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Code Issues Releases Wiki Activity

Add Navigator interface

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elsid 2019-02-16 15:27:02 +03:00
parent d63881e054
commit 1d3668cd22
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GPG key ID: B845CB9FEE18AB40
9 changed files with 115 additions and 67 deletions
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2
apps/openmw/mwbase/world.hpp
View file

@ -57,7 +57,7 @@ namespace MWMechanics
namespace DetourNavigator
{
class Navigator;
struct Navigator;
}
namespace MWWorld

2
apps/openmw/mwrender/renderingmanager.hpp
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@ -59,7 +59,7 @@ namespace SceneUtil
namespace DetourNavigator
{
class Navigator;
struct Navigator;
struct Settings;
}

2
apps/openmw/mwworld/scene.hpp
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@ -30,7 +30,7 @@ namespace Loading
namespace DetourNavigator
{
class Navigator;
struct Navigator;
class Water;
}

4
apps/openmw/mwworld/worldimp.cpp
View file

@ -24,7 +24,7 @@
#include <components/sceneutil/positionattitudetransform.hpp>
#include <components/detournavigator/debug.hpp>
#include <components/detournavigator/navigator.hpp>
#include <components/detournavigator/navigatorimpl.hpp>
#include <components/detournavigator/recastglobalallocator.hpp>
#include "../mwbase/environment.hpp"
@ -206,7 +206,7 @@ namespace MWWorld
DetourNavigator::Log::instance().setSink(std::unique_ptr<DetourNavigator::FileSink>(
new DetourNavigator::FileSink(Settings::Manager::getString("log path", "Navigator"))));
DetourNavigator::RecastGlobalAllocator::init();
mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings));
mNavigator.reset(new DetourNavigator::NavigatorImpl(navigatorSettings));
mRendering.reset(new MWRender::RenderingManager(viewer, rootNode, resourceSystem, workQueue, &mFallback, resourcePath, *mNavigator));
mProjectileManager.reset(new ProjectileManager(mRendering->getLightRoot(), resourceSystem, mRendering.get(), mPhysics.get()));

4
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -1,6 +1,6 @@
#include "operators.hpp"
#include <components/detournavigator/navigator.hpp>
#include <components/detournavigator/navigatorimpl.hpp>
#include <components/detournavigator/exceptions.hpp>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
@ -61,7 +61,7 @@ namespace
mSettings.mMaxSmoothPathSize = 1024;
mSettings.mTrianglesPerChunk = 256;
mSettings.mMaxPolys = 4096;
mNavigator.reset(new Navigator(mSettings));
mNavigator.reset(new NavigatorImpl(mSettings));
}
};

2
components/CMakeLists.txt
View file

@ -164,7 +164,7 @@ add_component_dir(detournavigator
recastmeshmanager
cachedrecastmeshmanager
navmeshmanager
navigator
navigatorimpl
asyncnavmeshupdater
chunkytrimesh
recastmesh

60
components/detournavigator/navigator.hpp
View file

@ -3,9 +3,9 @@
#include "findsmoothpath.hpp"
#include "flags.hpp"
#include "navmeshmanager.hpp"
#include "settings.hpp"
#include "settingsutils.hpp"
#include "objectid.hpp"
#include "navmeshcacheitem.hpp"
namespace DetourNavigator
{
@ -33,33 +33,28 @@ namespace DetourNavigator
};
/**
* @brief Top level class of detournavigator componenet. Navigator allows to build a scene with navmesh and find
* @brief Top level interface of detournavigator component. Navigator allows to build a scene with navmesh and find
* a path for an agent there. Scene contains agents, geometry objects and water. Agent are distinguished only by
* half extents. Each object has unique identifier and could be added, updated or removed. Water could be added once
* for each world cell at given level of height. Navmesh builds asynchronously in separate threads. To start build
* navmesh call update method.
*/
class Navigator
struct Navigator
{
public:
/**
* @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
* @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
*/
Navigator(const Settings& settings);
virtual ~Navigator() = default;
/**
* @brief addAgent should be called for each agent even if all of them has same half extents.
* @param agentHalfExtents allows to setup bounding cylinder for each agent, for each different half extents
* there is different navmesh.
*/
void addAgent(const osg::Vec3f& agentHalfExtents);
virtual void addAgent(const osg::Vec3f& agentHalfExtents) = 0;
/**
* @brief removeAgent should be called for each agent even if all of them has same half extents
* @param agentHalfExtents allows determine which agent to remove
*/
void removeAgent(const osg::Vec3f& agentHalfExtents);
virtual void removeAgent(const osg::Vec3f& agentHalfExtents) = 0;
/**
* @brief addObject is used to add object represented by single btCollisionShape and btTransform.
@ -68,7 +63,7 @@ namespace DetourNavigator
* @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.
*/
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
virtual bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) = 0;
/**
* @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes
@ -77,7 +72,7 @@ namespace DetourNavigator
* @param transform allows to setup objects geometry according to its world state
* @return true if object is added, false if there is already object with given id
*/
bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
virtual bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) = 0;
/**
* @brief addObject is used to add doors.
@ -86,7 +81,7 @@ namespace DetourNavigator
* @param transform allows to setup objects geometry according to its world state.
* @return true if object is added, false if there is already object with given id.
*/
bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
virtual bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) = 0;
/**
* @brief updateObject replace object geometry by given data.
@ -95,7 +90,7 @@ namespace DetourNavigator
* @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.
*/
bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
virtual bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) = 0;
/**
* @brief updateObject replace object geometry by given data.
@ -104,7 +99,7 @@ namespace DetourNavigator
* @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.
*/
bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
virtual bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) = 0;
/**
* @brief updateObject replace object geometry by given data.
@ -113,14 +108,14 @@ namespace DetourNavigator
* @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.
*/
bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
virtual bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) = 0;
/**
* @brief removeObject to make it no more available at the scene.
* @param id is used to find object.
* @return true if object is removed, false if there is no object with given id.
*/
bool removeObject(const ObjectId id);
virtual bool removeObject(const ObjectId id) = 0;
/**
* @brief addWater is used to set water level at given world cell.
@ -132,26 +127,26 @@ namespace DetourNavigator
* at least single object is added to the scene, false if there is already water for given cell or there is no
* any other objects.
*/
bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
const btTransform& transform);
virtual bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
const btTransform& transform) = 0;
/**
* @brief removeWater to make it no more available at the scene.
* @param cellPosition allows to find cell.
* @return true if there was water at given cell.
*/
bool removeWater(const osg::Vec2i& cellPosition);
virtual bool removeWater(const osg::Vec2i& cellPosition) = 0;
/**
* @brief update start background navmesh update using current scene state.
* @param playerPosition setup initial point to order build tiles of navmesh.
*/
void update(const osg::Vec3f& playerPosition);
virtual void update(const osg::Vec3f& playerPosition) = 0;
/**
* @brief wait locks thread until all tiles are updated from last update call.
*/
void wait();
virtual void wait() = 0;
/**
* @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
@ -186,26 +181,15 @@ namespace DetourNavigator
* @brief getNavMesh returns navmesh for specific agent half extents
* @return navmesh
*/
SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& agentHalfExtents) const;
virtual SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& agentHalfExtents) const = 0;
/**
* @brief getNavMeshes returns all current navmeshes
* @return map of agent half extents to navmesh
*/
std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const;
virtual std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const = 0;
Settings getSettings() const;
private:
Settings mSettings;
NavMeshManager mNavMeshManager;
std::map<osg::Vec3f, std::size_t> mAgents;
std::unordered_map<ObjectId, ObjectId> mAvoidIds;
std::unordered_map<ObjectId, ObjectId> mWaterIds;
void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId);
void updateWaterShapeId(const ObjectId id, const ObjectId waterId);
void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids);
virtual Settings getSettings() const = 0;
};
}

42
components/detournavigator/navigator.cpp → components/detournavigator/navigatorimpl.cpp
View file

@ -1,4 +1,4 @@
#include "navigator.hpp"
#include "navigatorimpl.hpp"
#include "debug.hpp"
#include "settingsutils.hpp"
@ -6,19 +6,19 @@
namespace DetourNavigator
{
Navigator::Navigator(const Settings& settings)
NavigatorImpl::NavigatorImpl(const Settings& settings)
: mSettings(settings)
, mNavMeshManager(mSettings)
{
}
void Navigator::addAgent(const osg::Vec3f& agentHalfExtents)
void NavigatorImpl::addAgent(const osg::Vec3f& agentHalfExtents)
{
++mAgents[agentHalfExtents];
mNavMeshManager.addAgent(agentHalfExtents);
}
void Navigator::removeAgent(const osg::Vec3f& agentHalfExtents)
void NavigatorImpl::removeAgent(const osg::Vec3f& agentHalfExtents)
{
const auto it = mAgents.find(agentHalfExtents);
if (it == mAgents.end() || --it->second)
@ -27,12 +27,12 @@ namespace DetourNavigator
mNavMeshManager.reset(agentHalfExtents);
}
bool Navigator::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
bool NavigatorImpl::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
{
return mNavMeshManager.addObject(id, shape, transform, AreaType_ground);
}
bool Navigator::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
bool NavigatorImpl::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
{
bool result = addObject(id, shapes.mShape, transform);
if (shapes.mAvoid)
@ -47,7 +47,7 @@ namespace DetourNavigator
return result;
}
bool Navigator::addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
bool NavigatorImpl::addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
{
if (addObject(id, static_cast<const ObjectShapes&>(shapes), transform))
{
@ -61,12 +61,12 @@ namespace DetourNavigator
return false;
}
bool Navigator::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
bool NavigatorImpl::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform)
{
return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground);
}
bool Navigator::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
bool NavigatorImpl::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
{
bool result = updateObject(id, shapes.mShape, transform);
if (shapes.mAvoid)
@ -81,12 +81,12 @@ namespace DetourNavigator
return result;
}
bool Navigator::updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
bool NavigatorImpl::updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform)
{
return updateObject(id, static_cast<const ObjectShapes&>(shapes), transform);
}
bool Navigator::removeObject(const ObjectId id)
bool NavigatorImpl::removeObject(const ObjectId id)
{
bool result = mNavMeshManager.removeObject(id);
const auto avoid = mAvoidIds.find(id);
@ -99,55 +99,55 @@ namespace DetourNavigator
return result;
}
bool Navigator::addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
bool NavigatorImpl::addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
const btTransform& transform)
{
return mNavMeshManager.addWater(cellPosition, cellSize,
btTransform(transform.getBasis(), btVector3(transform.getOrigin().x(), transform.getOrigin().y(), level)));
}
bool Navigator::removeWater(const osg::Vec2i& cellPosition)
bool NavigatorImpl::removeWater(const osg::Vec2i& cellPosition)
{
return mNavMeshManager.removeWater(cellPosition);
}
void Navigator::update(const osg::Vec3f& playerPosition)
void NavigatorImpl::update(const osg::Vec3f& playerPosition)
{
for (const auto& v : mAgents)
mNavMeshManager.update(playerPosition, v.first);
}
void Navigator::wait()
void NavigatorImpl::wait()
{
mNavMeshManager.wait();
}
SharedNavMeshCacheItem Navigator::getNavMesh(const osg::Vec3f& agentHalfExtents) const
SharedNavMeshCacheItem NavigatorImpl::getNavMesh(const osg::Vec3f& agentHalfExtents) const
{
return mNavMeshManager.getNavMesh(agentHalfExtents);
}
std::map<osg::Vec3f, SharedNavMeshCacheItem> Navigator::getNavMeshes() const
std::map<osg::Vec3f, SharedNavMeshCacheItem> NavigatorImpl::getNavMeshes() const
{
return mNavMeshManager.getNavMeshes();
}
Settings Navigator::getSettings() const
Settings NavigatorImpl::getSettings() const
{
return mSettings;
}
void Navigator::updateAvoidShapeId(const ObjectId id, const ObjectId avoidId)
void NavigatorImpl::updateAvoidShapeId(const ObjectId id, const ObjectId avoidId)
{
updateId(id, avoidId, mWaterIds);
}
void Navigator::updateWaterShapeId(const ObjectId id, const ObjectId waterId)
void NavigatorImpl::updateWaterShapeId(const ObjectId id, const ObjectId waterId)
{
updateId(id, waterId, mWaterIds);
}
void Navigator::updateId(const ObjectId id, const ObjectId updateId, std::unordered_map<ObjectId, ObjectId>& ids)
void NavigatorImpl::updateId(const ObjectId id, const ObjectId updateId, std::unordered_map<ObjectId, ObjectId>& ids)
{
auto inserted = ids.insert(std::make_pair(id, updateId));
if (!inserted.second)

64
components/detournavigator/navigatorimpl.hpp Normal file
View file

@ -0,0 +1,64 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORIMPL_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORIMPL_H
#include "navigator.hpp"
#include "navmeshmanager.hpp"
namespace DetourNavigator
{
class NavigatorImpl final : public Navigator
{
public:
/**
* @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
* @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
*/
NavigatorImpl(const Settings& settings);
void addAgent(const osg::Vec3f& agentHalfExtents) override;
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 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;
bool removeObject(const ObjectId id) override;
bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
const btTransform& transform) override;
bool removeWater(const osg::Vec2i& cellPosition) override;
void update(const osg::Vec3f& playerPosition) override;
void wait() override;
SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& agentHalfExtents) const override;
std::map<osg::Vec3f, SharedNavMeshCacheItem> getNavMeshes() const override;
Settings getSettings() const override;
private:
Settings mSettings;
NavMeshManager mNavMeshManager;
std::map<osg::Vec3f, std::size_t> mAgents;
std::unordered_map<ObjectId, ObjectId> mAvoidIds;
std::unordered_map<ObjectId, ObjectId> mWaterIds;
void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId);
void updateWaterShapeId(const ObjectId id, const ObjectId waterId);
void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids);
};
}
#endif