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Store copies of ref_ptr for btCollisionShape wrappers in Navigator

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To keep btCollisionShape lifetime.
This commit is contained in:
elsid 2021-08-01 01:27:41 +02:00
parent 668788a5a2
commit 08b026e907
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GPG key ID: B845CB9FEE18AB40
24 changed files with 276 additions and 198 deletions
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4
apps/openmw/mwphysics/heightfield.cpp
View file

@ -50,6 +50,10 @@ namespace
namespace MWPhysics
{
HeightField::HeightField() {}
HeightField::HeightField(const HeightField&, const osg::CopyOp&) {}
HeightField::HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject, PhysicsTaskScheduler* scheduler)
: mHoldObject(holdObject)
#if BT_BULLET_VERSION < 310

7
apps/openmw/mwphysics/heightfield.hpp
View file

@ -2,6 +2,7 @@
#define OPENMW_MWPHYSICS_HEIGHTFIELD_H
#include <osg/ref_ptr>
#include <osg/Object>
#include <LinearMath/btScalar.h>
@ -20,12 +21,14 @@ namespace MWPhysics
{
class PhysicsTaskScheduler;
class HeightField
class HeightField : public osg::Object
{
public:
HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject, PhysicsTaskScheduler* scheduler);
~HeightField();
META_Object(MWPhysics, HeightField)
btCollisionObject* getCollisionObject();
const btCollisionObject* getCollisionObject() const;
const btHeightfieldTerrainShape* getShape() const;
@ -40,6 +43,8 @@ namespace MWPhysics
PhysicsTaskScheduler* mTaskScheduler;
HeightField();
HeightField(const HeightField&, const osg::CopyOp&);
void operator=(const HeightField&);
HeightField(const HeightField&);
};

2
apps/openmw/mwphysics/physicssystem.cpp
View file

@ -443,7 +443,7 @@ namespace MWPhysics
void PhysicsSystem::addHeightField (const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject)
{
mHeightFields[std::make_pair(x,y)] = std::make_unique<HeightField>(heights, x, y, triSize, sqrtVerts, minH, maxH, holdObject, mTaskScheduler.get());
mHeightFields[std::make_pair(x,y)] = osg::ref_ptr<HeightField>(new HeightField(heights, x, y, triSize, sqrtVerts, minH, maxH, holdObject, mTaskScheduler.get()));
}
void PhysicsSystem::removeHeightField (int x, int y)

2
apps/openmw/mwphysics/physicssystem.hpp
View file

@ -276,7 +276,7 @@ namespace MWPhysics
using ProjectileMap = std::map<int, std::shared_ptr<Projectile>>;
ProjectileMap mProjectiles;
using HeightFieldMap = std::map<std::pair<int, int>, std::unique_ptr<HeightField>>;
using HeightFieldMap = std::map<std::pair<int, int>, osg::ref_ptr<HeightField>>;
HeightFieldMap mHeightFields;
bool mDebugDrawEnabled;

18
apps/openmw/mwworld/scene.cpp
View file

@ -137,11 +137,9 @@ namespace
{
if (ptr.getClass().isDoor() && !ptr.getCellRef().getTeleport())
{
const auto shape = object->getShapeInstance()->getCollisionShape();
btVector3 aabbMin;
btVector3 aabbMax;
shape->getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
object->getShapeInstance()->getCollisionShape()->getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
const auto center = (aabbMax + aabbMin) * 0.5f;
@ -168,12 +166,7 @@ namespace
navigator.addObject(
DetourNavigator::ObjectId(object),
DetourNavigator::DoorShapes(
*shape,
object->getShapeInstance()->getAvoidCollisionShape(),
connectionStart,
connectionEnd
),
DetourNavigator::DoorShapes(object->getShapeInstance(), connectionStart, connectionEnd),
transform
);
}
@ -181,10 +174,7 @@ namespace
{
navigator.addObject(
DetourNavigator::ObjectId(object),
DetourNavigator::ObjectShapes {
*object->getShapeInstance()->getCollisionShape(),
object->getShapeInstance()->getAvoidCollisionShape()
},
DetourNavigator::ObjectShapes(object->getShapeInstance()),
object->getTransform()
);
}
@ -400,7 +390,7 @@ namespace MWWorld
}
if (const auto heightField = mPhysics->getHeightField(cellX, cellY))
navigator->addObject(DetourNavigator::ObjectId(heightField), *heightField->getShape(),
navigator->addObject(DetourNavigator::ObjectId(heightField), heightField, *heightField->getShape(),
heightField->getCollisionObject()->getWorldTransform());
}

5
apps/openmw/mwworld/worldimp.cpp
View file

@ -1558,10 +1558,7 @@ namespace MWWorld
void World::updateNavigatorObject(const MWPhysics::Object& object)
{
const DetourNavigator::ObjectShapes shapes {
*object.getShapeInstance()->getCollisionShape(),
object.getShapeInstance()->getAvoidCollisionShape()
};
const DetourNavigator::ObjectShapes shapes(object.getShapeInstance());
mShouldUpdateNavigator = mNavigator->updateObject(DetourNavigator::ObjectId(&object), shapes, object.getTransform())
|| mShouldUpdateNavigator;
}

166
apps/openmw_test_suite/detournavigator/navigator.cpp
View file

@ -4,6 +4,9 @@
#include <components/detournavigator/exceptions.hpp>
#include <components/misc/rng.hpp>
#include <components/loadinglistener/loadinglistener.hpp>
#include <components/resource/bulletshape.hpp>
#include <osg/ref_ptr>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <BulletCollision/CollisionShapes/btBoxShape.h>
@ -14,6 +17,7 @@
#include <array>
#include <deque>
#include <memory>
MATCHER_P3(Vec3fEq, x, y, z, "")
{
@ -80,16 +84,38 @@ namespace
};
template <std::size_t size>
btHeightfieldTerrainShape makeSquareHeightfieldTerrainShape(const std::array<btScalar, size>& values,
std::unique_ptr<btHeightfieldTerrainShape> makeSquareHeightfieldTerrainShape(const std::array<btScalar, size>& values,
btScalar heightScale = 1, int upAxis = 2, PHY_ScalarType heightDataType = PHY_FLOAT, bool flipQuadEdges = false)
{
const int width = static_cast<int>(std::sqrt(size));
const btScalar min = *std::min_element(values.begin(), values.end());
const btScalar max = *std::max_element(values.begin(), values.end());
const btScalar greater = std::max(std::abs(min), std::abs(max));
return btHeightfieldTerrainShape(width, width, values.data(), heightScale, -greater, greater, upAxis, heightDataType, flipQuadEdges);
return std::make_unique<btHeightfieldTerrainShape>(width, width, values.data(), heightScale, -greater, greater,
upAxis, heightDataType, flipQuadEdges);
}
template <class T>
osg::ref_ptr<const Resource::BulletShapeInstance> makeBulletShapeInstance(std::unique_ptr<T>&& shape)
{
osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
bulletShape->mCollisionShape = std::move(shape).release();
return new Resource::BulletShapeInstance(bulletShape);
}
template <class T>
class CollisionShapeInstance
{
public:
CollisionShapeInstance(std::unique_ptr<T>&& shape) : mInstance(makeBulletShapeInstance(std::move(shape))) {}
T& shape() { return static_cast<T&>(*mInstance->mCollisionShape); }
const osg::ref_ptr<const Resource::BulletShapeInstance>& instance() const { return mInstance; }
private:
osg::ref_ptr<const Resource::BulletShapeInstance> mInstance;
};
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
{
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
@ -122,11 +148,12 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::requiredTilesPresent);
@ -167,15 +194,15 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto heightfieldShapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& heightfieldShape = *heightfieldShapePtr;
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
btBoxShape boxShape(btVector3(20, 20, 100));
btCompoundShape compoundShape;
compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&heightfieldShape), nullptr, heightfieldShape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -206,7 +233,7 @@ namespace
Vec3fEq(204, -204, 1.99998295307159423828125)
)) << mPath;
mNavigator->addObject(ObjectId(&compoundShape), compoundShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -250,16 +277,16 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto heightfieldShapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& heightfieldShape = *heightfieldShapePtr;
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
btBoxShape boxShape(btVector3(20, 20, 100));
btCompoundShape compoundShape;
compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&compoundShape), compoundShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&heightfieldShape), nullptr, heightfieldShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -291,9 +318,9 @@ namespace
Vec3fEq(204, -204, 1.99998295307159423828125)
)) << mPath;
compoundShape.updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
compound.shape().updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
mNavigator->updateObject(ObjectId(&compoundShape), compoundShape, btTransform::getIdentity());
mNavigator->updateObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -336,7 +363,8 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
const std::array<btScalar, 5 * 5> heightfieldData2 {{
@ -346,12 +374,13 @@ namespace
-25, -25, -25, -25, -25,
-25, -25, -25, -25, -25,
}};
btHeightfieldTerrainShape shape2 = makeSquareHeightfieldTerrainShape(heightfieldData2);
const auto shapePtr2 = makeSquareHeightfieldTerrainShape(heightfieldData2);
btHeightfieldTerrainShape& shape2 = *shapePtr2;
shape2.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape2), shape2, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape2), nullptr, shape2, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -385,6 +414,8 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, path_should_be_around_avoid_shape)
{
osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
std::array<btScalar, 5 * 5> heightfieldData {{
0, 0, 0, 0, 0,
0, -25, -25, -25, -25,
@ -392,8 +423,9 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
shapePtr->setLocalScaling(btVector3(128, 128, 1));
bulletShape->mCollisionShape = shapePtr.release();
std::array<btScalar, 5 * 5> heightfieldDataAvoid {{
-25, -25, -25, -25, -25,
@ -402,11 +434,14 @@ namespace
-25, -25, -25, -25, -25,
-25, -25, -25, -25, -25,
}};
btHeightfieldTerrainShape shapeAvoid = makeSquareHeightfieldTerrainShape(heightfieldDataAvoid);
shapeAvoid.setLocalScaling(btVector3(128, 128, 1));
auto shapeAvoidPtr = makeSquareHeightfieldTerrainShape(heightfieldDataAvoid);
shapeAvoidPtr->setLocalScaling(btVector3(128, 128, 1));
bulletShape->mAvoidCollisionShape = shapeAvoidPtr.release();
osg::ref_ptr<const Resource::BulletShapeInstance> instance(new Resource::BulletShapeInstance(bulletShape));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), ObjectShapes {shape, &shapeAvoid}, btTransform::getIdentity());
mNavigator->addObject(ObjectId(instance->getCollisionShape()), ObjectShapes(instance), btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -448,12 +483,13 @@ namespace
-50, -100, -150, -100, -100,
0, -50, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, 300, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -495,12 +531,13 @@ namespace
0, -100, -100, -100, -100, -100, 0,
0, 0, 0, 0, 0, 0, 0,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -541,11 +578,12 @@ namespace
0, -100, -100, -100, -100, -100, 0,
0, 0, 0, 0, 0, 0, 0,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->addWater(osg::Vec2i(0, 0), std::numeric_limits<int>::max(), -25, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -587,12 +625,13 @@ namespace
0, -100, -100, -100, -100, -100, 0,
0, 0, 0, 0, 0, 0, 0,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -631,11 +670,12 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -643,7 +683,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -684,11 +724,12 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -716,27 +757,29 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto heightfieldShapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& heightfieldShape = *heightfieldShapePtr;
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
const std::vector<btBoxShape> boxShapes(100, btVector3(20, 20, 100));
std::vector<CollisionShapeInstance<btBoxShape>> boxes;
std::generate_n(std::back_inserter(boxes), 100, [] { return std::make_unique<btBoxShape>(btVector3(20, 20, 100)); });
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&heightfieldShape), nullptr, heightfieldShape, btTransform::getIdentity());
for (std::size_t i = 0; i < boxShapes.size(); ++i)
for (std::size_t i = 0; i < boxes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 10, i * 10, i * 10));
mNavigator->addObject(ObjectId(&boxShapes[i]), boxShapes[i], transform);
mNavigator->addObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance()), transform);
}
std::this_thread::sleep_for(std::chrono::microseconds(1));
for (std::size_t i = 0; i < boxShapes.size(); ++i)
for (std::size_t i = 0; i < boxes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 10 + 1, i * 10 + 1, i * 10 + 1));
mNavigator->updateObject(ObjectId(&boxShapes[i]), boxShapes[i], transform);
mNavigator->updateObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance()), transform);
}
mNavigator->update(mPlayerPosition);
@ -773,14 +816,15 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, update_changed_multiple_times_object_should_delay_navmesh_change)
{
const std::vector<btBoxShape> shapes(100, btVector3(64, 64, 64));
std::vector<CollisionShapeInstance<btBoxShape>> shapes;
std::generate_n(std::back_inserter(shapes), 100, [] { return std::make_unique<btBoxShape>(btVector3(64, 64, 64)); });
mNavigator->addAgent(mAgentHalfExtents);
for (std::size_t i = 0; i < shapes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32, i * 32, i * 32));
mNavigator->addObject(ObjectId(&shapes[i]), shapes[i], transform);
mNavigator->addObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
}
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -789,7 +833,7 @@ namespace
for (std::size_t i = 0; i < shapes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 1, i * 32 + 1, i * 32 + 1));
mNavigator->updateObject(ObjectId(&shapes[i]), shapes[i], transform);
mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
}
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -797,7 +841,7 @@ namespace
for (std::size_t i = 0; i < shapes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 2, i * 32 + 2, i * 32 + 2));
mNavigator->updateObject(ObjectId(&shapes[i]), shapes[i], transform);
mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
}
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -817,11 +861,12 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& shape = *shapePtr;
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&shape), nullptr, shape, btTransform::getIdentity());
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -840,19 +885,20 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
const auto heightfieldShapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
btHeightfieldTerrainShape& heightfieldShape = *heightfieldShapePtr;
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
const btBoxShape oscillatingBoxShape(btVector3(20, 20, 20));
CollisionShapeInstance oscillatingBox(std::make_unique<btBoxShape>(btVector3(20, 20, 20)));
const btVector3 oscillatingBoxShapePosition(32, 32, 400);
const btBoxShape boderBoxShape(btVector3(50, 50, 50));
CollisionShapeInstance boderBox(std::make_unique<btBoxShape>(btVector3(50, 50, 50)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&oscillatingBoxShape), oscillatingBoxShape,
mNavigator->addObject(ObjectId(&heightfieldShape), nullptr, heightfieldShape, btTransform::getIdentity());
mNavigator->addObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()),
btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition));
// add this box to make navmesh bound box independent from oscillatingBoxShape rotations
mNavigator->addObject(ObjectId(&boderBoxShape), boderBoxShape,
mNavigator->addObject(ObjectId(&boderBox.shape()), ObjectShapes(boderBox.instance()),
btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition + btVector3(0, 0, 200)));
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -869,7 +915,7 @@ namespace
{
const btTransform transform(btQuaternion(btVector3(0, 0, 1), n * 2 * osg::PI / 10),
oscillatingBoxShapePosition);
mNavigator->updateObject(ObjectId(&oscillatingBoxShape), oscillatingBoxShape, transform);
mNavigator->updateObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()), transform);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
}

16
apps/openmw_test_suite/detournavigator/recastmeshobject.cpp
View file

@ -14,20 +14,22 @@ namespace
struct DetourNavigatorRecastMeshObjectTest : Test
{
btBoxShape mBoxShape {btVector3(1, 2, 3)};
btCompoundShape mCompoundShape {true};
btBoxShape mBoxShapeImpl {btVector3(1, 2, 3)};
CollisionShape mBoxShape {nullptr, mBoxShapeImpl};
btCompoundShape mCompoundShapeImpl {true};
CollisionShape mCompoundShape {nullptr, mCompoundShapeImpl};
btTransform mTransform {btQuaternion(btVector3(1, 2, 3), 1), btVector3(1, 2, 3)};
DetourNavigatorRecastMeshObjectTest()
{
mCompoundShape.addChildShape(mTransform, std::addressof(mBoxShape));
mCompoundShapeImpl.addChildShape(mTransform, std::addressof(mBoxShapeImpl));
}
};
TEST_F(DetourNavigatorRecastMeshObjectTest, constructed_object_should_have_shape_and_transform)
{
const RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShape));
EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShapeImpl));
EXPECT_EQ(object.getTransform(), mTransform);
}
@ -58,14 +60,14 @@ namespace
TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_changed_child_transform_should_return_true)
{
RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
mCompoundShape.updateChildTransform(0, btTransform::getIdentity());
mCompoundShapeImpl.updateChildTransform(0, btTransform::getIdentity());
EXPECT_TRUE(object.update(mTransform, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshObjectTest, repeated_update_for_compound_shape_without_changes_should_return_false)
{
RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
mCompoundShape.updateChildTransform(0, btTransform::getIdentity());
mCompoundShapeImpl.updateChildTransform(0, btTransform::getIdentity());
object.update(mTransform, AreaType_ground);
EXPECT_FALSE(object.update(mTransform, AreaType_ground));
}
@ -73,7 +75,7 @@ namespace
TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_changed_local_scaling_should_return_true)
{
RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
mBoxShape.setLocalScaling(btVector3(2, 2, 2));
mBoxShapeImpl.setLocalScaling(btVector3(2, 2, 2));
EXPECT_TRUE(object.update(mTransform, AreaType_ground));
}
}

72
apps/openmw_test_suite/detournavigator/tilecachedrecastmeshmanager.cpp
View file

@ -62,22 +62,25 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
EXPECT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const CollisionShape shape(nullptr, boxShape);
EXPECT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_object_for_existing_object_should_return_false)
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_FALSE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_FALSE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_object_should_add_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const CollisionShape shape(nullptr, boxShape);
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
for (int x = -1; x < 1; ++x)
for (int y = -1; y < 1; ++y)
ASSERT_TRUE(manager.hasTile(TilePosition(x, y)));
@ -88,8 +91,9 @@ namespace
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
EXPECT_TRUE(manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground,
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
EXPECT_TRUE(manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground,
[&] (const auto& v) { onChangedTile(v); }));
EXPECT_THAT(
mChangedTiles,
@ -102,8 +106,9 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_FALSE(manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground,
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_FALSE(manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground,
[&] (const auto& v) { onChangedTile(v); }));
EXPECT_EQ(mChangedTiles, std::vector<TilePosition>());
}
@ -112,7 +117,8 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
@ -123,7 +129,8 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_EQ(manager.getMesh(TilePosition(1, 0)), nullptr);
}
@ -132,14 +139,15 @@ namespace
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(1, 0)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(1, -1)), nullptr);
manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
@ -151,12 +159,13 @@ namespace
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
EXPECT_EQ(manager.getMesh(TilePosition(-1, -1)), nullptr);
EXPECT_EQ(manager.getMesh(TilePosition(-1, 0)), nullptr);
manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
EXPECT_EQ(manager.getMesh(TilePosition(1, 0)), nullptr);
EXPECT_EQ(manager.getMesh(TilePosition(1, -1)), nullptr);
}
@ -165,7 +174,8 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
manager.removeObject(ObjectId(&boxShape));
EXPECT_EQ(manager.getMesh(TilePosition(-1, -1)), nullptr);
EXPECT_EQ(manager.getMesh(TilePosition(-1, 0)), nullptr);
@ -177,14 +187,15 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
@ -196,7 +207,8 @@ namespace
TileCachedRecastMeshManager manager(mSettings);
const auto initialRevision = manager.getRevision();
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_EQ(manager.getRevision(), initialRevision + 1);
}
@ -204,9 +216,10 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
const auto beforeAddRevision = manager.getRevision();
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
EXPECT_EQ(manager.getRevision(), beforeAddRevision);
}
@ -215,9 +228,10 @@ namespace
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
const auto beforeUpdateRevision = manager.getRevision();
manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
EXPECT_EQ(manager.getRevision(), beforeUpdateRevision + 1);
}
@ -225,9 +239,10 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
const auto beforeUpdateRevision = manager.getRevision();
manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
EXPECT_EQ(manager.getRevision(), beforeUpdateRevision);
}
@ -235,7 +250,8 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
const CollisionShape shape(nullptr, boxShape);
manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
const auto beforeRemoveRevision = manager.getRevision();
manager.removeObject(ObjectId(&boxShape));
EXPECT_EQ(manager.getRevision(), beforeRemoveRevision + 1);
@ -272,7 +288,8 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const CollisionShape shape(nullptr, boxShape);
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
const osg::Vec2i cellPosition(0, 0);
const int cellSize = std::numeric_limits<int>::max();
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
@ -314,7 +331,8 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const CollisionShape shape(nullptr, boxShape);
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 8192;
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));

2
components/detournavigator/cachedrecastmeshmanager.cpp
View file

@ -8,7 +8,7 @@ namespace DetourNavigator
: mImpl(settings, bounds, generation)
{}
bool CachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape,
bool CachedRecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape,
const btTransform& transform, const AreaType areaType)
{
if (!mImpl.addObject(id, shape, transform, areaType))

2
components/detournavigator/cachedrecastmeshmanager.hpp
View file

@ -11,7 +11,7 @@ namespace DetourNavigator
public:
CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds, std::size_t generation);
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType);
bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType);

30
components/detournavigator/navigator.hpp
View file

@ -9,6 +9,8 @@
#include "recastmeshtiles.hpp"
#include "waitconditiontype.hpp"
#include <components/resource/bulletshape.hpp>
namespace ESM
{
struct Cell;
@ -24,11 +26,10 @@ namespace DetourNavigator
{
struct ObjectShapes
{
const btCollisionShape& mShape;
const btCollisionShape* mAvoid;
osg::ref_ptr<const Resource::BulletShapeInstance> mShapeInstance;
ObjectShapes(const btCollisionShape& shape, const btCollisionShape* avoid)
: mShape(shape), mAvoid(avoid)
ObjectShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance)
: mShapeInstance(shapeInstance)
{}
};
@ -37,9 +38,9 @@ namespace DetourNavigator
osg::Vec3f mConnectionStart;
osg::Vec3f mConnectionEnd;
DoorShapes(const btCollisionShape& shape, const btCollisionShape* avoid,
DoorShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance,
const osg::Vec3f& connectionStart,const osg::Vec3f& connectionEnd)
: ObjectShapes(shape, avoid)
: ObjectShapes(shapeInstance)
, mConnectionStart(connectionStart)
, mConnectionEnd(connectionEnd)
{}
@ -70,13 +71,15 @@ namespace DetourNavigator
virtual void removeAgent(const osg::Vec3f& agentHalfExtents) = 0;
/**
* @brief addObject is used to add object represented by single btCollisionShape and btTransform.
* @brief addObject is used to add object represented by single btHeightfieldTerrainShape and btTransform.
* @param id is used to distinguish different objects.
* @param shape must live until object is updated by another shape removed from Navigator.
* @param holder shape wrapper to keep shape lifetime after object is removed.
* @param shape must be wrapped by holder.
* @param transform allows to setup object geometry according to its world state.
* @return true if object is added, false if there is already object with given id.
*/
virtual bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) = 0;
virtual bool addObject(const ObjectId id, const osg::ref_ptr<const osg::Object>& holder,
const btHeightfieldTerrainShape& shape, const btTransform& transform) = 0;
/**
* @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes
@ -96,15 +99,6 @@ namespace DetourNavigator
*/
virtual bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) = 0;
/**
* @brief updateObject replace object geometry by given data.
* @param id is used to find object.
* @param shape must live until object is updated by another shape removed from Navigator.
* @param transform allows to setup objects geometry according to its world state.
* @return true if object is updated, false if there is no object with given id.
*/
virtual bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) = 0;
/**
* @brief updateObject replace object geometry by given data.
* @param id is used to find object.

31
components/detournavigator/navigatorimpl.cpp
View file

@ -31,18 +31,22 @@ namespace DetourNavigator
--it->second;
}
bool NavigatorImpl::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
bool NavigatorImpl::addObject(const ObjectId id, const osg::ref_ptr<const osg::Object>& holder,
const btHeightfieldTerrainShape& shape, const btTransform& transform)
{
return mNavMeshManager.addObject(id, shape, transform, AreaType_ground);
const CollisionShape collisionShape {holder, shape};
return mNavMeshManager.addObject(id, collisionShape, transform, AreaType_ground);
}
bool NavigatorImpl::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
{
bool result = addObject(id, shapes.mShape, transform);
if (shapes.mAvoid)
const CollisionShape collisionShape {shapes.mShapeInstance, *shapes.mShapeInstance->getCollisionShape()};
bool result = mNavMeshManager.addObject(id, collisionShape, transform, AreaType_ground);
if (const btCollisionShape* const avoidShape = shapes.mShapeInstance->getAvoidCollisionShape())
{
const ObjectId avoidId(shapes.mAvoid);
if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, AreaType_null))
const ObjectId avoidId(avoidShape);
const CollisionShape collisionShape {shapes.mShapeInstance, *avoidShape};
if (mNavMeshManager.addObject(avoidId, collisionShape, transform, AreaType_null))
{
updateAvoidShapeId(id, avoidId);
result = true;
@ -64,18 +68,15 @@ namespace DetourNavigator
return false;
}
bool NavigatorImpl::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
{
return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground);
}
bool NavigatorImpl::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
{
bool result = updateObject(id, shapes.mShape, transform);
if (shapes.mAvoid)
const CollisionShape collisionShape {shapes.mShapeInstance, *shapes.mShapeInstance->getCollisionShape()};
bool result = mNavMeshManager.updateObject(id, collisionShape, transform, AreaType_ground);
if (const btCollisionShape* const avoidShape = shapes.mShapeInstance->getAvoidCollisionShape())
{
const ObjectId avoidId(shapes.mAvoid);
if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, AreaType_null))
const ObjectId avoidId(avoidShape);
const CollisionShape collisionShape {shapes.mShapeInstance, *avoidShape};
if (mNavMeshManager.updateObject(avoidId, collisionShape, transform, AreaType_null))
{
updateAvoidShapeId(id, avoidId);
result = true;

5
components/detournavigator/navigatorimpl.hpp
View file

@ -21,14 +21,13 @@ namespace DetourNavigator
void removeAgent(const osg::Vec3f& agentHalfExtents) override;
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) override;
bool addObject(const ObjectId id, const osg::ref_ptr<const osg::Object>& holder,
const btHeightfieldTerrainShape& shape, const btTransform& transform) override;
bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) override;
bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) override;
bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) override;
bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) override;
bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) override;

8
components/detournavigator/navigatorstub.hpp
View file

@ -19,7 +19,8 @@ namespace DetourNavigator
void removeAgent(const osg::Vec3f& /*agentHalfExtents*/) override {}
bool addObject(const ObjectId /*id*/, const btCollisionShape& /*shape*/, const btTransform& /*transform*/) override
bool addObject(const ObjectId /*id*/, const osg::ref_ptr<const osg::Object>& /*holder*/,
const btHeightfieldTerrainShape& /*shape*/, const btTransform& /*transform*/) override
{
return false;
}
@ -34,11 +35,6 @@ namespace DetourNavigator
return false;
}
bool updateObject(const ObjectId /*id*/, const btCollisionShape& /*shape*/, const btTransform& /*transform*/) override
{
return false;
}
bool updateObject(const ObjectId /*id*/, const ObjectShapes& /*shapes*/, const btTransform& /*transform*/) override
{
return false;

7
components/detournavigator/navmeshmanager.cpp
View file

@ -47,16 +47,17 @@ namespace DetourNavigator
, mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager)
{}
bool NavMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool NavMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType)
{
const btCollisionShape& collisionShape = shape.getShape();
if (!mRecastMeshManager.addObject(id, shape, transform, areaType))
return false;
addChangedTiles(shape, transform, ChangeType::add);
addChangedTiles(collisionShape, transform, ChangeType::add);
return true;
}
bool NavMeshManager::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool NavMeshManager::updateObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType)
{
return mRecastMeshManager.updateObject(id, shape, transform, areaType,

4
components/detournavigator/navmeshmanager.hpp
View file

@ -23,10 +23,10 @@ namespace DetourNavigator
public:
NavMeshManager(const Settings& settings);
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType);
bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool updateObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType);
bool removeObject(const ObjectId id);

2
components/detournavigator/recastmeshmanager.cpp
View file

@ -10,7 +10,7 @@ namespace DetourNavigator
{
}
bool RecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool RecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType)
{
const auto object = mObjects.lower_bound(id);

2
components/detournavigator/recastmeshmanager.hpp
View file

@ -38,7 +38,7 @@ namespace DetourNavigator
RecastMeshManager(const Settings& settings, const TileBounds& bounds, std::size_t generation);
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType);
bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType);

45
components/detournavigator/recastmeshobject.cpp
View file

@ -22,15 +22,36 @@ namespace DetourNavigator
}
return result;
}
std::vector<RecastMeshObject> makeChildrenObjects(const osg::ref_ptr<const osg::Object>& holder,
const btCompoundShape& shape, const AreaType areaType)
{
std::vector<RecastMeshObject> result;
for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
{
const CollisionShape collisionShape {holder, *shape.getChildShape(i)};
result.emplace_back(collisionShape, shape.getChildTransform(i), areaType);
}
return result;
}
std::vector<RecastMeshObject> makeChildrenObjects(const osg::ref_ptr<const osg::Object>& holder,
const btCollisionShape& shape, const AreaType areaType)
{
if (shape.isCompound())
return makeChildrenObjects(holder, static_cast<const btCompoundShape&>(shape), areaType);
return std::vector<RecastMeshObject>();
}
}
RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform,
RecastMeshObject::RecastMeshObject(const CollisionShape& shape, const btTransform& transform,
const AreaType areaType)
: mShape(shape)
: mHolder(shape.getHolder())
, mShape(shape.getShape())
, mTransform(transform)
, mAreaType(areaType)
, mLocalScaling(shape.getLocalScaling())
, mChildren(makeChildrenObjects(shape, mAreaType))
, mLocalScaling(mShape.get().getLocalScaling())
, mChildren(makeChildrenObjects(mHolder, mShape.get(), mAreaType))
{
}
@ -57,20 +78,4 @@ namespace DetourNavigator
|| result;
return result;
}
std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType)
{
if (shape.isCompound())
return makeChildrenObjects(static_cast<const btCompoundShape&>(shape), areaType);
else
return std::vector<RecastMeshObject>();
}
std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType)
{
std::vector<RecastMeshObject> result;
for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), areaType);
return result;
}
}

26
components/detournavigator/recastmeshobject.hpp
View file

@ -5,6 +5,9 @@
#include <LinearMath/btTransform.h>
#include <osg/ref_ptr>
#include <osg/Object>
#include <functional>
#include <vector>
@ -13,10 +16,26 @@ class btCompoundShape;
namespace DetourNavigator
{
class CollisionShape
{
public:
CollisionShape(osg::ref_ptr<const osg::Object> holder, const btCollisionShape& shape)
: mHolder(std::move(holder))
, mShape(shape)
{}
const osg::ref_ptr<const osg::Object>& getHolder() const { return mHolder; }
const btCollisionShape& getShape() const { return mShape; }
private:
osg::ref_ptr<const osg::Object> mHolder;
std::reference_wrapper<const btCollisionShape> mShape;
};
class RecastMeshObject
{
public:
RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType);
RecastMeshObject(const CollisionShape& shape, const btTransform& transform, const AreaType areaType);
bool update(const btTransform& transform, const AreaType areaType);
@ -36,16 +55,13 @@ namespace DetourNavigator
}
private:
osg::ref_ptr<const osg::Object> mHolder;
std::reference_wrapper<const btCollisionShape> mShape;
btTransform mTransform;
AreaType mAreaType;
btVector3 mLocalScaling;
std::vector<RecastMeshObject> mChildren;
};
std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType);
std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType);
}
#endif

6
components/detournavigator/tilecachedrecastmeshmanager.cpp
View file

@ -12,14 +12,14 @@ namespace DetourNavigator
: mSettings(settings)
{}
bool TileCachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape,
bool TileCachedRecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape,
const btTransform& transform, const AreaType areaType)
{
std::vector<TilePosition> tilesPositions;
const auto border = getBorderSize(mSettings);
{
auto tiles = mTiles.lock();
getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& tilePosition)
getTilesPositions(shape.getShape(), transform, mSettings, [&] (const TilePosition& tilePosition)
{
if (addTile(id, shape, transform, areaType, tilePosition, border, tiles.get()))
tilesPositions.push_back(tilePosition);
@ -156,7 +156,7 @@ namespace DetourNavigator
it->second.reportNavMeshChange(recastMeshVersion, navMeshVersion);
}
bool TileCachedRecastMeshManager::addTile(const ObjectId id, const btCollisionShape& shape,
bool TileCachedRecastMeshManager::addTile(const ObjectId id, const CollisionShape& shape,
const btTransform& transform, const AreaType areaType, const TilePosition& tilePosition, float border,
std::map<TilePosition, CachedRecastMeshManager>& tiles)
{

8
components/detournavigator/tilecachedrecastmeshmanager.hpp
View file

@ -21,11 +21,11 @@ namespace DetourNavigator
public:
TileCachedRecastMeshManager(const Settings& settings);
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType);
template <class OnChangedTile>
bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool updateObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType, OnChangedTile&& onChangedTile)
{
const auto object = mObjectsTilesPositions.find(id);
@ -55,7 +55,7 @@ namespace DetourNavigator
changed = true;
}
};
getTilesPositions(shape, transform, mSettings, onTilePosition);
getTilesPositions(shape.getShape(), transform, mSettings, onTilePosition);
std::sort(newTiles.begin(), newTiles.end());
for (const auto& tile : currentTiles)
{
@ -103,7 +103,7 @@ namespace DetourNavigator
std::size_t mRevision = 0;
std::size_t mTilesGeneration = 0;
bool addTile(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
bool addTile(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType, const TilePosition& tilePosition, float border,
std::map<TilePosition, CachedRecastMeshManager>& tiles);

4
components/resource/bulletshape.cpp
View file

@ -6,6 +6,7 @@
#include <BulletCollision/CollisionShapes/btBoxShape.h>
#include <BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h>
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
namespace Resource
{
@ -75,6 +76,9 @@ btCollisionShape* BulletShape::duplicateCollisionShape(const btCollisionShape *s
return new btBoxShape(*boxshape);
}
if (shape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
return new btHeightfieldTerrainShape(static_cast<const btHeightfieldTerrainShape&>(*shape));
throw std::logic_error(std::string("Unhandled Bullet shape duplication: ")+shape->getName());
}