic area layer marked as turned on for pathfinding.

Step S1502: Obtain starting point information and end point information.

The starting point information refers to the starting point for path finding, usually the starting point for path finding, which indicates the starting position for path finding. The endpoint information refers to the endpoint where pathfinding is to be performed, usually the endpoint where pathfinding is to be performed, and it indicates the end position of pathfinding.

Various possible ways can be used to determine the starting point information and the ending point information. For example, in some embodiments, taking a game scene as an example, the starting point information and the end point information may be specified by the game user. For another example, taking a game scene as an example, the location of the game character (game player or NPC character) can be used as the starting point information, and the target location indicated by the game user (for example, The clicked target position) or the position that the NPC character wants to reach is used as the target position. It should be understood that in other embodiments, other methods may be used to determine the starting point information and the end point information.

Step S1503: Based on the starting point information and the end point information, perform path finding in the target path finding data to obtain the path finding path.

In one embodiment, when pathfinding is performed in the target pathfinding data based on the starting point information and the endpoint information, and the pathfinding path is obtained, any possible method can be used. Taking the pathfinding data divided based on the navigation grid as an example, in a specific example, based on the starting point information and the end point information, pathfinding is performed in the target pathfinding data to obtain the pathfinding path, which may include:

Among them, in the above pathfinding process, when searching for extended adjacent polygons, when there is a dynamic area layer turned on, it may specifically include:

Determine adjacent polygons adjacent to the currently expanded polygon;

Determine the area to which adjacent polygons belong;

If the area to which the adjacent polygon belongs is an area in the basic area layer, determine the adjacent polygon as an extended adjacent polygon;

If the area to which the adjacent polygons belong is a dynamic area, the dynamic area is turned on, and the dynamic area layer to which the dynamic area belongs is turned on, the adjacent polygons corresponding to the dynamic area layer are determined as extended adjacent polygons;

If the dynamic area is not turned on or the dynamic area layer is not turned on, find the next adjacent adjacent polygon and return to the step of determining the area to which the adjacent polygon belongs, where the next adjacent adjacent polygon is located where the current expanded polygon is located. The area layer, or the next adjacent adjacent polygon is located in the area layer above the area layer where the current expanded polygon is located, or the next adjacent adjacent polygon is located in the base area layer.

As shown in Figure 16, it shows a schematic flowchart of finding extended adjacent polygons in a specific example, which may specifically include the following steps S1601 to step S1608.

Step S1601: Determine adjacent polygons adjacent to the currently expanded polygon.

Among them, the currently expanded polygon refers to the polygon that has been found and added to the pathfinding path. Taking the path-finding process at the beginning as an example, the currently expanded polygon may refer to the polygon where the above starting point information is located. If it is in the pathfinding process, the currently expanded polygon can be a polygon that has been added to the pathfinding path, such as a polygon that has just been added to the pathfinding path, or a polygon that has been added to the pathfinding path at some other time.

Step S1602: Determine the area to which adjacent polygons belong. If the adjacent polygon belongs to the dynamic area, step S1603 is entered. If the adjacent polygon belongs to the basic area layer, proceed to step S1605.

Step S1603: Determine whether the dynamic area to which the adjacent polygon belongs is turned on. If it is turned on, go to step S1604. If it is not turned on, go to step S1607.

Step S1604: Determine whether the dynamic area layer to which the dynamic area belongs is enabled. If it is turned on, go to step S1605; if it is not turned on, go to step S1607.

Step S1605: Determine adjacent polygons as extended adjacent polygons.

Step S1606: Determine whether path finding is completed. If the path finding is completed, proceed directly to S1608; if the path finding is not completed, proceed to step S1607. Among them, various possible ways can be used to analyze and determine whether path finding is completed. For example, if the adjacent polygon found is the polygon where the end point information is located, it can be directly determined that the path finding is completed. If the adjacent polygon found is not the polygon where the end point information is located, it is determined that the path finding is not completed. In some embodiments, other methods may also be used to determine whether path finding is completed, for example, after finding the adjacent polygon, determining whether adding the adjacent polygon to the path finding path is better than the found path finding path. If not, it is determined that the path finding has been completed. If yes, it is determined that the path finding has not been completed. Therefore, multiple paths between the starting point information and the ending point information can be found, and an optimal path can be determined as the final path finding path. It is understandable that other methods may also be used to analyze and determine whether path finding has been completed.

It should be understood that in other embodiments, if it is only necessary to determine whether the adjacent polygon is the end point information polygon to determine whether the path finding is completed, after the above step S1601, first determine whether the path finding is completed, that is, determine whether the adjacent polygon adjacent to the current expanded polygon is the polygon where the end point information is located. If so , then it can be directly determined that the path finding is completed. If not, then enter step S1602 of determining the area to which the adjacent polygon belongs. And after determining the adjacent polygon as an extended adjacent polygon in step S1605, the process directly returns to step S1601 to determine the next adjacent polygon.

Step S1607: Expand to the next adjacent polygon, and return to the step of determining the area to which the adjacent polygon belongs in step S1601. The next adjacent adjacent polygon is located in the area layer where the currently expanded polygon is located, or, next An adjacent polygon is located in the area layer immediately above the area layer where the current expanded polygon is located, or in the base area layer.

Among them, the currently expanded polygon may have different situations, and the next adjacent adjacent polygon to be expanded may also have different situations.

Taking the current expanded polygon as a polygon located at the base area layer as an example, you can first check whether the polygon adjacent to the currently expanded polygon belongs to an enabled dynamic area. If so, expand the dynamic area with the highest priority that has been enabled in the dynamic area. polygons in the layer. Otherwise extend adjacent polygons in the base region layer. Specific expansion rules can be set in different ways, such as setting the area where the polygon where the end point information is located is located. For example, if the polygon where the end point information is located is located in the dynamic area layer, the polygon in the dynamic area layer can be used as the next adjacent polygon. It should be understood that in other embodiments, other methods may be used to select whether the polygons of the basic region layer or the polygons of the dynamic region layer are used as the next adjacent polygon.

Take the current expanded polygon as a polygon located in the dynamic area layer as an example. Assuming that the dynamic area layer is the dynamic area layer F1, you can first find the next adjacent adjacent polygon in the dynamic area layer F1. If the adjacent polygon in F1 This polygon belongs to the dynamic area layer F2 with a higher priority, and the dynamic area layer F2 is an already enabled layer, so it is extended to the adjacent polygons in the dynamic area layer F2. If the next adjacent adjacent polygon cannot be found in the dynamic region layer F1, it can be searched in the dynamic region layer F0 with a lower priority that has been turned on. If the dynamic region layer F0 with a lower priority or the adjacent polygon cannot be found, the next adjacent adjacent polygon can be further searched for in the base region layer. In other embodiments, the next adjacent adjacent polygon can also be searched for in the base area layer, the dynamic area layer where the current expanded polygon is located, and other dynamic area layers at the same time. If there are adjacent polygons in the dynamic area layer and other dynamic area layers, one polygon can be determined as the next adjacent polygon according to a certain priority or analysis rules. The specific priority setting method or the analysis rule setting method can be the same as the above method.

Step S1608: Return the path finding result and end the path finding process.

Among them, the pathfinding result refers to the pathfinding path finally found.

In order to verify that the solution of the embodiment of the present application reduces resource occupation and time-consuming during the path finding process, when path finding is performed based on the path finding method of the embodiment of the present application and the traditional path finding solution, the preparation time of the path finding data is When comparing based on the same test case, when the map block size is 16*16 and the number of polygons is 1, the preparation of pathfinding data of the traditional pathfinding solution takes 12 to 15 milliseconds, while the solution of the embodiment of the present application It is much less than 1 millisecond and can be ignored. When the map block size is 16*16 and the number of polygons is 92, the traditional pathfinding solution takes 17 to 21 milliseconds to prepare pathfinding data, while the solution in the embodiment of the present application is still far less than 1 millisecond. Can be ignored. When the map tile size is 48*48 and the number of polygons is 1, the traditional pathfinding solution takes 48 to 50 milliseconds to prepare pathfinding data, while the solution in the embodiment of the present application is still far less than 1 millisecond. Can be ignored. When the map block size is 48*48 and the number of polygons is 122, the traditional pathfinding solution takes 57 to 68 milliseconds to prepare pathfinding data, while the solution in the embodiment of the present application is still far less than 1 millisecond. , can be ignored. When the map size is 8k*8k and the number of polygons is 1134923, the memory occupied by the traditional pathfinding solution reaches 1262MB, while the memory occupied by the solution in the embodiment of this application is only 318MB, which is much smaller than the memory occupied by the traditional pathfinding solution. Taking the server as an example, if the server hosts 200 game instances and the total number of maps is 17, the memory occupied by the traditional pathfinding solution reaches 252400MB, while the memory occupied by the solution in the embodiment of this application is only 5406MB, which is much smaller than the traditional pathfinding solution. memory occupied. Through comparison, it can be found that the solutions based on the embodiments of this application greatly reduce the time required to find paths. It is time-consuming and reduces the occupation of memory resources.

Combined with the pathfinding method in the above embodiment, based on the generated pathfinding data shown in Figures 12-14, in a specific example, when performing pathfinding, only the pathfinding path is obtained by pathfinding the basic area layer. As shown in Figure 17, when the dynamic area layer is turned on, the pathfinding path obtained by performing pathfinding on the basic area layer and the dynamic area layer at the same time is as shown in Figure 18. Similar to Figures 12-14, in Figures 17 and 18, the black line segments represent the area boundaries, and the dotted line segments represent the line segments of the polygon generated in the generated pathfinding data. In addition, in Figures 17 and 18, it is assumed that the starting point S for pathfinding is required, the target position of the pathfinding is at point P, and point S and point P are each within a polygon. In the example shown in Figure 17, in the case where only the basic area layer is path-finded, the area of the dynamic area layer is regarded as a whole to provide a path-finding path. In the example shown in Figure 18, since the dynamic area layer is turned on, during the pathfinding process, when approaching the boundary of the dynamic area layer, it is possible to select the area of the relevant polygon in the pathfinding data of the dynamic area layer. , that is, the pathfinding data of the dynamic area layer will also be used as the object of pathfinding. The final pathfinding path obtained by pathfinding is shown in the black line segment between point S and point P in Figures 17 and 18.

It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

Based on the same inventive concept, embodiments of the present application also provide a pathfinding data generation device for implementing the above-mentioned pathfinding data generation method. The solution to the problem provided by this device is similar to the solution recorded in the above method. Therefore, for the specific limitations in the embodiments of the device for generating one or more pathfinding data provided below, please refer to the pathfinding data mentioned above. The limitations of the generation method will not be repeated here.

In one embodiment, a pathfinding data generation device is provided, including: a dynamic layer determination module, a basic data generation module, a dynamic data generation module, a splicing module and a data determination module, wherein:

The data determination module is used to generate pathfinding data of the target scene based on basic area pathfinding data, dynamic area pathfinding data and splicing information.

In one embodiment, the device further includes: a first boundary recording module and a second boundary recording module;

A first boundary recording module, configured to record the first boundary information of the boundary between the basic area layer and the dynamic area;

A second boundary recording module, configured to record the second boundary information of the boundary between the dynamic area and the basic area of the dynamic area layer;

The splicing module is used to establish splicing information of the dynamic region layer and the basic region layer based on the first boundary information and the second boundary information.

In one embodiment, the dynamic data generation module is used to determine dynamic areas in the target scene; and determine the dynamic area layer to which each dynamic area belongs based on the overlapping relationship of each dynamic area.

In one embodiment, the dynamic data generation module is used to execute the dynamic area pathfinding data generation process, and in the process of executing the dynamic area pathfinding data generation process, filter data that is not within the dynamic area of the dynamic area layer; wherein, dynamic The regional pathfinding data generation process includes: loading the dynamic map scene of the dynamic regional layer; performing 3D scene rendering on the dynamic map scene. Voxelize to obtain the dynamic map voxel data; filter the non-walkable areas in the dynamic map voxel data to obtain the dynamic map walkable area voxel data; simplify the contour lines in the dynamic map walkable area voxel data to obtain simplified contour lines The final dynamic map traversable area data is generated; polygons are generated based on the dynamic map traversable area data; a detail network is generated based on each polygon, and dynamic area pathfinding data is obtained based on the detail network.

In one embodiment, the dynamic data generation module is used to filter triangles that are not within the dynamic area of the dynamic area layer before performing 3D scene voxelization on the dynamic map scene.

In one embodiment, the dynamic data generation module is configured to filter voxels that are not within the dynamic area of the dynamic area layer after obtaining the dynamic map voxel data and before filtering the unwalkable areas in the dynamic map voxel data.

In one embodiment, the dynamic data generation module is used to generate polygons located only within the dynamic area of the dynamic area layer based on the dynamic map walkable area data when generating polygons based on the dynamic map walkable area data.

In one embodiment, the dynamic data generation module is used to filter out polygons that are not within the dynamic area of the dynamic area layer after generating polygons based on the traversable area data of the dynamic map and before generating detailed networks based on each polygon.

In one embodiment, the splicing module is used to traverse the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer. The dynamic layer boundary includes each dynamic layer boundary line segment; search for targets in the basic area pathfinding data that match the dynamic layer boundary line segment. Base layer boundary line segment; if the target base layer boundary line segment matching the dynamic layer boundary line segment is found, establish a line segment connection relationship between the dynamic layer boundary line segment and the target base layer boundary line segment; the splicing information of the dynamic area layer and the base area layer, including line segments connection relationship.

In one embodiment, the splicing module is used to traverse the base layer boundary to obtain the base area pathfinding data. The base layer boundary includes each base layer boundary line segment; if the projection conditions are met, it is determined to project the dynamic layer boundary line segment and the base layer boundary line segment to The first projection overlap area of the target coordinate axis; if the first projection overlap area and the second projection overlap area do not overlap, determine the base layer boundary line segment to be the matching target base layer boundary line segment, and the second projection overlap area is the found The existing target base layer boundary line segment and the dynamic layer boundary line segment are projected to the overlapping area of the target coordinate axis.

In one embodiment, the splicing module is used to determine whether the base layer boundary line segment is better than the existing target base layer boundary line segment when the first projection overlapping area overlaps with the second projection overlapping area; when the base layer boundary line segment is better than the existing target base layer boundary line segment, When selecting a target base layer boundary line segment, delete the existing target base layer boundary line segment from the found target base layer boundary line segment list, and determine the base layer boundary line segment as a matching target base layer boundary line segment and add it to the found target base layer boundary line segment. in the target base layer boundary line segment list; and when the base layer boundary line segment is not better than the existing target base layer boundary line segment, it is determined that the base layer boundary line segment is not a matching target base layer boundary line segment.

In one embodiment, the splicing module is used when the distance between the dynamic layer boundary line segment and the base layer boundary line segment is less than the distance between the dynamic layer boundary line segment and the existing target base layer boundary line segment, or the dynamic layer boundary line segment and the base layer boundary line segment are smaller than the distance between the dynamic layer boundary line segment and the base layer boundary line segment. is smaller than the angle between the dynamic layer boundary line segment and the existing target base layer boundary line segment, it is determined that the base layer boundary line segment is better than the existing target base layer boundary line segment.

In one embodiment, a path-finding device is provided. The path-finding device includes: a loading module, a starting point acquisition module, and a path-finding module. in:

In one embodiment, the pathfinding data loaded by the loading module also includes non-target pathfinding data, and the non-target pathfinding data includes dynamic area pathfinding data marked as unopened dynamic area layer.

In one embodiment, the pathfinding module is used to determine the starting point polygon to which the starting point information belongs and the end point polygon to which the end point information belongs; starting path finding from the starting point polygon, performing path finding in the target path finding data, and sequentially searching for extended adjacent polygons until Find the end point polygon and obtain the pathfinding path; among them, searching for expanded adjacent polygons includes: determining the adjacent polygons adjacent to the current expanded polygon; determining the area to which the adjacent polygon belongs; if the area to which the adjacent polygon belongs is based district For areas in the domain layer, the adjacent polygons are determined as extended adjacent polygons; if the area to which the adjacent polygons belong is a dynamic area, the dynamic area is turned on, and the dynamic area layer to which the dynamic area belongs is turned on, the adjacent polygons are first determined as Extended adjacent polygons; if the dynamic area is not turned on or the dynamic area layer is not turned on, find the next adjacent adjacent polygon and return to the step of determining the area to which the adjacent polygon belongs, where the next adjacent adjacent polygon is located at the current The region layer where the expanded polygon is located, or the next adjacent adjacent polygon is located on the region layer above the region layer where the current expanded polygon is located, or the next adjacent adjacent polygon is located on the base layer Regional layer.

In one embodiment, the pathfinding device further includes: a data generation module,

The data generation module is used to obtain the enabled dynamic area layer and the enabled dynamic area; for the enabled dynamic area in the enabled dynamic area layer, generate the dynamic area pathfinding data of the enabled dynamic area layer, and Generate the splicing information of the basic area layer and the dynamic area layer.

The above pathfinding data generating device and each module in the pathfinding device may be implemented in whole or in part by software, hardware, or combinations thereof. Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in Figure 19. The computer device includes a processor, a memory, an input/output interface (Input/Output, referred to as I/O), and a communication interface. Among them, the processor, memory and input/output interface are connected through the system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems, computer programs and databases. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The computer device's database is used to store target scene data and generated pathfinding data. The input/output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. The computer program implements a pathfinding data generation method or a pathfinding method when executed by the processor.

In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, memory, input/output interface, communication interface, display unit and input device. Among them, the processor, memory and input/output interface are connected through the system bus, and the communication interface, display unit and input device are connected to the system bus through the input/output interface. Wherein, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems and computer programs. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used for wired or wireless communication with external terminals. The wireless mode can be implemented through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program implements a pathfinding data generation method or a pathfinding method when executed by the processor. The display unit of the computer device is used to form a visually visible picture and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a display screen. The touch layer covered above can also be buttons, trackballs or touch pads provided on the computer equipment shell, or it can also be an external keyboard, touch pad or mouse, etc.

Those skilled in the art can understand that the structure shown in Figure 19 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. The specific computer equipment may May include more or fewer parts than shown, or combine certain parts, or have a different arrangement of parts.

In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements the steps in the above method embodiments.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

In one embodiment, a computer program product is provided, comprising a computer program, the computer program being During execution, the steps in each of the above method embodiments are implemented.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all It is information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. , when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory (MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in many forms, such as basic random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to this.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

A method for generating pathfinding data, characterized in that it is executed by a computer device, and the method includes:

Determine a dynamic area layer in the target scene, where the dynamic area layer includes at least one dynamic area;

Load the basic scene data of the basic area layer of the target scene, and generate the basic area pathfinding data of the basic area layer based on the basic scene data;

Load the dynamic area layer and generate dynamic area pathfinding data within the dynamic area of the dynamic area layer;

Establish splicing information of the dynamic area layer and the basic area layer;

Pathfinding data of the target scene is generated based on the basic area pathfinding data, the dynamic area pathfinding data and the splicing information.
The method according to claim 1, characterized in that:

After generating the basic area pathfinding data of the basic area layer based on the basic scene data, the method further includes: recording the first boundary information of the basic area pathfinding data;

After generating the dynamic area pathfinding data in the dynamic area of the dynamic area layer, the method further includes: recording second boundary information of the dynamic area pathfinding data;

The establishing the splicing information of the dynamic area layer and the basic area layer includes: establishing the splicing information of the dynamic area layer and the basic area layer according to the first boundary information and the second boundary information. .
The method according to claim 1, characterized in that determining the dynamic area layer in the target scene includes:

Determine dynamic areas in the target scene;

According to the overlapping relationship of each of the dynamic areas, the dynamic area layer to which each of the dynamic areas belongs is determined.
The method of claim 1, wherein loading the dynamic area layer and generating dynamic area pathfinding data within the dynamic area of the dynamic area layer includes:

Execute a dynamic area pathfinding data generation process, and in the process of executing the dynamic area pathfinding data generation process, filter data that is not within the dynamic area of the dynamic area layer;

The dynamic area pathfinding data generation process includes:

Load the dynamic map scene of the dynamic area layer;

Perform 3D scene voxelization on the dynamic map scene to obtain dynamic map voxel data;

Filter the unwalkable areas in the dynamic map voxel data to obtain the walkable area voxel data of the dynamic map;

Simplify the contour lines in the voxel data of the dynamic map walkable area, and obtain the dynamic map walkable area data after the simplified contour lines;

Generate polygons based on the dynamic map traversable area data;

A detail network is generated based on each of the polygons, and dynamic area pathfinding data is obtained based on the detail network.
The method according to claim 4, characterized in that: in the process of executing the dynamic area pathfinding data generation process, filtering data that is not within the dynamic area of the dynamic area layer includes: At least one:

First item:

Before performing 3D scene voxelization on the dynamic map scene, filtering triangles that are not within the dynamic area of the dynamic area layer;

second section:

After obtaining the dynamic map voxel data and before filtering the non-walkable areas in the dynamic map voxel data, filter voxels that are not within the dynamic area of the dynamic area layer;

the third item:

Generating polygons based on the traversable area data of the dynamic map includes:

Based on the dynamic map traversable area data, generate polygons located only within the dynamic area of the dynamic area layer;

Item 4:

After the polygons are generated based on the traversable area data of the dynamic map and before the detail network is generated based on each of the polygons, the method further includes:

Filter out polygons that are not within the dynamic area of the dynamic area layer.
The method according to claim 1 or 2, characterized in that establishing the splicing information of the dynamic area layer and the basic area layer includes:

Traverse the dynamic layer boundary of the dynamic area pathfinding data of the dynamic area layer, where the dynamic layer boundary includes each dynamic layer boundary line segment;

Search for the target base layer boundary line segment in the base area pathfinding data that matches the dynamic layer boundary line segment;

If a target base layer boundary line segment matching the dynamic layer boundary line segment is found, establish a line segment connection relationship between the dynamic layer boundary line segment and the target base layer boundary line segment;

The splicing information of the dynamic area layer and the basic area layer includes the line segment connection relationship.
The method according to claim 6, characterized in that the search for the target base layer boundary line segment matching the dynamic layer boundary line segment in the base area pathfinding data includes:

Traverse to obtain the base layer boundary of the base area pathfinding data, where the base layer boundary includes each base layer boundary line segment;

If the projection conditions are met, determine the first projection overlap area that projects the dynamic layer boundary line segment and the base layer boundary line segment to the target coordinate axis;

If the first projection overlapping area and the second projection overlapping area do not overlap, the base layer boundary line segment is determined to be the matching target base layer boundary line segment, and the second projection overlapping area is the found existing target base layer. The layer boundary line segment and the dynamic layer boundary line segment are projected to the overlapping area of the target coordinate axis.
The method according to claim 7, characterized in that: the method further includes:

If the first projection overlap area overlaps with the second projection overlap area, determine whether the base layer boundary line segment is better than the existing target base layer boundary line segment;

If the base layer boundary line segment is better than the existing target base layer boundary line segment, the existing target base layer boundary line segment is deleted from the found target base layer boundary line segment list, and the base layer boundary line segment is deleted. The line segment is determined as the matching target base layer boundary line segment;

Otherwise, it is determined that the base layer boundary line segment is not a matching target base layer boundary line segment.
The method according to claim 8, characterized in that: if the distance between the dynamic layer boundary line segment and the base layer boundary line segment is less than the distance between the dynamic layer boundary line segment and the existing target base layer boundary line segment, Or, the angle between the dynamic layer boundary line segment and the base layer boundary line segment is smaller than the angle between the dynamic layer boundary line segment and the existing target base layer boundary line segment, and it is determined that the base layer boundary line segment is better than the base layer boundary line segment. Describe the boundary line segment of the existing target base layer.
A path-finding method, characterized in that the path-finding method includes:

Load pathfinding data, the pathfinding data includes target pathfinding data, and the target pathfinding data includes: basic area pathfinding data of the basic area layer, and dynamic area pathfinding data of the dynamic area layer marked as turned on;

Obtain starting point information and end point information;

Based on the starting point information and the end point information, path finding is performed in the target path finding data to obtain a path finding path.
The method according to claim 10, characterized in that: the loaded pathfinding data also includes non-target pathfinding data, and the non-target pathfinding data includes dynamic area pathfinding marked as an unopened dynamic area layer. data.
The method according to claim 10 or 11, characterized in that: based on the starting point information and the end point information, performing path finding in the target path finding data to obtain a path finding path, including:

Determine the starting point polygon to which the starting point information belongs and the end point polygon to which the end point information belongs;

Start pathfinding from the starting point polygon, perform pathfinding in the target pathfinding data, and search for extended neighbors in sequence. Connect polygons until the end point polygon is found, and the pathfinding path is obtained;

Wherein, the search for extended adjacent polygons includes:

Determine the polygons adjacent to the currently expanded polygon;

Determine the area to which the adjacent polygon belongs;

If the area to which the adjacent polygon belongs is an area in the basic area layer, determine the adjacent polygon as an extended adjacent polygon;

If the area to which the adjacent polygons belong is a dynamic area, the dynamic area is turned on, and the dynamic area layer to which the dynamic area belongs is turned on, the adjacent polygons corresponding to the dynamic area layer are determined as extended adjacent polygons;

If the dynamic area is not turned on or the dynamic area layer is not turned on, search for the next adjacent adjacent polygon, and return to the step of determining the area to which the adjacent polygon belongs, wherein the next adjacent adjacent polygon is The polygon is located in the region layer where the current expanded polygon is located, or the next adjacent adjacent polygon is located in the region layer above the region layer where the current expanded polygon is located, or the next adjacent polygon is located in the region layer where the current expanded polygon is located. Neighboring adjacent polygons are located in the base region layer.
The method according to claim 10 or 11, characterized in that: before loading the target pathfinding data, the method further includes:

Get the enabled dynamic area layer and the enabled dynamic area;

For the enabled dynamic region in the enabled dynamic region layer, generate dynamic region pathfinding data of the enabled dynamic region layer, and generate splicing information of the basic region layer and the dynamic region layer.
A device for generating pathfinding data, characterized in that the device includes:

A dynamic layer determination module, used to determine the dynamic area layer in the target scene, where the dynamic area layer includes at least one dynamic area;

A basic data generation module, configured to load basic scene data of the basic area layer of the target scene, and generate basic area pathfinding data of the basic area layer based on the basic scene data;

A dynamic data generation module, configured to load the dynamic area layer and generate dynamic area pathfinding data within the dynamic area of the dynamic area layer;

A splicing module, used to establish the splicing information of the dynamic area layer and the basic area layer;

A data determination module, configured to generate pathfinding data of the target scene based on the basic area pathfinding data, the dynamic area pathfinding data and the splicing information.
A computer device includes a memory and a processor, the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method described in any one of claims 1 to 13 are implemented.