From 0cfdf0c7b6cf4a5997d3911491152bf176b93c4e Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 12:52:17 +0300 Subject: [PATCH 001/130] Remove unused virtual --- apps/openmw/mwmechanics/aipackage.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 5a468ae30..7b33ea871 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -121,7 +121,7 @@ namespace MWMechanics /// Check if the way to the destination is clear, taking into account actor speed bool checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor); - virtual bool doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest, const MWWorld::CellStore* currentCell); + bool doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest, const MWWorld::CellStore* currentCell); void evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos); void openDoors(const MWWorld::Ptr& actor); From 33dfe284bd40066588f6ca1f49dbce7ca17e35b6 Mon Sep 17 00:00:00 2001 From: elsid Date: Thu, 15 Mar 2018 00:42:12 +0300 Subject: [PATCH 002/130] Mark local variables const which one does not change --- apps/openmw/mwmechanics/aipackage.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 9a42f191e..cdc2288e9 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -25,7 +25,7 @@ MWMechanics::AiPackage::~AiPackage() {} -MWMechanics::AiPackage::AiPackage() : +MWMechanics::AiPackage::AiPackage() : mTimer(AI_REACTION_TIME + 1.0f), // to force initial pathbuild mTargetActorRefId(""), mTargetActorId(-1), @@ -100,7 +100,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr { mTimer += duration; //Update timer - ESM::Position pos = actor.getRefData().getPosition(); //position of the actor + const ESM::Position pos = actor.getRefData().getPosition(); //position of the actor /// Stops the actor when it gets too close to a unloaded cell //... At current time, this test is unnecessary. AI shuts down when actor is more than 7168 @@ -113,17 +113,17 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr } // handle path building and shortcutting - ESM::Pathgrid::Point start = pos.pos; + const ESM::Pathgrid::Point start = pos.pos; - float distToTarget = distance(start, dest); - bool isDestReached = (distToTarget <= destTolerance); + const float distToTarget = distance(start, dest); + const bool isDestReached = (distToTarget <= destTolerance); if (!isDestReached && mTimer > AI_REACTION_TIME) { if (actor.getClass().isBipedal(actor)) openDoors(actor); - bool wasShortcutting = mIsShortcutting; + const bool wasShortcutting = mIsShortcutting; bool destInLOS = false; const MWWorld::Class& actorClass = actor.getClass(); @@ -381,7 +381,7 @@ bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& act osg::Vec3f radiusDir = dir ^ osg::Z_AXIS; // radius is perpendicular to a tangent radiusDir.normalize(); radiusDir *= radius; - + // pick up the nearest center candidate osg::Vec3f dest_ = PathFinder::MakeOsgVec3(dest); osg::Vec3f pos = actor.getRefData().getPosition().asVec3(); From 4d868bec92fb499079f9ce14ddd9267774df0ae5 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Jul 2018 12:30:14 +0300 Subject: [PATCH 003/130] Use osg::Vec3f to store path nodes in Pathfinder --- apps/openmw/mwmechanics/aiactivate.cpp | 2 +- apps/openmw/mwmechanics/aicast.cpp | 2 +- apps/openmw/mwmechanics/aicombat.cpp | 4 +- apps/openmw/mwmechanics/aiescort.cpp | 2 +- apps/openmw/mwmechanics/aifollow.cpp | 4 +- apps/openmw/mwmechanics/aipackage.cpp | 50 ++++----- apps/openmw/mwmechanics/aipackage.hpp | 13 +-- apps/openmw/mwmechanics/aipursue.cpp | 4 +- apps/openmw/mwmechanics/aitravel.cpp | 5 +- apps/openmw/mwmechanics/aiwander.cpp | 33 +++--- .../mwmechanics/coordinateconverter.cpp | 9 +- .../mwmechanics/coordinateconverter.hpp | 2 +- apps/openmw/mwmechanics/pathfinding.cpp | 102 +++++------------- apps/openmw/mwmechanics/pathfinding.hpp | 43 +++++--- 14 files changed, 126 insertions(+), 149 deletions(-) diff --git a/apps/openmw/mwmechanics/aiactivate.cpp b/apps/openmw/mwmechanics/aiactivate.cpp index d38a1299f..f1d42ea1c 100644 --- a/apps/openmw/mwmechanics/aiactivate.cpp +++ b/apps/openmw/mwmechanics/aiactivate.cpp @@ -36,7 +36,7 @@ namespace MWMechanics return true; //Target doesn't exist //Set the target destination for the actor - ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos; + const auto dest = target.getRefData().getPosition().asVec3(); if (pathTo(actor, dest, duration, MWBase::Environment::get().getWorld()->getMaxActivationDistance())) //Stop when you get in activation range { diff --git a/apps/openmw/mwmechanics/aicast.cpp b/apps/openmw/mwmechanics/aicast.cpp index 948ffb3aa..38dc2fa73 100644 --- a/apps/openmw/mwmechanics/aicast.cpp +++ b/apps/openmw/mwmechanics/aicast.cpp @@ -37,7 +37,7 @@ bool MWMechanics::AiCast::execute(const MWWorld::Ptr& actor, MWMechanics::Charac if (!target) return true; - if (!mManual && !pathTo(actor, target.getRefData().getPosition().pos, duration, mDistance)) + if (!mManual && !pathTo(actor, target.getRefData().getPosition().asVec3(), duration, mDistance)) { return false; } diff --git a/apps/openmw/mwmechanics/aicombat.cpp b/apps/openmw/mwmechanics/aicombat.cpp index 8f9545f99..4cb36448d 100644 --- a/apps/openmw/mwmechanics/aicombat.cpp +++ b/apps/openmw/mwmechanics/aicombat.cpp @@ -124,7 +124,7 @@ namespace MWMechanics float targetReachedTolerance = 0.0f; if (storage.mLOS) targetReachedTolerance = storage.mAttackRange; - bool is_target_reached = pathTo(actor, target.getRefData().getPosition().pos, duration, targetReachedTolerance); + const bool is_target_reached = pathTo(actor, target.getRefData().getPosition().asVec3(), duration, targetReachedTolerance); if (is_target_reached) storage.mReadyToAttack = true; } @@ -355,7 +355,7 @@ namespace MWMechanics float dist = (actor.getRefData().getPosition().asVec3() - target.getRefData().getPosition().asVec3()).length(); if ((dist > fFleeDistance && !storage.mLOS) - || pathTo(actor, storage.mFleeDest, duration)) + || pathTo(actor, PathFinder::MakeOsgVec3(storage.mFleeDest), duration)) { state = AiCombatStorage::FleeState_Idle; } diff --git a/apps/openmw/mwmechanics/aiescort.cpp b/apps/openmw/mwmechanics/aiescort.cpp index a86d13d75..59c840a49 100644 --- a/apps/openmw/mwmechanics/aiescort.cpp +++ b/apps/openmw/mwmechanics/aiescort.cpp @@ -100,7 +100,7 @@ namespace MWMechanics point.mAutogenerated = 0; point.mConnectionNum = 0; point.mUnknown = 0; - if (pathTo(actor,point,duration)) //Returns true on path complete + if (pathTo(actor, osg::Vec3f(mX, mY, mZ), duration)) //Returns true on path complete { mRemainingDuration = mDuration; return true; diff --git a/apps/openmw/mwmechanics/aifollow.cpp b/apps/openmw/mwmechanics/aifollow.cpp index a8f071310..2bd685035 100644 --- a/apps/openmw/mwmechanics/aifollow.cpp +++ b/apps/openmw/mwmechanics/aifollow.cpp @@ -163,7 +163,7 @@ bool AiFollow::execute (const MWWorld::Ptr& actor, CharacterController& characte } //Set the target destination from the actor - ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos; + const auto dest = target.getRefData().getPosition().asVec3(); short baseFollowDistance = followDistance; short threshold = 30; // to avoid constant switching between moving/stopping @@ -196,7 +196,7 @@ bool AiFollow::execute (const MWWorld::Ptr& actor, CharacterController& characte if (storage.mMoving) { //Check if you're far away - float dist = distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]); + float dist = distance(dest, pos.asVec3()); if (dist > 450) actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, true); //Make NPC run diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index cdc2288e9..c483ef042 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -90,13 +90,13 @@ void MWMechanics::AiPackage::reset() mTimer = AI_REACTION_TIME + 1.0f; mIsShortcutting = false; mShortcutProhibited = false; - mShortcutFailPos = ESM::Pathgrid::Point(); + mShortcutFailPos = osg::Vec3f(); mPathFinder.clearPath(); mObstacleCheck.clear(); } -bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance) +bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& dest, float duration, float destTolerance) { mTimer += duration; //Update timer @@ -113,7 +113,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr } // handle path building and shortcutting - const ESM::Pathgrid::Point start = pos.pos; + const osg::Vec3f start = pos.asVec3(); const float distToTarget = distance(start, dest); const bool isDestReached = (distToTarget <= destTolerance); @@ -148,7 +148,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr if (destInLOS && mPathFinder.getPath().size() > 1) { // get point just before dest - std::list::const_iterator pPointBeforeDest = mPathFinder.getPath().end(); + auto pPointBeforeDest = mPathFinder.getPath().end(); --pPointBeforeDest; --pPointBeforeDest; @@ -163,7 +163,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr if (!mPathFinder.getPath().empty()) //Path has points in it { - ESM::Pathgrid::Point lastPos = mPathFinder.getPath().back(); //Get the end of the proposed path + const auto& lastPos = mPathFinder.getPath().back(); //Get the end of the proposed path if(distance(dest, lastPos) > 100) //End of the path is far from the destination mPathFinder.addPointToPath(dest); //Adds the final destination to the path, to try to get to where you want to go @@ -266,14 +266,15 @@ const MWMechanics::PathgridGraph& MWMechanics::AiPackage::getPathGridGraph(const return *cache[id].get(); } -bool MWMechanics::AiPackage::shortcutPath(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor, bool *destInLOS, bool isPathClear) +bool MWMechanics::AiPackage::shortcutPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const MWWorld::Ptr& actor, bool *destInLOS, bool isPathClear) { - if (!mShortcutProhibited || (PathFinder::MakeOsgVec3(mShortcutFailPos) - PathFinder::MakeOsgVec3(startPoint)).length() >= PATHFIND_SHORTCUT_RETRY_DIST) + if (!mShortcutProhibited || (mShortcutFailPos - startPoint).length() >= PATHFIND_SHORTCUT_RETRY_DIST) { // check if target is clearly visible isPathClear = !MWBase::Environment::get().getWorld()->castRay( - static_cast(startPoint.mX), static_cast(startPoint.mY), static_cast(startPoint.mZ), - static_cast(endPoint.mX), static_cast(endPoint.mY), static_cast(endPoint.mZ)); + startPoint.x(), startPoint.y(), startPoint.z(), + endPoint.x(), endPoint.y(), endPoint.z()); if (destInLOS != nullptr) *destInLOS = isPathClear; @@ -294,21 +295,21 @@ bool MWMechanics::AiPackage::shortcutPath(const ESM::Pathgrid::Point& startPoint return false; } -bool MWMechanics::AiPackage::checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor) +bool MWMechanics::AiPackage::checkWayIsClearForActor(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::Ptr& actor) { - bool actorCanMoveByZ = (actor.getClass().canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor)) + const bool actorCanMoveByZ = (actor.getClass().canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor)) || MWBase::Environment::get().getWorld()->isFlying(actor); if (actorCanMoveByZ) return true; - float actorSpeed = actor.getClass().getSpeed(actor); - float maxAvoidDist = AI_REACTION_TIME * actorSpeed + actorSpeed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability - osg::Vec3f::value_type distToTarget = osg::Vec3f(static_cast(endPoint.mX), static_cast(endPoint.mY), 0).length(); + const float actorSpeed = actor.getClass().getSpeed(actor); + const float maxAvoidDist = AI_REACTION_TIME * actorSpeed + actorSpeed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability + const float distToTarget = osg::Vec2f(endPoint.x(), endPoint.y()).length(); - float offsetXY = distToTarget > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2; + const float offsetXY = distToTarget > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2; - bool isClear = checkWayIsClear(PathFinder::MakeOsgVec3(startPoint), PathFinder::MakeOsgVec3(endPoint), offsetXY); + const bool isClear = checkWayIsClear(startPoint, endPoint, offsetXY); // update shortcut prohibit state if (isClear) @@ -316,12 +317,12 @@ bool MWMechanics::AiPackage::checkWayIsClearForActor(const ESM::Pathgrid::Point& if (mShortcutProhibited) { mShortcutProhibited = false; - mShortcutFailPos = ESM::Pathgrid::Point(); + mShortcutFailPos = osg::Vec3f(); } } if (!isClear) { - if (mShortcutFailPos.mX == 0 && mShortcutFailPos.mY == 0 && mShortcutFailPos.mZ == 0) + if (mShortcutFailPos == osg::Vec3f()) { mShortcutProhibited = true; mShortcutFailPos = startPoint; @@ -331,9 +332,11 @@ bool MWMechanics::AiPackage::checkWayIsClearForActor(const ESM::Pathgrid::Point& return isClear; } -bool MWMechanics::AiPackage::doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest, const MWWorld::CellStore* currentCell) +bool MWMechanics::AiPackage::doesPathNeedRecalc(const osg::Vec3f& newDest, const MWWorld::CellStore* currentCell) { - return mPathFinder.getPath().empty() || (distance(mPathFinder.getPath().back(), newDest) > 10) || mPathFinder.getPathCell() != currentCell; + return mPathFinder.getPath().empty() + || (distance(mPathFinder.getPath().back(), newDest) > 10) + || mPathFinder.getPathCell() != currentCell; } bool MWMechanics::AiPackage::isTargetMagicallyHidden(const MWWorld::Ptr& target) @@ -367,7 +370,7 @@ bool MWMechanics::AiPackage::isNearInactiveCell(const ESM::Position& actorPos) } } -bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest) +bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& actor, const osg::Vec3f& dest) { // get actor's shortest radius for moving in circle float speed = actor.getClass().getSpeed(actor); @@ -383,13 +386,12 @@ bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& act radiusDir *= radius; // pick up the nearest center candidate - osg::Vec3f dest_ = PathFinder::MakeOsgVec3(dest); osg::Vec3f pos = actor.getRefData().getPosition().asVec3(); osg::Vec3f center1 = pos - radiusDir; osg::Vec3f center2 = pos + radiusDir; - osg::Vec3f center = (center1 - dest_).length2() < (center2 - dest_).length2() ? center1 : center2; + osg::Vec3f center = (center1 - dest).length2() < (center2 - dest).length2() ? center1 : center2; - float distToDest = (center - dest_).length(); + float distToDest = (center - dest).length(); // if pathpoint is reachable for the actor rotating on the run: // no points of actor's circle should be farther from the center than destination point diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 7b33ea871..74c05f7cd 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -105,23 +105,24 @@ namespace MWMechanics bool isTargetMagicallyHidden(const MWWorld::Ptr& target); /// Return if actor's rotation speed is sufficient to rotate to the destination pathpoint on the run. Otherwise actor should rotate while standing. - static bool isReachableRotatingOnTheRun(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest); + static bool isReachableRotatingOnTheRun(const MWWorld::Ptr& actor, const osg::Vec3f& dest); protected: /// Handles path building and shortcutting with obstacles avoiding /** \return If the actor has arrived at his destination **/ - bool pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance = 0.0f); + bool pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& dest, float duration, float destTolerance = 0.0f); /// Check if there aren't any obstacles along the path to make shortcut possible /// If a shortcut is possible then path will be cleared and filled with the destination point. /// \param destInLOS If not nullptr function will return ray cast check result /// \return If can shortcut the path - bool shortcutPath(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor, bool *destInLOS, bool isPathClear); + bool shortcutPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::Ptr& actor, + bool *destInLOS, bool isPathClear); /// Check if the way to the destination is clear, taking into account actor speed - bool checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor); + bool checkWayIsClearForActor(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::Ptr& actor); - bool doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest, const MWWorld::CellStore* currentCell); + bool doesPathNeedRecalc(const osg::Vec3f& newDest, const MWWorld::CellStore* currentCell); void evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos); void openDoors(const MWWorld::Ptr& actor); @@ -143,7 +144,7 @@ namespace MWMechanics bool mIsShortcutting; // if shortcutting at the moment bool mShortcutProhibited; // shortcutting may be prohibited after unsuccessful attempt - ESM::Pathgrid::Point mShortcutFailPos; // position of last shortcut fail + osg::Vec3f mShortcutFailPos; // position of last shortcut fail private: bool isNearInactiveCell(const ESM::Position& actorPos); diff --git a/apps/openmw/mwmechanics/aipursue.cpp b/apps/openmw/mwmechanics/aipursue.cpp index f46594655..f746df3ff 100644 --- a/apps/openmw/mwmechanics/aipursue.cpp +++ b/apps/openmw/mwmechanics/aipursue.cpp @@ -49,13 +49,13 @@ bool AiPursue::execute (const MWWorld::Ptr& actor, CharacterController& characte actor.getClass().getCreatureStats(actor).setDrawState(DrawState_Nothing); //Set the target desition from the actor - ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos; + const auto dest = target.getRefData().getPosition().asVec3(); ESM::Position aPos = actor.getRefData().getPosition(); float pathTolerance = 100.0; if (pathTo(actor, dest, duration, pathTolerance) && - std::abs(dest.mZ - aPos.pos[2]) < pathTolerance) // check the true distance in case the target is far away in Z-direction + std::abs(dest.z() - aPos.pos[2]) < pathTolerance) // check the true distance in case the target is far away in Z-direction { target.getClass().activate(target,actor).get()->execute(actor); //Arrest player when reached return true; diff --git a/apps/openmw/mwmechanics/aitravel.cpp b/apps/openmw/mwmechanics/aitravel.cpp index 8b52b15a4..5c03d9fc1 100644 --- a/apps/openmw/mwmechanics/aitravel.cpp +++ b/apps/openmw/mwmechanics/aitravel.cpp @@ -56,8 +56,7 @@ namespace MWMechanics // Unfortunately, with vanilla assets destination is sometimes blocked by other actor. // If we got close to target, check for actors nearby. If they are, finish AI package. int destinationTolerance = 64; - ESM::Pathgrid::Point dest(static_cast(mX), static_cast(mY), static_cast(mZ)); - if (distance(pos.pos, dest) <= destinationTolerance) + if (distance(pos.asVec3(), osg::Vec3f(mX, mY, mZ)) <= destinationTolerance) { std::vector targetActors; std::pair result = MWBase::Environment::get().getWorld()->getHitContact(actor, destinationTolerance, targetActors); @@ -69,7 +68,7 @@ namespace MWMechanics } } - if (pathTo(actor, dest, duration)) + if (pathTo(actor, osg::Vec3f(mX, mY, mZ), duration)) { actor.getClass().getMovementSettings(actor).mPosition[1] = 0; return true; diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index caacf8cb6..0c1c1ba32 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -151,10 +151,8 @@ namespace MWMechanics // rebuild a path to it if (!mPathFinder.isPathConstructed() && mHasDestination) { - ESM::Pathgrid::Point dest(PathFinder::MakePathgridPoint(mDestination)); - ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(pos)); - - mPathFinder.buildSyncedPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell())); + mPathFinder.buildSyncedPath(pos.asVec3(), mDestination, actor.getCell(), + getPathGridGraph(actor.getCell())); if (mPathFinder.isPathConstructed()) storage.setState(AiWanderStorage::Wander_Walking); @@ -292,11 +290,9 @@ namespace MWMechanics * Commands actor to walk to a random location near original spawn location. */ void AiWander::wanderNearStart(const MWWorld::Ptr &actor, AiWanderStorage &storage, int wanderDistance) { - const ESM::Pathgrid::Point currentPosition = actor.getRefData().getPosition().pos; - const osg::Vec3f currentPositionVec3f = osg::Vec3f(currentPosition.mX, currentPosition.mY, currentPosition.mZ); + const auto currentPosition = actor.getRefData().getPosition().asVec3(); std::size_t attempts = 10; // If a unit can't wander out of water, don't want to hang here - ESM::Pathgrid::Point destinationPosition; bool isWaterCreature = actor.getClass().isPureWaterCreature(actor); do { // Determine a random location within radius of original position @@ -305,13 +301,15 @@ namespace MWMechanics const float destinationX = mInitialActorPosition.x() + wanderRadius * std::cos(randomDirection); const float destinationY = mInitialActorPosition.y() + wanderRadius * std::sin(randomDirection); const float destinationZ = mInitialActorPosition.z(); - destinationPosition = ESM::Pathgrid::Point(destinationX, destinationY, destinationZ); + const osg::Vec3f destinationPosition(destinationX, destinationY, destinationZ); mDestination = osg::Vec3f(destinationX, destinationY, destinationZ); // Check if land creature will walk onto water or if water creature will swim onto land if ((!isWaterCreature && !destinationIsAtWater(actor, mDestination)) || - (isWaterCreature && !destinationThroughGround(currentPositionVec3f, mDestination))) { - mPathFinder.buildSyncedPath(currentPosition, destinationPosition, actor.getCell(), getPathGridGraph(actor.getCell())); + (isWaterCreature && !destinationThroughGround(currentPosition, mDestination))) + { + mPathFinder.buildSyncedPath(currentPosition, destinationPosition, actor.getCell(), + getPathGridGraph(actor.getCell())); mPathFinder.addPointToPath(destinationPosition); if (mPathFinder.isPathConstructed()) @@ -417,7 +415,7 @@ namespace MWMechanics float duration, AiWanderStorage& storage, ESM::Position& pos) { // Is there no destination or are we there yet? - if ((!mPathFinder.isPathConstructed()) || pathTo(actor, ESM::Pathgrid::Point(mPathFinder.getPath().back()), duration, DESTINATION_TOLERANCE)) + if ((!mPathFinder.isPathConstructed()) || pathTo(actor, osg::Vec3f(mPathFinder.getPath().back()), duration, DESTINATION_TOLERANCE)) { stopWalking(actor, storage); storage.setState(AiWanderStorage::Wander_ChooseAction); @@ -592,14 +590,15 @@ namespace MWMechanics ToWorldCoordinates(dest, storage.mCell->getCell()); // actor position is already in world coordinates - ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(actorPos)); + const auto start = actorPos.asVec3(); // don't take shortcuts for wandering - mPathFinder.buildSyncedPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell())); + const auto destVec3f = PathFinder::MakeOsgVec3(dest); + mPathFinder.buildSyncedPath(start, destVec3f, actor.getCell(), getPathGridGraph(actor.getCell())); if (mPathFinder.isPathConstructed()) { - mDestination = osg::Vec3f(dest.mX, dest.mY, dest.mZ); + mDestination = destVec3f; mHasDestination = true; // Remove this node as an option and add back the previously used node (stops NPC from picking the same node): ESM::Pathgrid::Point temp = storage.mAllowedNodes[randNode]; @@ -631,15 +630,15 @@ namespace MWMechanics // Every now and then check whether one of the doors is opened. (maybe // at the end of playing idle?) If the door is opened then re-calculate // allowed nodes starting from the spawn point. - std::list paths = pathfinder.getPath(); + auto paths = pathfinder.getPath(); while(paths.size() >= 2) { - ESM::Pathgrid::Point pt = paths.back(); + const auto pt = paths.back(); for(unsigned int j = 0; j < nodes.size(); j++) { // FIXME: doesn't handle a door with the same X/Y // coordinates but with a different Z - if(nodes[j].mX == pt.mX && nodes[j].mY == pt.mY) + if (std::abs(nodes[j].mX - pt.x()) <= 0.5 && std::abs(nodes[j].mY - pt.y()) <= 0.5) { nodes.erase(nodes.begin() + j); break; diff --git a/apps/openmw/mwmechanics/coordinateconverter.cpp b/apps/openmw/mwmechanics/coordinateconverter.cpp index 0a2d99f92..04155ea49 100644 --- a/apps/openmw/mwmechanics/coordinateconverter.cpp +++ b/apps/openmw/mwmechanics/coordinateconverter.cpp @@ -33,11 +33,12 @@ namespace MWMechanics point.y() -= static_cast(mCellY); } - osg::Vec3f CoordinateConverter::toLocalVec3(const ESM::Pathgrid::Point& point) + osg::Vec3f CoordinateConverter::toLocalVec3(const osg::Vec3f& point) { return osg::Vec3f( - static_cast(point.mX - mCellX), - static_cast(point.mY - mCellY), - static_cast(point.mZ)); + point.x() - static_cast(mCellX), + point.y() - static_cast(mCellY), + point.z() + ); } } diff --git a/apps/openmw/mwmechanics/coordinateconverter.hpp b/apps/openmw/mwmechanics/coordinateconverter.hpp index cd855e84a..f7dda33cb 100644 --- a/apps/openmw/mwmechanics/coordinateconverter.hpp +++ b/apps/openmw/mwmechanics/coordinateconverter.hpp @@ -26,7 +26,7 @@ namespace MWMechanics /// in-place conversion from world to local void toLocal(osg::Vec3f& point); - osg::Vec3f toLocalVec3(const ESM::Pathgrid::Point& point); + osg::Vec3f toLocalVec3(const osg::Vec3f& point); private: int mCellX; diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 1da97a645..38ddec4dc 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -55,56 +55,16 @@ namespace (closestReachableIndex, closestReachableIndex == closestIndex); } -} - -namespace MWMechanics -{ - float sqrDistanceIgnoreZ(const ESM::Pathgrid::Point& point, float x, float y) + float sqrDistanceIgnoreZ(const osg::Vec3f& point, float x, float y) { - x -= point.mX; - y -= point.mY; + x -= point.x(); + y -= point.y(); return (x * x + y * y); } +} - float distance(const ESM::Pathgrid::Point& point, float x, float y, float z) - { - x -= point.mX; - y -= point.mY; - z -= point.mZ; - return sqrt(x * x + y * y + z * z); - } - - float distance(const ESM::Pathgrid::Point& a, const ESM::Pathgrid::Point& b) - { - float x = static_cast(a.mX - b.mX); - float y = static_cast(a.mY - b.mY); - float z = static_cast(a.mZ - b.mZ); - return sqrt(x * x + y * y + z * z); - } - - float getZAngleToDir(const osg::Vec3f& dir) - { - return std::atan2(dir.x(), dir.y()); - } - - float getXAngleToDir(const osg::Vec3f& dir) - { - float dirLen = dir.length(); - return (dirLen != 0) ? -std::asin(dir.z() / dirLen) : 0; - } - - float getZAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest) - { - osg::Vec3f dir = PathFinder::MakeOsgVec3(dest) - PathFinder::MakeOsgVec3(origin); - return getZAngleToDir(dir); - } - - float getXAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest) - { - osg::Vec3f dir = PathFinder::MakeOsgVec3(dest) - PathFinder::MakeOsgVec3(origin); - return getXAngleToDir(dir); - } - +namespace MWMechanics +{ bool checkWayIsClear(const osg::Vec3f& from, const osg::Vec3f& to, float offsetXY) { osg::Vec3f dir = to - from; @@ -167,8 +127,7 @@ namespace MWMechanics * j = @.x in local coordinates (i.e. within the cell) * k = @.x in world coordinates */ - void PathFinder::buildPath(const ESM::Pathgrid::Point &startPoint, - const ESM::Pathgrid::Point &endPoint, + void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph) { mPath.clear(); @@ -225,17 +184,17 @@ namespace MWMechanics { ESM::Pathgrid::Point temp(mPathgrid->mPoints[startNode]); converter.toWorld(temp); - mPath.push_back(temp); + mPath.push_back(MakeOsgVec3(temp)); } else { - mPath = pathgridGraph.aStarSearch(startNode, endNode.first); + auto path = pathgridGraph.aStarSearch(startNode, endNode.first); // If nearest path node is in opposite direction from second, remove it from path. // Especially useful for wandering actors, if the nearest node is blocked for some reason. - if (mPath.size() > 1) + if (path.size() > 1) { - ESM::Pathgrid::Point secondNode = *(++mPath.begin()); + ESM::Pathgrid::Point secondNode = *(++path.begin()); osg::Vec3f firstNodeVec3f = MakeOsgVec3(mPathgrid->mPoints[startNode]); osg::Vec3f secondNodeVec3f = MakeOsgVec3(secondNode); osg::Vec3f toSecondNodeVec3f = secondNodeVec3f - firstNodeVec3f; @@ -247,21 +206,23 @@ namespace MWMechanics // Add Z offset since path node can overlap with other objects. // Also ignore doors in raytesting. bool isPathClear = !MWBase::Environment::get().getWorld()->castRay( - startPoint.mX, startPoint.mY, startPoint.mZ+16, temp.mX, temp.mY, temp.mZ+16, true); + startPoint.x(), startPoint.y(), startPoint.z() + 16, temp.mX, temp.mY, temp.mZ + 16, true); if (isPathClear) - mPath.pop_front(); + path.pop_front(); } } // convert supplied path to world coordinates - for (std::list::iterator iter(mPath.begin()); iter != mPath.end(); ++iter) - { - converter.toWorld(*iter); - } + std::transform(path.begin(), path.end(), std::back_inserter(mPath), + [&] (ESM::Pathgrid::Point& point) + { + converter.toWorld(point); + return MakeOsgVec3(point); + }); } // If endNode found is NOT the closest PathGrid point to the endPoint, - // assume endPoint is not reachable from endNode. In which case, + // assume endPoint is not reachable from endNode. In which case, // path ends at endNode. // // So only add the destination (which may be different to the closest @@ -283,9 +244,9 @@ namespace MWMechanics if(mPath.empty()) return 0.; - const ESM::Pathgrid::Point &nextPoint = *mPath.begin(); - float directionX = nextPoint.mX - x; - float directionY = nextPoint.mY - y; + const auto& nextPoint = mPath.front(); + const float directionX = nextPoint.x() - x; + const float directionY = nextPoint.y() - y; return std::atan2(directionX, directionY); } @@ -297,8 +258,7 @@ namespace MWMechanics if(mPath.empty()) return 0.; - const ESM::Pathgrid::Point &nextPoint = *mPath.begin(); - osg::Vec3f dir = MakeOsgVec3(nextPoint) - osg::Vec3f(x,y,z); + const osg::Vec3f dir = mPath.front() - osg::Vec3f(x, y, z); return getXAngleToDir(dir); } @@ -308,8 +268,7 @@ namespace MWMechanics if(mPath.empty()) return true; - const ESM::Pathgrid::Point& nextPoint = *mPath.begin(); - if (sqrDistanceIgnoreZ(nextPoint, x, y) < tolerance*tolerance) + if (sqrDistanceIgnoreZ(mPath.front(), x, y) < tolerance*tolerance) { mPath.pop_front(); if(mPath.empty()) @@ -322,8 +281,7 @@ namespace MWMechanics } // see header for the rationale - void PathFinder::buildSyncedPath(const ESM::Pathgrid::Point &startPoint, - const ESM::Pathgrid::Point &endPoint, + void PathFinder::buildSyncedPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const MWMechanics::PathgridGraph& pathgridGraph) { if (mPath.size() < 2) @@ -334,16 +292,14 @@ namespace MWMechanics } else { - const ESM::Pathgrid::Point oldStart(*getPath().begin()); + const auto oldStart = getPath().front(); buildPath(startPoint, endPoint, cell, pathgridGraph); if (mPath.size() >= 2) { // if 2nd waypoint of new path == 1st waypoint of old, // delete 1st waypoint of new path. - std::list::iterator iter = ++mPath.begin(); - if (iter->mX == oldStart.mX - && iter->mY == oldStart.mY - && iter->mZ == oldStart.mZ) + const auto iter = ++mPath.begin(); + if (*iter == oldStart) { mPath.pop_front(); } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index ebc22f10d..4f403a32c 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -16,12 +16,31 @@ namespace MWMechanics { class PathgridGraph; - float distance(const ESM::Pathgrid::Point& point, float x, float y, float); - float distance(const ESM::Pathgrid::Point& a, const ESM::Pathgrid::Point& b); - float getZAngleToDir(const osg::Vec3f& dir); - float getXAngleToDir(const osg::Vec3f& dir); - float getZAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest); - float getXAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest); + inline float distance(const osg::Vec3f& lhs, const osg::Vec3f& rhs) + { + return (lhs - rhs).length(); + } + + inline float getZAngleToDir(const osg::Vec3f& dir) + { + return std::atan2(dir.x(), dir.y()); + } + + inline float getXAngleToDir(const osg::Vec3f& dir) + { + float dirLen = dir.length(); + return (dirLen != 0) ? -std::asin(dir.z() / dirLen) : 0; + } + + inline float getZAngleToPoint(const osg::Vec3f& origin, const osg::Vec3f& dest) + { + return getZAngleToDir(dest - origin); + } + + inline float getXAngleToPoint(const osg::Vec3f& origin, const osg::Vec3f& dest) + { + return getXAngleToDir(dest - origin); + } const float PATHFIND_Z_REACH = 50.0f; //static const float sMaxSlope = 49.0f; // duplicate as in physicssystem @@ -55,7 +74,7 @@ namespace MWMechanics void clearPath(); - void buildPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint, + void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); bool checkPathCompleted(float x, float y, float tolerance = PathTolerance); @@ -76,7 +95,7 @@ namespace MWMechanics return mPath.size(); } - const std::list& getPath() const + const std::list& getPath() const { return mPath; } @@ -90,10 +109,10 @@ namespace MWMechanics makes the 2nd point of the new path == the 1st point of old path. Which results in NPC "running in a circle" back to the just passed waypoint. */ - void buildSyncedPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint, + void buildSyncedPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); - void addPointToPath(const ESM::Pathgrid::Point &point) + void addPointToPath(const osg::Vec3f& point) { mPath.push_back(point); } @@ -114,7 +133,7 @@ namespace MWMechanics { return osg::Vec3f(static_cast(p.mX), static_cast(p.mY), static_cast(p.mZ)); } - + // Slightly cheaper version for comparisons. // Caller needs to be careful for very short distances (i.e. less than 1) // or when accumuating the results i.e. (a + b)^2 != a^2 + b^2 @@ -153,7 +172,7 @@ namespace MWMechanics } private: - std::list mPath; + std::list mPath; const ESM::Pathgrid *mPathgrid; const MWWorld::CellStore* mCell; From fbaa525c6f57055770e3545b7c98dfe8a8572c24 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 13:35:37 +0300 Subject: [PATCH 004/130] Fix warning --- apps/openmw/mwmechanics/pathfinding.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 4f403a32c..9cb418b40 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -90,7 +90,7 @@ namespace MWMechanics return !mPath.empty(); } - int getPathSize() const + std::size_t getPathSize() const { return mPath.size(); } From 925d909fea2fd790f634960da6de496836317972 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 28 Jul 2018 21:21:37 +0300 Subject: [PATCH 005/130] Use rbegin --- apps/openmw/mwmechanics/aipackage.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index c483ef042..a781eb1ff 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -148,9 +148,8 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& if (destInLOS && mPathFinder.getPath().size() > 1) { // get point just before dest - auto pPointBeforeDest = mPathFinder.getPath().end(); - --pPointBeforeDest; - --pPointBeforeDest; + auto pPointBeforeDest = mPathFinder.getPath().rbegin(); + ++pPointBeforeDest; // if start point is closer to the target then last point of path (excluding target itself) then go straight on the target if (distance(start, dest) <= distance(dest, *pPointBeforeDest)) From 9b3756f8bc3ab131ab4a627c13feee032930b97c Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 13:40:04 +0300 Subject: [PATCH 006/130] Store path points in deque --- apps/openmw/mwmechanics/aipackage.cpp | 3 +-- apps/openmw/mwmechanics/pathfinding.cpp | 3 +-- apps/openmw/mwmechanics/pathfinding.hpp | 6 +++--- 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index a781eb1ff..9bc3ed103 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -148,8 +148,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& if (destInLOS && mPathFinder.getPath().size() > 1) { // get point just before dest - auto pPointBeforeDest = mPathFinder.getPath().rbegin(); - ++pPointBeforeDest; + auto pPointBeforeDest = mPathFinder.getPath().rbegin() + 1; // if start point is closer to the target then last point of path (excluding target itself) then go straight on the target if (distance(start, dest) <= distance(dest, *pPointBeforeDest)) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 38ddec4dc..952c92ad5 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -298,8 +298,7 @@ namespace MWMechanics { // if 2nd waypoint of new path == 1st waypoint of old, // delete 1st waypoint of new path. - const auto iter = ++mPath.begin(); - if (*iter == oldStart) + if (mPath[1] == oldStart) { mPath.pop_front(); } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 9cb418b40..0d3b6bdff 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -1,7 +1,7 @@ #ifndef GAME_MWMECHANICS_PATHFINDING_H #define GAME_MWMECHANICS_PATHFINDING_H -#include +#include #include #include @@ -95,7 +95,7 @@ namespace MWMechanics return mPath.size(); } - const std::list& getPath() const + const std::deque& getPath() const { return mPath; } @@ -172,7 +172,7 @@ namespace MWMechanics } private: - std::list mPath; + std::deque mPath; const ESM::Pathgrid *mPathgrid; const MWWorld::CellStore* mCell; From 2f424f6be28e4c39f32b9968fa83710016c1340e Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 19 Aug 2018 00:28:11 +0300 Subject: [PATCH 007/130] Store aStarSearch result to deque --- apps/openmw/mwmechanics/pathgrid.cpp | 5 ++--- apps/openmw/mwmechanics/pathgrid.hpp | 6 +++--- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/apps/openmw/mwmechanics/pathgrid.cpp b/apps/openmw/mwmechanics/pathgrid.cpp index 6b5db64ea..7bcdc8926 100644 --- a/apps/openmw/mwmechanics/pathgrid.cpp +++ b/apps/openmw/mwmechanics/pathgrid.cpp @@ -257,10 +257,9 @@ namespace MWMechanics * pathgrid points form (currently they are converted to world * coordinates). Essentially trading speed w/ memory. */ - std::list PathgridGraph::aStarSearch(const int start, - const int goal) const + std::deque PathgridGraph::aStarSearch(const int start, const int goal) const { - std::list path; + std::deque path; if(!isPointConnected(start, goal)) { return path; // there is no path, return an empty path diff --git a/apps/openmw/mwmechanics/pathgrid.hpp b/apps/openmw/mwmechanics/pathgrid.hpp index 0c71c4561..6b67bb507 100644 --- a/apps/openmw/mwmechanics/pathgrid.hpp +++ b/apps/openmw/mwmechanics/pathgrid.hpp @@ -1,7 +1,7 @@ #ifndef GAME_MWMECHANICS_PATHGRID_H #define GAME_MWMECHANICS_PATHGRID_H -#include +#include #include @@ -38,8 +38,8 @@ namespace MWMechanics // cells) coordinates // // NOTE: if start equals end an empty path is returned - std::list aStarSearch(const int start, - const int end) const; + std::deque aStarSearch(const int start, const int end) const; + private: const ESM::Cell *mCell; From 31340a212ae0dc87c3c2531d97612c697ef35d8a Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 13:42:11 +0300 Subject: [PATCH 008/130] Fix functions name style --- apps/openmw/mwmechanics/aicombat.cpp | 4 ++-- apps/openmw/mwmechanics/aiwander.cpp | 26 ++++++++++++------------- apps/openmw/mwmechanics/pathfinding.cpp | 22 ++++++++++----------- apps/openmw/mwmechanics/pathfinding.hpp | 16 +++++++-------- 4 files changed, 34 insertions(+), 34 deletions(-) diff --git a/apps/openmw/mwmechanics/aicombat.cpp b/apps/openmw/mwmechanics/aicombat.cpp index 4cb36448d..301c5fe61 100644 --- a/apps/openmw/mwmechanics/aicombat.cpp +++ b/apps/openmw/mwmechanics/aicombat.cpp @@ -303,7 +303,7 @@ namespace MWMechanics osg::Vec3f localPos = actor.getRefData().getPosition().asVec3(); coords.toLocal(localPos); - int closestPointIndex = PathFinder::GetClosestPoint(pathgrid, localPos); + int closestPointIndex = PathFinder::getClosestPoint(pathgrid, localPos); for (int i = 0; i < static_cast(pathgrid->mPoints.size()); i++) { if (i != closestPointIndex && getPathGridGraph(storage.mCell).isPointConnected(closestPointIndex, i)) @@ -355,7 +355,7 @@ namespace MWMechanics float dist = (actor.getRefData().getPosition().asVec3() - target.getRefData().getPosition().asVec3()).length(); if ((dist > fFleeDistance && !storage.mLOS) - || pathTo(actor, PathFinder::MakeOsgVec3(storage.mFleeDest), duration)) + || pathTo(actor, PathFinder::makeOsgVec3(storage.mFleeDest), duration)) { state = AiCombatStorage::FleeState_Idle; } diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index 0c1c1ba32..54536a93b 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -593,7 +593,7 @@ namespace MWMechanics const auto start = actorPos.asVec3(); // don't take shortcuts for wandering - const auto destVec3f = PathFinder::MakeOsgVec3(dest); + const auto destVec3f = PathFinder::makeOsgVec3(dest); mPathFinder.buildSyncedPath(start, destVec3f, actor.getCell(), getPathGridGraph(actor.getCell())); if (mPathFinder.isPathConstructed()) @@ -730,7 +730,7 @@ namespace MWMechanics ESM::Pathgrid::Point worldDest = dest; ToWorldCoordinates(worldDest, actor.getCell()->getCell()); - bool isPathGridOccupied = MWBase::Environment::get().getMechanicsManager()->isAnyActorInRange(PathFinder::MakeOsgVec3(worldDest), 60); + bool isPathGridOccupied = MWBase::Environment::get().getMechanicsManager()->isAnyActorInRange(PathFinder::makeOsgVec3(worldDest), 60); // add offset only if the selected pathgrid is occupied by another actor if (isPathGridOccupied) @@ -751,18 +751,18 @@ namespace MWMechanics ESM::Pathgrid::Point connDest = points[randomIndex]; // add an offset towards random neighboring node - osg::Vec3f dir = PathFinder::MakeOsgVec3(connDest) - PathFinder::MakeOsgVec3(dest); + osg::Vec3f dir = PathFinder::makeOsgVec3(connDest) - PathFinder::makeOsgVec3(dest); float length = dir.length(); dir.normalize(); for (int j = 1; j <= 3; j++) { // move for 5-15% towards random neighboring node - dest = PathFinder::MakePathgridPoint(PathFinder::MakeOsgVec3(dest) + dir * (j * 5 * length / 100.f)); + dest = PathFinder::makePathgridPoint(PathFinder::makeOsgVec3(dest) + dir * (j * 5 * length / 100.f)); worldDest = dest; ToWorldCoordinates(worldDest, actor.getCell()->getCell()); - isOccupied = MWBase::Environment::get().getMechanicsManager()->isAnyActorInRange(PathFinder::MakeOsgVec3(worldDest), 60); + isOccupied = MWBase::Environment::get().getMechanicsManager()->isAnyActorInRange(PathFinder::makeOsgVec3(worldDest), 60); if (!isOccupied) break; @@ -798,7 +798,7 @@ namespace MWMechanics const ESM::Pathgrid *pathgrid = MWBase::Environment::get().getWorld()->getStore().get().search(*currentCell->getCell()); - int index = PathFinder::GetClosestPoint(pathgrid, PathFinder::MakeOsgVec3(dest)); + int index = PathFinder::getClosestPoint(pathgrid, PathFinder::makeOsgVec3(dest)); getPathGridGraph(currentCell).getNeighbouringPoints(index, points); } @@ -831,7 +831,7 @@ namespace MWMechanics CoordinateConverter(cell).toLocal(npcPos); // Find closest pathgrid point - int closestPointIndex = PathFinder::GetClosestPoint(pathgrid, npcPos); + int closestPointIndex = PathFinder::getClosestPoint(pathgrid, npcPos); // mAllowedNodes for this actor with pathgrid point indexes based on mDistance // and if the point is connected to the closest current point @@ -839,7 +839,7 @@ namespace MWMechanics int pointIndex = 0; for(unsigned int counter = 0; counter < pathgrid->mPoints.size(); counter++) { - osg::Vec3f nodePos(PathFinder::MakeOsgVec3(pathgrid->mPoints[counter])); + osg::Vec3f nodePos(PathFinder::makeOsgVec3(pathgrid->mPoints[counter])); if((npcPos - nodePos).length2() <= mDistance * mDistance && getPathGridGraph(cellStore).isPointConnected(closestPointIndex, counter)) { @@ -866,7 +866,7 @@ namespace MWMechanics // 2. Partway along the path between the point and its connected points. void AiWander::AddNonPathGridAllowedPoints(osg::Vec3f npcPos, const ESM::Pathgrid * pathGrid, int pointIndex, AiWanderStorage& storage) { - storage.mAllowedNodes.push_back(PathFinder::MakePathgridPoint(npcPos)); + storage.mAllowedNodes.push_back(PathFinder::makePathgridPoint(npcPos)); for (std::vector::const_iterator it = pathGrid->mEdges.begin(); it != pathGrid->mEdges.end(); ++it) { if (it->mV0 == pointIndex) @@ -878,8 +878,8 @@ namespace MWMechanics void AiWander::AddPointBetweenPathGridPoints(const ESM::Pathgrid::Point& start, const ESM::Pathgrid::Point& end, AiWanderStorage& storage) { - osg::Vec3f vectorStart = PathFinder::MakeOsgVec3(start); - osg::Vec3f delta = PathFinder::MakeOsgVec3(end) - vectorStart; + osg::Vec3f vectorStart = PathFinder::makeOsgVec3(start); + osg::Vec3f delta = PathFinder::makeOsgVec3(end) - vectorStart; float length = delta.length(); delta.normalize(); @@ -888,7 +888,7 @@ namespace MWMechanics // must not travel longer than distance between waypoints or NPC goes past waypoint distance = std::min(distance, static_cast(length)); delta *= distance; - storage.mAllowedNodes.push_back(PathFinder::MakePathgridPoint(vectorStart + delta)); + storage.mAllowedNodes.push_back(PathFinder::makePathgridPoint(vectorStart + delta)); } void AiWander::SetCurrentNodeToClosestAllowedNode(const osg::Vec3f& npcPos, AiWanderStorage& storage) @@ -897,7 +897,7 @@ namespace MWMechanics unsigned int index = 0; for (unsigned int counterThree = 0; counterThree < storage.mAllowedNodes.size(); counterThree++) { - osg::Vec3f nodePos(PathFinder::MakeOsgVec3(storage.mAllowedNodes[counterThree])); + osg::Vec3f nodePos(PathFinder::makeOsgVec3(storage.mAllowedNodes[counterThree])); float tempDist = (npcPos - nodePos).length2(); if (tempDist < distanceToClosestNode) { diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 952c92ad5..410bde512 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -27,7 +27,7 @@ namespace // points to a quadtree may help for(unsigned int counter = 0; counter < grid->mPoints.size(); counter++) { - float potentialDistBetween = MWMechanics::PathFinder::DistanceSquared(grid->mPoints[counter], pos); + float potentialDistBetween = MWMechanics::PathFinder::distanceSquared(grid->mPoints[counter], pos); if (potentialDistBetween < closestDistanceReachable) { // found a closer one @@ -108,7 +108,7 @@ namespace MWMechanics * pathgrid point (e.g. wander) then it may be worth while to call * pop_back() to remove the redundant entry. * - * NOTE: coordinates must be converted prior to calling GetClosestPoint() + * NOTE: coordinates must be converted prior to calling getClosestPoint() * * | * | cell @@ -148,16 +148,16 @@ namespace MWMechanics return; } - // NOTE: GetClosestPoint expects local coordinates + // NOTE: getClosestPoint expects local coordinates CoordinateConverter converter(mCell->getCell()); - // NOTE: It is possible that GetClosestPoint returns a pathgrind point index + // NOTE: It is possible that getClosestPoint returns a pathgrind point index // that is unreachable in some situations. e.g. actor is standing // outside an area enclosed by walls, but there is a pathgrid // point right behind the wall that is closer than any pathgrid // point outside the wall osg::Vec3f startPointInLocalCoords(converter.toLocalVec3(startPoint)); - int startNode = GetClosestPoint(mPathgrid, startPointInLocalCoords); + int startNode = getClosestPoint(mPathgrid, startPointInLocalCoords); osg::Vec3f endPointInLocalCoords(converter.toLocalVec3(endPoint)); std::pair endNode = getClosestReachablePoint(mPathgrid, &pathgridGraph, @@ -167,8 +167,8 @@ namespace MWMechanics // if it's shorter for actor to travel from start to end, than to travel from either // start or end to nearest pathgrid point, just travel from start to end. float startToEndLength2 = (endPointInLocalCoords - startPointInLocalCoords).length2(); - float endTolastNodeLength2 = DistanceSquared(mPathgrid->mPoints[endNode.first], endPointInLocalCoords); - float startTo1stNodeLength2 = DistanceSquared(mPathgrid->mPoints[startNode], startPointInLocalCoords); + float endTolastNodeLength2 = distanceSquared(mPathgrid->mPoints[endNode.first], endPointInLocalCoords); + float startTo1stNodeLength2 = distanceSquared(mPathgrid->mPoints[startNode], startPointInLocalCoords); if ((startToEndLength2 < startTo1stNodeLength2) || (startToEndLength2 < endTolastNodeLength2)) { mPath.push_back(endPoint); @@ -184,7 +184,7 @@ namespace MWMechanics { ESM::Pathgrid::Point temp(mPathgrid->mPoints[startNode]); converter.toWorld(temp); - mPath.push_back(MakeOsgVec3(temp)); + mPath.push_back(makeOsgVec3(temp)); } else { @@ -195,8 +195,8 @@ namespace MWMechanics if (path.size() > 1) { ESM::Pathgrid::Point secondNode = *(++path.begin()); - osg::Vec3f firstNodeVec3f = MakeOsgVec3(mPathgrid->mPoints[startNode]); - osg::Vec3f secondNodeVec3f = MakeOsgVec3(secondNode); + osg::Vec3f firstNodeVec3f = makeOsgVec3(mPathgrid->mPoints[startNode]); + osg::Vec3f secondNodeVec3f = makeOsgVec3(secondNode); osg::Vec3f toSecondNodeVec3f = secondNodeVec3f - firstNodeVec3f; osg::Vec3f toStartPointVec3f = startPointInLocalCoords - firstNodeVec3f; if (toSecondNodeVec3f * toStartPointVec3f > 0) @@ -217,7 +217,7 @@ namespace MWMechanics [&] (ESM::Pathgrid::Point& point) { converter.toWorld(point); - return MakeOsgVec3(point); + return makeOsgVec3(point); }); } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 0d3b6bdff..1463e78ec 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -118,18 +118,18 @@ namespace MWMechanics } /// utility function to convert a osg::Vec3f to a Pathgrid::Point - static ESM::Pathgrid::Point MakePathgridPoint(const osg::Vec3f& v) + static ESM::Pathgrid::Point makePathgridPoint(const osg::Vec3f& v) { return ESM::Pathgrid::Point(static_cast(v[0]), static_cast(v[1]), static_cast(v[2])); } /// utility function to convert an ESM::Position to a Pathgrid::Point - static ESM::Pathgrid::Point MakePathgridPoint(const ESM::Position& p) + static ESM::Pathgrid::Point makePathgridPoint(const ESM::Position& p) { return ESM::Pathgrid::Point(static_cast(p.pos[0]), static_cast(p.pos[1]), static_cast(p.pos[2])); } - static osg::Vec3f MakeOsgVec3(const ESM::Pathgrid::Point& p) + static osg::Vec3f makeOsgVec3(const ESM::Pathgrid::Point& p) { return osg::Vec3f(static_cast(p.mX), static_cast(p.mY), static_cast(p.mZ)); } @@ -138,9 +138,9 @@ namespace MWMechanics // Caller needs to be careful for very short distances (i.e. less than 1) // or when accumuating the results i.e. (a + b)^2 != a^2 + b^2 // - static float DistanceSquared(ESM::Pathgrid::Point point, const osg::Vec3f& pos) + static float distanceSquared(ESM::Pathgrid::Point point, const osg::Vec3f& pos) { - return (MWMechanics::PathFinder::MakeOsgVec3(point) - pos).length2(); + return (MWMechanics::PathFinder::makeOsgVec3(point) - pos).length2(); } // Return the closest pathgrid point index from the specified position @@ -149,18 +149,18 @@ namespace MWMechanics // // NOTE: pos is expected to be in local coordinates, as is grid->mPoints // - static int GetClosestPoint(const ESM::Pathgrid* grid, const osg::Vec3f& pos) + static int getClosestPoint(const ESM::Pathgrid* grid, const osg::Vec3f& pos) { assert(grid && !grid->mPoints.empty()); - float distanceBetween = DistanceSquared(grid->mPoints[0], pos); + float distanceBetween = distanceSquared(grid->mPoints[0], pos); int closestIndex = 0; // TODO: if this full scan causes performance problems mapping pathgrid // points to a quadtree may help for(unsigned int counter = 1; counter < grid->mPoints.size(); counter++) { - float potentialDistBetween = DistanceSquared(grid->mPoints[counter], pos); + float potentialDistBetween = distanceSquared(grid->mPoints[counter], pos); if(potentialDistBetween < distanceBetween) { distanceBetween = potentialDistBetween; From d3667945c514f6e01cd350821aaca8ad79dc971b Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 13:42:31 +0300 Subject: [PATCH 009/130] Remove unused functions --- apps/openmw/mwmechanics/pathfinding.hpp | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 1463e78ec..0fc39bc61 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -58,20 +58,6 @@ namespace MWMechanics static const int PathTolerance = 32; - static float sgn(float val) - { - if(val > 0) - return 1.0; - return -1.0; - } - - static int sgn(int a) - { - if(a > 0) - return 1; - return -1; - } - void clearPath(); void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, From 6411c1955de6240a21c6f57ab453b150c388b1d2 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 13:43:29 +0300 Subject: [PATCH 010/130] Fix indent --- apps/openmw/mwmechanics/pathfinding.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 0fc39bc61..fddd62c29 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -42,7 +42,7 @@ namespace MWMechanics return getXAngleToDir(dest - origin); } - const float PATHFIND_Z_REACH = 50.0f; + const float PATHFIND_Z_REACH = 50.0f; //static const float sMaxSlope = 49.0f; // duplicate as in physicssystem // distance after which actor (failed previously to shortcut) will try again const float PATHFIND_SHORTCUT_RETRY_DIST = 300.0f; From 2c6daa74a9e5afbba4e29b27e6f0baf354d1ad76 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 13:51:31 +0300 Subject: [PATCH 011/130] Simplify PathFinder::checkPathCompleted --- apps/openmw/mwmechanics/pathfinding.cpp | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 410bde512..b2b96539a 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -265,19 +265,10 @@ namespace MWMechanics bool PathFinder::checkPathCompleted(float x, float y, float tolerance) { - if(mPath.empty()) - return true; - - if (sqrDistanceIgnoreZ(mPath.front(), x, y) < tolerance*tolerance) - { + if (!mPath.empty() && sqrDistanceIgnoreZ(mPath.front(), x, y) < tolerance*tolerance) mPath.pop_front(); - if(mPath.empty()) - { - return true; - } - } - return false; + return mPath.empty(); } // see header for the rationale From 6d892411781f89b16ea9f1756943ebc914acbbcb Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 14:01:02 +0300 Subject: [PATCH 012/130] Check is path completed by osg::Vec3f position --- apps/openmw/mwmechanics/aipackage.cpp | 2 +- apps/openmw/mwmechanics/aiwander.cpp | 4 +++- apps/openmw/mwmechanics/pathfinding.cpp | 15 +++++++++------ apps/openmw/mwmechanics/pathfinding.hpp | 2 +- 4 files changed, 14 insertions(+), 9 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 9bc3ed103..c7cc649d4 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -171,7 +171,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& mTimer = 0; } - if (isDestReached || mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1])) // if path is finished + if (isDestReached || mPathFinder.checkPathCompleted(pos.asVec3())) // if path is finished { // turn to destination point zTurn(actor, getZAngleToPoint(start, dest)); diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index 54536a93b..8e78e10bd 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -249,7 +249,9 @@ namespace MWMechanics setPathToAnAllowedNode(actor, storage, pos); } } - } else if (storage.mIsWanderingManually && mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], DESTINATION_TOLERANCE)) { + } + else if (storage.mIsWanderingManually && mPathFinder.checkPathCompleted(pos.asVec3(), DESTINATION_TOLERANCE)) + { completeManualWalking(actor, storage); } diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index b2b96539a..2efd06e7b 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -55,11 +55,14 @@ namespace (closestReachableIndex, closestReachableIndex == closestIndex); } - float sqrDistanceIgnoreZ(const osg::Vec3f& point, float x, float y) + float sqrDistance(const osg::Vec2f& lhs, const osg::Vec2f& rhs) { - x -= point.x(); - y -= point.y(); - return (x * x + y * y); + return (lhs - rhs).length2(); + } + + float sqrDistanceIgnoreZ(const osg::Vec3f& lhs, const osg::Vec3f& rhs) + { + return sqrDistance(osg::Vec2f(lhs.x(), lhs.y()), osg::Vec2f(rhs.x(), rhs.y())); } } @@ -263,9 +266,9 @@ namespace MWMechanics return getXAngleToDir(dir); } - bool PathFinder::checkPathCompleted(float x, float y, float tolerance) + bool PathFinder::checkPathCompleted(const osg::Vec3f& position, const float tolerance) { - if (!mPath.empty() && sqrDistanceIgnoreZ(mPath.front(), x, y) < tolerance*tolerance) + if (!mPath.empty() && sqrDistanceIgnoreZ(mPath.front(), position) < tolerance*tolerance) mPath.pop_front(); return mPath.empty(); diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index fddd62c29..596178655 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -63,7 +63,7 @@ namespace MWMechanics void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); - bool checkPathCompleted(float x, float y, float tolerance = PathTolerance); + bool checkPathCompleted(const osg::Vec3f& position, const float tolerance = PathTolerance); ///< \Returns true if we are within \a tolerance units of the last path point. /// In radians From ad027d13fa0dae702548fab949d402ca1d6629e8 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 16:22:06 +0300 Subject: [PATCH 013/130] Remove unused --- apps/openmw/mwmechanics/aipackage.hpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 74c05f7cd..f90be0c4a 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -138,8 +138,6 @@ namespace MWMechanics std::string mTargetActorRefId; mutable int mTargetActorId; - osg::Vec3f mLastActorPos; - short mRotateOnTheRunChecks; // attempts to check rotation to the pathpoint on the run possibility bool mIsShortcutting; // if shortcutting at the moment From c9f3064cbd5248acba28dbc6bb4965b509cde26a Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:26:00 +0300 Subject: [PATCH 014/130] Update ObstacleCheck once per frame --- apps/openmw/mwmechanics/aipackage.cpp | 8 +++++--- apps/openmw/mwmechanics/aipackage.hpp | 3 ++- apps/openmw/mwmechanics/aiwander.cpp | 6 +++--- apps/openmw/mwmechanics/aiwander.hpp | 2 +- apps/openmw/mwmechanics/obstacle.cpp | 12 ++---------- apps/openmw/mwmechanics/obstacle.hpp | 6 ++---- 6 files changed, 15 insertions(+), 22 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index c7cc649d4..83e718dcd 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -187,8 +187,10 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& if (mRotateOnTheRunChecks > 0) mRotateOnTheRunChecks--; } + mObstacleCheck.update(actor, duration); + // handle obstacles on the way - evadeObstacles(actor, duration, pos); + evadeObstacles(actor, pos); } // turn to next path point by X,Z axes @@ -198,14 +200,14 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& return false; } -void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos) +void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, const ESM::Position& pos) { zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor); // check if stuck due to obstacles - if (!mObstacleCheck.check(actor, duration)) return; + if (!mObstacleCheck.isEvading()) return; // first check if obstacle is a door static float distance = MWBase::Environment::get().getWorld()->getMaxActivationDistance(); diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index f90be0c4a..4113bd141 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -124,7 +124,8 @@ namespace MWMechanics bool doesPathNeedRecalc(const osg::Vec3f& newDest, const MWWorld::CellStore* currentCell); - void evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos); + void evadeObstacles(const MWWorld::Ptr& actor, const ESM::Position& pos); + void openDoors(const MWWorld::Ptr& actor); const PathgridGraph& getPathGridGraph(const MWWorld::CellStore* cell); diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index 8e78e10bd..0d0daf80b 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -167,14 +167,14 @@ namespace MWMechanics if (AI_REACTION_TIME <= lastReaction) { lastReaction = 0; - return reactionTimeActions(actor, storage, currentCell, cellChange, pos, duration); + return reactionTimeActions(actor, storage, currentCell, cellChange, pos); } else return false; } bool AiWander::reactionTimeActions(const MWWorld::Ptr& actor, AiWanderStorage& storage, - const MWWorld::CellStore*& currentCell, bool cellChange, ESM::Position& pos, float duration) + const MWWorld::CellStore*& currentCell, bool cellChange, ESM::Position& pos) { if (mDistance <= 0) storage.mCanWanderAlongPathGrid = false; @@ -224,7 +224,7 @@ namespace MWMechanics } // If Wandering manually and hit an obstacle, stop - if (storage.mIsWanderingManually && mObstacleCheck.check(actor, duration, 2.0f)) { + if (storage.mIsWanderingManually && mObstacleCheck.isEvading()) { completeManualWalking(actor, storage); } diff --git a/apps/openmw/mwmechanics/aiwander.hpp b/apps/openmw/mwmechanics/aiwander.hpp index 479ed4869..41c1fdf02 100644 --- a/apps/openmw/mwmechanics/aiwander.hpp +++ b/apps/openmw/mwmechanics/aiwander.hpp @@ -145,7 +145,7 @@ namespace MWMechanics void onWalkingStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage, ESM::Position& pos); void onChooseActionStatePerFrameActions(const MWWorld::Ptr& actor, AiWanderStorage& storage); bool reactionTimeActions(const MWWorld::Ptr& actor, AiWanderStorage& storage, - const MWWorld::CellStore*& currentCell, bool cellChange, ESM::Position& pos, float duration); + const MWWorld::CellStore*& currentCell, bool cellChange, ESM::Position& pos); bool isPackageCompleted(const MWWorld::Ptr& actor, AiWanderStorage& storage); void wanderNearStart(const MWWorld::Ptr &actor, AiWanderStorage &storage, int wanderDistance); bool destinationIsAtWater(const MWWorld::Ptr &actor, const osg::Vec3f& destination); diff --git a/apps/openmw/mwmechanics/obstacle.cpp b/apps/openmw/mwmechanics/obstacle.cpp index 0635a5520..9707ddb25 100644 --- a/apps/openmw/mwmechanics/obstacle.cpp +++ b/apps/openmw/mwmechanics/obstacle.cpp @@ -96,11 +96,6 @@ namespace MWMechanics mEvadeDuration = 0; } - bool ObstacleCheck::isNormalState() const - { - return mWalkState == State_Norm; - } - bool ObstacleCheck::isEvading() const { return mWalkState == State_Evade; @@ -128,7 +123,7 @@ namespace MWMechanics * u = how long to move sideways * */ - bool ObstacleCheck::check(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance) + void ObstacleCheck::update(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance) { const MWWorld::Class& cls = actor.getClass(); ESM::Position pos = actor.getRefData().getPosition(); @@ -180,9 +175,7 @@ namespace MWMechanics case State_Evade: { mEvadeDuration += duration; - if(mEvadeDuration < DURATION_TO_EVADE) - return true; - else + if(mEvadeDuration >= DURATION_TO_EVADE) { // tried to evade, assume all is ok and start again mWalkState = State_Norm; @@ -191,7 +184,6 @@ namespace MWMechanics } /* NO DEFAULT CASE */ } - return false; // no obstacles to evade (yet) } void ObstacleCheck::takeEvasiveAction(MWMechanics::Movement& actorMovement) diff --git a/apps/openmw/mwmechanics/obstacle.hpp b/apps/openmw/mwmechanics/obstacle.hpp index c55374501..1672e0b81 100644 --- a/apps/openmw/mwmechanics/obstacle.hpp +++ b/apps/openmw/mwmechanics/obstacle.hpp @@ -27,12 +27,10 @@ namespace MWMechanics // Clear the timers and set the state machine to default void clear(); - bool isNormalState() const; bool isEvading() const; - // Returns true if there is an obstacle and an evasive action - // should be taken - bool check(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance = 1.0f); + // Updates internal state, call each frame for moving actor + void update(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance = 1.0f); // change direction to try to fix "stuck" actor void takeEvasiveAction(MWMechanics::Movement& actorMovement); From 63b3a70ca84ea1b95b2305e080cb5700e272abe2 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:28:12 +0300 Subject: [PATCH 015/130] Remove useless else --- apps/openmw/mwmechanics/aipackage.cpp | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 83e718dcd..fda7c3a64 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -178,20 +178,18 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& smoothTurn(actor, getXAngleToPoint(start, dest), 0); return true; } - else + + if (mRotateOnTheRunChecks == 0 + || isReachableRotatingOnTheRun(actor, *mPathFinder.getPath().begin())) // to prevent circling around a path point { - if (mRotateOnTheRunChecks == 0 - || isReachableRotatingOnTheRun(actor, *mPathFinder.getPath().begin())) // to prevent circling around a path point - { - actor.getClass().getMovementSettings(actor).mPosition[1] = 1; // move to the target - if (mRotateOnTheRunChecks > 0) mRotateOnTheRunChecks--; - } + actor.getClass().getMovementSettings(actor).mPosition[1] = 1; // move to the target + if (mRotateOnTheRunChecks > 0) mRotateOnTheRunChecks--; + } - mObstacleCheck.update(actor, duration); + mObstacleCheck.update(actor, duration); - // handle obstacles on the way - evadeObstacles(actor, pos); - } + // handle obstacles on the way + evadeObstacles(actor, pos); // turn to next path point by X,Z axes zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); From d0bc1b75e8ea236ee06cbbb289fe028da18b6c78 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:38:08 +0300 Subject: [PATCH 016/130] Remove unused parameters --- apps/openmw/mwmechanics/aiwander.cpp | 4 ++-- apps/openmw/mwmechanics/aiwander.hpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index 0d0daf80b..e6c25db97 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -425,7 +425,7 @@ namespace MWMechanics else { // have not yet reached the destination - evadeObstacles(actor, storage, duration, pos); + evadeObstacles(actor, storage); } } @@ -456,7 +456,7 @@ namespace MWMechanics storage.setState(AiWanderStorage::Wander_IdleNow); } - void AiWander::evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage, float duration, ESM::Position& pos) + void AiWander::evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage) { if (mObstacleCheck.isEvading()) { diff --git a/apps/openmw/mwmechanics/aiwander.hpp b/apps/openmw/mwmechanics/aiwander.hpp index 41c1fdf02..c385e915f 100644 --- a/apps/openmw/mwmechanics/aiwander.hpp +++ b/apps/openmw/mwmechanics/aiwander.hpp @@ -137,7 +137,7 @@ namespace MWMechanics short unsigned getRandomIdle(); void setPathToAnAllowedNode(const MWWorld::Ptr& actor, AiWanderStorage& storage, const ESM::Position& actorPos); void playGreetingIfPlayerGetsTooClose(const MWWorld::Ptr& actor, AiWanderStorage& storage); - void evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage, float duration, ESM::Position& pos); + void evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage); void playIdleDialogueRandomly(const MWWorld::Ptr& actor); void turnActorToFacePlayer(const osg::Vec3f& actorPosition, const osg::Vec3f& playerPosition, AiWanderStorage& storage); void doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage, ESM::Position& pos); From 1a95b7a1542ac049069ab014ab92ab2eac657a4c Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:41:48 +0300 Subject: [PATCH 017/130] Remove duplicate zTurn call --- apps/openmw/mwmechanics/aipackage.cpp | 6 ++---- apps/openmw/mwmechanics/aipackage.hpp | 2 +- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index fda7c3a64..2483ce030 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -189,7 +189,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& mObstacleCheck.update(actor, duration); // handle obstacles on the way - evadeObstacles(actor, pos); + evadeObstacles(actor); // turn to next path point by X,Z axes zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); @@ -198,10 +198,8 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& return false; } -void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, const ESM::Position& pos) +void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor) { - zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); - MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor); // check if stuck due to obstacles diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 4113bd141..440cf64b5 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -124,7 +124,7 @@ namespace MWMechanics bool doesPathNeedRecalc(const osg::Vec3f& newDest, const MWWorld::CellStore* currentCell); - void evadeObstacles(const MWWorld::Ptr& actor, const ESM::Position& pos); + void evadeObstacles(const MWWorld::Ptr& actor); void openDoors(const MWWorld::Ptr& actor); From 66e5a4d59188bcf309d426555c69b0e919b05994 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:42:21 +0300 Subject: [PATCH 018/130] Remove useless variable --- apps/openmw/mwmechanics/aipackage.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 2483ce030..78219a3db 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -200,8 +200,6 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor) { - MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor); - // check if stuck due to obstacles if (!mObstacleCheck.isEvading()) return; @@ -215,7 +213,7 @@ void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor) } else { - mObstacleCheck.takeEvasiveAction(movement); + mObstacleCheck.takeEvasiveAction(actor.getClass().getMovementSettings(actor)); } } From eb10add0c462905b1f5f1ced88cba3d126b2ea6e Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:48:34 +0300 Subject: [PATCH 019/130] Remove unused parameters --- apps/openmw/mwmechanics/aiwander.cpp | 9 ++++----- apps/openmw/mwmechanics/aiwander.hpp | 4 ++-- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index e6c25db97..6ca23df95 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -158,7 +158,7 @@ namespace MWMechanics storage.setState(AiWanderStorage::Wander_Walking); } - doPerFrameActionsForState(actor, duration, storage, pos); + doPerFrameActionsForState(actor, duration, storage); playIdleDialogueRandomly(actor); @@ -348,7 +348,7 @@ namespace MWMechanics storage.setState(AiWanderStorage::Wander_IdleNow); } - void AiWander::doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage, ESM::Position& pos) + void AiWander::doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage) { switch (storage.mState) { @@ -357,7 +357,7 @@ namespace MWMechanics break; case AiWanderStorage::Wander_Walking: - onWalkingStatePerFrameActions(actor, duration, storage, pos); + onWalkingStatePerFrameActions(actor, duration, storage); break; case AiWanderStorage::Wander_ChooseAction: @@ -413,8 +413,7 @@ namespace MWMechanics } } - void AiWander::onWalkingStatePerFrameActions(const MWWorld::Ptr& actor, - float duration, AiWanderStorage& storage, ESM::Position& pos) + void AiWander::onWalkingStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage) { // Is there no destination or are we there yet? if ((!mPathFinder.isPathConstructed()) || pathTo(actor, osg::Vec3f(mPathFinder.getPath().back()), duration, DESTINATION_TOLERANCE)) diff --git a/apps/openmw/mwmechanics/aiwander.hpp b/apps/openmw/mwmechanics/aiwander.hpp index c385e915f..8df863590 100644 --- a/apps/openmw/mwmechanics/aiwander.hpp +++ b/apps/openmw/mwmechanics/aiwander.hpp @@ -140,9 +140,9 @@ namespace MWMechanics void evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage); void playIdleDialogueRandomly(const MWWorld::Ptr& actor); void turnActorToFacePlayer(const osg::Vec3f& actorPosition, const osg::Vec3f& playerPosition, AiWanderStorage& storage); - void doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage, ESM::Position& pos); + void doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage); void onIdleStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage); - void onWalkingStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage, ESM::Position& pos); + void onWalkingStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage); void onChooseActionStatePerFrameActions(const MWWorld::Ptr& actor, AiWanderStorage& storage); bool reactionTimeActions(const MWWorld::Ptr& actor, AiWanderStorage& storage, const MWWorld::CellStore*& currentCell, bool cellChange, ESM::Position& pos); From 2c464bd682fea67b5cf4b34305fdffc5dfb4e3c0 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 18:52:11 +0300 Subject: [PATCH 020/130] Evade obstacles after set rotation --- apps/openmw/mwmechanics/aipackage.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 78219a3db..43f555d31 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -186,15 +186,15 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& if (mRotateOnTheRunChecks > 0) mRotateOnTheRunChecks--; } + // turn to next path point by X,Z axes + zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); + smoothTurn(actor, mPathFinder.getXAngleToNext(pos.pos[0], pos.pos[1], pos.pos[2]), 0); + mObstacleCheck.update(actor, duration); // handle obstacles on the way evadeObstacles(actor); - // turn to next path point by X,Z axes - zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); - smoothTurn(actor, mPathFinder.getXAngleToNext(pos.pos[0], pos.pos[1], pos.pos[2]), 0); - return false; } From f9c651bdf364b41ba399a4f4e70ad15f375074b4 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 23:17:52 +0300 Subject: [PATCH 021/130] Add const --- apps/openmw/mwmechanics/obstacle.cpp | 2 +- apps/openmw/mwmechanics/obstacle.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/apps/openmw/mwmechanics/obstacle.cpp b/apps/openmw/mwmechanics/obstacle.cpp index 9707ddb25..9562c74df 100644 --- a/apps/openmw/mwmechanics/obstacle.cpp +++ b/apps/openmw/mwmechanics/obstacle.cpp @@ -186,7 +186,7 @@ namespace MWMechanics } } - void ObstacleCheck::takeEvasiveAction(MWMechanics::Movement& actorMovement) + void ObstacleCheck::takeEvasiveAction(MWMechanics::Movement& actorMovement) const { actorMovement.mPosition[0] = evadeDirections[mEvadeDirectionIndex][0]; actorMovement.mPosition[1] = evadeDirections[mEvadeDirectionIndex][1]; diff --git a/apps/openmw/mwmechanics/obstacle.hpp b/apps/openmw/mwmechanics/obstacle.hpp index 1672e0b81..d7e582f8c 100644 --- a/apps/openmw/mwmechanics/obstacle.hpp +++ b/apps/openmw/mwmechanics/obstacle.hpp @@ -33,7 +33,7 @@ namespace MWMechanics void update(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance = 1.0f); // change direction to try to fix "stuck" actor - void takeEvasiveAction(MWMechanics::Movement& actorMovement); + void takeEvasiveAction(MWMechanics::Movement& actorMovement) const; private: From 2ad35430889bfd0bb9a137f8085c412bfa4010f7 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 18 Aug 2018 23:46:06 +0300 Subject: [PATCH 022/130] Fix constant style --- apps/openmw/mwmechanics/pathfinding.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 596178655..c03c69cf5 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -47,6 +47,8 @@ namespace MWMechanics // distance after which actor (failed previously to shortcut) will try again const float PATHFIND_SHORTCUT_RETRY_DIST = 300.0f; + const float DEFAULT_TOLERANCE = 32.0f; + // cast up-down ray with some offset from actor position to check for pits/obstacles on the way to target; // magnitude of pits/obstacles is defined by PATHFIND_Z_REACH bool checkWayIsClear(const osg::Vec3f& from, const osg::Vec3f& to, float offsetXY); @@ -56,14 +58,12 @@ namespace MWMechanics public: PathFinder(); - static const int PathTolerance = 32; - void clearPath(); void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); - bool checkPathCompleted(const osg::Vec3f& position, const float tolerance = PathTolerance); + bool checkPathCompleted(const osg::Vec3f& position, const float tolerance = DEFAULT_TOLERANCE); ///< \Returns true if we are within \a tolerance units of the last path point. /// In radians From 3565d92e1196705b5aae6f9922a78037e178cacb Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:08:14 +0300 Subject: [PATCH 023/130] Make PathFinder::getPathCell inline --- apps/openmw/mwmechanics/pathfinding.cpp | 5 ----- apps/openmw/mwmechanics/pathfinding.hpp | 5 ++++- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 2efd06e7b..c74eddf4c 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -299,9 +299,4 @@ namespace MWMechanics } } } - - const MWWorld::CellStore* PathFinder::getPathCell() const - { - return mCell; - } } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index c03c69cf5..09ef3929d 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -86,7 +86,10 @@ namespace MWMechanics return mPath; } - const MWWorld::CellStore* getPathCell() const; + const MWWorld::CellStore* getPathCell() const + { + return mCell; + } /** Synchronize new path with old one to avoid visiting 1 waypoint 2 times @note From ca3d0594b381f8a06e10dcc4484a9c663454b813 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:11:21 +0300 Subject: [PATCH 024/130] Do not store pointer to Pathgrid in PathFinder --- apps/openmw/mwmechanics/pathfinding.cpp | 25 ++++++++++--------------- apps/openmw/mwmechanics/pathfinding.hpp | 1 - 2 files changed, 10 insertions(+), 16 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index c74eddf4c..2709ef6ba 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -83,8 +83,7 @@ namespace MWMechanics } PathFinder::PathFinder() - : mPathgrid(nullptr) - , mCell(nullptr) + : mCell(nullptr) { } @@ -134,18 +133,14 @@ namespace MWMechanics const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph) { mPath.clear(); + mCell = cell; - // TODO: consider removing mCell / mPathgrid in favor of mPathgridGraph - if(mCell != cell || !mPathgrid) - { - mCell = cell; - mPathgrid = pathgridGraph.getPathgrid(); - } + const auto pathgrid = pathgridGraph.getPathgrid(); // Refer to AiWander reseach topic on openmw forums for some background. // Maybe there is no pathgrid for this cell. Just go to destination and let // physics take care of any blockages. - if(!mPathgrid || mPathgrid->mPoints.empty()) + if(!pathgrid || pathgrid->mPoints.empty()) { mPath.push_back(endPoint); return; @@ -160,18 +155,18 @@ namespace MWMechanics // point right behind the wall that is closer than any pathgrid // point outside the wall osg::Vec3f startPointInLocalCoords(converter.toLocalVec3(startPoint)); - int startNode = getClosestPoint(mPathgrid, startPointInLocalCoords); + int startNode = getClosestPoint(pathgrid, startPointInLocalCoords); osg::Vec3f endPointInLocalCoords(converter.toLocalVec3(endPoint)); - std::pair endNode = getClosestReachablePoint(mPathgrid, &pathgridGraph, + std::pair endNode = getClosestReachablePoint(pathgrid, &pathgridGraph, endPointInLocalCoords, startNode); // if it's shorter for actor to travel from start to end, than to travel from either // start or end to nearest pathgrid point, just travel from start to end. float startToEndLength2 = (endPointInLocalCoords - startPointInLocalCoords).length2(); - float endTolastNodeLength2 = distanceSquared(mPathgrid->mPoints[endNode.first], endPointInLocalCoords); - float startTo1stNodeLength2 = distanceSquared(mPathgrid->mPoints[startNode], startPointInLocalCoords); + float endTolastNodeLength2 = distanceSquared(pathgrid->mPoints[endNode.first], endPointInLocalCoords); + float startTo1stNodeLength2 = distanceSquared(pathgrid->mPoints[startNode], startPointInLocalCoords); if ((startToEndLength2 < startTo1stNodeLength2) || (startToEndLength2 < endTolastNodeLength2)) { mPath.push_back(endPoint); @@ -185,7 +180,7 @@ namespace MWMechanics // nodes are the same if(startNode == endNode.first) { - ESM::Pathgrid::Point temp(mPathgrid->mPoints[startNode]); + ESM::Pathgrid::Point temp(pathgrid->mPoints[startNode]); converter.toWorld(temp); mPath.push_back(makeOsgVec3(temp)); } @@ -198,7 +193,7 @@ namespace MWMechanics if (path.size() > 1) { ESM::Pathgrid::Point secondNode = *(++path.begin()); - osg::Vec3f firstNodeVec3f = makeOsgVec3(mPathgrid->mPoints[startNode]); + osg::Vec3f firstNodeVec3f = makeOsgVec3(pathgrid->mPoints[startNode]); osg::Vec3f secondNodeVec3f = makeOsgVec3(secondNode); osg::Vec3f toSecondNodeVec3f = secondNodeVec3f - firstNodeVec3f; osg::Vec3f toStartPointVec3f = startPointInLocalCoords - firstNodeVec3f; diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 09ef3929d..ae330fb92 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -163,7 +163,6 @@ namespace MWMechanics private: std::deque mPath; - const ESM::Pathgrid *mPathgrid; const MWWorld::CellStore* mCell; }; } From 85bbf9d0349314c764b07aa6f67da8a1659789b9 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:12:09 +0300 Subject: [PATCH 025/130] Clear path without check for empty --- apps/openmw/mwmechanics/pathfinding.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 2709ef6ba..be4d047a6 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -89,8 +89,7 @@ namespace MWMechanics void PathFinder::clearPath() { - if(!mPath.empty()) - mPath.clear(); + mPath.clear(); } /* From 3655f19373160ba71ea90696de6c2d0a2faf37b8 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:12:40 +0300 Subject: [PATCH 026/130] Set PathFinder::mCell to nullptr when clear path --- apps/openmw/mwmechanics/pathfinding.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index be4d047a6..f58686438 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -90,6 +90,7 @@ namespace MWMechanics void PathFinder::clearPath() { mPath.clear(); + mCell = nullptr; } /* From 92f52287bfa96394fe8ab6b7f1ed469a9e9e6bd6 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:13:16 +0300 Subject: [PATCH 027/130] Make PathFinder::ClearPath inline --- apps/openmw/mwmechanics/pathfinding.cpp | 6 ------ apps/openmw/mwmechanics/pathfinding.hpp | 6 +++++- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index f58686438..b5d59b521 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -87,12 +87,6 @@ namespace MWMechanics { } - void PathFinder::clearPath() - { - mPath.clear(); - mCell = nullptr; - } - /* * NOTE: This method may fail to find a path. The caller must check the * result before using it. If there is no path the AI routies need to diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index ae330fb92..4f71d18cd 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -58,7 +58,11 @@ namespace MWMechanics public: PathFinder(); - void clearPath(); + void clearPath() + { + mPath.clear(); + mCell = nullptr; + } void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); From b6dd2119a63c62760631612fe27affaa6d01eb00 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:13:59 +0300 Subject: [PATCH 028/130] Make Pathfinder constructor inline --- apps/openmw/mwmechanics/pathfinding.cpp | 5 ----- apps/openmw/mwmechanics/pathfinding.hpp | 5 ++++- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index b5d59b521..23a468d21 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -82,11 +82,6 @@ namespace MWMechanics return (std::abs(from.z() - h) <= PATHFIND_Z_REACH); } - PathFinder::PathFinder() - : mCell(nullptr) - { - } - /* * NOTE: This method may fail to find a path. The caller must check the * result before using it. If there is no path the AI routies need to diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 4f71d18cd..47d5640ad 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -56,7 +56,10 @@ namespace MWMechanics class PathFinder { public: - PathFinder(); + PathFinder() + : mCell(nullptr) + { + } void clearPath() { From 4fe764c3a53049607cb2107ee1f720f9762b3e35 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 20 Aug 2018 01:26:58 +0300 Subject: [PATCH 029/130] Update and check for complete Pathfinder path by different methods --- apps/openmw/mwmechanics/aipackage.cpp | 4 +++- apps/openmw/mwmechanics/aiwander.cpp | 2 +- apps/openmw/mwmechanics/pathfinding.cpp | 5 ++--- apps/openmw/mwmechanics/pathfinding.hpp | 17 +++++++++++++---- 4 files changed, 19 insertions(+), 9 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 43f555d31..0b06d8c1d 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -171,7 +171,9 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& mTimer = 0; } - if (isDestReached || mPathFinder.checkPathCompleted(pos.asVec3())) // if path is finished + mPathFinder.update(pos.asVec3(), std::max(destTolerance, DEFAULT_TOLERANCE)); + + if (isDestReached || mPathFinder.checkPathCompleted()) // if path is finished { // turn to destination point zTurn(actor, getZAngleToPoint(start, dest)); diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index 6ca23df95..4a452e1f7 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -250,7 +250,7 @@ namespace MWMechanics } } } - else if (storage.mIsWanderingManually && mPathFinder.checkPathCompleted(pos.asVec3(), DESTINATION_TOLERANCE)) + else if (storage.mIsWanderingManually && mPathFinder.checkPathCompleted()) { completeManualWalking(actor, storage); } diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 23a468d21..e0a83910f 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -121,6 +121,7 @@ namespace MWMechanics void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph) { + mConstructed = true; mPath.clear(); mCell = cell; @@ -250,12 +251,10 @@ namespace MWMechanics return getXAngleToDir(dir); } - bool PathFinder::checkPathCompleted(const osg::Vec3f& position, const float tolerance) + void PathFinder::update(const osg::Vec3f& position, const float tolerance) { if (!mPath.empty() && sqrDistanceIgnoreZ(mPath.front(), position) < tolerance*tolerance) mPath.pop_front(); - - return mPath.empty(); } // see header for the rationale diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 47d5640ad..419b18585 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -57,12 +57,14 @@ namespace MWMechanics { public: PathFinder() - : mCell(nullptr) + : mConstructed(false) + , mCell(nullptr) { } void clearPath() { + mConstructed = false; mPath.clear(); mCell = nullptr; } @@ -70,8 +72,13 @@ namespace MWMechanics void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); - bool checkPathCompleted(const osg::Vec3f& position, const float tolerance = DEFAULT_TOLERANCE); - ///< \Returns true if we are within \a tolerance units of the last path point. + /// Remove front point if exist and within tolerance + void update(const osg::Vec3f& position, const float tolerance = DEFAULT_TOLERANCE); + + bool checkPathCompleted() const + { + return mConstructed && mPath.empty(); + } /// In radians float getZAngleToNext(float x, float y) const; @@ -80,7 +87,7 @@ namespace MWMechanics bool isPathConstructed() const { - return !mPath.empty(); + return mConstructed && !mPath.empty(); } std::size_t getPathSize() const @@ -110,6 +117,7 @@ namespace MWMechanics void addPointToPath(const osg::Vec3f& point) { + mConstructed = true; mPath.push_back(point); } @@ -168,6 +176,7 @@ namespace MWMechanics } private: + bool mConstructed; std::deque mPath; const MWWorld::CellStore* mCell; From c866fdff86e3d4528b789b8069070669693245a9 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 18 Mar 2018 14:32:45 +0300 Subject: [PATCH 030/130] Move physics object, heightfield, ptrholder into separate files --- apps/openmw/CMakeLists.txt | 2 +- apps/openmw/mwphysics/actor.hpp | 26 +--- apps/openmw/mwphysics/heightfield.cpp | 54 ++++++++ apps/openmw/mwphysics/heightfield.hpp | 36 +++++ apps/openmw/mwphysics/object.cpp | 130 ++++++++++++++++++ apps/openmw/mwphysics/object.hpp | 48 +++++++ apps/openmw/mwphysics/physicssystem.cpp | 171 +----------------------- apps/openmw/mwphysics/ptrholder.hpp | 33 +++++ 8 files changed, 305 insertions(+), 195 deletions(-) create mode 100644 apps/openmw/mwphysics/heightfield.cpp create mode 100644 apps/openmw/mwphysics/heightfield.hpp create mode 100644 apps/openmw/mwphysics/object.cpp create mode 100644 apps/openmw/mwphysics/object.hpp create mode 100644 apps/openmw/mwphysics/ptrholder.hpp diff --git a/apps/openmw/CMakeLists.txt b/apps/openmw/CMakeLists.txt index 0092712db..99b123fd7 100644 --- a/apps/openmw/CMakeLists.txt +++ b/apps/openmw/CMakeLists.txt @@ -70,7 +70,7 @@ add_openmw_dir (mwworld ) add_openmw_dir (mwphysics - physicssystem trace collisiontype actor convert + physicssystem trace collisiontype actor convert object heightfield ) add_openmw_dir (mwclass diff --git a/apps/openmw/mwphysics/actor.hpp b/apps/openmw/mwphysics/actor.hpp index 8ec94200f..31dd22a22 100644 --- a/apps/openmw/mwphysics/actor.hpp +++ b/apps/openmw/mwphysics/actor.hpp @@ -3,7 +3,7 @@ #include -#include "../mwworld/ptr.hpp" +#include "ptrholder.hpp" #include #include @@ -22,30 +22,6 @@ namespace Resource namespace MWPhysics { - class PtrHolder - { - public: - virtual ~PtrHolder() {} - - void updatePtr(const MWWorld::Ptr& updated) - { - mPtr = updated; - } - - MWWorld::Ptr getPtr() - { - return mPtr; - } - - MWWorld::ConstPtr getPtr() const - { - return mPtr; - } - - protected: - MWWorld::Ptr mPtr; - }; - class Actor : public PtrHolder { public: diff --git a/apps/openmw/mwphysics/heightfield.cpp b/apps/openmw/mwphysics/heightfield.cpp new file mode 100644 index 000000000..52aed9c07 --- /dev/null +++ b/apps/openmw/mwphysics/heightfield.cpp @@ -0,0 +1,54 @@ +#include "heightfield.hpp" + +#include + +#include +#include + +#include + +namespace MWPhysics +{ + HeightField::HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject) + { + mShape = new btHeightfieldTerrainShape( + sqrtVerts, sqrtVerts, heights, 1, + minH, maxH, 2, + PHY_FLOAT, false + ); + mShape->setUseDiamondSubdivision(true); + mShape->setLocalScaling(btVector3(triSize, triSize, 1)); + + btTransform transform(btQuaternion::getIdentity(), + btVector3((x+0.5f) * triSize * (sqrtVerts-1), + (y+0.5f) * triSize * (sqrtVerts-1), + (maxH+minH)*0.5f)); + + mCollisionObject = new btCollisionObject; + mCollisionObject->setCollisionShape(mShape); + mCollisionObject->setWorldTransform(transform); + + mHoldObject = holdObject; + } + + HeightField::~HeightField() + { + delete mCollisionObject; + delete mShape; + } + + btCollisionObject* HeightField::getCollisionObject() + { + return mCollisionObject; + } + + const btCollisionObject* HeightField::getCollisionObject() const + { + return mCollisionObject; + } + + const btHeightfieldTerrainShape* HeightField::getShape() const + { + return mShape; + } +} diff --git a/apps/openmw/mwphysics/heightfield.hpp b/apps/openmw/mwphysics/heightfield.hpp new file mode 100644 index 000000000..f248186db --- /dev/null +++ b/apps/openmw/mwphysics/heightfield.hpp @@ -0,0 +1,36 @@ +#ifndef OPENMW_MWPHYSICS_HEIGHTFIELD_H +#define OPENMW_MWPHYSICS_HEIGHTFIELD_H + +#include + +class btCollisionObject; +class btHeightfieldTerrainShape; + +namespace osg +{ + class Object; +} + +namespace MWPhysics +{ + class HeightField + { + public: + HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject); + ~HeightField(); + + btCollisionObject* getCollisionObject(); + const btCollisionObject* getCollisionObject() const; + const btHeightfieldTerrainShape* getShape() const; + + private: + btHeightfieldTerrainShape* mShape; + btCollisionObject* mCollisionObject; + osg::ref_ptr mHoldObject; + + void operator=(const HeightField&); + HeightField(const HeightField&); + }; +} + +#endif diff --git a/apps/openmw/mwphysics/object.cpp b/apps/openmw/mwphysics/object.cpp new file mode 100644 index 000000000..d14f579dd --- /dev/null +++ b/apps/openmw/mwphysics/object.cpp @@ -0,0 +1,130 @@ +#include "object.hpp" +#include "convert.hpp" + +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include + +namespace MWPhysics +{ + Object::Object(const MWWorld::Ptr& ptr, osg::ref_ptr shapeInstance) + : mShapeInstance(shapeInstance) + , mSolid(true) + { + mPtr = ptr; + + mCollisionObject.reset(new btCollisionObject); + mCollisionObject->setCollisionShape(shapeInstance->getCollisionShape()); + + mCollisionObject->setUserPointer(static_cast(this)); + + setScale(ptr.getCellRef().getScale()); + setRotation(toBullet(ptr.getRefData().getBaseNode()->getAttitude())); + const float* pos = ptr.getRefData().getPosition().pos; + setOrigin(btVector3(pos[0], pos[1], pos[2])); + } + + const Resource::BulletShapeInstance* Object::getShapeInstance() const + { + return mShapeInstance.get(); + } + + void Object::setScale(float scale) + { + mShapeInstance->getCollisionShape()->setLocalScaling(btVector3(scale,scale,scale)); + } + + void Object::setRotation(const btQuaternion& quat) + { + mCollisionObject->getWorldTransform().setRotation(quat); + } + + void Object::setOrigin(const btVector3& vec) + { + mCollisionObject->getWorldTransform().setOrigin(vec); + } + + btCollisionObject* Object::getCollisionObject() + { + return mCollisionObject.get(); + } + + const btCollisionObject* Object::getCollisionObject() const + { + return mCollisionObject.get(); + } + + bool Object::isSolid() const + { + return mSolid; + } + + void Object::setSolid(bool solid) + { + mSolid = solid; + } + + bool Object::isAnimated() const + { + return !mShapeInstance->mAnimatedShapes.empty(); + } + + void Object::animateCollisionShapes(btCollisionWorld* collisionWorld) + { + if (mShapeInstance->mAnimatedShapes.empty()) + return; + + assert (mShapeInstance->getCollisionShape()->isCompound()); + + btCompoundShape* compound = static_cast(mShapeInstance->getCollisionShape()); + for (std::map::const_iterator it = mShapeInstance->mAnimatedShapes.begin(); it != mShapeInstance->mAnimatedShapes.end(); ++it) + { + int recIndex = it->first; + int shapeIndex = it->second; + + std::map::iterator nodePathFound = mRecIndexToNodePath.find(recIndex); + if (nodePathFound == mRecIndexToNodePath.end()) + { + NifOsg::FindGroupByRecIndex visitor(recIndex); + mPtr.getRefData().getBaseNode()->accept(visitor); + if (!visitor.mFound) + { + Log(Debug::Warning) << "Warning: animateCollisionShapes can't find node " << recIndex << " for " << mPtr.getCellRef().getRefId(); + + // Remove nonexistent nodes from animated shapes map and early out + mShapeInstance->mAnimatedShapes.erase(recIndex); + return; + } + osg::NodePath nodePath = visitor.mFoundPath; + nodePath.erase(nodePath.begin()); + nodePathFound = mRecIndexToNodePath.insert(std::make_pair(recIndex, nodePath)).first; + } + + osg::NodePath& nodePath = nodePathFound->second; + osg::Matrixf matrix = osg::computeLocalToWorld(nodePath); + matrix.orthoNormalize(matrix); + + btTransform transform; + transform.setOrigin(toBullet(matrix.getTrans()) * compound->getLocalScaling()); + for (int i=0; i<3; ++i) + for (int j=0; j<3; ++j) + transform.getBasis()[i][j] = matrix(j,i); // NB column/row major difference + + // Note: we can not apply scaling here for now since we treat scaled shapes + // as new shapes (btScaledBvhTriangleMeshShape) with 1.0 scale for now + if (!(transform == compound->getChildTransform(shapeIndex))) + compound->updateChildTransform(shapeIndex, transform); + } + + collisionWorld->updateSingleAabb(mCollisionObject.get()); + } +} diff --git a/apps/openmw/mwphysics/object.hpp b/apps/openmw/mwphysics/object.hpp new file mode 100644 index 000000000..b948433e3 --- /dev/null +++ b/apps/openmw/mwphysics/object.hpp @@ -0,0 +1,48 @@ +#ifndef OPENMW_MWPHYSICS_OBJECT_H +#define OPENMW_MWPHYSICS_OBJECT_H + +#include "ptrholder.hpp" + +#include + +#include +#include + +namespace Resource +{ + class BulletShapeInstance; +} + +class btCollisionObject; +class btCollisionWorld; +class btQuaternion; +class btVector3; + +namespace MWPhysics +{ + class Object : public PtrHolder + { + public: + Object(const MWWorld::Ptr& ptr, osg::ref_ptr shapeInstance); + + const Resource::BulletShapeInstance* getShapeInstance() const; + void setScale(float scale); + void setRotation(const btQuaternion& quat); + void setOrigin(const btVector3& vec); + btCollisionObject* getCollisionObject(); + const btCollisionObject* getCollisionObject() const; + /// Return solid flag. Not used by the object itself, true by default. + bool isSolid() const; + void setSolid(bool solid); + bool isAnimated() const; + void animateCollisionShapes(btCollisionWorld* collisionWorld); + + private: + std::unique_ptr mCollisionObject; + osg::ref_ptr mShapeInstance; + std::map mRecIndexToNodePath; + bool mSolid; + }; +} + +#endif diff --git a/apps/openmw/mwphysics/physicssystem.cpp b/apps/openmw/mwphysics/physicssystem.cpp index 363f28e70..74354e101 100644 --- a/apps/openmw/mwphysics/physicssystem.cpp +++ b/apps/openmw/mwphysics/physicssystem.cpp @@ -48,6 +48,8 @@ #include "actor.hpp" #include "convert.hpp" #include "trace.h" +#include "object.hpp" +#include "heightfield.hpp" namespace MWPhysics { @@ -507,175 +509,6 @@ namespace MWPhysics // --------------------------------------------------------------- - class HeightField - { - public: - HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject) - { - mShape = new btHeightfieldTerrainShape( - sqrtVerts, sqrtVerts, heights, 1, - minH, maxH, 2, - PHY_FLOAT, false - ); - mShape->setUseDiamondSubdivision(true); - mShape->setLocalScaling(btVector3(triSize, triSize, 1)); - - btTransform transform(btQuaternion::getIdentity(), - btVector3((x+0.5f) * triSize * (sqrtVerts-1), - (y+0.5f) * triSize * (sqrtVerts-1), - (maxH+minH)*0.5f)); - - mCollisionObject = new btCollisionObject; - mCollisionObject->setCollisionShape(mShape); - mCollisionObject->setWorldTransform(transform); - - mHoldObject = holdObject; - } - ~HeightField() - { - delete mCollisionObject; - delete mShape; - } - btCollisionObject* getCollisionObject() - { - return mCollisionObject; - } - - private: - btHeightfieldTerrainShape* mShape; - btCollisionObject* mCollisionObject; - osg::ref_ptr mHoldObject; - - void operator=(const HeightField&); - HeightField(const HeightField&); - }; - - // -------------------------------------------------------------- - - class Object : public PtrHolder - { - public: - Object(const MWWorld::Ptr& ptr, osg::ref_ptr shapeInstance) - : mShapeInstance(shapeInstance) - , mSolid(true) - { - mPtr = ptr; - - mCollisionObject.reset(new btCollisionObject); - mCollisionObject->setCollisionShape(shapeInstance->getCollisionShape()); - - mCollisionObject->setUserPointer(static_cast(this)); - - setScale(ptr.getCellRef().getScale()); - setRotation(toBullet(ptr.getRefData().getBaseNode()->getAttitude())); - const float* pos = ptr.getRefData().getPosition().pos; - setOrigin(btVector3(pos[0], pos[1], pos[2])); - } - - const Resource::BulletShapeInstance* getShapeInstance() const - { - return mShapeInstance.get(); - } - - void setScale(float scale) - { - mShapeInstance->getCollisionShape()->setLocalScaling(btVector3(scale,scale,scale)); - } - - void setRotation(const btQuaternion& quat) - { - mCollisionObject->getWorldTransform().setRotation(quat); - } - - void setOrigin(const btVector3& vec) - { - mCollisionObject->getWorldTransform().setOrigin(vec); - } - - btCollisionObject* getCollisionObject() - { - return mCollisionObject.get(); - } - - const btCollisionObject* getCollisionObject() const - { - return mCollisionObject.get(); - } - - /// Return solid flag. Not used by the object itself, true by default. - bool isSolid() const - { - return mSolid; - } - - void setSolid(bool solid) - { - mSolid = solid; - } - - bool isAnimated() const - { - return !mShapeInstance->mAnimatedShapes.empty(); - } - - void animateCollisionShapes(btCollisionWorld* collisionWorld) - { - if (mShapeInstance->mAnimatedShapes.empty()) - return; - - assert (mShapeInstance->getCollisionShape()->isCompound()); - - btCompoundShape* compound = static_cast(mShapeInstance->getCollisionShape()); - for (std::map::const_iterator it = mShapeInstance->mAnimatedShapes.begin(); it != mShapeInstance->mAnimatedShapes.end(); ++it) - { - int recIndex = it->first; - int shapeIndex = it->second; - - std::map::iterator nodePathFound = mRecIndexToNodePath.find(recIndex); - if (nodePathFound == mRecIndexToNodePath.end()) - { - NifOsg::FindGroupByRecIndex visitor(recIndex); - mPtr.getRefData().getBaseNode()->accept(visitor); - if (!visitor.mFound) - { - Log(Debug::Warning) << "Warning: animateCollisionShapes can't find node " << recIndex << " for " << mPtr.getCellRef().getRefId(); - - // Remove nonexistent nodes from animated shapes map and early out - mShapeInstance->mAnimatedShapes.erase(recIndex); - return; - } - osg::NodePath nodePath = visitor.mFoundPath; - nodePath.erase(nodePath.begin()); - nodePathFound = mRecIndexToNodePath.insert(std::make_pair(recIndex, nodePath)).first; - } - - osg::NodePath& nodePath = nodePathFound->second; - osg::Matrixf matrix = osg::computeLocalToWorld(nodePath); - matrix.orthoNormalize(matrix); - - btTransform transform; - transform.setOrigin(toBullet(matrix.getTrans()) * compound->getLocalScaling()); - for (int i=0; i<3; ++i) - for (int j=0; j<3; ++j) - transform.getBasis()[i][j] = matrix(j,i); // NB column/row major difference - - // Note: we can not apply scaling here for now since we treat scaled shapes - // as new shapes (btScaledBvhTriangleMeshShape) with 1.0 scale for now - if (!(transform == compound->getChildTransform(shapeIndex))) - compound->updateChildTransform(shapeIndex, transform); - } - - collisionWorld->updateSingleAabb(mCollisionObject.get()); - } - - private: - std::unique_ptr mCollisionObject; - osg::ref_ptr mShapeInstance; - std::map mRecIndexToNodePath; - bool mSolid; - }; - - // --------------------------------------------------------------- PhysicsSystem::PhysicsSystem(Resource::ResourceSystem* resourceSystem, osg::ref_ptr parentNode) : mShapeManager(new Resource::BulletShapeManager(resourceSystem->getVFS(), resourceSystem->getSceneManager(), resourceSystem->getNifFileManager())) diff --git a/apps/openmw/mwphysics/ptrholder.hpp b/apps/openmw/mwphysics/ptrholder.hpp new file mode 100644 index 000000000..f8188b43e --- /dev/null +++ b/apps/openmw/mwphysics/ptrholder.hpp @@ -0,0 +1,33 @@ +#ifndef OPENMW_MWPHYSICS_PTRHOLDER_H +#define OPENMW_MWPHYSICS_PTRHOLDER_H + +#include "../mwworld/ptr.hpp" + +namespace MWPhysics +{ + class PtrHolder + { + public: + virtual ~PtrHolder() {} + + void updatePtr(const MWWorld::Ptr& updated) + { + mPtr = updated; + } + + MWWorld::Ptr getPtr() + { + return mPtr; + } + + MWWorld::ConstPtr getPtr() const + { + return mPtr; + } + + protected: + MWWorld::Ptr mPtr; + }; +} + +#endif From ed891268286846d72d0a5eb4d7485ee393a2cdc3 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 16:48:25 +0300 Subject: [PATCH 031/130] Fix warning implicit conversion changes singedness --- apps/openmw/mwworld/cellstore.cpp | 2 +- apps/openmw/mwworld/cellstore.hpp | 2 +- apps/openmw/mwworld/scene.cpp | 5 ++--- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/apps/openmw/mwworld/cellstore.cpp b/apps/openmw/mwworld/cellstore.cpp index 239d714a0..520630bac 100644 --- a/apps/openmw/mwworld/cellstore.cpp +++ b/apps/openmw/mwworld/cellstore.cpp @@ -432,7 +432,7 @@ namespace MWWorld mHasState = true; } - int CellStore::count() const + std::size_t CellStore::count() const { return mMergedRefs.size(); } diff --git a/apps/openmw/mwworld/cellstore.hpp b/apps/openmw/mwworld/cellstore.hpp index 1c4d8f5d8..f4d430521 100644 --- a/apps/openmw/mwworld/cellstore.hpp +++ b/apps/openmw/mwworld/cellstore.hpp @@ -240,7 +240,7 @@ namespace MWWorld ESM::FogState* getFog () const; - int count() const; + std::size_t count() const; ///< Return total number of references, including deleted ones. void load (); diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 30e73df58..f554b5a64 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -379,7 +379,7 @@ namespace MWWorld unloadCell (active++); } - int refsToLoad = 0; + std::size_t refsToLoad = 0; // get the number of refs to load for (int x=X-mHalfGridSize; x<=X+mHalfGridSize; ++x) { @@ -553,8 +553,7 @@ namespace MWWorld while (active!=mActiveCells.end()) unloadCell (active++); - int refsToLoad = cell->count(); - loadingListener->setProgressRange(refsToLoad); + loadingListener->setProgressRange(cell->count()); // Load cell. loadCell (cell, loadingListener, changeEvent); From e707202f88a6b84f8532d4fa5330b5ee8b05cbf5 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 31 Mar 2018 19:35:02 +0300 Subject: [PATCH 032/130] Use local constant --- apps/openmw/mwworld/scene.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index f554b5a64..2d629adb5 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -284,7 +284,7 @@ namespace MWWorld const ESM::Land::LandData* data = land ? land->getData(ESM::Land::DATA_VHGT) : 0; if (data) { - mPhysics->addHeightField (data->mHeights, cellX, cell->getCell()->getGridY(), worldsize / (verts-1), verts, data->mMinHeight, data->mMaxHeight, land.get()); + mPhysics->addHeightField (data->mHeights, cellX, cellY, worldsize / (verts-1), verts, data->mMinHeight, data->mMaxHeight, land.get()); } else { From c01be7b07f6eca1d99d5686d0eef0dcefeab5a43 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 7 Oct 2018 01:03:29 +0300 Subject: [PATCH 033/130] Add operators for bullet types --- components/bullethelpers/operators.hpp | 71 ++++++++++++++++++++++++++ 1 file changed, 71 insertions(+) create mode 100644 components/bullethelpers/operators.hpp diff --git a/components/bullethelpers/operators.hpp b/components/bullethelpers/operators.hpp new file mode 100644 index 000000000..ea88deddf --- /dev/null +++ b/components/bullethelpers/operators.hpp @@ -0,0 +1,71 @@ +#ifndef OPENMW_COMPONENTS_BULLETHELPERS_OPERATORS_H +#define OPENMW_COMPONENTS_BULLETHELPERS_OPERATORS_H + +#include +#include +#include + +#include +#include +#include +#include + +inline std::ostream& operator <<(std::ostream& stream, const btVector3& value) +{ + return stream << "btVector3(" << std::setprecision(std::numeric_limits::max_exponent10) << value.x() + << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.y() + << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.z() + << ')'; +} + +inline std::ostream& operator <<(std::ostream& stream, BroadphaseNativeTypes value) +{ + switch (value) + { +#ifndef SHAPE_NAME +#define SHAPE_NAME(name) case name: return stream << #name; + SHAPE_NAME(BOX_SHAPE_PROXYTYPE) + SHAPE_NAME(TRIANGLE_SHAPE_PROXYTYPE) + SHAPE_NAME(TETRAHEDRAL_SHAPE_PROXYTYPE) + SHAPE_NAME(CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE) + SHAPE_NAME(CONVEX_HULL_SHAPE_PROXYTYPE) + SHAPE_NAME(CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE) + SHAPE_NAME(CUSTOM_POLYHEDRAL_SHAPE_TYPE) + SHAPE_NAME(IMPLICIT_CONVEX_SHAPES_START_HERE) + SHAPE_NAME(SPHERE_SHAPE_PROXYTYPE) + SHAPE_NAME(MULTI_SPHERE_SHAPE_PROXYTYPE) + SHAPE_NAME(CAPSULE_SHAPE_PROXYTYPE) + SHAPE_NAME(CONE_SHAPE_PROXYTYPE) + SHAPE_NAME(CONVEX_SHAPE_PROXYTYPE) + SHAPE_NAME(CYLINDER_SHAPE_PROXYTYPE) + SHAPE_NAME(UNIFORM_SCALING_SHAPE_PROXYTYPE) + SHAPE_NAME(MINKOWSKI_SUM_SHAPE_PROXYTYPE) + SHAPE_NAME(MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE) + SHAPE_NAME(BOX_2D_SHAPE_PROXYTYPE) + SHAPE_NAME(CONVEX_2D_SHAPE_PROXYTYPE) + SHAPE_NAME(CUSTOM_CONVEX_SHAPE_TYPE) + SHAPE_NAME(CONCAVE_SHAPES_START_HERE) + SHAPE_NAME(TRIANGLE_MESH_SHAPE_PROXYTYPE) + SHAPE_NAME(SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) + SHAPE_NAME(FAST_CONCAVE_MESH_PROXYTYPE) + SHAPE_NAME(TERRAIN_SHAPE_PROXYTYPE) + SHAPE_NAME(GIMPACT_SHAPE_PROXYTYPE) + SHAPE_NAME(MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE) + SHAPE_NAME(EMPTY_SHAPE_PROXYTYPE) + SHAPE_NAME(STATIC_PLANE_PROXYTYPE) + SHAPE_NAME(CUSTOM_CONCAVE_SHAPE_TYPE) + SHAPE_NAME(CONCAVE_SHAPES_END_HERE) + SHAPE_NAME(COMPOUND_SHAPE_PROXYTYPE) + SHAPE_NAME(SOFTBODY_SHAPE_PROXYTYPE) + SHAPE_NAME(HFFLUID_SHAPE_PROXYTYPE) + SHAPE_NAME(HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) + SHAPE_NAME(INVALID_SHAPE_PROXYTYPE) + SHAPE_NAME(MAX_BROADPHASE_COLLISION_TYPES) +#undef SHAPE_NAME +#endif + default: + return stream << "undefined(" << static_cast(value) << ")"; + } +} + +#endif From 4f2bfa1e9de29f10a97f8ecc85fabaed82d74366 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 7 Oct 2018 01:04:01 +0300 Subject: [PATCH 034/130] Add operators for osg types --- components/osghelpers/operators.hpp | 35 +++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 components/osghelpers/operators.hpp diff --git a/components/osghelpers/operators.hpp b/components/osghelpers/operators.hpp new file mode 100644 index 000000000..fdb0227ea --- /dev/null +++ b/components/osghelpers/operators.hpp @@ -0,0 +1,35 @@ +#ifndef OPENMW_COMPONENTS_OSGHELPERS_OPERATORS_H +#define OPENMW_COMPONENTS_OSGHELPERS_OPERATORS_H + +#include +#include +#include + +#include +#include +#include + +namespace osg +{ + inline std::ostream& operator <<(std::ostream& stream, const Vec2i& value) + { + return stream << "osg::Vec2i(" << value.x() << ", " << value.y() << ")"; + } + + inline std::ostream& operator <<(std::ostream& stream, const Vec2f& value) + { + return stream << "osg::Vec2f(" << std::setprecision(std::numeric_limits::max_exponent10) << value.x() + << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.y() + << ')'; + } + + inline std::ostream& operator <<(std::ostream& stream, const Vec3f& value) + { + return stream << "osg::Vec3f(" << std::setprecision(std::numeric_limits::max_exponent10) << value.x() + << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.y() + << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.z() + << ')'; + } +} + +#endif From 3d97e96f55d7b6db796b093b8878af1dcb9adf9e Mon Sep 17 00:00:00 2001 From: elsid Date: Tue, 13 Mar 2018 21:58:52 +0300 Subject: [PATCH 035/130] Add dependency to recastnavigation --- CI/before_install.linux.sh | 2 +- CI/before_install.osx.sh | 2 +- CI/before_script.linux.sh | 4 ++++ CI/before_script.msvc.sh | 13 ++++++++++- CI/before_script.osx.sh | 6 ++++- CI/build_recastnavigation.sh | 17 ++++++++++++++ apps/openmw/CMakeLists.txt | 5 ++++ appveyor.yml | 2 +- cmake/FindRecastNavigation.cmake | 40 ++++++++++++++++++++++++++++++++ 9 files changed, 86 insertions(+), 5 deletions(-) create mode 100755 CI/build_recastnavigation.sh create mode 100644 cmake/FindRecastNavigation.cmake diff --git a/CI/before_install.linux.sh b/CI/before_install.linux.sh index 25d05e619..1ec88fb9e 100755 --- a/CI/before_install.linux.sh +++ b/CI/before_install.linux.sh @@ -1,3 +1,3 @@ -#!/bin/sh +#!/bin/sh -e sudo ln -s /usr/bin/clang-3.6 /usr/local/bin/clang sudo ln -s /usr/bin/clang++-3.6 /usr/local/bin/clang++ diff --git a/CI/before_install.osx.sh b/CI/before_install.osx.sh index 2ab996b10..95d061c79 100755 --- a/CI/before_install.osx.sh +++ b/CI/before_install.osx.sh @@ -1,4 +1,4 @@ -#!/bin/sh +#!/bin/sh -e brew update diff --git a/CI/before_script.linux.sh b/CI/before_script.linux.sh index dd879989a..ff6f2218a 100755 --- a/CI/before_script.linux.sh +++ b/CI/before_script.linux.sh @@ -5,6 +5,9 @@ free -m env GENERATOR='Unix Makefiles' CONFIGURATION=Release CI/build_googletest.sh GOOGLETEST_DIR="$(pwd)/googletest/build" +env GENERATOR='Unix Makefiles' CONFIGURATION=Release CI/build_recastnavigation.sh +RECASTNAVIGATION_DIR="$(pwd)/recastnavigation/build" + mkdir build cd build export CODE_COVERAGE=1 @@ -18,4 +21,5 @@ ${ANALYZE}cmake \ -DUSE_SYSTEM_TINYXML=TRUE \ -DGTEST_ROOT="${GOOGLETEST_DIR}" \ -DGMOCK_ROOT="${GOOGLETEST_DIR}" \ + -DRecastNavigation_ROOT="${RECASTNAVIGATION_DIR}" \ .. diff --git a/CI/before_script.msvc.sh b/CI/before_script.msvc.sh index 8ee4b7fd9..add6f0ace 100644 --- a/CI/before_script.msvc.sh +++ b/CI/before_script.msvc.sh @@ -304,6 +304,10 @@ if ! [ -z $UNITY_BUILD ]; then add_cmake_opts "-DOPENMW_UNITY_BUILD=True" fi +if [ ${BITS} -eq 64 ]; then + GENERATOR="${GENERATOR} Win64" +fi + echo echo "===================================" echo "Starting prebuild on MSVC${MSVC_DISPLAY_YEAR} WIN${BITS}" @@ -449,7 +453,7 @@ fi else LIB_SUFFIX="0" fi - + add_cmake_opts -DBOOST_ROOT="$BOOST_SDK" \ -DBOOST_LIBRARYDIR="${BOOST_SDK}/lib${BITS}-msvc-${MSVC_VER}.${LIB_SUFFIX}" add_cmake_opts -DBoost_COMPILER="-${TOOLSET}" @@ -644,6 +648,13 @@ printf "SDL 2.0.7... " echo Done. } echo +# recastnavigation +printf 'recastnavigation...' +{ + env GENERATOR="${GENERATOR}" CONFIGURATION="${CONFIGURATION}" ${DEPS_INSTALL}/../../CI/build_recastnavigation.sh + add_cmake_opts -DRecastNavigation_ROOT="$(pwd)/recastnavigation/build" +} +echo cd $DEPS_INSTALL/.. echo echo "Setting up OpenMW build..." diff --git a/CI/before_script.osx.sh b/CI/before_script.osx.sh index 8ee01b652..772a06ad4 100755 --- a/CI/before_script.osx.sh +++ b/CI/before_script.osx.sh @@ -1,8 +1,11 @@ -#!/bin/sh +#!/bin/sh -e export CXX=clang++ export CC=clang +env GENERATOR='Unix Makefiles' CONFIGURATION=Release CI/build_recastnavigation.sh +RECASTNAVIGATION_DIR="$(pwd)/recastnavigation/build" + DEPENDENCIES_ROOT="/private/tmp/openmw-deps/openmw-deps" QT_PATH=`brew --prefix qt` mkdir build @@ -17,5 +20,6 @@ cmake \ -D DESIRED_QT_VERSION=5 \ -D BUILD_ESMTOOL=FALSE \ -D BUILD_MYGUI_PLUGIN=FALSE \ +-D RecastNavigation_ROOT="${RECASTNAVIGATION_DIR}" \ -G"Unix Makefiles" \ .. diff --git a/CI/build_recastnavigation.sh b/CI/build_recastnavigation.sh new file mode 100755 index 000000000..46f3c7480 --- /dev/null +++ b/CI/build_recastnavigation.sh @@ -0,0 +1,17 @@ +#!/bin/sh -e + +git clone https://github.com/recastnavigation/recastnavigation.git +cd recastnavigation +mkdir build +cd build +cmake \ + -DCMAKE_BUILD_TYPE="${CONFIGURATION}" \ + -DRECASTNAVIGATION_DEMO=OFF \ + -DRECASTNAVIGATION_TESTS=OFF \ + -DRECASTNAVIGATION_EXAMPLES=OFF \ + -DRECASTNAVIGATION_STATIC=ON \ + -DCMAKE_INSTALL_PREFIX=. \ + -G "${GENERATOR}" \ + .. +cmake --build . --config "${CONFIGURATION}" +cmake --build . --target install --config "${CONFIGURATION}" diff --git a/apps/openmw/CMakeLists.txt b/apps/openmw/CMakeLists.txt index 99b123fd7..85906b16e 100644 --- a/apps/openmw/CMakeLists.txt +++ b/apps/openmw/CMakeLists.txt @@ -117,6 +117,10 @@ include_directories( ${FFmpeg_INCLUDE_DIRS} ) +find_package(RecastNavigation COMPONENTS Detour Recast REQUIRED) + +include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) + target_link_libraries(openmw ${OSG_LIBRARIES} ${OPENTHREADS_LIBRARIES} @@ -133,6 +137,7 @@ target_link_libraries(openmw ${FFmpeg_LIBRARIES} ${MyGUI_LIBRARIES} ${SDL2_LIBRARY} + ${RecastNavigation_LIBRARIES} "osg-ffmpeg-videoplayer" "oics" components diff --git a/appveyor.yml b/appveyor.yml index 9877d2105..5c3522535 100644 --- a/appveyor.yml +++ b/appveyor.yml @@ -68,7 +68,7 @@ test: off #notifications: # - provider: Email # to: -# - +# - # on_build_failure: true # on_build_status_changed: true diff --git a/cmake/FindRecastNavigation.cmake b/cmake/FindRecastNavigation.cmake new file mode 100644 index 000000000..2126b8855 --- /dev/null +++ b/cmake/FindRecastNavigation.cmake @@ -0,0 +1,40 @@ +find_path(RecastNavigation_INCLUDE_DIR + NAMES Recast.h + HINTS $ENV{RecastNavigation_ROOT} + ${RecastNavigation_ROOT} + PATH_SUFFIXES include +) +mark_as_advanced(RecastNavigation_INCLUDE_DIR) + +include(FindPackageHandleStandardArgs) + +set(RecastNavigation_LIBRARIES "") + +foreach(COMPONENT ${RecastNavigation_FIND_COMPONENTS}) + if(NOT RecastNavigation_${COMPONENT}_FOUND) + find_library(RecastNavigation_${COMPONENT}_LIBRARY + HINTS $ENV{RecastNavigation_ROOT} + ${RecastNavigation_ROOT} + NAMES ${COMPONENT} + PATH_SUFFIXES lib + ) + find_package_handle_standard_args(RecastNavigation_${COMPONENT} DEFAULT_MSG + RecastNavigation_${COMPONENT}_LIBRARY + RecastNavigation_INCLUDE_DIR + ) + mark_as_advanced(RecastNavigation_${COMPONENT}_LIBRARY) + if(RecastNavigation_${COMPONENT}_FOUND) + list(APPEND RecastNavigation_LIBRARIES ${RecastNavigation_${COMPONENT}_LIBRARY}) + endif() + endif() +endforeach() +mark_as_advanced(RecastNavigation_LIBRARIES) + +find_package_handle_standard_args(RecastNavigation DEFAULT_MSG + RecastNavigation_LIBRARIES + RecastNavigation_INCLUDE_DIR +) + +if(RecastNavigation_FOUND) + set(RecastNavigation_INCLUDE_DIRS ${RecastNavigation_INCLUDE_DIR}) +endif() From fafba8ea0c6b0efc4af68ac6a726c86d061ede17 Mon Sep 17 00:00:00 2001 From: elsid Date: Wed, 14 Mar 2018 01:49:08 +0300 Subject: [PATCH 036/130] Use recastnavigation to find path --- apps/openmw/mwbase/world.hpp | 7 + apps/openmw/mwmechanics/aipackage.hpp | 2 + apps/openmw/mwmechanics/pathfinding.cpp | 25 ++ apps/openmw/mwmechanics/pathfinding.hpp | 3 + apps/openmw/mwphysics/physicssystem.cpp | 23 +- apps/openmw/mwphysics/physicssystem.hpp | 6 +- apps/openmw/mwworld/cellstore.hpp | 2 +- apps/openmw/mwworld/scene.cpp | 54 +++- apps/openmw/mwworld/worldimp.cpp | 27 ++ apps/openmw/mwworld/worldimp.hpp | 3 + apps/openmw_test_suite/CMakeLists.txt | 8 + .../detournavigator/navigator.cpp | 159 ++++++++++ .../detournavigator/operators.hpp | 40 +++ .../detournavigator/recastmeshbuilder.cpp | 81 +++++ .../detournavigator/settingsutils.cpp | 68 +++++ components/CMakeLists.txt | 19 ++ .../detournavigator/asyncnavmeshupdater.cpp | 113 +++++++ .../detournavigator/asyncnavmeshupdater.hpp | 75 +++++ .../cachedrecastmeshmanager.cpp | 25 ++ .../cachedrecastmeshmanager.hpp | 34 +++ components/detournavigator/chunkytrimesh.cpp | 174 +++++++++++ components/detournavigator/chunkytrimesh.hpp | 93 ++++++ components/detournavigator/debug.cpp | 163 ++++++++++ components/detournavigator/debug.hpp | 63 ++++ components/detournavigator/dtstatus.hpp | 66 ++++ components/detournavigator/exceptions.hpp | 15 + components/detournavigator/findsmoothpath.cpp | 143 +++++++++ components/detournavigator/findsmoothpath.hpp | 266 ++++++++++++++++ components/detournavigator/makenavmesh.cpp | 288 ++++++++++++++++++ components/detournavigator/makenavmesh.hpp | 20 ++ components/detournavigator/navigator.cpp | 42 +++ components/detournavigator/navigator.hpp | 50 +++ components/detournavigator/navmeshmanager.cpp | 50 +++ components/detournavigator/navmeshmanager.hpp | 48 +++ components/detournavigator/recastmesh.cpp | 12 + components/detournavigator/recastmesh.hpp | 50 +++ .../detournavigator/recastmeshbuilder.cpp | 72 +++++ .../detournavigator/recastmeshbuilder.hpp | 38 +++ .../detournavigator/recastmeshmanager.cpp | 57 ++++ .../detournavigator/recastmeshmanager.hpp | 42 +++ components/detournavigator/settings.hpp | 30 ++ components/detournavigator/settingsutils.hpp | 65 ++++ components/detournavigator/tilebounds.hpp | 15 + components/detournavigator/tileposition.hpp | 11 + files/settings-default.cfg | 60 ++++ 45 files changed, 2698 insertions(+), 9 deletions(-) create mode 100644 apps/openmw_test_suite/detournavigator/navigator.cpp create mode 100644 apps/openmw_test_suite/detournavigator/operators.hpp create mode 100644 apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp create mode 100644 apps/openmw_test_suite/detournavigator/settingsutils.cpp create mode 100644 components/detournavigator/asyncnavmeshupdater.cpp create mode 100644 components/detournavigator/asyncnavmeshupdater.hpp create mode 100644 components/detournavigator/cachedrecastmeshmanager.cpp create mode 100644 components/detournavigator/cachedrecastmeshmanager.hpp create mode 100644 components/detournavigator/chunkytrimesh.cpp create mode 100644 components/detournavigator/chunkytrimesh.hpp create mode 100644 components/detournavigator/debug.cpp create mode 100644 components/detournavigator/debug.hpp create mode 100644 components/detournavigator/dtstatus.hpp create mode 100644 components/detournavigator/exceptions.hpp create mode 100644 components/detournavigator/findsmoothpath.cpp create mode 100644 components/detournavigator/findsmoothpath.hpp create mode 100644 components/detournavigator/makenavmesh.cpp create mode 100644 components/detournavigator/makenavmesh.hpp create mode 100644 components/detournavigator/navigator.cpp create mode 100644 components/detournavigator/navigator.hpp create mode 100644 components/detournavigator/navmeshmanager.cpp create mode 100644 components/detournavigator/navmeshmanager.hpp create mode 100644 components/detournavigator/recastmesh.cpp create mode 100644 components/detournavigator/recastmesh.hpp create mode 100644 components/detournavigator/recastmeshbuilder.cpp create mode 100644 components/detournavigator/recastmeshbuilder.hpp create mode 100644 components/detournavigator/recastmeshmanager.cpp create mode 100644 components/detournavigator/recastmeshmanager.hpp create mode 100644 components/detournavigator/settings.hpp create mode 100644 components/detournavigator/settingsutils.hpp create mode 100644 components/detournavigator/tilebounds.hpp create mode 100644 components/detournavigator/tileposition.hpp diff --git a/apps/openmw/mwbase/world.hpp b/apps/openmw/mwbase/world.hpp index e17935abc..18f997324 100644 --- a/apps/openmw/mwbase/world.hpp +++ b/apps/openmw/mwbase/world.hpp @@ -54,6 +54,11 @@ namespace MWMechanics struct Movement; } +namespace DetourNavigator +{ + class Navigator; +} + namespace MWWorld { class CellStore; @@ -590,6 +595,8 @@ namespace MWBase /// Preload VFX associated with this effect list virtual void preloadEffects(const ESM::EffectList* effectList) = 0; + + virtual DetourNavigator::Navigator* getNavigator() const = 0; }; } diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 440cf64b5..59bd6689d 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -7,6 +7,8 @@ #include "obstacle.hpp" #include "aistate.hpp" +#include + namespace MWWorld { class Ptr; diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index e0a83910f..5a34bb230 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -1,7 +1,13 @@ #include "pathfinding.hpp" +#include #include +#include +#include +#include +#include + #include "../mwbase/world.hpp" #include "../mwbase/environment.hpp" @@ -282,4 +288,23 @@ namespace MWMechanics } } } + + void PathFinder::buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const osg::Vec3f& halfExtents) + { + try + { + mPath.clear(); + + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + navigator->findPath(halfExtents, startPoint, endPoint, std::back_inserter(mPath)); + + mConstructed = true; + } + catch (const DetourNavigator::NavigatorException& exception) + { + DetourNavigator::log("PathFinder::buildPathByNavigator navigator exception: ", exception.what()); + Log(Debug::Error) << "Build path by navigator exception: " << exception.what(); + } + } } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 419b18585..f488e3b14 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -175,6 +175,9 @@ namespace MWMechanics return closestIndex; } + void buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const osg::Vec3f& halfExtents); + private: bool mConstructed; std::deque mPath; diff --git a/apps/openmw/mwphysics/physicssystem.cpp b/apps/openmw/mwphysics/physicssystem.cpp index 74354e101..c90dcbf98 100644 --- a/apps/openmw/mwphysics/physicssystem.cpp +++ b/apps/openmw/mwphysics/physicssystem.cpp @@ -1,6 +1,11 @@ -#include "physicssystem.hpp" +#include "physicssystem.hpp" #include +#include +#include +#include + +#include #include @@ -16,6 +21,12 @@ #include +#include +#include +#include +#include +#include + #include #include #include @@ -54,8 +65,6 @@ namespace MWPhysics { - static const float sMaxSlope = 49.0f; - static const float sStepSizeUp = 34.0f; static const float sStepSizeDown = 62.0f; static const float sMinStep = 10.f; static const float sGroundOffset = 1.0f; @@ -1004,6 +1013,14 @@ namespace MWPhysics } } + const HeightField* PhysicsSystem::getHeightField(int x, int y) const + { + const auto heightField = mHeightFields.find(std::make_pair(x, y)); + if (heightField == mHeightFields.end()) + return nullptr; + return heightField->second; + } + void PhysicsSystem::addObject (const MWWorld::Ptr& ptr, const std::string& mesh, int collisionType) { osg::ref_ptr shapeInstance = mShapeManager->getInstance(mesh); diff --git a/apps/openmw/mwphysics/physicssystem.hpp b/apps/openmw/mwphysics/physicssystem.hpp index 3ef9990f5..b084cc4c9 100644 --- a/apps/openmw/mwphysics/physicssystem.hpp +++ b/apps/openmw/mwphysics/physicssystem.hpp @@ -49,6 +49,9 @@ namespace MWPhysics class Object; class Actor; + static const float sMaxSlope = 49.0f; + static const float sStepSizeUp = 34.0f; + class PhysicsSystem { public: @@ -85,6 +88,8 @@ namespace MWPhysics void removeHeightField (int x, int y); + const HeightField* getHeightField(int x, int y) const; + bool toggleCollisionMode(); void stepSimulation(float dt); @@ -169,7 +174,6 @@ namespace MWPhysics void markAsNonSolid (const MWWorld::ConstPtr& ptr); bool isOnSolidGround (const MWWorld::Ptr& actor) const; - private: void updateWater(); diff --git a/apps/openmw/mwworld/cellstore.hpp b/apps/openmw/mwworld/cellstore.hpp index f4d430521..49bc0b363 100644 --- a/apps/openmw/mwworld/cellstore.hpp +++ b/apps/openmw/mwworld/cellstore.hpp @@ -283,7 +283,7 @@ namespace MWWorld /// \attention This function also lists deleted (count 0) objects! /// \return Iteration completed? template - bool forEachConst (Visitor& visitor) const + bool forEachConst (Visitor&& visitor) const { if (mState != State_Loaded) return false; diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 2d629adb5..2626bc641 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -2,12 +2,16 @@ #include +#include + #include #include #include #include #include #include +#include +#include #include "../mwbase/environment.hpp" #include "../mwbase/world.hpp" @@ -19,6 +23,9 @@ #include "../mwrender/landmanager.hpp" #include "../mwphysics/physicssystem.hpp" +#include "../mwphysics/actor.hpp" +#include "../mwphysics/object.hpp" +#include "../mwphysics/heightfield.hpp" #include "player.hpp" #include "localscripts.hpp" @@ -74,6 +81,21 @@ namespace ptr.getClass().insertObject (ptr, model, physics); + if (const auto object = physics.getObject(ptr)) + { + if (const auto concaveShape = dynamic_cast(object->getShapeInstance()->mCollisionShape)) + { + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + navigator->addObject(reinterpret_cast(object), *concaveShape, + object->getCollisionObject()->getWorldTransform()); + } + } + else if (const auto actor = physics.getActor(ptr)) + { + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + navigator->addAgent(actor->getHalfExtents()); + } + if (useAnim) MWBase::Environment::get().getMechanicsManager()->add(ptr); @@ -233,13 +255,18 @@ namespace MWWorld void Scene::unloadCell (CellStoreCollection::iterator iter) { Log(Debug::Info) << "Unloading cell " << (*iter)->getCell()->getDescription(); + + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); ListAndResetObjectsVisitor visitor; (*iter)->forEach(visitor); - for (std::vector::const_iterator iter2 (visitor.mObjects.begin()); - iter2!=visitor.mObjects.end(); ++iter2) + for (const auto& ptr : visitor.mObjects) { - mPhysics->remove(*iter2); + if (const auto object = mPhysics->getObject(ptr)) + navigator->removeObject(reinterpret_cast(object)); + else if (const auto actor = mPhysics->getActor(ptr)) + navigator->removeAgent(actor->getHalfExtents()); + mPhysics->remove(ptr); } if ((*iter)->getCell()->isExterior()) @@ -250,7 +277,13 @@ namespace MWWorld (*iter)->getCell()->getGridY() ); if (land && land->mDataTypes&ESM::Land::DATA_VHGT) - mPhysics->removeHeightField ((*iter)->getCell()->getGridX(), (*iter)->getCell()->getGridY()); + { + const auto cellX = (*iter)->getCell()->getGridX(); + const auto cellY = (*iter)->getCell()->getGridY(); + if (const auto heightField = mPhysics->getHeightField(cellX, cellY)) + navigator->removeObject(reinterpret_cast(heightField)); + mPhysics->removeHeightField(cellX, cellY); + } } MWBase::Environment::get().getMechanicsManager()->drop (*iter); @@ -275,6 +308,8 @@ namespace MWWorld float verts = ESM::Land::LAND_SIZE; float worldsize = ESM::Land::REAL_SIZE; + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + // Load terrain physics first... if (cell->getCell()->isExterior()) { @@ -292,6 +327,10 @@ namespace MWWorld defaultHeight.resize(verts*verts, ESM::Land::DEFAULT_HEIGHT); mPhysics->addHeightField (&defaultHeight[0], cell->getCell()->getGridX(), cell->getCell()->getGridY(), worldsize / (verts-1), verts, ESM::Land::DEFAULT_HEIGHT, ESM::Land::DEFAULT_HEIGHT, land.get()); } + + if (const auto heightField = mPhysics->getHeightField(cellX, cellY)) + navigator->addObject(reinterpret_cast(heightField), *heightField->getShape(), + heightField->getCollisionObject()->getWorldTransform()); } // register local scripts @@ -317,6 +356,8 @@ namespace MWWorld else mPhysics->disableWater(); + navigator->update(); + if (!cell->isExterior() && !(cell->getCell()->mData.mFlags & ESM::Cell::QuasiEx)) mRendering.configureAmbient(cell->getCell()); } @@ -631,6 +672,11 @@ namespace MWWorld { MWBase::Environment::get().getMechanicsManager()->remove (ptr); MWBase::Environment::get().getSoundManager()->stopSound3D (ptr); + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + if (const auto object = mPhysics->getObject(ptr)) + navigator->removeObject(reinterpret_cast(object)); + else if (const auto actor = mPhysics->getActor(ptr)) + navigator->removeAgent(actor->getHalfExtents()); mPhysics->remove(ptr); mRendering.removeObject (ptr); if (ptr.getClass().isActor()) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 0872e589d..322559e3b 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -19,6 +19,8 @@ #include +#include + #include "../mwbase/environment.hpp" #include "../mwbase/soundmanager.hpp" #include "../mwbase/mechanicsmanager.hpp" @@ -163,6 +165,26 @@ namespace MWWorld mRendering.reset(new MWRender::RenderingManager(viewer, rootNode, resourceSystem, workQueue, &mFallback, resourcePath)); mProjectileManager.reset(new ProjectileManager(mRendering->getLightRoot(), resourceSystem, mRendering.get(), mPhysics.get())); + DetourNavigator::Settings navigatorSettings; + navigatorSettings.mCellHeight = Settings::Manager::getFloat("cell height", "Navigator"); + navigatorSettings.mCellSize = Settings::Manager::getFloat("cell size", "Navigator"); + navigatorSettings.mDetailSampleDist = Settings::Manager::getFloat("detail sample dist", "Navigator"); + navigatorSettings.mDetailSampleMaxError = Settings::Manager::getFloat("detail sample max error", "Navigator"); + navigatorSettings.mMaxClimb = MWPhysics::sStepSizeUp; + navigatorSettings.mMaxSimplificationError = Settings::Manager::getFloat("max simplification error", "Navigator"); + navigatorSettings.mMaxSlope = MWPhysics::sMaxSlope; + navigatorSettings.mRecastScaleFactor = Settings::Manager::getFloat("recast scale factor", "Navigator"); + navigatorSettings.mMaxEdgeLen = Settings::Manager::getInt("max edge len", "Navigator"); + navigatorSettings.mMaxNavMeshQueryNodes = Settings::Manager::getInt("max nav mesh query nodes", "Navigator"); + navigatorSettings.mMaxVertsPerPoly = Settings::Manager::getInt("max verts per poly", "Navigator"); + navigatorSettings.mRegionMergeSize = Settings::Manager::getInt("region merge size", "Navigator"); + navigatorSettings.mRegionMinSize = Settings::Manager::getInt("region min size", "Navigator"); + navigatorSettings.mTileSize = Settings::Manager::getInt("tile size", "Navigator"); + navigatorSettings.mMaxPolygonPathSize = static_cast(Settings::Manager::getInt("max polygon path size", "Navigator")); + navigatorSettings.mMaxSmoothPathSize = static_cast(Settings::Manager::getInt("max smooth path size", "Navigator")); + navigatorSettings.mTrianglesPerChunk = static_cast(Settings::Manager::getInt("triangles per chunk", "Navigator")); + mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings)); + mRendering->preloadCommonAssets(); mEsm.resize(contentFiles.size()); @@ -3684,4 +3706,9 @@ namespace MWWorld } } + DetourNavigator::Navigator* World::getNavigator() const + { + return mNavigator.get(); + } + } diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp index 7df8d1af5..4d264ff7f 100644 --- a/apps/openmw/mwworld/worldimp.hpp +++ b/apps/openmw/mwworld/worldimp.hpp @@ -98,6 +98,7 @@ namespace MWWorld std::unique_ptr mWorldScene; std::unique_ptr mWeatherManager; std::shared_ptr mProjectileManager; + std::unique_ptr mNavigator; bool mGodMode; bool mScriptsEnabled; @@ -688,6 +689,8 @@ namespace MWWorld /// Preload VFX associated with this effect list void preloadEffects(const ESM::EffectList* effectList) override; + + DetourNavigator::Navigator* getNavigator() const override; }; } diff --git a/apps/openmw_test_suite/CMakeLists.txt b/apps/openmw_test_suite/CMakeLists.txt index bc39bc2be..57fb1a012 100644 --- a/apps/openmw_test_suite/CMakeLists.txt +++ b/apps/openmw_test_suite/CMakeLists.txt @@ -17,10 +17,18 @@ if (GTEST_FOUND AND GMOCK_FOUND) misc/test_stringops.cpp nifloader/testbulletnifloader.cpp + + detournavigator/navigator.cpp + detournavigator/settingsutils.cpp + detournavigator/recastmeshbuilder.cpp ) source_group(apps\\openmw_test_suite FILES openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) + find_package(RecastNavigation COMPONENTS DebugUtils Detour Recast REQUIRED) + + include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) + openmw_add_executable(openmw_test_suite openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) target_link_libraries(openmw_test_suite ${GMOCK_LIBRARIES} components) diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp new file mode 100644 index 000000000..1a317da84 --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -0,0 +1,159 @@ +#include "operators.hpp" + +#include +#include + +#include + +#include + +#include +#include + +namespace +{ + using namespace testing; + using namespace DetourNavigator; + + struct DetourNavigatorNavigatorTest : Test + { + Settings mSettings; + std::unique_ptr mNavigator; + osg::Vec3f mPlayerPosition; + osg::Vec3f mAgentHalfExtents; + osg::Vec3f mStart; + osg::Vec3f mEnd; + std::deque mPath; + std::back_insert_iterator> mOut; + + DetourNavigatorNavigatorTest() + : mPlayerPosition(0, 0, 0) + , mAgentHalfExtents(29, 29, 66) + , mStart(-215, 215, 1) + , mEnd(215, -215, 1) + , mOut(mPath) + { + mSettings.mCellHeight = 0.2f; + mSettings.mCellSize = 0.2f; + mSettings.mDetailSampleDist = 6; + mSettings.mDetailSampleMaxError = 1; + mSettings.mMaxClimb = 34; + mSettings.mMaxSimplificationError = 1.3f; + mSettings.mMaxSlope = 49; + mSettings.mRecastScaleFactor = 0.017647058823529415f; + mSettings.mMaxEdgeLen = 12; + mSettings.mMaxNavMeshQueryNodes = 2048; + mSettings.mMaxVertsPerPoly = 6; + mSettings.mRegionMergeSize = 20; + mSettings.mRegionMinSize = 8; + mSettings.mTileSize = 64; + mSettings.mMaxPolygonPathSize = 1024; + mSettings.mMaxSmoothPathSize = 1024; + mSettings.mTrianglesPerChunk = 256; + mNavigator.reset(new Navigator(mSettings)); + } + }; + + TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path) + { + const std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->update(); + mNavigator->wait(); + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.85963428020477294921875), + osg::Vec3f(-194.9653167724609375, 194.9653167724609375, -6.5760211944580078125), + osg::Vec3f(-174.930633544921875, 174.930633544921875, -15.01167774200439453125), + osg::Vec3f(-154.8959503173828125, 154.8959503173828125, -23.4473323822021484375), + osg::Vec3f(-134.86126708984375, 134.86126708984375, -31.8829898834228515625), + osg::Vec3f(-114.82657623291015625, 114.82657623291015625, -40.3186492919921875), + osg::Vec3f(-94.7918853759765625, 94.7918853759765625, -47.39907073974609375), + osg::Vec3f(-74.75719451904296875, 74.75719451904296875, -53.7258148193359375), + osg::Vec3f(-54.722499847412109375, 54.722499847412109375, -60.052555084228515625), + osg::Vec3f(-34.68780517578125, 34.68780517578125, -66.37929534912109375), + osg::Vec3f(-14.6531162261962890625, 14.6531162261962890625, -72.70604705810546875), + osg::Vec3f(5.3815765380859375, -5.3815765380859375, -75.35065460205078125), + osg::Vec3f(25.41626739501953125, -25.41626739501953125, -67.96945953369140625), + osg::Vec3f(45.450958251953125, -45.450958251953125, -60.58824920654296875), + osg::Vec3f(65.48564910888671875, -65.48564910888671875, -53.20705413818359375), + osg::Vec3f(85.5203399658203125, -85.5203399658203125, -45.825855255126953125), + osg::Vec3f(105.55503082275390625, -105.55503082275390625, -38.44464874267578125), + osg::Vec3f(125.5897216796875, -125.5897216796875, -31.063449859619140625), + osg::Vec3f(145.6244049072265625, -145.6244049072265625, -23.6822509765625), + osg::Vec3f(165.659088134765625, -165.659088134765625, -16.3010540008544921875), + osg::Vec3f(185.6937713623046875, -185.6937713623046875, -8.91985416412353515625), + osg::Vec3f(205.7284698486328125, -205.7284698486328125, -1.53864824771881103515625), + osg::Vec3f(215, -215, 1.877177715301513671875), + })) << mPath; + } + + TEST_F(DetourNavigatorNavigatorTest, for_overlapping_heightfields_should_use_higher) + { + const std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + const std::array heightfieldData2 {{ + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + }}; + btHeightfieldTerrainShape shape2(5, 5, heightfieldData2.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape2.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addObject(2, shape2, btTransform::getIdentity()); + mNavigator->update(); + mNavigator->wait(); + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.96328866481781005859375), + osg::Vec3f(-194.9653167724609375, 194.9653167724609375, -0.2422157227993011474609375), + osg::Vec3f(-174.930633544921875, 174.930633544921875, -2.44772052764892578125), + osg::Vec3f(-154.8959503173828125, 154.8959503173828125, -4.653223514556884765625), + osg::Vec3f(-134.86126708984375, 134.86126708984375, -6.858728885650634765625), + osg::Vec3f(-114.82657623291015625, 114.82657623291015625, -9.0642337799072265625), + osg::Vec3f(-94.7918853759765625, 94.7918853759765625, -11.26973724365234375), + osg::Vec3f(-74.75719451904296875, 74.75719451904296875, -13.26497173309326171875), + osg::Vec3f(-54.722499847412109375, 54.722499847412109375, -15.24860286712646484375), + osg::Vec3f(-34.68780517578125, 34.68780517578125, -17.2322368621826171875), + osg::Vec3f(-14.6531162261962890625, 14.6531162261962890625, -19.2158660888671875), + osg::Vec3f(5.3815765380859375, -5.3815765380859375, -20.1338443756103515625), + osg::Vec3f(25.41626739501953125, -25.41626739501953125, -18.150211334228515625), + osg::Vec3f(45.450958251953125, -45.450958251953125, -16.1665802001953125), + osg::Vec3f(65.48564910888671875, -65.48564910888671875, -14.18294811248779296875), + osg::Vec3f(85.5203399658203125, -85.5203399658203125, -12.19931507110595703125), + osg::Vec3f(105.55503082275390625, -105.55503082275390625, -10.08488559722900390625), + osg::Vec3f(125.5897216796875, -125.5897216796875, -7.879383563995361328125), + osg::Vec3f(145.6244049072265625, -145.6244049072265625, -5.673877239227294921875), + osg::Vec3f(165.659088134765625, -165.659088134765625, -3.4683735370635986328125), + osg::Vec3f(185.6937713623046875, -185.6937713623046875, -1.2628715038299560546875), + osg::Vec3f(205.7284698486328125, -205.7284698486328125, 0.9426348209381103515625), + osg::Vec3f(215, -215, 1.96328866481781005859375), + })) << mPath; + } +} diff --git a/apps/openmw_test_suite/detournavigator/operators.hpp b/apps/openmw_test_suite/detournavigator/operators.hpp new file mode 100644 index 000000000..8e6b97af6 --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/operators.hpp @@ -0,0 +1,40 @@ +#ifndef OPENMW_TEST_SUITE_DETOURNAVIGATOR_OPERATORS_H +#define OPENMW_TEST_SUITE_DETOURNAVIGATOR_OPERATORS_H + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +namespace DetourNavigator +{ + static inline bool operator ==(const TileBounds& lhs, const TileBounds& rhs) + { + return lhs.mMin == rhs.mMin && lhs.mMax == rhs.mMax; + } +} + +namespace testing +{ + template <> + inline testing::Message& Message::operator <<(const std::deque& value) + { + (*this) << "{\n"; + for (const auto& v : value) + { + std::ostringstream stream; + stream << v; + (*this) << stream.str() << ",\n"; + } + return (*this) << "}"; + } +} + +#endif diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp new file mode 100644 index 000000000..ff72bc3eb --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -0,0 +1,81 @@ +#include "operators.hpp" + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +namespace +{ + using namespace testing; + using namespace DetourNavigator; + + struct DetourNavigatorRecastMeshBuilderTest : Test + { + Settings mSettings; + RecastMeshBuilder mBuilder; + + DetourNavigatorRecastMeshBuilderTest() + : mBuilder(mSettings) + { + mSettings.mRecastScaleFactor = 1.0f; + mSettings.mTrianglesPerChunk = 256; + } + }; + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape) + { + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape shape(&mesh, true); + mBuilder.addObject(shape, btTransform::getIdentity()); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 1, 0, -1, + -1, 0, 1, + -1, 0, -1, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_bhv_triangle_mesh_shape) + { + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape shape(&mesh, true); + mBuilder.addObject(shape, + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 2, 3, 0, + 0, 3, 4, + 0, 3, 0, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_terrian_shape) + { + const std::array heightfieldData {{0, 0, 0, 0}}; + btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + mBuilder.addObject(shape, btTransform::getIdentity()); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + -0.5, 0, -0.5, + -0.5, 0, 0.5, + 0.5, 0, -0.5, + 0.5, 0, -0.5, + -0.5, 0, 0.5, + 0.5, 0, 0.5, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); + } +} diff --git a/apps/openmw_test_suite/detournavigator/settingsutils.cpp b/apps/openmw_test_suite/detournavigator/settingsutils.cpp new file mode 100644 index 000000000..ffed64ab8 --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/settingsutils.cpp @@ -0,0 +1,68 @@ +#include "operators.hpp" + +#include + +#include + +namespace +{ + using namespace testing; + using namespace DetourNavigator; + + struct DetourNavigatorGetTilePositionTest : Test + { + Settings mSettings; + + DetourNavigatorGetTilePositionTest() + { + mSettings.mCellSize = 0.5; + mSettings.mTileSize = 64; + } + }; + + TEST_F(DetourNavigatorGetTilePositionTest, for_zero_coordinates_should_return_zero_tile_position) + { + EXPECT_EQ(getTilePosition(mSettings, osg::Vec3f(0, 0, 0)), TilePosition(0, 0)); + } + + TEST_F(DetourNavigatorGetTilePositionTest, tile_size_should_be_multiplied_by_cell_size) + { + EXPECT_EQ(getTilePosition(mSettings, osg::Vec3f(32, 0, 0)), TilePosition(1, 0)); + } + + TEST_F(DetourNavigatorGetTilePositionTest, tile_position_calculates_by_floor) + { + EXPECT_EQ(getTilePosition(mSettings, osg::Vec3f(31, 0, 0)), TilePosition(0, 0)); + } + + TEST_F(DetourNavigatorGetTilePositionTest, tile_position_depends_on_x_and_z_coordinates) + { + EXPECT_EQ(getTilePosition(mSettings, osg::Vec3f(32, 64, 128)), TilePosition(1, 4)); + } + + TEST_F(DetourNavigatorGetTilePositionTest, tile_position_works_for_negative_coordinates) + { + EXPECT_EQ(getTilePosition(mSettings, osg::Vec3f(-31, 0, -32)), TilePosition(-1, -1)); + } + + struct DetourNavigatorMakeTileBoundsTest : Test + { + Settings mSettings; + + DetourNavigatorMakeTileBoundsTest() + { + mSettings.mCellSize = 0.5; + mSettings.mTileSize = 64; + } + }; + + TEST_F(DetourNavigatorMakeTileBoundsTest, tile_bounds_depend_on_tile_size_and_cell_size) + { + EXPECT_EQ(makeTileBounds(mSettings, TilePosition(0, 0)), (TileBounds {osg::Vec2f(0, 0), osg::Vec2f(32, 32)})); + } + + TEST_F(DetourNavigatorMakeTileBoundsTest, tile_bounds_are_multiplied_by_tile_position) + { + EXPECT_EQ(makeTileBounds(mSettings, TilePosition(1, 2)), (TileBounds {osg::Vec2f(32, 64), osg::Vec2f(64, 96)})); + } +} diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index 5c245afd0..2b857d811 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -156,6 +156,20 @@ if(NOT WIN32 AND NOT ANDROID) ) endif() +add_component_dir(detournavigator + debug + makenavmesh + findsmoothpath + recastmeshbuilder + recastmeshmanager + cachedrecastmeshmanager + navmeshmanager + navigator + asyncnavmeshupdater + chunkytrimesh + recastmesh + ) + set (ESM_UI ${CMAKE_SOURCE_DIR}/files/ui/contentselector.ui ) @@ -196,6 +210,10 @@ include_directories(${Bullet_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}) add_library(components STATIC ${COMPONENT_FILES} ${MOC_SRCS} ${ESM_UI_HDR}) +find_package(RecastNavigation COMPONENTS Detour Recast REQUIRED) + +include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) + target_link_libraries(components ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} @@ -214,6 +232,7 @@ target_link_libraries(components ${SDL2_LIBRARIES} ${OPENGL_gl_LIBRARY} ${MyGUI_LIBRARIES} + ${RecastNavigation_LIBRARIES} ) if (WIN32) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp new file mode 100644 index 000000000..3a95f19d9 --- /dev/null +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -0,0 +1,113 @@ +#include "asyncnavmeshupdater.hpp" +#include "debug.hpp" +#include "makenavmesh.hpp" +#include "settings.hpp" + +#include + +#include + +namespace DetourNavigator +{ + AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings) + : mSettings(settings) + , mMaxRevision(0) + , mShouldStop() + , mThread([&] { process(); }) + { + } + + AsyncNavMeshUpdater::~AsyncNavMeshUpdater() + { + mShouldStop = true; + std::unique_lock lock(mMutex); + mJobs.clear(); + mHasJob.notify_all(); + lock.unlock(); + mThread.join(); + } + + void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, + const std::shared_ptr& navMeshCacheItem) + { + const std::lock_guard lock(mMutex); + mJobs[agentHalfExtents] = Job {agentHalfExtents, recastMesh, navMeshCacheItem}; + mHasJob.notify_all(); + } + + void AsyncNavMeshUpdater::wait() + { + std::unique_lock lock(mMutex); + mDone.wait(lock, [&] { return mJobs.empty(); }); + } + + void AsyncNavMeshUpdater::process() throw() + { + log("start process jobs"); + while (!mShouldStop) + { + try + { + if (const auto job = getNextJob()) + processJob(*job); + } + catch (const std::exception& e) + { + DetourNavigator::log("AsyncNavMeshUpdater::process exception: ", e.what()); + ::Log(Debug::Error) << "Exception while process navmesh updated job: " << e.what(); + } + } + log("stop process jobs"); + } + + void AsyncNavMeshUpdater::processJob(const Job& job) + { + log("process job for agent=", job.mAgentHalfExtents, + " revision=", job.mNavMeshCacheItem->mRevision, + " max_revision=", mMaxRevision); + + if (job.mNavMeshCacheItem->mRevision < mMaxRevision) + return; + + mMaxRevision = job.mNavMeshCacheItem->mRevision; + + const auto start = std::chrono::steady_clock::now(); + + job.mNavMeshCacheItem->mValue = makeNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, mSettings); + + const auto finish = std::chrono::steady_clock::now(); + + writeDebugFiles(job); + + using FloatMs = std::chrono::duration; + + log("cache updated for agent=", job.mAgentHalfExtents, + " time=", std::chrono::duration_cast(finish - start).count(), "ms"); + } + + boost::optional AsyncNavMeshUpdater::getNextJob() + { + std::unique_lock lock(mMutex); + if (mJobs.empty()) + mHasJob.wait_for(lock, std::chrono::milliseconds(10)); + if (mJobs.empty()) + { + mDone.notify_all(); + return boost::none; + } + log("got ", mJobs.size(), " jobs"); + const auto job = mJobs.begin()->second; + mJobs.erase(mJobs.begin()); + return job; + } + + void AsyncNavMeshUpdater::writeDebugFiles(const Job& job) const + { +#ifdef OPENMW_WRITE_TO_FILE + const auto revision = std::to_string((std::chrono::steady_clock::now() + - std::chrono::steady_clock::time_point()).count()); + writeToFile(*job.mRecastMesh, revision); + writeToFile(*job.mNavMeshCacheItem->mValue, revision); +#endif + } +} diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp new file mode 100644 index 000000000..cdcc3432c --- /dev/null +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -0,0 +1,75 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H + +#include "recastmesh.hpp" + +#include + +#include + +#include +#include +#include +#include +#include +#include + +class dtNavMesh; + +namespace DetourNavigator +{ + using NavMeshConstPtr = std::shared_ptr; + + struct NavMeshCacheItem + { + NavMeshConstPtr mValue = nullptr; + std::size_t mRevision; + + NavMeshCacheItem(std::size_t mRevision) + : mRevision(mRevision) + {} + }; + + class AsyncNavMeshUpdater + { + public: + AsyncNavMeshUpdater(const Settings& settings); + ~AsyncNavMeshUpdater(); + + void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, + const std::shared_ptr& navMeshCacheItem); + + void wait(); + + private: + struct Job + { + osg::Vec3f mAgentHalfExtents; + std::shared_ptr mRecastMesh; + std::shared_ptr mNavMeshCacheItem; + }; + + using Jobs = std::map; + + std::reference_wrapper mSettings; + std::atomic_size_t mMaxRevision; + std::atomic_bool mShouldStop; + std::mutex mMutex; + std::condition_variable mHasJob; + std::condition_variable mDone; + Jobs mJobs; + std::thread mThread; + + void process() throw(); + + void processJob(const Job& job); + + boost::optional getNextJob(); + + void notifyHasJob(); + + void writeDebugFiles(const Job& job) const; + }; +} + +#endif diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp new file mode 100644 index 000000000..126732038 --- /dev/null +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -0,0 +1,25 @@ +#include "cachedrecastmeshmanager.hpp" +#include "debug.hpp" + +namespace DetourNavigator +{ + CachedRecastMeshManager::CachedRecastMeshManager(const Settings& settings) + : mImpl(settings) + { + } + + bool CachedRecastMeshManager::removeObject(std::size_t id) + { + if (!mImpl.removeObject(id)) + return false; + mCached.reset(); + return true; + } + + std::shared_ptr CachedRecastMeshManager::getMesh() + { + if (!mCached) + mCached = mImpl.getMesh(); + return mCached; + } +} diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp new file mode 100644 index 000000000..3cfe9a56f --- /dev/null +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -0,0 +1,34 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_CACHEDRECASTMESHMANAGER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_CACHEDRECASTMESHMANAGER_H + +#include "recastmeshmanager.hpp" + +#include + +namespace DetourNavigator +{ + class CachedRecastMeshManager + { + public: + CachedRecastMeshManager(const Settings& settings); + + template + bool addObject(std::size_t id, const T& shape, const btTransform& transform) + { + if (!mImpl.addObject(id, shape, transform)) + return false; + mCached.reset(); + return true; + } + + bool removeObject(std::size_t id); + + std::shared_ptr getMesh(); + + private: + RecastMeshManager mImpl; + std::shared_ptr mCached; + }; +} + +#endif diff --git a/components/detournavigator/chunkytrimesh.cpp b/components/detournavigator/chunkytrimesh.cpp new file mode 100644 index 000000000..9402569fc --- /dev/null +++ b/components/detournavigator/chunkytrimesh.cpp @@ -0,0 +1,174 @@ +#include "chunkytrimesh.hpp" + +#include + +#include + +namespace DetourNavigator +{ + namespace + { + struct BoundsItem + { + Rect mBounds; + std::ptrdiff_t mOffset; + }; + + template + struct LessBoundsItem + { + bool operator ()(const BoundsItem& lhs, const BoundsItem& rhs) const + { + return lhs.mBounds.mMinBound[axis] < rhs.mBounds.mMinBound[axis]; + } + }; + + void calcExtends(const std::vector& items, const std::size_t imin, const std::size_t imax, + Rect& bounds) + { + bounds = items[imin].mBounds; + + std::for_each( + items.begin() + static_cast(imin) + 1, + items.begin() + static_cast(imax), + [&] (const BoundsItem& item) + { + for (int i = 0; i < 2; ++i) + { + bounds.mMinBound[i] = std::min(bounds.mMinBound[i], item.mBounds.mMinBound[i]); + bounds.mMaxBound[i] = std::max(bounds.mMaxBound[i], item.mBounds.mMaxBound[i]); + } + }); + } + + void subdivide(std::vector& items, const std::size_t imin, const std::size_t imax, + const std::size_t trisPerChunk, const std::vector& inIndices, + std::size_t& curNode, std::vector& nodes, std::size_t& curTri, + std::vector& outIndices) + { + const auto inum = imax - imin; + const auto icur = curNode; + + if (curNode > nodes.size()) + return; + + ChunkyTriMeshNode& node = nodes[curNode++]; + + if (inum <= trisPerChunk) + { + // Leaf + calcExtends(items, imin, imax, node.mBounds); + + // Copy triangles. + node.mOffset = static_cast(curTri); + node.mSize = inum; + + for (std::size_t i = imin; i < imax; ++i) + { + std::copy( + inIndices.begin() + items[i].mOffset * 3, + inIndices.begin() + items[i].mOffset * 3 + 3, + outIndices.begin() + static_cast(curTri) * 3 + ); + curTri++; + } + } + else + { + // Split + calcExtends(items, imin, imax, node.mBounds); + + if (node.mBounds.mMaxBound.x() - node.mBounds.mMinBound.x() + >= node.mBounds.mMaxBound.y() - node.mBounds.mMinBound.y()) + { + // Sort along x-axis + std::sort( + items.begin() + static_cast(imin), + items.begin() + static_cast(imax), + LessBoundsItem<0> {} + ); + } + else + { + // Sort along y-axis + std::sort( + items.begin() + static_cast(imin), + items.begin() + static_cast(imax), + LessBoundsItem<1> {} + ); + } + + const auto isplit = imin + inum / 2; + + // Left + subdivide(items, imin, isplit, trisPerChunk, inIndices, curNode, nodes, curTri, outIndices); + // Right + subdivide(items, isplit, imax, trisPerChunk, inIndices, curNode, nodes, curTri, outIndices); + + const auto iescape = static_cast(curNode) - static_cast(icur); + // Negative index means escape. + node.mOffset = -iescape; + } + } + } + + ChunkyTriMesh::ChunkyTriMesh(const std::vector& verts, const std::vector& indices, + const std::size_t trisPerChunk) + : mMaxTrisPerChunk(0) + { + const auto trianglesCount = indices.size() / 3; + + if (trianglesCount == 0) + return; + + const auto nchunks = (trianglesCount + trisPerChunk - 1) / trisPerChunk; + + mNodes.resize(nchunks * 4); + mIndices.resize(trianglesCount * 3); + + // Build tree + std::vector items(trianglesCount); + + for (std::size_t i = 0; i < trianglesCount; i++) + { + auto& item = items[i]; + + item.mOffset = static_cast(i); + + // Calc triangle XZ bounds. + const auto baseIndex = static_cast(indices[i * 3]) * 3; + + item.mBounds.mMinBound.x() = item.mBounds.mMaxBound.x() = verts[baseIndex + 0]; + item.mBounds.mMinBound.y() = item.mBounds.mMaxBound.y() = verts[baseIndex + 2]; + + for (std::size_t j = 1; j < 3; ++j) + { + const auto index = static_cast(indices[i * 3 + j]) * 3; + + item.mBounds.mMinBound.x() = std::min(item.mBounds.mMinBound.x(), verts[index + 0]); + item.mBounds.mMinBound.y() = std::min(item.mBounds.mMinBound.y(), verts[index + 2]); + + item.mBounds.mMaxBound.x() = std::max(item.mBounds.mMaxBound.x(), verts[index + 0]); + item.mBounds.mMaxBound.y() = std::max(item.mBounds.mMaxBound.y(), verts[index + 2]); + } + } + + std::size_t curTri = 0; + std::size_t curNode = 0; + subdivide(items, 0, trianglesCount, trisPerChunk, indices, curNode, mNodes, curTri, mIndices); + + items.clear(); + + mNodes.resize(curNode); + + // Calc max tris per node. + for (auto& node : mNodes) + { + const bool isLeaf = node.mOffset >= 0; + if (!isLeaf) + continue; + if (node.mSize > mMaxTrisPerChunk) + mMaxTrisPerChunk = node.mSize; + } + } +} diff --git a/components/detournavigator/chunkytrimesh.hpp b/components/detournavigator/chunkytrimesh.hpp new file mode 100644 index 000000000..bc1898e2f --- /dev/null +++ b/components/detournavigator/chunkytrimesh.hpp @@ -0,0 +1,93 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_CHUNKYTRIMESH_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_CHUNKYTRIMESH_H + +#include + +#include +#include + +namespace DetourNavigator +{ + struct Rect + { + osg::Vec2f mMinBound; + osg::Vec2f mMaxBound; + }; + + struct ChunkyTriMeshNode + { + Rect mBounds; + std::ptrdiff_t mOffset; + std::size_t mSize; + }; + + struct Chunk + { + const int* const mIndices; + const std::size_t mSize; + }; + + inline bool checkOverlapRect(const Rect& lhs, const Rect& rhs) + { + bool overlap = true; + overlap = (lhs.mMinBound.x() > rhs.mMaxBound.x() || lhs.mMaxBound.x() < rhs.mMinBound.x()) ? false : overlap; + overlap = (lhs.mMinBound.y() > rhs.mMaxBound.y() || lhs.mMaxBound.y() < rhs.mMinBound.y()) ? false : overlap; + return overlap; + } + + class ChunkyTriMesh + { + public: + /// Creates partitioned triangle mesh (AABB tree), + /// where each node contains at max trisPerChunk triangles. + ChunkyTriMesh(const std::vector& verts, const std::vector& tris, std::size_t trisPerChunk); + + ChunkyTriMesh(const ChunkyTriMesh&) = delete; + ChunkyTriMesh& operator=(const ChunkyTriMesh&) = delete; + + /// Returns the chunk indices which overlap the input rectable. + template + void getChunksOverlappingRect(const Rect& rect, OutputIterator out) const + { + // Traverse tree + for (std::size_t i = 0; i < mNodes.size(); ) + { + const ChunkyTriMeshNode* node = &mNodes[i]; + const bool overlap = checkOverlapRect(rect, node->mBounds); + const bool isLeafNode = node->mOffset >= 0; + + if (isLeafNode && overlap) + *out++ = i; + + if (overlap || isLeafNode) + i++; + else + { + const auto escapeIndex = -node->mOffset; + i += static_cast(escapeIndex); + } + } + } + + Chunk getChunk(const std::size_t chunkId) const + { + const auto& node = mNodes[chunkId]; + return Chunk { + mIndices.data() + node.mOffset * 3, + node.mSize + }; + } + + std::size_t getMaxTrisPerChunk() const + { + return mMaxTrisPerChunk; + } + + private: + std::vector mNodes; + std::vector mIndices; + std::size_t mMaxTrisPerChunk; + }; +} + +#endif diff --git a/components/detournavigator/debug.cpp b/components/detournavigator/debug.cpp new file mode 100644 index 000000000..0b783fd90 --- /dev/null +++ b/components/detournavigator/debug.cpp @@ -0,0 +1,163 @@ +#include "debug.hpp" + +#define OPENMW_WRITE_TO_FILE +#define OPENMW_WRITE_OBJ + +#ifdef OPENMW_WRITE_OBJ +#include "exceptions.hpp" + +#include +#endif + +#ifdef OPENMW_WRITE_TO_FILE +#include "exceptions.hpp" +#include "recastmesh.hpp" + +#include + +#include +#endif + +#include +#include + +namespace +{ +#ifdef OPENMW_WRITE_TO_FILE + static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET'; + static const int NAVMESHSET_VERSION = 1; + + struct NavMeshSetHeader + { + int magic; + int version; + int numTiles; + dtNavMeshParams params; + }; + + struct NavMeshTileHeader + { + dtTileRef tileRef; + int dataSize; + }; +#endif +} + +namespace DetourNavigator +{ +// Use to dump scene to load from recastnavigation demo tool +#ifdef OPENMW_WRITE_OBJ + void writeObj(const std::vector& vertices, const std::vector& indices) + { + const auto path = std::string("scene.") + std::to_string(std::time(nullptr)) + ".obj"; + std::ofstream file(path); + if (!file.is_open()) + throw NavigatorException("Open file failed: " + path); + file.exceptions(std::ios::failbit | std::ios::badbit); + file.precision(std::numeric_limits::max_exponent10); + std::size_t count = 0; + for (auto v : vertices) + { + if (count % 3 == 0) + { + if (count != 0) + file << '\n'; + file << 'v'; + } + file << ' ' << v; + ++count; + } + file << '\n'; + count = 0; + for (auto v : indices) + { + if (count % 3 == 0) + { + if (count != 0) + file << '\n'; + file << 'f'; + } + file << ' ' << (v + 1); + ++count; + } + file << '\n'; + } +#endif + +#ifdef OPENMW_WRITE_TO_FILE + void writeToFile(const RecastMesh& recastMesh, const std::string& revision) + { + const auto path = "recastmesh." + revision + ".obj"; + std::ofstream file(path); + if (!file.is_open()) + throw NavigatorException("Open file failed: " + path); + file.exceptions(std::ios::failbit | std::ios::badbit); + file.precision(std::numeric_limits::max_exponent10); + std::size_t count = 0; + for (auto v : recastMesh.getVertices()) + { + if (count % 3 == 0) + { + if (count != 0) + file << '\n'; + file << 'v'; + } + file << ' ' << v; + ++count; + } + file << '\n'; + count = 0; + for (auto v : recastMesh.getIndices()) + { + if (count % 3 == 0) + { + if (count != 0) + file << '\n'; + file << 'f'; + } + file << ' ' << (v + 1); + ++count; + } + file << '\n'; + } + + void writeToFile(const dtNavMesh& navMesh, const std::string& revision) + { + const auto path = "navmesh." + revision + ".bin"; + std::ofstream file(path, std::ios::binary); + if (!file.is_open()) + throw NavigatorException("Open file failed: " + path); + file.exceptions(std::ios::failbit | std::ios::badbit); + + NavMeshSetHeader header; + header.magic = NAVMESHSET_MAGIC; + header.version = NAVMESHSET_VERSION; + header.numTiles = 0; + for (int i = 0; i < navMesh.getMaxTiles(); ++i) + { + const auto tile = navMesh.getTile(i); + if (!tile || !tile->header || !tile->dataSize) + continue; + header.numTiles++; + } + header.params = *navMesh.getParams(); + + using const_char_ptr = const char*; + file.write(const_char_ptr(&header), sizeof(header)); + + for (int i = 0; i < navMesh.getMaxTiles(); ++i) + { + const auto tile = navMesh.getTile(i); + if (!tile || !tile->header || !tile->dataSize) + continue; + + NavMeshTileHeader tileHeader; + tileHeader.tileRef = navMesh.getTileRef(tile); + tileHeader.dataSize = tile->dataSize; + + file.write(const_char_ptr(&tileHeader), sizeof(tileHeader)); + file.write(const_char_ptr(tile->data), tile->dataSize); + } + } +#endif +} diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp new file mode 100644 index 000000000..c9f25ca49 --- /dev/null +++ b/components/detournavigator/debug.hpp @@ -0,0 +1,63 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_DEBUG_H + +#include "tilebounds.hpp" + +#include +#include + +#include +#include +#include +#include + +#ifdef OPENMW_WRITE_OBJ +#include +#endif + +#ifdef OPENMW_WRITE_TO_FILE +class dtNavMesh; +#endif + +namespace DetourNavigator +{ + inline std::ostream& operator <<(std::ostream& stream, const TileBounds& value) + { + return stream << "TileBounds {" << value.mMin << ", " << value.mMax << "}"; + } + +// Use to dump scene to load from recastnavigation demo tool +#ifdef OPENMW_WRITE_OBJ + void writeObj(const std::vector& vertices, const std::vector& indices); +#endif + +#ifdef OPENMW_WRITE_TO_FILE + class RecastMesh; + + void writeToFile(const RecastMesh& recastMesh, const std::string& revision); + + void writeToFile(const dtNavMesh& navMesh, const std::string& revision); +#endif + + inline void write(std::ostream& stream) + { + stream << '\n'; + } + + template + void write(std::ostream& stream, const Head& head, const Tail& ... tail) + { + stream << head; + write(stream, tail ...); + } + + template + void log(Ts&& ... values) + { + std::ostringstream stream; + write(stream, std::forward(values) ...); + std::cout << stream.str(); + } +} + +#endif diff --git a/components/detournavigator/dtstatus.hpp b/components/detournavigator/dtstatus.hpp new file mode 100644 index 000000000..5360b5ce3 --- /dev/null +++ b/components/detournavigator/dtstatus.hpp @@ -0,0 +1,66 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_DTSTATUS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_DTSTATUS_H + +#include "exceptions.hpp" + +#include + +#include +#include + +namespace DetourNavigator +{ + struct WriteDtStatus + { + dtStatus status; + }; + + static const std::vector> dtStatuses { + {DT_FAILURE, "DT_FAILURE"}, + {DT_SUCCESS, "DT_SUCCESS"}, + {DT_IN_PROGRESS, "DT_IN_PROGRESS"}, + {DT_WRONG_MAGIC, "DT_WRONG_MAGIC"}, + {DT_WRONG_VERSION, "DT_WRONG_VERSION"}, + {DT_OUT_OF_MEMORY, "DT_OUT_OF_MEMORY"}, + {DT_INVALID_PARAM, "DT_INVALID_PARAM"}, + {DT_BUFFER_TOO_SMALL, "DT_BUFFER_TOO_SMALL"}, + {DT_OUT_OF_NODES, "DT_OUT_OF_NODES"}, + {DT_PARTIAL_RESULT, "DT_PARTIAL_RESULT"}, + }; + + inline std::ostream& operator <<(std::ostream& stream, const WriteDtStatus& value) + { + for (const auto& status : dtStatuses) + if (value.status & status.first) + stream << status.second << " "; + return stream; + } + + inline void checkDtStatus(dtStatus status, const char* call, int line) + { + if (!dtStatusSucceed(status)) + { + std::ostringstream message; + message << call << " failed with status=" << WriteDtStatus {status} << " at " __FILE__ ":" << line; + throw NavigatorException(message.str()); + } + } + + inline void checkDtResult(bool result, const char* call, int line) + { + if (!result) + { + std::ostringstream message; + message << call << " failed at " __FILE__ ":" << line; + throw NavigatorException(message.str()); + } + } +} + +#define OPENMW_CHECK_DT_STATUS(call) \ + do { DetourNavigator::checkDtStatus((call), #call, __LINE__); } while (false) + +#define OPENMW_CHECK_DT_RESULT(call) \ + do { DetourNavigator::checkDtResult((call), #call, __LINE__); } while (false) + +#endif diff --git a/components/detournavigator/exceptions.hpp b/components/detournavigator/exceptions.hpp new file mode 100644 index 000000000..e547aaaf4 --- /dev/null +++ b/components/detournavigator/exceptions.hpp @@ -0,0 +1,15 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_EXCEPTIONS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_EXCEPTIONS_H + +#include + +namespace DetourNavigator +{ + struct NavigatorException : std::runtime_error + { + NavigatorException(const std::string& message) : std::runtime_error(message) {} + NavigatorException(const char* message) : std::runtime_error(message) {} + }; +} + +#endif diff --git a/components/detournavigator/findsmoothpath.cpp b/components/detournavigator/findsmoothpath.cpp new file mode 100644 index 000000000..e59b80114 --- /dev/null +++ b/components/detournavigator/findsmoothpath.cpp @@ -0,0 +1,143 @@ +#include "findsmoothpath.hpp" + +#include +#include + +namespace DetourNavigator +{ + std::vector fixupCorridor(const std::vector& path, const std::vector& visited) + { + std::vector::const_reverse_iterator furthestVisited; + + // Find furthest common polygon. + const auto it = std::find_if(path.rbegin(), path.rend(), [&] (dtPolyRef pathValue) + { + const auto it = std::find(visited.rbegin(), visited.rend(), pathValue); + if (it == visited.rend()) + return false; + furthestVisited = it; + return true; + }); + + // If no intersection found just return current path. + if (it == path.rend()) + return path; + const auto furthestPath = it.base() - 1; + + // Concatenate paths. + + // visited: a_1 ... a_n x b_1 ... b_n + // furthestVisited ^ + // path: C x D + // ^ furthestPath + // result: x b_n ... b_1 D + + std::vector result; + result.reserve(static_cast(furthestVisited - visited.rbegin()) + + static_cast(path.end() - furthestPath) - 1); + std::copy(visited.rbegin(), furthestVisited + 1, std::back_inserter(result)); + std::copy(furthestPath + 1, path.end(), std::back_inserter(result)); + + return result; + } + + // This function checks if the path has a small U-turn, that is, + // a polygon further in the path is adjacent to the first polygon + // in the path. If that happens, a shortcut is taken. + // This can happen if the target (T) location is at tile boundary, + // and we're (S) approaching it parallel to the tile edge. + // The choice at the vertex can be arbitrary, + // +---+---+ + // |:::|:::| + // +-S-+-T-+ + // |:::| | <-- the step can end up in here, resulting U-turn path. + // +---+---+ + std::vector fixupShortcuts(const std::vector& path, const dtNavMeshQuery& navQuery) + { + if (path.size() < 3) + return path; + + // Get connected polygons + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + if (dtStatusFailed(navQuery.getAttachedNavMesh()->getTileAndPolyByRef(path[0], &tile, &poly))) + return path; + + const std::size_t maxNeis = 16; + std::array neis; + std::size_t nneis = 0; + + for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) + { + const dtLink* link = &tile->links[k]; + if (link->ref != 0) + { + if (nneis < maxNeis) + neis[nneis++] = link->ref; + } + } + + // If any of the neighbour polygons is within the next few polygons + // in the path, short cut to that polygon directly. + const std::size_t maxLookAhead = 6; + std::size_t cut = 0; + for (std::size_t i = std::min(maxLookAhead, path.size()) - 1; i > 1 && cut == 0; i--) + { + for (std::size_t j = 0; j < nneis; j++) + { + if (path[i] == neis[j]) + { + cut = i; + break; + } + } + } + if (cut <= 1) + return path; + + std::vector result; + const auto offset = cut - 1; + result.reserve(1 + path.size() - offset); + result.push_back(path.front()); + std::copy(path.begin() + std::ptrdiff_t(offset), path.end(), std::back_inserter(result)); + return result; + } + + boost::optional getSteerTarget(const dtNavMeshQuery& navQuery, const osg::Vec3f& startPos, + const osg::Vec3f& endPos, const float minTargetDist, const std::vector& path) + { + // Find steer target. + SteerTarget result; + const int MAX_STEER_POINTS = 3; + std::array steerPath; + std::array steerPathFlags; + std::array steerPathPolys; + int nsteerPath = 0; + navQuery.findStraightPath(startPos.ptr(), endPos.ptr(), path.data(), int(path.size()), steerPath.data(), + steerPathFlags.data(), steerPathPolys.data(), &nsteerPath, MAX_STEER_POINTS); + assert(nsteerPath >= 0); + if (!nsteerPath) + return boost::none; + + // Find vertex far enough to steer to. + std::size_t ns = 0; + while (ns < static_cast(nsteerPath)) + { + // Stop at Off-Mesh link or when point is further than slop away. + if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) || + !inRange(makeOsgVec3f(&steerPath[ns * 3]), startPos, minTargetDist, 1000.0f)) + break; + ns++; + } + // Failed to find good point to steer to. + if (ns >= static_cast(nsteerPath)) + return boost::none; + + dtVcopy(result.steerPos.ptr(), &steerPath[ns * 3]); + result.steerPos.y() = startPos[1]; + result.steerPosFlag = steerPathFlags[ns]; + result.steerPosRef = steerPathPolys[ns]; + + return result; + } +} diff --git a/components/detournavigator/findsmoothpath.hpp b/components/detournavigator/findsmoothpath.hpp new file mode 100644 index 000000000..2fbc07c5f --- /dev/null +++ b/components/detournavigator/findsmoothpath.hpp @@ -0,0 +1,266 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_FINDSMOOTHPATH_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_FINDSMOOTHPATH_H + +#include "dtstatus.hpp" +#include "exceptions.hpp" +#include "settings.hpp" +#include "settingsutils.hpp" + +#include +#include +#include + +#include + +#include + +#include + +class dtNavMesh; + +namespace DetourNavigator +{ + struct Settings; + + inline osg::Vec3f makeOsgVec3f(const float* values) + { + return osg::Vec3f(values[0], values[1], values[2]); + } + + inline bool inRange(const osg::Vec3f& v1, const osg::Vec3f& v2, const float r, const float h) + { + const auto d = v2 - v1; + return (d.x() * d.x() + d.z() * d.z()) < r * r && std::abs(d.y()) < h; + } + + std::vector fixupCorridor(const std::vector& path, const std::vector& visited); + + // This function checks if the path has a small U-turn, that is, + // a polygon further in the path is adjacent to the first polygon + // in the path. If that happens, a shortcut is taken. + // This can happen if the target (T) location is at tile boundary, + // and we're (S) approaching it parallel to the tile edge. + // The choice at the vertex can be arbitrary, + // +---+---+ + // |:::|:::| + // +-S-+-T-+ + // |:::| | <-- the step can end up in here, resulting U-turn path. + // +---+---+ + std::vector fixupShortcuts(const std::vector& path, const dtNavMeshQuery& navQuery); + + struct SteerTarget + { + osg::Vec3f steerPos; + unsigned char steerPosFlag; + dtPolyRef steerPosRef; + }; + + boost::optional getSteerTarget(const dtNavMeshQuery& navQuery, const osg::Vec3f& startPos, + const osg::Vec3f& endPos, const float minTargetDist, const std::vector& path); + + template + class OutputTransformIterator + { + public: + OutputTransformIterator(OutputIterator& impl, const Settings& settings) + : mImpl(impl), mSettings(settings) + { + } + + OutputTransformIterator& operator *() + { + return *this; + } + + OutputTransformIterator& operator ++(int) + { + mImpl++; + return *this; + } + + OutputTransformIterator& operator =(const osg::Vec3f& value) + { + *mImpl = fromNavMeshCoordinates(mSettings, value); + return *this; + } + + private: + OutputIterator& mImpl; + const Settings& mSettings; + }; + + template + OutputIterator makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, + const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end, + std::vector polygonPath, std::size_t maxSmoothPathSize, OutputIterator out) + { + // Iterate over the path to find smooth path on the detail mesh surface. + osg::Vec3f iterPos; + navMeshQuery.closestPointOnPoly(polygonPath.front(), start.ptr(), iterPos.ptr(), 0); + + osg::Vec3f targetPos; + navMeshQuery.closestPointOnPoly(polygonPath.back(), end.ptr(), targetPos.ptr(), 0); + + const float STEP_SIZE = 0.5f; + const float SLOP = 0.01f; + + *out++ = iterPos; + + std::size_t smoothPathSize = 1; + + // Move towards target a small advancement at a time until target reached or + // when ran out of memory to store the path. + while (!polygonPath.empty() && smoothPathSize < maxSmoothPathSize) + { + // Find location to steer towards. + const auto steerTarget = getSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, polygonPath); + + if (!steerTarget) + break; + + const bool endOfPath = bool(steerTarget->steerPosFlag & DT_STRAIGHTPATH_END); + const bool offMeshConnection = bool(steerTarget->steerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION); + + // Find movement delta. + const osg::Vec3f delta = steerTarget->steerPos - iterPos; + float len = delta.length(); + // If the steer target is end of path or off-mesh link, do not move past the location. + if ((endOfPath || offMeshConnection) && len < STEP_SIZE) + len = 1; + else + len = STEP_SIZE / len; + + const osg::Vec3f moveTgt = iterPos + delta * len; + + // Move + osg::Vec3f result; + std::vector visited(16); + int nvisited = 0; + OPENMW_CHECK_DT_STATUS(navMeshQuery.moveAlongSurface(polygonPath.front(), iterPos.ptr(), moveTgt.ptr(), + &filter, result.ptr(), visited.data(), &nvisited, int(visited.size()))); + + assert(nvisited >= 0); + assert(nvisited <= int(visited.size())); + visited.resize(static_cast(nvisited)); + + polygonPath = fixupCorridor(polygonPath, visited); + polygonPath = fixupShortcuts(polygonPath, navMeshQuery); + + float h = 0; + navMeshQuery.getPolyHeight(polygonPath.front(), result.ptr(), &h); + result.y() = h; + iterPos = result; + + // Handle end of path and off-mesh links when close enough. + if (endOfPath && inRange(iterPos, steerTarget->steerPos, SLOP, 1.0f)) + { + // Reached end of path. + iterPos = targetPos; + *out++ = iterPos; + ++smoothPathSize; + break; + } + else if (offMeshConnection && inRange(iterPos, steerTarget->steerPos, SLOP, 1.0f)) + { + // Advance the path up to and over the off-mesh connection. + dtPolyRef prevRef = 0; + dtPolyRef polyRef = polygonPath.front(); + std::size_t npos = 0; + while (npos < polygonPath.size() && polyRef != steerTarget->steerPosRef) + { + prevRef = polyRef; + polyRef = polygonPath[npos]; + ++npos; + } + std::copy(polygonPath.begin() + std::ptrdiff_t(npos), polygonPath.end(), polygonPath.begin()); + polygonPath.resize(polygonPath.size() - npos); + + // Reached off-mesh connection. + osg::Vec3f startPos; + osg::Vec3f endPos; + + // Handle the connection. + if (dtStatusSucceed(navMesh.getOffMeshConnectionPolyEndPoints(prevRef, polyRef, + startPos.ptr(), endPos.ptr()))) + { + *out++ = startPos; + ++smoothPathSize; + + // Hack to make the dotted path not visible during off-mesh connection. + if (smoothPathSize & 1) + { + *out++ = startPos; + ++smoothPathSize; + } + + // Move position at the other side of the off-mesh link. + iterPos = endPos; + float eh = 0.0f; + OPENMW_CHECK_DT_STATUS(navMeshQuery.getPolyHeight(polygonPath.front(), iterPos.ptr(), &eh)); + iterPos.y() = eh; + } + } + + // Store results. + *out++ = iterPos; + ++smoothPathSize; + } + + return out; + } + + template + OutputIterator findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, + const osg::Vec3f& start, const osg::Vec3f& end, const Settings& settings, OutputIterator out) + { + dtNavMeshQuery navMeshQuery; + OPENMW_CHECK_DT_STATUS(navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes)); + + dtQueryFilter queryFilter; + + dtPolyRef startRef = 0; + osg::Vec3f startPolygonPosition; + for (int i = 0; i < 3; ++i) + { + const auto status = navMeshQuery.findNearestPoly(start.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter, + &startRef, startPolygonPosition.ptr()); + if (!dtStatusFailed(status) && startRef != 0) + break; + } + + if (startRef == 0) + throw NavigatorException("start polygon is not found at " __FILE__ ":" + std::to_string(__LINE__)); + + dtPolyRef endRef = 0; + osg::Vec3f endPolygonPosition; + for (int i = 0; i < 3; ++i) + { + const auto status = navMeshQuery.findNearestPoly(end.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter, + &endRef, endPolygonPosition.ptr()); + if (!dtStatusFailed(status) && endRef != 0) + break; + } + + if (endRef == 0) + throw NavigatorException("end polygon is not found at " __FILE__ ":" + std::to_string(__LINE__)); + + std::vector polygonPath(settings.mMaxPolygonPathSize); + int pathLen = 0; + OPENMW_CHECK_DT_STATUS(navMeshQuery.findPath(startRef, endRef, start.ptr(), end.ptr(), &queryFilter, + polygonPath.data(), &pathLen, static_cast(polygonPath.size()))); + + assert(pathLen >= 0); + + polygonPath.resize(static_cast(pathLen)); + + if (polygonPath.empty() || polygonPath.back() != endRef) + return out; + + makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, std::move(polygonPath), + settings.mMaxSmoothPathSize, OutputTransformIterator(out, settings)); + + return out; + } +} + +#endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp new file mode 100644 index 000000000..ef9b06374 --- /dev/null +++ b/components/detournavigator/makenavmesh.cpp @@ -0,0 +1,288 @@ +#include "makenavmesh.hpp" +#include "chunkytrimesh.hpp" +#include "dtstatus.hpp" +#include "exceptions.hpp" +#include "recastmesh.hpp" +#include "settings.hpp" +#include "settingsutils.hpp" + +#include +#include +#include +#include + +#include + +namespace +{ + using namespace DetourNavigator; + + void initPolyMeshDetail(rcPolyMeshDetail& value) + { + value.meshes = nullptr; + value.verts = nullptr; + value.tris = nullptr; + } + + struct PolyMeshDetailStackDeleter + { + void operator ()(rcPolyMeshDetail* value) const + { + rcFree(value->meshes); + rcFree(value->verts); + rcFree(value->tris); + } + }; + + using PolyMeshDetailStackPtr = std::unique_ptr; + + struct NavMeshDataValueDeleter + { + void operator ()(unsigned char* value) const + { + dtFree(value); + } + }; + + using NavMeshDataValue = std::unique_ptr; + + struct NavMeshData + { + NavMeshDataValue mValue; + int mSize; + + NavMeshData() = default; + + NavMeshData(unsigned char* value, int size) + : mValue(value) + , mSize(size) + {} + }; + + NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const int tileX, const int tileY, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, + const Settings& settings) + { + rcContext context; + rcConfig config; + + config.cs = settings.mCellSize; + config.ch = settings.mCellHeight; + config.walkableSlopeAngle = settings.mMaxSlope; + config.walkableHeight = static_cast(std::ceil(getHeight(settings, agentHalfExtents) / config.ch)); + config.walkableClimb = static_cast(std::floor(getMaxClimb(settings) / config.ch)); + config.walkableRadius = static_cast(std::ceil(getRadius(settings, agentHalfExtents) / config.cs)); + config.maxEdgeLen = static_cast(std::round(settings.mMaxEdgeLen / config.cs)); + config.maxSimplificationError = settings.mMaxSimplificationError; + config.minRegionArea = settings.mRegionMinSize * settings.mRegionMinSize; + config.mergeRegionArea = settings.mRegionMergeSize * settings.mRegionMergeSize; + config.maxVertsPerPoly = settings.mMaxVertsPerPoly; + config.detailSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : config.cs * settings.mDetailSampleDist; + config.detailSampleMaxError = config.ch * settings.mDetailSampleMaxError; + config.borderSize = config.walkableRadius + 3; + config.width = settings.mTileSize + config.borderSize * 2; + config.height = settings.mTileSize + config.borderSize * 2; + rcVcopy(config.bmin, boundsMin.ptr()); + rcVcopy(config.bmax, boundsMax.ptr()); + config.bmin[0] -= config.borderSize * config.cs; + config.bmin[2] -= config.borderSize * config.cs; + config.bmax[0] += config.borderSize * config.cs; + config.bmax[2] += config.borderSize * config.cs; + + rcHeightfield solid; + OPENMW_CHECK_DT_RESULT(rcCreateHeightfield(nullptr, solid, config.width, config.height, + config.bmin, config.bmax, config.cs, config.ch)); + + { + const auto& chunkyMesh = recastMesh.getChunkyTriMesh(); + std::vector areas(chunkyMesh.getMaxTrisPerChunk(), 0); + const osg::Vec2f tileBoundsMin(config.bmin[0], config.bmin[2]); + const osg::Vec2f tileBoundsMax(config.bmax[0], config.bmax[2]); + std::vector cids; + chunkyMesh.getChunksOverlappingRect(Rect {tileBoundsMin, tileBoundsMax}, std::back_inserter(cids)); + + if (cids.empty()) + return NavMeshData(); + + for (const auto cid : cids) + { + const auto chunk = chunkyMesh.getChunk(cid); + + std::fill( + areas.begin(), + std::min(areas.begin() + static_cast(chunk.mSize), + areas.end()), + 0 + ); + + rcMarkWalkableTriangles( + &context, + config.walkableSlopeAngle, + recastMesh.getVertices().data(), + static_cast(recastMesh.getVerticesCount()), + chunk.mIndices, + static_cast(chunk.mSize), + areas.data() + ); + + OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles( + &context, + recastMesh.getVertices().data(), + static_cast(recastMesh.getVerticesCount()), + chunk.mIndices, + areas.data(), + static_cast(chunk.mSize), + solid, + config.walkableClimb + )); + } + } + + rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, solid); + rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, solid); + rcFilterWalkableLowHeightSpans(&context, config.walkableHeight, solid); + + rcPolyMesh polyMesh; + rcPolyMeshDetail polyMeshDetail; + initPolyMeshDetail(polyMeshDetail); + const PolyMeshDetailStackPtr polyMeshDetailPtr(&polyMeshDetail); + { + rcCompactHeightfield compact; + + OPENMW_CHECK_DT_RESULT(rcBuildCompactHeightfield(&context, config.walkableHeight, config.walkableClimb, + solid, compact)); + OPENMW_CHECK_DT_RESULT(rcErodeWalkableArea(&context, config.walkableRadius, compact)); + OPENMW_CHECK_DT_RESULT(rcBuildDistanceField(&context, compact)); + OPENMW_CHECK_DT_RESULT(rcBuildRegions(&context, compact, config.borderSize, config.minRegionArea, + config.mergeRegionArea)); + + rcContourSet contourSet; + OPENMW_CHECK_DT_RESULT(rcBuildContours(&context, compact, config.maxSimplificationError, config.maxEdgeLen, + contourSet)); + + if (contourSet.nconts == 0) + return NavMeshData(); + + OPENMW_CHECK_DT_RESULT(rcBuildPolyMesh(&context, contourSet, config.maxVertsPerPoly, polyMesh)); + OPENMW_CHECK_DT_RESULT(rcBuildPolyMeshDetail(&context, polyMesh, compact, config.detailSampleDist, + config.detailSampleMaxError, polyMeshDetail)); + } + + for (int i = 0; i < polyMesh.npolys; ++i) + if (polyMesh.areas[i] == RC_WALKABLE_AREA) + polyMesh.flags[i] = 1; + + dtNavMeshCreateParams params; + params.verts = polyMesh.verts; + params.vertCount = polyMesh.nverts; + params.polys = polyMesh.polys; + params.polyAreas = polyMesh.areas; + params.polyFlags = polyMesh.flags; + params.polyCount = polyMesh.npolys; + params.nvp = polyMesh.nvp; + params.detailMeshes = polyMeshDetail.meshes; + params.detailVerts = polyMeshDetail.verts; + params.detailVertsCount = polyMeshDetail.nverts; + params.detailTris = polyMeshDetail.tris; + params.detailTriCount = polyMeshDetail.ntris; + params.offMeshConVerts = nullptr; + params.offMeshConRad = nullptr; + params.offMeshConDir = nullptr; + params.offMeshConAreas = nullptr; + params.offMeshConFlags = nullptr; + params.offMeshConUserID = nullptr; + params.offMeshConCount = 0; + params.walkableHeight = getHeight(settings, agentHalfExtents); + params.walkableRadius = getRadius(settings, agentHalfExtents); + params.walkableClimb = getMaxClimb(settings); + rcVcopy(params.bmin, polyMesh.bmin); + rcVcopy(params.bmax, polyMesh.bmax); + params.cs = config.cs; + params.ch = config.ch; + params.buildBvTree = true; + params.userId = 0; + params.tileX = tileX; + params.tileY = tileY; + params.tileLayer = 0; + + unsigned char* navMeshData; + int navMeshDataSize; + OPENMW_CHECK_DT_RESULT(dtCreateNavMeshData(¶ms, &navMeshData, &navMeshDataSize)); + + return NavMeshData(navMeshData, navMeshDataSize); + } + + int nextPow2(int v) + { + v--; + v |= v >> 1; + v |= v >> 2; + v |= v >> 4; + v |= v >> 8; + v |= v >> 16; + v++; + return v; + } + + NavMeshPtr makeNavMeshWithMultiTiles(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const Settings& settings) + { + osg::Vec3f boundsMin; + osg::Vec3f boundsMax; + rcCalcBounds(recastMesh.getVertices().data(), static_cast(recastMesh.getVerticesCount()), + boundsMin.ptr(), boundsMax.ptr()); + + const auto minTilePosition = getTilePosition(settings, boundsMin); + const auto maxTilePosition = getTilePosition(settings, boundsMax); + + const auto tileWidth = maxTilePosition.x() - minTilePosition.x() + 1; + const auto tileHeight = maxTilePosition.y() - minTilePosition.y() + 1; + + // Max tiles and max polys affect how the tile IDs are caculated. + // There are 22 bits available for identifying a tile and a polygon. + const auto tileBits = std::min(static_cast(std::log2(nextPow2(tileWidth * tileHeight))), 14); + const auto polyBits = 22 - tileBits; + const auto maxTiles = 1 << tileBits; + const auto maxPolysPerTile = 1 << polyBits; + + dtNavMeshParams params; + std::fill_n(params.orig, 3, 0.0f); + params.tileWidth = getTileSize(settings); + params.tileHeight = getTileSize(settings); + params.maxTiles = maxTiles; + params.maxPolys = maxPolysPerTile; + + NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh); + OPENMW_CHECK_DT_STATUS(navMesh->init(¶ms)); + + for (int y = minTilePosition.y(); y <= maxTilePosition.y(); ++y) + { + for (int x = minTilePosition.x(); x <= maxTilePosition.x(); ++x) + { + const auto tileBounds = makeTileBounds(settings, TilePosition(x, y)); + const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); + const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); + + auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y, + tileBorderMin, tileBorderMax, settings); + + if (!navMeshData.mValue) + continue; + + OPENMW_CHECK_DT_STATUS(navMesh->addTile(navMeshData.mValue.get(), navMeshData.mSize, + DT_TILE_FREE_DATA, 0, 0)); + navMeshData.mValue.release(); + } + } + + return navMesh; + } +} + +namespace DetourNavigator +{ + NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const Settings& settings) + { + return makeNavMeshWithMultiTiles(agentHalfExtents, recastMesh, settings); + } +} diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp new file mode 100644 index 000000000..a94e71c3f --- /dev/null +++ b/components/detournavigator/makenavmesh.hpp @@ -0,0 +1,20 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H + +#include + +#include + +class dtNavMesh; + +namespace DetourNavigator +{ + class RecastMesh; + struct Settings; + + using NavMeshPtr = std::shared_ptr; + + NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const Settings& settings); +} + +#endif diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp new file mode 100644 index 000000000..9f1d77a1c --- /dev/null +++ b/components/detournavigator/navigator.cpp @@ -0,0 +1,42 @@ +#include "navigator.hpp" +#include "debug.hpp" +#include "settingsutils.hpp" + +namespace DetourNavigator +{ + Navigator::Navigator(const Settings& settings) + : mSettings(settings) + , mNavMeshManager(mSettings) + { + } + + void Navigator::addAgent(const osg::Vec3f& agentHalfExtents) + { + ++mAgents[agentHalfExtents]; + } + + void Navigator::removeAgent(const osg::Vec3f& agentHalfExtents) + { + const auto it = mAgents.find(agentHalfExtents); + if (it == mAgents.end() || --it->second) + return; + mAgents.erase(it); + mNavMeshManager.reset(agentHalfExtents); + } + + bool Navigator::removeObject(std::size_t id) + { + return mNavMeshManager.removeObject(id); + } + + void Navigator::update() + { + for (const auto& v : mAgents) + mNavMeshManager.update(v.first); + } + + void Navigator::wait() + { + mNavMeshManager.wait(); + } +} diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp new file mode 100644 index 000000000..779506a9a --- /dev/null +++ b/components/detournavigator/navigator.hpp @@ -0,0 +1,50 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATOR_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATOR_H + +#include "findsmoothpath.hpp" +#include "navmeshmanager.hpp" +#include "settings.hpp" +#include "settingsutils.hpp" + +namespace DetourNavigator +{ + class Navigator + { + public: + Navigator(const Settings& settings); + + void addAgent(const osg::Vec3f& agentHalfExtents); + + void removeAgent(const osg::Vec3f& agentHalfExtents); + + template + bool addObject(std::size_t id, const T& shape, const btTransform& transform) + { + return mNavMeshManager.addObject(id, shape, transform); + } + + bool removeObject(std::size_t id); + + void update(); + + void wait(); + + template + OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start, + const osg::Vec3f& end, OutputIterator out) const + { + const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents); + if (!navMesh) + return out; + return findSmoothPath(*navMesh, toNavMeshCoordinates(mSettings, agentHalfExtents), + toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), mSettings, out); + } + + private: + Settings mSettings; + NavMeshManager mNavMeshManager; + std::map mAgents; + }; +} + +#endif diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp new file mode 100644 index 000000000..55e0236ed --- /dev/null +++ b/components/detournavigator/navmeshmanager.cpp @@ -0,0 +1,50 @@ +#include "navmeshmanager.hpp" +#include "debug.hpp" + +#include + +namespace DetourNavigator +{ + NavMeshManager::NavMeshManager(const Settings& settings) + : mRecastMeshManager(settings) + , mAsyncNavMeshUpdater(settings) + { + } + + bool NavMeshManager::removeObject(std::size_t id) + { + if (!mRecastMeshManager.removeObject(id)) + return false; + ++mRevision; + return true; + } + + void NavMeshManager::reset(const osg::Vec3f& agentHalfExtents) + { + mCache.erase(agentHalfExtents); + } + + void NavMeshManager::update(const osg::Vec3f& agentHalfExtents) + { + auto it = mCache.find(agentHalfExtents); + if (it == mCache.end()) + it = mCache.insert(std::make_pair(agentHalfExtents, std::make_shared(mRevision))).first; + else if (it->second->mRevision >= mRevision) + return; + it->second->mRevision = mRevision; + mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), it->second); + } + + void NavMeshManager::wait() + { + mAsyncNavMeshUpdater.wait(); + } + + NavMeshConstPtr NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const + { + const auto it = mCache.find(agentHalfExtents); + if (it == mCache.end()) + return nullptr; + return it->second->mValue; + } +} diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp new file mode 100644 index 000000000..02309c637 --- /dev/null +++ b/components/detournavigator/navmeshmanager.hpp @@ -0,0 +1,48 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHMANAGER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHMANAGER_H + +#include "asyncnavmeshupdater.hpp" +#include "cachedrecastmeshmanager.hpp" + +#include + +#include +#include + +class dtNavMesh; + +namespace DetourNavigator +{ + class NavMeshManager + { + public: + NavMeshManager(const Settings& settings); + + template + bool addObject(std::size_t id, const T& shape, const btTransform& transform) + { + if (!mRecastMeshManager.addObject(id, shape, transform)) + return false; + ++mRevision; + return true; + } + + bool removeObject(std::size_t id); + + void reset(const osg::Vec3f& agentHalfExtents); + + void update(const osg::Vec3f& agentHalfExtents); + + void wait(); + + NavMeshConstPtr getNavMesh(const osg::Vec3f& agentHalfExtents) const; + + private: + std::size_t mRevision = 0; + CachedRecastMeshManager mRecastMeshManager; + std::map> mCache; + AsyncNavMeshUpdater mAsyncNavMeshUpdater; + }; +} + +#endif diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp new file mode 100644 index 000000000..eaeea92f1 --- /dev/null +++ b/components/detournavigator/recastmesh.cpp @@ -0,0 +1,12 @@ +#include "recastmesh.hpp" +#include "settings.hpp" + +namespace DetourNavigator +{ + RecastMesh::RecastMesh(std::vector indices, std::vector vertices, const Settings& settings) + : mIndices(std::move(indices)) + , mVertices(std::move(vertices)) + , mChunkyTriMesh(mVertices, mIndices, settings.mTrianglesPerChunk) + { + } +} diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp new file mode 100644 index 000000000..35d5cb247 --- /dev/null +++ b/components/detournavigator/recastmesh.hpp @@ -0,0 +1,50 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESH_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESH_H + +#include "chunkytrimesh.hpp" + +#include +#include + +namespace DetourNavigator +{ + struct Settings; + + class RecastMesh + { + public: + RecastMesh(std::vector indices, std::vector vertices, const Settings& settings); + + const std::vector& getIndices() const + { + return mIndices; + } + + const std::vector& getVertices() const + { + return mVertices; + } + + std::size_t getVerticesCount() const + { + return mVertices.size() / 3; + } + + std::size_t getTrianglesCount() const + { + return mIndices.size() / 3; + } + + const ChunkyTriMesh& getChunkyTriMesh() const + { + return mChunkyTriMesh; + } + + private: + std::vector mIndices; + std::vector mVertices; + ChunkyTriMesh mChunkyTriMesh; + }; +} + +#endif diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp new file mode 100644 index 000000000..83caa5287 --- /dev/null +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -0,0 +1,72 @@ +#include "recastmeshbuilder.hpp" +#include "settings.hpp" +#include "settingsutils.hpp" + +#include + +#include +#include + +namespace +{ + osg::Vec3f makeOsgVec3f(const btVector3& value) + { + return osg::Vec3f(value.x(), value.y(), value.z()); + } +} + +namespace DetourNavigator +{ + using BulletHelpers::makeProcessTriangleCallback; + + RecastMeshBuilder::RecastMeshBuilder(const Settings& settings) + : mSettings(settings) + { + } + + void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform) + { + return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) + { + for (std::size_t i = 3; i > 0; --i) + addVertex(transform(triangle[i - 1])); + })); + } + + void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform) + { + return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) + { + for (std::size_t i = 0; i < 3; ++i) + addVertex(transform(triangle[i])); + })); + } + + std::shared_ptr RecastMeshBuilder::create() const + { + return std::make_shared(mIndices, mVertices, mSettings); + } + + void RecastMeshBuilder::reset() + { + mIndices.clear(); + mVertices.clear(); + } + + void RecastMeshBuilder::addObject(const btConcaveShape& shape, btTriangleCallback&& callback) + { + btVector3 aabbMin; + btVector3 aabbMax; + shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax); + shape.processAllTriangles(&callback, aabbMin, aabbMax); + } + + void RecastMeshBuilder::addVertex(const btVector3& worldPosition) + { + const auto navMeshPosition = toNavMeshCoordinates(mSettings, makeOsgVec3f(worldPosition)); + mIndices.push_back(static_cast(mIndices.size())); + mVertices.push_back(navMeshPosition.x()); + mVertices.push_back(navMeshPosition.y()); + mVertices.push_back(navMeshPosition.z()); + } +} diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp new file mode 100644 index 000000000..3236b6398 --- /dev/null +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -0,0 +1,38 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHBUILDER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHBUILDER_H + +#include "recastmesh.hpp" + +class btConcaveShape; +class btHeightfieldTerrainShape; +class btTransform; +class btTriangleCallback; +class btVector3; + +namespace DetourNavigator +{ + class RecastMeshBuilder + { + public: + RecastMeshBuilder(const Settings& settings); + + void addObject(const btConcaveShape& shape, const btTransform& transform); + + void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform); + + std::shared_ptr create() const; + + void reset(); + + private: + std::reference_wrapper mSettings; + std::vector mIndices; + std::vector mVertices; + + void addObject(const btConcaveShape& shape, btTriangleCallback&& callback); + + void addVertex(const btVector3& worldPosition); + }; +} + +#endif diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp new file mode 100644 index 000000000..25b3bda96 --- /dev/null +++ b/components/detournavigator/recastmeshmanager.cpp @@ -0,0 +1,57 @@ +#include "recastmeshmanager.hpp" + +#include + +namespace DetourNavigator +{ + RecastMeshManager::RecastMeshManager(const Settings& settings) + : mShouldRebuild(false) + , mMeshBuilder(settings) + { + } + + bool RecastMeshManager::addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform) + { + if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second) + return false; + mShouldRebuild = true; + return true; + } + + bool RecastMeshManager::addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform) + { + if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second) + return false; + mShouldRebuild = true; + return true; + } + + bool RecastMeshManager::removeObject(std::size_t id) + { + if (!mObjects.erase(id)) + return false; + mShouldRebuild = true; + return true; + } + + std::shared_ptr RecastMeshManager::getMesh() + { + rebuild(); + return mMeshBuilder.create(); + } + + void RecastMeshManager::rebuild() + { + if (!mShouldRebuild) + return; + mMeshBuilder.reset(); + for (const auto& v : mObjects) + { + if (v.second.mShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) + mMeshBuilder.addObject(*static_cast(v.second.mShape), v.second.mTransform); + else if (v.second.mShape->isConcave()) + mMeshBuilder.addObject(*static_cast(v.second.mShape), v.second.mTransform); + } + mShouldRebuild = false; + } +} diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp new file mode 100644 index 000000000..12c7b391b --- /dev/null +++ b/components/detournavigator/recastmeshmanager.hpp @@ -0,0 +1,42 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHMANAGER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHMANAGER_H + +#include "recastmeshbuilder.hpp" + +#include + +#include + +class btCollisionShape; + +namespace DetourNavigator +{ + class RecastMeshManager + { + public: + RecastMeshManager(const Settings& settings); + + bool addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform); + + bool addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform); + + bool removeObject(std::size_t id); + + std::shared_ptr getMesh(); + + private: + struct Object + { + const btCollisionShape* mShape; + btTransform mTransform; + }; + + bool mShouldRebuild; + RecastMeshBuilder mMeshBuilder; + std::unordered_map mObjects; + + void rebuild(); + }; +} + +#endif diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp new file mode 100644 index 000000000..11e1f9990 --- /dev/null +++ b/components/detournavigator/settings.hpp @@ -0,0 +1,30 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGS_H + +#include + +namespace DetourNavigator +{ + struct Settings + { + float mCellHeight; + float mCellSize; + float mDetailSampleDist; + float mDetailSampleMaxError; + float mMaxClimb; + float mMaxSimplificationError; + float mMaxSlope; + float mRecastScaleFactor; + int mMaxEdgeLen; + int mMaxNavMeshQueryNodes; + int mMaxVertsPerPoly; + int mRegionMergeSize; + int mRegionMinSize; + int mTileSize; + std::size_t mMaxPolygonPathSize; + std::size_t mMaxSmoothPathSize; + std::size_t mTrianglesPerChunk; + }; +} + +#endif diff --git a/components/detournavigator/settingsutils.hpp b/components/detournavigator/settingsutils.hpp new file mode 100644 index 000000000..d14863dca --- /dev/null +++ b/components/detournavigator/settingsutils.hpp @@ -0,0 +1,65 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGSUTILS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGSUTILS_H + +#include "settings.hpp" +#include "tileposition.hpp" +#include "tilebounds.hpp" + +#include + +#include + +namespace DetourNavigator +{ + inline float getHeight(const Settings& settings,const osg::Vec3f& agentHalfExtents) + { + return 2.0f * agentHalfExtents.z() * settings.mRecastScaleFactor; + } + + inline float getMaxClimb(const Settings& settings) + { + return settings.mMaxClimb * settings.mRecastScaleFactor; + } + + inline float getRadius(const Settings& settings, const osg::Vec3f& agentHalfExtents) + { + return agentHalfExtents.x() * settings.mRecastScaleFactor; + } + + inline osg::Vec3f toNavMeshCoordinates(const Settings& settings, osg::Vec3f position) + { + std::swap(position.y(), position.z()); + return position * settings.mRecastScaleFactor; + } + + inline osg::Vec3f fromNavMeshCoordinates(const Settings& settings, osg::Vec3f position) + { + const auto factor = 1.0f / settings.mRecastScaleFactor; + position *= factor; + std::swap(position.y(), position.z()); + return position; + } + + inline float getTileSize(const Settings& settings) + { + return settings.mTileSize * settings.mCellSize; + } + + inline TilePosition getTilePosition(const Settings& settings, const osg::Vec3f& position) + { + return TilePosition( + static_cast(std::floor(position.x() / getTileSize(settings))), + static_cast(std::floor(position.z() / getTileSize(settings))) + ); + } + + inline TileBounds makeTileBounds(const Settings& settings, const TilePosition& tilePosition) + { + return TileBounds { + osg::Vec2f(tilePosition.x(), tilePosition.y()) * getTileSize(settings), + osg::Vec2f(tilePosition.x() + 1, tilePosition.y() + 1) * getTileSize(settings), + }; + } +} + +#endif diff --git a/components/detournavigator/tilebounds.hpp b/components/detournavigator/tilebounds.hpp new file mode 100644 index 000000000..83fe2b629 --- /dev/null +++ b/components/detournavigator/tilebounds.hpp @@ -0,0 +1,15 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_TILEBOUNDS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_TILEBOUNDS_H + +#include + +namespace DetourNavigator +{ + struct TileBounds + { + osg::Vec2f mMin; + osg::Vec2f mMax; + }; +} + +#endif diff --git a/components/detournavigator/tileposition.hpp b/components/detournavigator/tileposition.hpp new file mode 100644 index 000000000..ad7b226b6 --- /dev/null +++ b/components/detournavigator/tileposition.hpp @@ -0,0 +1,11 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_TILEPOSITION_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_TILEPOSITION_H + +#include + +namespace DetourNavigator +{ + using TilePosition = osg::Vec2i; +} + +#endif diff --git a/files/settings-default.cfg b/files/settings-default.cfg index ea6f6e7b6..008d34ee0 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -530,3 +530,63 @@ companion x = 0.6 companion y = 0.27 companion w = 0.38 companion h = 0.63 + +[Navigator] + +# Scale of NavMesh coordinates to world coordinates (value > 0.0). Recastnavigation builds voxels for world geometry. +# Basically voxel size is 1 / "cell size". To reduce amount of voxels we apply scale factor, to make voxel size +# "recast scale factor" / "cell size". Default value calculates by this equation: +# sStepSizeUp * "recast scale factor" / "cell size" = 3 (max climb height should be equal to 3 voxels) +recast scale factor = 0.017647058823529415 + +# The z-axis cell size to use for fields. (value > 0.0) +# Defines voxel/grid/cell size. So their values have significant +# side effects on all parameters defined in voxel units. +# The minimum value for this parameter depends on the platform's floating point +# accuracy, with the practical minimum usually around 0.05. +# Same default value is used in RecastDemo. +cell height = 0.2 + +# The xy-plane cell size to use for fields. (value > 0.0) +# Defines voxel/grid/cell size. So their values have significant +# side effects on all parameters defined in voxel units. +# The minimum value for this parameter depends on the platform's floating point +# accuracy, with the practical minimum usually around 0.05. +# Same default value is used in RecastDemo. +cell size = 0.2 + +# Sets the sampling distance to use when generating the detail mesh. (value = 0.0 or value >= 0.9) +detail sample dist = 6.0 + +# The maximum distance the detail mesh surface should deviate from heightfield data. (value >= 0.0) +detail sample max error = 1.0 + +# The maximum distance a simplfied contour's border edges should deviate the original raw contour. (value >= 0.0) +max simplification error = 1.3 + +# The width and height of each tile. (value > 0) +tile size = 64 + +# The maximum allowed length for contour edges along the border of the mesh. (value >= 0) +max edge len = 12 + +# Maximum number of search nodes. (0 < value <= 65535) +max nav mesh query nodes = 2048 + +# The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process. (value >= 3) +max verts per poly = 6 + +# Any regions with a span count smaller than this value will, if possible, be merged with larger regions. (value >= 0) +region merge size = 20 + +# The minimum number of cells allowed to form isolated island areas. (value >= 0) +region min size = 8 + +# Maximum size of path over polygons (value > 0) +max polygon path size = 1024 + +# Maximum size of smoothed path (value > 0) +max smooth path size = 1024 + +# Maximum number of triangles in each node of mesh AABB tree (value > 0) +triangles per chunk = 256 From 0c8a7295e6da58ea5c0f9bca10ca58fad6696a3a Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 22 Apr 2018 19:22:00 +0300 Subject: [PATCH 037/130] Use only player's half extents --- apps/openmw/mwworld/scene.cpp | 11 ++++++++--- apps/openmw/mwworld/worldimp.cpp | 3 +++ 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 2626bc641..492a22c90 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -93,7 +93,8 @@ namespace else if (const auto actor = physics.getActor(ptr)) { const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - navigator->addAgent(actor->getHalfExtents()); + const auto playerHalfExtents = physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); + navigator->addAgent(playerHalfExtents); } if (useAnim) @@ -260,12 +261,13 @@ namespace MWWorld ListAndResetObjectsVisitor visitor; (*iter)->forEach(visitor); + const auto playerHalfExtents = mPhysics->getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); for (const auto& ptr : visitor.mObjects) { if (const auto object = mPhysics->getObject(ptr)) navigator->removeObject(reinterpret_cast(object)); else if (const auto actor = mPhysics->getActor(ptr)) - navigator->removeAgent(actor->getHalfExtents()); + navigator->removeAgent(playerHalfExtents); mPhysics->remove(ptr); } @@ -676,7 +678,10 @@ namespace MWWorld if (const auto object = mPhysics->getObject(ptr)) navigator->removeObject(reinterpret_cast(object)); else if (const auto actor = mPhysics->getActor(ptr)) - navigator->removeAgent(actor->getHalfExtents()); + { + const auto playerHalfExtents = mPhysics->getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); + navigator->removeAgent(playerHalfExtents); + } mPhysics->remove(ptr); mRendering.removeObject (ptr); if (ptr.getClass().isActor()) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 322559e3b..7d9f9559d 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -2313,6 +2313,7 @@ namespace MWWorld { // Remove the old CharacterController MWBase::Environment::get().getMechanicsManager()->remove(getPlayerPtr()); + mNavigator->removeAgent(mPhysics->getHalfExtents(getPlayerPtr())); mPhysics->remove(getPlayerPtr()); mRendering->removePlayer(getPlayerPtr()); @@ -2347,6 +2348,8 @@ namespace MWWorld mPhysics->addActor(getPlayerPtr(), model); applyLoopingParticles(player); + + mNavigator->addAgent(mPhysics->getHalfExtents(getPlayerPtr())); } World::RestPermitted World::canRest () const From 430ba9d7a55fa0d7131fb18c2aadf17441364a83 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 03:44:16 +0300 Subject: [PATCH 038/130] Build NavMesh tile data only for changed tiles --- .../detournavigator/asyncnavmeshupdater.cpp | 31 ++--- .../detournavigator/asyncnavmeshupdater.hpp | 14 +-- .../cachedrecastmeshmanager.cpp | 12 +- .../cachedrecastmeshmanager.hpp | 2 +- components/detournavigator/makenavmesh.cpp | 110 ++++++++++++++---- components/detournavigator/makenavmesh.hpp | 12 +- components/detournavigator/navmeshmanager.cpp | 83 +++++++++++-- components/detournavigator/navmeshmanager.hpp | 9 ++ .../detournavigator/recastmeshmanager.cpp | 14 ++- .../detournavigator/recastmeshmanager.hpp | 16 +-- 10 files changed, 231 insertions(+), 72 deletions(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 3a95f19d9..ba4bd3ab8 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -10,8 +10,7 @@ namespace DetourNavigator { AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings) - : mSettings(settings) - , mMaxRevision(0) + : mSettings(std::cref(settings)) , mShouldStop() , mThread([&] { process(); }) { @@ -28,10 +27,19 @@ namespace DetourNavigator } void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, - const std::shared_ptr& navMeshCacheItem) + const std::shared_ptr& navMeshCacheItem, std::set&& changedTiles) { const std::lock_guard lock(mMutex); - mJobs[agentHalfExtents] = Job {agentHalfExtents, recastMesh, navMeshCacheItem}; + const auto job = mJobs.find(agentHalfExtents); + if (job == mJobs.end() || job->second.mChangedTiles.empty()) + { + mJobs[agentHalfExtents] = Job {agentHalfExtents, recastMesh, navMeshCacheItem, std::move(changedTiles)}; + } + else + { + job->second.mRecastMesh = recastMesh; + job->second.mChangedTiles.insert(changedTiles.begin(), changedTiles.end()); + } mHasJob.notify_all(); } @@ -62,18 +70,15 @@ namespace DetourNavigator void AsyncNavMeshUpdater::processJob(const Job& job) { - log("process job for agent=", job.mAgentHalfExtents, - " revision=", job.mNavMeshCacheItem->mRevision, - " max_revision=", mMaxRevision); - - if (job.mNavMeshCacheItem->mRevision < mMaxRevision) - return; - - mMaxRevision = job.mNavMeshCacheItem->mRevision; + log("process job for agent=", job.mAgentHalfExtents); const auto start = std::chrono::steady_clock::now(); - job.mNavMeshCacheItem->mValue = makeNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, mSettings); + if (job.mNavMeshCacheItem->mValue && !job.mChangedTiles.empty()) + updateNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, job.mChangedTiles, mSettings, + *job.mNavMeshCacheItem->mValue); + else + job.mNavMeshCacheItem->mValue = makeNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, mSettings); const auto finish = std::chrono::steady_clock::now(); diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index cdcc3432c..ec8f0e9de 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H #include "recastmesh.hpp" +#include "tileposition.hpp" #include @@ -12,22 +13,19 @@ #include #include #include +#include #include class dtNavMesh; namespace DetourNavigator { - using NavMeshConstPtr = std::shared_ptr; + using NavMeshPtr = std::shared_ptr; struct NavMeshCacheItem { - NavMeshConstPtr mValue = nullptr; + NavMeshPtr mValue; std::size_t mRevision; - - NavMeshCacheItem(std::size_t mRevision) - : mRevision(mRevision) - {} }; class AsyncNavMeshUpdater @@ -37,7 +35,7 @@ namespace DetourNavigator ~AsyncNavMeshUpdater(); void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, - const std::shared_ptr& navMeshCacheItem); + const std::shared_ptr& mNavMeshCacheItem, std::set&& changedTiles); void wait(); @@ -47,12 +45,12 @@ namespace DetourNavigator osg::Vec3f mAgentHalfExtents; std::shared_ptr mRecastMesh; std::shared_ptr mNavMeshCacheItem; + std::set mChangedTiles; }; using Jobs = std::map; std::reference_wrapper mSettings; - std::atomic_size_t mMaxRevision; std::atomic_bool mShouldStop; std::mutex mMutex; std::condition_variable mHasJob; diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index 126732038..0fcaf116e 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -8,12 +8,12 @@ namespace DetourNavigator { } - bool CachedRecastMeshManager::removeObject(std::size_t id) + boost::optional CachedRecastMeshManager::removeObject(std::size_t id) { - if (!mImpl.removeObject(id)) - return false; - mCached.reset(); - return true; + const auto object = mImpl.removeObject(id); + if (object) + mCached.reset(); + return object; } std::shared_ptr CachedRecastMeshManager::getMesh() @@ -21,5 +21,5 @@ namespace DetourNavigator if (!mCached) mCached = mImpl.getMesh(); return mCached; - } +} } diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 3cfe9a56f..4be6fb134 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -21,7 +21,7 @@ namespace DetourNavigator return true; } - bool removeObject(std::size_t id); + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(); diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index ef9b06374..cac6d0952 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -5,13 +5,16 @@ #include "recastmesh.hpp" #include "settings.hpp" #include "settingsutils.hpp" +#include "debug.hpp" #include #include #include #include -#include +#include +#include +#include namespace { @@ -211,22 +214,57 @@ namespace return NavMeshData(navMeshData, navMeshDataSize); } +} - int nextPow2(int v) +namespace DetourNavigator +{ + NavMeshPtr makeEmptyNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const Settings& settings) { - v--; - v |= v >> 1; - v |= v >> 2; - v |= v >> 4; - v |= v >> 8; - v |= v >> 16; - v++; - return v; + log("build empty NavMesh:", + " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), + getHeight(settings, agentHalfExtents), + " agentMaxClimb=", std::setprecision(std::numeric_limits::max_exponent10), + getMaxClimb(settings), + " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), + getRadius(settings, agentHalfExtents)); + + osg::Vec3f boundsMin; + osg::Vec3f boundsMax; + rcCalcBounds(recastMesh.getVertices().data(), static_cast(recastMesh.getVerticesCount()), + boundsMin.ptr(), boundsMax.ptr()); + + // Max tiles and max polys affect how the tile IDs are caculated. + // There are 22 bits available for identifying a tile and a polygon. + const auto tileBits = 10; + const auto polyBits = 22 - tileBits; + const auto maxTiles = 1 << tileBits; + const auto maxPolysPerTile = 1 << polyBits; + + dtNavMeshParams params; + rcVcopy(params.orig, boundsMin.ptr()); + params.tileWidth = settings.mTileSize * settings.mCellSize; + params.tileHeight = settings.mTileSize * settings.mCellSize; + params.maxTiles = maxTiles; + params.maxPolys = maxPolysPerTile; + + NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh); + OPENMW_CHECK_DT_STATUS(navMesh->init(¶ms)); + + return navMesh; } - NavMeshPtr makeNavMeshWithMultiTiles(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const Settings& settings) { + log("build NavMesh with mutiple tiles:", + " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), + getHeight(settings, agentHalfExtents), + " agentMaxClimb=", std::setprecision(std::numeric_limits::max_exponent10), + getMaxClimb(settings), + " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), + getRadius(settings, agentHalfExtents)); + osg::Vec3f boundsMin; osg::Vec3f boundsMax; rcCalcBounds(recastMesh.getVertices().data(), static_cast(recastMesh.getVerticesCount()), @@ -235,12 +273,9 @@ namespace const auto minTilePosition = getTilePosition(settings, boundsMin); const auto maxTilePosition = getTilePosition(settings, boundsMax); - const auto tileWidth = maxTilePosition.x() - minTilePosition.x() + 1; - const auto tileHeight = maxTilePosition.y() - minTilePosition.y() + 1; - // Max tiles and max polys affect how the tile IDs are caculated. // There are 22 bits available for identifying a tile and a polygon. - const auto tileBits = std::min(static_cast(std::log2(nextPow2(tileWidth * tileHeight))), 14); + const auto tileBits = 10; const auto polyBits = 22 - tileBits; const auto maxTiles = 1 << tileBits; const auto maxPolysPerTile = 1 << polyBits; @@ -277,12 +312,47 @@ namespace return navMesh; } -} -namespace DetourNavigator -{ - NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const Settings& settings) + void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const std::set& changedTiles, const Settings& settings, dtNavMesh& navMesh) { - return makeNavMeshWithMultiTiles(agentHalfExtents, recastMesh, settings); + log("update NavMesh with mutiple tiles:", + " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), + getHeight(settings, agentHalfExtents), + " agentMaxClimb=", std::setprecision(std::numeric_limits::max_exponent10), + getMaxClimb(settings), + " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), + getRadius(settings, agentHalfExtents), + " changedTiles.size()=", changedTiles.size()); + + osg::Vec3f boundsMin; + osg::Vec3f boundsMax; + rcCalcBounds(recastMesh.getVertices().data(), int(recastMesh.getVerticesCount()), + boundsMin.ptr(), boundsMax.ptr()); + + const auto& params = *navMesh.getParams(); + const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]); + + for (const auto& tilePosition : changedTiles) + { + const auto x = tilePosition.x(); + const auto y = tilePosition.y(); + + navMesh.removeTile(navMesh.getTileRefAt(x, y, 0), nullptr, nullptr); + + const auto tileBounds = makeTileBounds(settings, tilePosition); + const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); + const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); + + auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y, + tileBorderMin, tileBorderMax, settings); + + if (!navMeshData.mValue) + continue; + + OPENMW_CHECK_DT_STATUS(navMesh.addTile(navMeshData.mValue.get(), navMeshData.mSize, + DT_TILE_FREE_DATA, 0, 0)); + navMeshData.mValue.release(); + } } } diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index a94e71c3f..96521608b 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -1,9 +1,12 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H +#include "tileposition.hpp" + #include #include +#include class dtNavMesh; @@ -14,7 +17,14 @@ namespace DetourNavigator using NavMeshPtr = std::shared_ptr; - NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const Settings& settings); + NavMeshPtr makeEmptyNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const Settings& settings); + + NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const Settings& settings); + + void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const std::set& changedTiles, const Settings& settings, dtNavMesh& navMesh); } #endif diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 55e0236ed..d423f2120 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -1,21 +1,29 @@ #include "navmeshmanager.hpp" #include "debug.hpp" +#include "makenavmesh.hpp" +#include "settings.hpp" + +#include + +#include #include namespace DetourNavigator { NavMeshManager::NavMeshManager(const Settings& settings) - : mRecastMeshManager(settings) + : mSettings(settings) + , mRecastMeshManager(settings) , mAsyncNavMeshUpdater(settings) - { - } + {} bool NavMeshManager::removeObject(std::size_t id) { - if (!mRecastMeshManager.removeObject(id)) + const auto object = mRecastMeshManager.removeObject(id); + if (!object) return false; ++mRevision; + addChangedTiles(*object->mShape, object->mTransform); return true; } @@ -26,13 +34,28 @@ namespace DetourNavigator void NavMeshManager::update(const osg::Vec3f& agentHalfExtents) { - auto it = mCache.find(agentHalfExtents); - if (it == mCache.end()) - it = mCache.insert(std::make_pair(agentHalfExtents, std::make_shared(mRevision))).first; - else if (it->second->mRevision >= mRevision) + auto cached = mCache.find(agentHalfExtents); + if (cached == mCache.end()) + cached = mCache.insert(std::make_pair(agentHalfExtents, + std::make_shared(NavMeshCacheItem { + makeEmptyNavMesh(agentHalfExtents, *mRecastMeshManager.getMesh(), mSettings), + mRevision + }))).first; + else if (cached->second->mRevision >= mRevision) return; - it->second->mRevision = mRevision; - mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), it->second); + cached->second->mRevision = mRevision; + const auto changedTiles = mChangedTiles.find(agentHalfExtents); + if (changedTiles == mChangedTiles.end()) + { + mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached->second, + std::set()); + } + else + { + mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached->second, + std::move(changedTiles->second)); + mChangedTiles.erase(changedTiles); + } } void NavMeshManager::wait() @@ -47,4 +70,44 @@ namespace DetourNavigator return nullptr; return it->second->mValue; } + + void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform) + { + btVector3 aabbMin; + btVector3 aabbMax; + shape.getAabb(transform, aabbMin, aabbMax); + osg::Vec3f min(aabbMin.x(), aabbMin.z(), aabbMin.y()); + osg::Vec3f max(aabbMax.x(), aabbMax.z(), aabbMax.y()); + min *= mSettings.mRecastScaleFactor; + max *= mSettings.mRecastScaleFactor; + + for (auto& v : mCache) + { + if (const auto& item = v.second) + { + if (const auto& navMesh = item->mValue) + { + auto& changedTiles = mChangedTiles[v.first]; + + int minTileX; + int minTileY; + navMesh->calcTileLoc(min.ptr(), &minTileX, &minTileY); + + int maxTileX; + int maxTileY; + navMesh->calcTileLoc(max.ptr(), &maxTileX, &maxTileY); + + if (minTileX > maxTileX) + std::swap(minTileX, maxTileX); + + if (minTileY > maxTileY) + std::swap(minTileY, maxTileY); + + for (int tileX = minTileX; tileX <= maxTileX; ++tileX) + for (int tileY = minTileY; tileY <= maxTileY; ++tileY) + changedTiles.insert(TilePosition {tileX, tileY}); + } + } + } + } } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 02309c637..40440bafa 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -4,6 +4,8 @@ #include "asyncnavmeshupdater.hpp" #include "cachedrecastmeshmanager.hpp" +#include + #include #include @@ -13,6 +15,8 @@ class dtNavMesh; namespace DetourNavigator { + using NavMeshConstPtr = std::shared_ptr; + class NavMeshManager { public: @@ -24,6 +28,7 @@ namespace DetourNavigator if (!mRecastMeshManager.addObject(id, shape, transform)) return false; ++mRevision; + addChangedTiles(shape, transform); return true; } @@ -39,9 +44,13 @@ namespace DetourNavigator private: std::size_t mRevision = 0; + const Settings& mSettings; CachedRecastMeshManager mRecastMeshManager; std::map> mCache; + std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; + + void addChangedTiles(const btCollisionShape& shape, const btTransform& transform); }; } diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index 25b3bda96..8568c6e14 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -7,8 +7,7 @@ namespace DetourNavigator RecastMeshManager::RecastMeshManager(const Settings& settings) : mShouldRebuild(false) , mMeshBuilder(settings) - { - } + {} bool RecastMeshManager::addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform) { @@ -26,12 +25,15 @@ namespace DetourNavigator return true; } - bool RecastMeshManager::removeObject(std::size_t id) + boost::optional RecastMeshManager::removeObject(std::size_t id) { - if (!mObjects.erase(id)) - return false; + const auto object = mObjects.find(id); + if (object == mObjects.end()) + return boost::none; + const auto result = object->second; + mObjects.erase(object); mShouldRebuild = true; - return true; + return result; } std::shared_ptr RecastMeshManager::getMesh() diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index 12c7b391b..b4a57ffe0 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -5,6 +5,8 @@ #include +#include + #include class btCollisionShape; @@ -14,23 +16,23 @@ namespace DetourNavigator class RecastMeshManager { public: + struct Object + { + const btCollisionShape* mShape; + btTransform mTransform; + }; + RecastMeshManager(const Settings& settings); bool addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform); bool addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform); - bool removeObject(std::size_t id); + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(); private: - struct Object - { - const btCollisionShape* mShape; - btTransform mTransform; - }; - bool mShouldRebuild; RecastMeshBuilder mMeshBuilder; std::unordered_map mObjects; From 0c8db84962f8c8b133f6fe26213eeb15417aba16 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 16:54:10 +0300 Subject: [PATCH 039/130] Load cells in order from nearest to player to furthest --- apps/openmw/mwworld/scene.cpp | 70 +++++++++++++++++++++++------------ apps/openmw/mwworld/scene.hpp | 2 +- 2 files changed, 48 insertions(+), 24 deletions(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 492a22c90..c01478d4c 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -201,6 +201,11 @@ namespace } }; + int getCellPositionDistanceToOrigin(const std::pair& cellPosition) + { + return std::abs(cellPosition.first) + std::abs(cellPosition.second); + } + } @@ -398,7 +403,7 @@ namespace MWWorld } } - void Scene::changeCellGrid (int X, int Y, bool changeEvent) + void Scene::changeCellGrid (int playerCellX, int playerCellY, bool changeEvent) { Loading::Listener* loadingListener = MWBase::Environment::get().getWindowManager()->getLoadingScreen(); Loading::ScopedLoad load(loadingListener); @@ -411,8 +416,8 @@ namespace MWWorld { if ((*active)->getCell()->isExterior()) { - if (std::abs (X-(*active)->getCell()->getGridX())<=mHalfGridSize && - std::abs (Y-(*active)->getCell()->getGridY())<=mHalfGridSize) + if (std::abs (playerCellX-(*active)->getCell()->getGridX())<=mHalfGridSize && + std::abs (playerCellY-(*active)->getCell()->getGridY())<=mHalfGridSize) { // keep cells within the new grid ++active; @@ -423,10 +428,11 @@ namespace MWWorld } std::size_t refsToLoad = 0; + std::vector> cellsPositionsToLoad; // get the number of refs to load - for (int x=X-mHalfGridSize; x<=X+mHalfGridSize; ++x) + for (int x = playerCellX - mHalfGridSize; x <= playerCellX + mHalfGridSize; ++x) { - for (int y=Y-mHalfGridSize; y<=Y+mHalfGridSize; ++y) + for (int y = playerCellY - mHalfGridSize; y <= playerCellY + mHalfGridSize; ++y) { CellStoreCollection::iterator iter = mActiveCells.begin(); @@ -442,40 +448,58 @@ namespace MWWorld } if (iter==mActiveCells.end()) + { refsToLoad += MWBase::Environment::get().getWorld()->getExterior(x, y)->count(); + cellsPositionsToLoad.push_back(std::make_pair(x, y)); + } } } loadingListener->setProgressRange(refsToLoad); + const auto getDistanceToPlayerCell = [&] (const std::pair& cellPosition) + { + return std::abs(cellPosition.first - playerCellX) + std::abs(cellPosition.second - playerCellY); + }; + + const auto getCellPositionPriority = [&] (const std::pair& cellPosition) + { + return std::make_pair(getDistanceToPlayerCell(cellPosition), getCellPositionDistanceToOrigin(cellPosition)); + }; + + std::sort(cellsPositionsToLoad.begin(), cellsPositionsToLoad.end(), + [&] (const std::pair& lhs, const std::pair& rhs) { + return getCellPositionPriority(lhs) < getCellPositionPriority(rhs); + }); + // Load cells - for (int x=X-mHalfGridSize; x<=X+mHalfGridSize; ++x) + for (const auto& cellPosition : cellsPositionsToLoad) { - for (int y=Y-mHalfGridSize; y<=Y+mHalfGridSize; ++y) - { - CellStoreCollection::iterator iter = mActiveCells.begin(); + const auto x = cellPosition.first; + const auto y = cellPosition.second; - while (iter!=mActiveCells.end()) - { - assert ((*iter)->getCell()->isExterior()); + CellStoreCollection::iterator iter = mActiveCells.begin(); - if (x==(*iter)->getCell()->getGridX() && - y==(*iter)->getCell()->getGridY()) - break; + while (iter != mActiveCells.end()) + { + assert ((*iter)->getCell()->isExterior()); - ++iter; - } + if (x == (*iter)->getCell()->getGridX() && + y == (*iter)->getCell()->getGridY()) + break; - if (iter==mActiveCells.end()) - { - CellStore *cell = MWBase::Environment::get().getWorld()->getExterior(x, y); + ++iter; + } - loadCell (cell, loadingListener, changeEvent); - } + if (iter == mActiveCells.end()) + { + CellStore *cell = MWBase::Environment::get().getWorld()->getExterior(x, y); + + loadCell (cell, loadingListener, changeEvent); } } - CellStore* current = MWBase::Environment::get().getWorld()->getExterior(X,Y); + CellStore* current = MWBase::Environment::get().getWorld()->getExterior(playerCellX, playerCellY); MWBase::Environment::get().getWindowManager()->changeCell(current); if (changeEvent) diff --git a/apps/openmw/mwworld/scene.hpp b/apps/openmw/mwworld/scene.hpp index e2fac6438..e1144d97a 100644 --- a/apps/openmw/mwworld/scene.hpp +++ b/apps/openmw/mwworld/scene.hpp @@ -74,7 +74,7 @@ namespace MWWorld void insertCell (CellStore &cell, bool rescale, Loading::Listener* loadingListener); // Load and unload cells as necessary to create a cell grid with "X" and "Y" in the center - void changeCellGrid (int X, int Y, bool changeEvent = true); + void changeCellGrid (int playerCellX, int playerCellY, bool changeEvent = true); void getGridCenter(int& cellX, int& cellY); From 6d233ae8686f920ff1a8c6d12918d75727ae06e2 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 17:41:24 +0300 Subject: [PATCH 040/130] Option in settings to enable/disable detour navigator debug log --- apps/openmw/mwworld/worldimp.cpp | 2 ++ components/detournavigator/debug.hpp | 36 +++++++++++++++++++++- components/detournavigator/makenavmesh.cpp | 5 +-- files/settings-default.cfg | 3 ++ 4 files changed, 41 insertions(+), 5 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 7d9f9559d..f9c2019a9 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -20,6 +20,7 @@ #include #include +#include #include "../mwbase/environment.hpp" #include "../mwbase/soundmanager.hpp" @@ -183,6 +184,7 @@ namespace MWWorld navigatorSettings.mMaxPolygonPathSize = static_cast(Settings::Manager::getInt("max polygon path size", "Navigator")); navigatorSettings.mMaxSmoothPathSize = static_cast(Settings::Manager::getInt("max smooth path size", "Navigator")); navigatorSettings.mTrianglesPerChunk = static_cast(Settings::Manager::getInt("triangles per chunk", "Navigator")); + DetourNavigator::Log::instance().setEnabled(Settings::Manager::getBool("enable log", "Navigator")); mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings)); mRendering->preloadCommonAssets(); diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index c9f25ca49..59bfb73d4 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -39,6 +39,37 @@ namespace DetourNavigator void writeToFile(const dtNavMesh& navMesh, const std::string& revision); #endif + class Log + { + public: + Log() : mEnabled(false) {} + + void setEnabled(bool value) + { + mEnabled = value; + } + + bool isEnabled() const + { + return mEnabled; + } + + void write(const std::string& text) + { + if (mEnabled) + std::cout << text; + } + + static Log& instance() + { + static Log value; + return value; + } + + private: + bool mEnabled; + }; + inline void write(std::ostream& stream) { stream << '\n'; @@ -54,9 +85,12 @@ namespace DetourNavigator template void log(Ts&& ... values) { + auto& log = Log::instance(); + if (!log.isEnabled()) + return; std::ostringstream stream; write(stream, std::forward(values) ...); - std::cout << stream.str(); + log.write(stream.str()); } } diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index cac6d0952..eb9cd6c5a 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -1,5 +1,6 @@ #include "makenavmesh.hpp" #include "chunkytrimesh.hpp" +#include "debug.hpp" #include "dtstatus.hpp" #include "exceptions.hpp" #include "recastmesh.hpp" @@ -12,10 +13,6 @@ #include #include -#include -#include -#include - namespace { using namespace DetourNavigator; diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 008d34ee0..7bc9ac6c0 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -590,3 +590,6 @@ max smooth path size = 1024 # Maximum number of triangles in each node of mesh AABB tree (value > 0) triangles per chunk = 256 + +# Enable debug log (true, false) +enable log = false From 41caca24eeeeeee090fb50b0a01db6a89b3d3b9e Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 18:09:43 +0300 Subject: [PATCH 041/130] Options to enable/disable write recast mesh and nav mesh into file --- apps/openmw/mwworld/worldimp.cpp | 4 + .../detournavigator/navigator.cpp | 2 + .../detournavigator/asyncnavmeshupdater.cpp | 14 ++- components/detournavigator/debug.cpp | 105 ++++-------------- components/detournavigator/debug.hpp | 20 +--- components/detournavigator/makenavmesh.cpp | 3 + components/detournavigator/recastmesh.cpp | 1 + .../detournavigator/recastmeshbuilder.cpp | 1 + components/detournavigator/settings.hpp | 6 +- files/settings-default.cfg | 4 + 10 files changed, 53 insertions(+), 107 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index f9c2019a9..b07d96585 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -184,6 +184,10 @@ namespace MWWorld navigatorSettings.mMaxPolygonPathSize = static_cast(Settings::Manager::getInt("max polygon path size", "Navigator")); navigatorSettings.mMaxSmoothPathSize = static_cast(Settings::Manager::getInt("max smooth path size", "Navigator")); navigatorSettings.mTrianglesPerChunk = static_cast(Settings::Manager::getInt("triangles per chunk", "Navigator")); + navigatorSettings.mEnableWriteRecastMeshToFile = Settings::Manager::getBool("enable write recast mesh to file", "Navigator"); + navigatorSettings.mEnableWriteNavMeshToFile = Settings::Manager::getBool("enable write nav mesh to file", "Navigator"); + navigatorSettings.mRecastMeshPathPrefix = Settings::Manager::getString("recast mesh path prefix", "Navigator"); + navigatorSettings.mNavMeshPathPrefix = Settings::Manager::getString("nav mesh path prefix", "Navigator"); DetourNavigator::Log::instance().setEnabled(Settings::Manager::getBool("enable log", "Navigator")); mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings)); diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 1a317da84..0e30dd9ce 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -33,6 +33,8 @@ namespace , mEnd(215, -215, 1) , mOut(mPath) { + mSettings.mEnableWriteRecastMeshToFile = false; + mSettings.mEnableWriteNavMeshToFile = false; mSettings.mCellHeight = 0.2f; mSettings.mCellSize = 0.2f; mSettings.mDetailSampleDist = 6; diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index ba4bd3ab8..12abe6399 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -108,11 +108,13 @@ namespace DetourNavigator void AsyncNavMeshUpdater::writeDebugFiles(const Job& job) const { -#ifdef OPENMW_WRITE_TO_FILE - const auto revision = std::to_string((std::chrono::steady_clock::now() - - std::chrono::steady_clock::time_point()).count()); - writeToFile(*job.mRecastMesh, revision); - writeToFile(*job.mNavMeshCacheItem->mValue, revision); -#endif + std::string revision; + if (mSettings.get().mEnableWriteNavMeshToFile || mSettings.get().mEnableWriteRecastMeshToFile) + revision = std::to_string((std::chrono::steady_clock::now() + - std::chrono::steady_clock::time_point()).count()); + if (mSettings.get().mEnableWriteRecastMeshToFile) + writeToFile(*job.mRecastMesh, mSettings.get().mRecastMeshPathPrefix, revision); + if (mSettings.get().mEnableWriteNavMeshToFile) + writeToFile(*job.mNavMeshCacheItem->mValue, mSettings.get().mNavMeshPathPrefix, revision); } } diff --git a/components/detournavigator/debug.cpp b/components/detournavigator/debug.cpp index 0b783fd90..d1c6edefd 100644 --- a/components/detournavigator/debug.cpp +++ b/components/detournavigator/debug.cpp @@ -1,62 +1,23 @@ #include "debug.hpp" - -#define OPENMW_WRITE_TO_FILE -#define OPENMW_WRITE_OBJ - -#ifdef OPENMW_WRITE_OBJ -#include "exceptions.hpp" - -#include -#endif - -#ifdef OPENMW_WRITE_TO_FILE #include "exceptions.hpp" #include "recastmesh.hpp" #include #include -#endif - -#include -#include - -namespace -{ -#ifdef OPENMW_WRITE_TO_FILE - static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET'; - static const int NAVMESHSET_VERSION = 1; - - struct NavMeshSetHeader - { - int magic; - int version; - int numTiles; - dtNavMeshParams params; - }; - - struct NavMeshTileHeader - { - dtTileRef tileRef; - int dataSize; - }; -#endif -} namespace DetourNavigator { -// Use to dump scene to load from recastnavigation demo tool -#ifdef OPENMW_WRITE_OBJ - void writeObj(const std::vector& vertices, const std::vector& indices) + void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix, const std::string& revision) { - const auto path = std::string("scene.") + std::to_string(std::time(nullptr)) + ".obj"; + const auto path = pathPrefix + "recastmesh." + revision + ".obj"; std::ofstream file(path); if (!file.is_open()) throw NavigatorException("Open file failed: " + path); file.exceptions(std::ios::failbit | std::ios::badbit); file.precision(std::numeric_limits::max_exponent10); std::size_t count = 0; - for (auto v : vertices) + for (auto v : recastMesh.getVertices()) { if (count % 3 == 0) { @@ -69,7 +30,7 @@ namespace DetourNavigator } file << '\n'; count = 0; - for (auto v : indices) + for (auto v : recastMesh.getIndices()) { if (count % 3 == 0) { @@ -82,56 +43,35 @@ namespace DetourNavigator } file << '\n'; } -#endif -#ifdef OPENMW_WRITE_TO_FILE - void writeToFile(const RecastMesh& recastMesh, const std::string& revision) + void writeToFile(const dtNavMesh& navMesh, const std::string& pathPrefix, const std::string& revision) { - const auto path = "recastmesh." + revision + ".obj"; - std::ofstream file(path); - if (!file.is_open()) - throw NavigatorException("Open file failed: " + path); - file.exceptions(std::ios::failbit | std::ios::badbit); - file.precision(std::numeric_limits::max_exponent10); - std::size_t count = 0; - for (auto v : recastMesh.getVertices()) + const int navMeshSetMagic = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET'; + const int navMeshSetVersion = 1; + + struct NavMeshSetHeader { - if (count % 3 == 0) - { - if (count != 0) - file << '\n'; - file << 'v'; - } - file << ' ' << v; - ++count; - } - file << '\n'; - count = 0; - for (auto v : recastMesh.getIndices()) + int magic; + int version; + int numTiles; + dtNavMeshParams params; + }; + + struct NavMeshTileHeader { - if (count % 3 == 0) - { - if (count != 0) - file << '\n'; - file << 'f'; - } - file << ' ' << (v + 1); - ++count; - } - file << '\n'; - } + dtTileRef tileRef; + int dataSize; + }; - void writeToFile(const dtNavMesh& navMesh, const std::string& revision) - { - const auto path = "navmesh." + revision + ".bin"; + const auto path = pathPrefix + "navmesh." + revision + ".bin"; std::ofstream file(path, std::ios::binary); if (!file.is_open()) throw NavigatorException("Open file failed: " + path); file.exceptions(std::ios::failbit | std::ios::badbit); NavMeshSetHeader header; - header.magic = NAVMESHSET_MAGIC; - header.version = NAVMESHSET_VERSION; + header.magic = navMeshSetMagic; + header.version = navMeshSetVersion; header.numTiles = 0; for (int i = 0; i < navMesh.getMaxTiles(); ++i) { @@ -159,5 +99,4 @@ namespace DetourNavigator file.write(const_char_ptr(tile->data), tile->dataSize); } } -#endif } diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index 59bfb73d4..2a9f851a3 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -11,13 +11,7 @@ #include #include -#ifdef OPENMW_WRITE_OBJ -#include -#endif - -#ifdef OPENMW_WRITE_TO_FILE class dtNavMesh; -#endif namespace DetourNavigator { @@ -26,19 +20,8 @@ namespace DetourNavigator return stream << "TileBounds {" << value.mMin << ", " << value.mMax << "}"; } -// Use to dump scene to load from recastnavigation demo tool -#ifdef OPENMW_WRITE_OBJ - void writeObj(const std::vector& vertices, const std::vector& indices); -#endif - -#ifdef OPENMW_WRITE_TO_FILE class RecastMesh; - void writeToFile(const RecastMesh& recastMesh, const std::string& revision); - - void writeToFile(const dtNavMesh& navMesh, const std::string& revision); -#endif - class Log { public: @@ -92,6 +75,9 @@ namespace DetourNavigator write(stream, std::forward(values) ...); log.write(stream.str()); } + + void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix, const std::string& revision); + void writeToFile(const dtNavMesh& navMesh, const std::string& pathPrefix, const std::string& revision); } #endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index eb9cd6c5a..1c711048d 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -13,6 +13,9 @@ #include #include +#include +#include + namespace { using namespace DetourNavigator; diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index eaeea92f1..866fdfa40 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -1,4 +1,5 @@ #include "recastmesh.hpp" +#include "chunkytrimesh.hpp" #include "settings.hpp" namespace DetourNavigator diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index 83caa5287..ba9b8a3de 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -1,4 +1,5 @@ #include "recastmeshbuilder.hpp" +#include "chunkytrimesh.hpp" #include "settings.hpp" #include "settingsutils.hpp" diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index 11e1f9990..e06b8159f 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -1,12 +1,14 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGS_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGS_H -#include +#include namespace DetourNavigator { struct Settings { + bool mEnableWriteRecastMeshToFile; + bool mEnableWriteNavMeshToFile; float mCellHeight; float mCellSize; float mDetailSampleDist; @@ -24,6 +26,8 @@ namespace DetourNavigator std::size_t mMaxPolygonPathSize; std::size_t mMaxSmoothPathSize; std::size_t mTrianglesPerChunk; + std::string mRecastMeshPathPrefix; + std::string mNavMeshPathPrefix; }; } diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 7bc9ac6c0..58213f089 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -593,3 +593,7 @@ triangles per chunk = 256 # Enable debug log (true, false) enable log = false +enable write recast mesh to file = false +enable write nav mesh to file = false +recast mesh path prefix = +nav mesh path prefix = From d1d034a1ec55a28d8240ae66938bd07c96f08f35 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 20:24:02 +0300 Subject: [PATCH 042/130] Update NavMesh one by one tile in order from nearest to player --- apps/openmw/mwworld/scene.cpp | 3 +- apps/openmw/mwworld/worldimp.cpp | 1 + .../detournavigator/navigator.cpp | 30 ++++- .../detournavigator/asyncnavmeshupdater.cpp | 44 ++++--- .../detournavigator/asyncnavmeshupdater.hpp | 19 ++- components/detournavigator/exceptions.hpp | 6 + components/detournavigator/makenavmesh.cpp | 117 ++++-------------- components/detournavigator/makenavmesh.hpp | 9 +- components/detournavigator/navigator.cpp | 5 +- components/detournavigator/navigator.hpp | 6 +- components/detournavigator/navmeshmanager.cpp | 91 ++++++++------ components/detournavigator/navmeshmanager.hpp | 13 +- components/detournavigator/sharednavmesh.hpp | 58 +++++++++ 13 files changed, 224 insertions(+), 178 deletions(-) create mode 100644 components/detournavigator/sharednavmesh.hpp diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index c01478d4c..3aca0af32 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -363,7 +363,8 @@ namespace MWWorld else mPhysics->disableWater(); - navigator->update(); + const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); + navigator->update(player.getRefData().getPosition().asVec3()); if (!cell->isExterior() && !(cell->getCell()->mData.mFlags & ESM::Cell::QuasiEx)) mRendering.configureAmbient(cell->getCell()); diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index b07d96585..db9ba211b 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -19,6 +19,7 @@ #include +#include #include #include diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 0e30dd9ce..4ac1b15ac 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -56,6 +56,32 @@ namespace } }; + TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_throw_exception) + { + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument); + } + + TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception) + { + mNavigator->addAgent(mAgentHalfExtents); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException); + } + + TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_throw_exception) + { + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->removeAgent(mAgentHalfExtents); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument); + } + + TEST_F(DetourNavigatorNavigatorTest, add_agent_should_count_each_agent) + { + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->removeAgent(mAgentHalfExtents); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException); + } + TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path) { const std::array heightfieldData {{ @@ -70,7 +96,7 @@ namespace mNavigator->addAgent(mAgentHalfExtents); mNavigator->addObject(1, shape, btTransform::getIdentity()); - mNavigator->update(); + mNavigator->update(mPlayerPosition); mNavigator->wait(); mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); @@ -127,7 +153,7 @@ namespace mNavigator->addAgent(mAgentHalfExtents); mNavigator->addObject(1, shape, btTransform::getIdentity()); mNavigator->addObject(2, shape2, btTransform::getIdentity()); - mNavigator->update(); + mNavigator->update(mPlayerPosition); mNavigator->wait(); mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 12abe6399..4897d2594 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -7,6 +7,21 @@ #include +namespace +{ + using DetourNavigator::TilePosition; + + int getDistance(const TilePosition& lhs, const TilePosition& rhs) + { + return std::abs(lhs.x() - rhs.x()) + std::abs(lhs.y() - rhs.y()); + } + + std::pair makePriority(const TilePosition& changedTile, const TilePosition& playerTile) + { + return std::make_pair(getDistance(changedTile, playerTile), getDistance(changedTile, TilePosition {0, 0})); + } +} + namespace DetourNavigator { AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings) @@ -20,25 +35,21 @@ namespace DetourNavigator { mShouldStop = true; std::unique_lock lock(mMutex); - mJobs.clear(); + mJobs = decltype(mJobs)(); mHasJob.notify_all(); lock.unlock(); mThread.join(); } void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, - const std::shared_ptr& navMeshCacheItem, std::set&& changedTiles) + const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, + const std::set& changedTiles) { const std::lock_guard lock(mMutex); - const auto job = mJobs.find(agentHalfExtents); - if (job == mJobs.end() || job->second.mChangedTiles.empty()) - { - mJobs[agentHalfExtents] = Job {agentHalfExtents, recastMesh, navMeshCacheItem, std::move(changedTiles)}; - } - else + for (const auto& changedTile : changedTiles) { - job->second.mRecastMesh = recastMesh; - job->second.mChangedTiles.insert(changedTiles.begin(), changedTiles.end()); + mJobs.push(Job {agentHalfExtents, recastMesh, navMeshCacheItem, changedTile, + makePriority(changedTile, playerTile)}); } mHasJob.notify_all(); } @@ -74,11 +85,8 @@ namespace DetourNavigator const auto start = std::chrono::steady_clock::now(); - if (job.mNavMeshCacheItem->mValue && !job.mChangedTiles.empty()) - updateNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, job.mChangedTiles, mSettings, - *job.mNavMeshCacheItem->mValue); - else - job.mNavMeshCacheItem->mValue = makeNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, mSettings); + updateNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, job.mChangedTile, mSettings, + job.mNavMeshCacheItem->mValue); const auto finish = std::chrono::steady_clock::now(); @@ -101,8 +109,8 @@ namespace DetourNavigator return boost::none; } log("got ", mJobs.size(), " jobs"); - const auto job = mJobs.begin()->second; - mJobs.erase(mJobs.begin()); + const auto job = mJobs.top(); + mJobs.pop(); return job; } @@ -115,6 +123,6 @@ namespace DetourNavigator if (mSettings.get().mEnableWriteRecastMeshToFile) writeToFile(*job.mRecastMesh, mSettings.get().mRecastMeshPathPrefix, revision); if (mSettings.get().mEnableWriteNavMeshToFile) - writeToFile(*job.mNavMeshCacheItem->mValue, mSettings.get().mNavMeshPathPrefix, revision); + writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, revision); } } diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index ec8f0e9de..a9432ceaf 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H #include "recastmesh.hpp" +#include "sharednavmesh.hpp" #include "tileposition.hpp" #include @@ -13,6 +14,7 @@ #include #include #include +#include #include #include @@ -20,11 +22,9 @@ class dtNavMesh; namespace DetourNavigator { - using NavMeshPtr = std::shared_ptr; - struct NavMeshCacheItem { - NavMeshPtr mValue; + SharedNavMesh mValue; std::size_t mRevision; }; @@ -35,7 +35,8 @@ namespace DetourNavigator ~AsyncNavMeshUpdater(); void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, - const std::shared_ptr& mNavMeshCacheItem, std::set&& changedTiles); + const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, + const std::set& changedTiles); void wait(); @@ -45,10 +46,16 @@ namespace DetourNavigator osg::Vec3f mAgentHalfExtents; std::shared_ptr mRecastMesh; std::shared_ptr mNavMeshCacheItem; - std::set mChangedTiles; + TilePosition mChangedTile; + std::pair mPriority; + + friend inline bool operator <(const Job& lhs, const Job& rhs) + { + return lhs.mPriority > rhs.mPriority; + } }; - using Jobs = std::map; + using Jobs = std::priority_queue>; std::reference_wrapper mSettings; std::atomic_bool mShouldStop; diff --git a/components/detournavigator/exceptions.hpp b/components/detournavigator/exceptions.hpp index e547aaaf4..fb31172ee 100644 --- a/components/detournavigator/exceptions.hpp +++ b/components/detournavigator/exceptions.hpp @@ -10,6 +10,12 @@ namespace DetourNavigator NavigatorException(const std::string& message) : std::runtime_error(message) {} NavigatorException(const char* message) : std::runtime_error(message) {} }; + + struct InvalidArgument : std::invalid_argument + { + InvalidArgument(const std::string& message) : std::invalid_argument(message) {} + InvalidArgument(const char* message) : std::invalid_argument(message) {} + }; } #endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 1c711048d..b08cba238 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -6,7 +6,7 @@ #include "recastmesh.hpp" #include "settings.hpp" #include "settingsutils.hpp" -#include "debug.hpp" +#include "sharednavmesh.hpp" #include #include @@ -218,22 +218,8 @@ namespace namespace DetourNavigator { - NavMeshPtr makeEmptyNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const Settings& settings) + NavMeshPtr makeEmptyNavMesh(const Settings& settings) { - log("build empty NavMesh:", - " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), - getHeight(settings, agentHalfExtents), - " agentMaxClimb=", std::setprecision(std::numeric_limits::max_exponent10), - getMaxClimb(settings), - " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), - getRadius(settings, agentHalfExtents)); - - osg::Vec3f boundsMin; - osg::Vec3f boundsMax; - rcCalcBounds(recastMesh.getVertices().data(), static_cast(recastMesh.getVerticesCount()), - boundsMin.ptr(), boundsMax.ptr()); - // Max tiles and max polys affect how the tile IDs are caculated. // There are 22 bits available for identifying a tile and a polygon. const auto tileBits = 10; @@ -242,7 +228,7 @@ namespace DetourNavigator const auto maxPolysPerTile = 1 << polyBits; dtNavMeshParams params; - rcVcopy(params.orig, boundsMin.ptr()); + std::fill_n(params.orig, 3, 0.0f); params.tileWidth = settings.mTileSize * settings.mCellSize; params.tileHeight = settings.mTileSize * settings.mCellSize; params.maxTiles = maxTiles; @@ -254,67 +240,8 @@ namespace DetourNavigator return navMesh; } - NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const Settings& settings) - { - log("build NavMesh with mutiple tiles:", - " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), - getHeight(settings, agentHalfExtents), - " agentMaxClimb=", std::setprecision(std::numeric_limits::max_exponent10), - getMaxClimb(settings), - " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), - getRadius(settings, agentHalfExtents)); - - osg::Vec3f boundsMin; - osg::Vec3f boundsMax; - rcCalcBounds(recastMesh.getVertices().data(), static_cast(recastMesh.getVerticesCount()), - boundsMin.ptr(), boundsMax.ptr()); - - const auto minTilePosition = getTilePosition(settings, boundsMin); - const auto maxTilePosition = getTilePosition(settings, boundsMax); - - // Max tiles and max polys affect how the tile IDs are caculated. - // There are 22 bits available for identifying a tile and a polygon. - const auto tileBits = 10; - const auto polyBits = 22 - tileBits; - const auto maxTiles = 1 << tileBits; - const auto maxPolysPerTile = 1 << polyBits; - - dtNavMeshParams params; - std::fill_n(params.orig, 3, 0.0f); - params.tileWidth = getTileSize(settings); - params.tileHeight = getTileSize(settings); - params.maxTiles = maxTiles; - params.maxPolys = maxPolysPerTile; - - NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh); - OPENMW_CHECK_DT_STATUS(navMesh->init(¶ms)); - - for (int y = minTilePosition.y(); y <= maxTilePosition.y(); ++y) - { - for (int x = minTilePosition.x(); x <= maxTilePosition.x(); ++x) - { - const auto tileBounds = makeTileBounds(settings, TilePosition(x, y)); - const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); - const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); - - auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y, - tileBorderMin, tileBorderMax, settings); - - if (!navMeshData.mValue) - continue; - - OPENMW_CHECK_DT_STATUS(navMesh->addTile(navMeshData.mValue.get(), navMeshData.mSize, - DT_TILE_FREE_DATA, 0, 0)); - navMeshData.mValue.release(); - } - } - - return navMesh; - } - void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const std::set& changedTiles, const Settings& settings, dtNavMesh& navMesh) + const TilePosition& changedTile, const Settings& settings, SharedNavMesh& navMesh) { log("update NavMesh with mutiple tiles:", " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), @@ -323,36 +250,36 @@ namespace DetourNavigator getMaxClimb(settings), " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), getRadius(settings, agentHalfExtents), - " changedTiles.size()=", changedTiles.size()); + " changedTile=", changedTile); osg::Vec3f boundsMin; osg::Vec3f boundsMax; rcCalcBounds(recastMesh.getVertices().data(), int(recastMesh.getVerticesCount()), boundsMin.ptr(), boundsMax.ptr()); - const auto& params = *navMesh.getParams(); + const auto& params = *navMesh.lock()->getParams(); const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]); - for (const auto& tilePosition : changedTiles) - { - const auto x = tilePosition.x(); - const auto y = tilePosition.y(); + const auto x = changedTile.x(); + const auto y = changedTile.y(); - navMesh.removeTile(navMesh.getTileRefAt(x, y, 0), nullptr, nullptr); + { + const auto locked = navMesh.lock(); + locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr); + } - const auto tileBounds = makeTileBounds(settings, tilePosition); - const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); - const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); + const auto tileBounds = makeTileBounds(settings, changedTile); + const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); + const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); - auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y, - tileBorderMin, tileBorderMax, settings); + auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y, + tileBorderMin, tileBorderMax, settings); - if (!navMeshData.mValue) - continue; + if (!navMeshData.mValue) + return; - OPENMW_CHECK_DT_STATUS(navMesh.addTile(navMeshData.mValue.get(), navMeshData.mSize, - DT_TILE_FREE_DATA, 0, 0)); - navMeshData.mValue.release(); - } + OPENMW_CHECK_DT_STATUS(navMesh.lock()->addTile(navMeshData.mValue.get(), navMeshData.mSize, + DT_TILE_FREE_DATA, 0, 0)); + navMeshData.mValue.release(); } } diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 96521608b..0a47dd66d 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -13,18 +13,15 @@ class dtNavMesh; namespace DetourNavigator { class RecastMesh; + class SharedNavMesh; struct Settings; using NavMeshPtr = std::shared_ptr; - NavMeshPtr makeEmptyNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const Settings& settings); - - NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const Settings& settings); + NavMeshPtr makeEmptyNavMesh(const Settings& settings); void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const std::set& changedTiles, const Settings& settings, dtNavMesh& navMesh); + const TilePosition& changedTile, const Settings& settings, SharedNavMesh& navMesh); } #endif diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index 9f1d77a1c..c3ec41e96 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -13,6 +13,7 @@ namespace DetourNavigator void Navigator::addAgent(const osg::Vec3f& agentHalfExtents) { ++mAgents[agentHalfExtents]; + mNavMeshManager.addAgent(agentHalfExtents); } void Navigator::removeAgent(const osg::Vec3f& agentHalfExtents) @@ -29,10 +30,10 @@ namespace DetourNavigator return mNavMeshManager.removeObject(id); } - void Navigator::update() + void Navigator::update(const osg::Vec3f& playerPosition) { for (const auto& v : mAgents) - mNavMeshManager.update(v.first); + mNavMeshManager.update(playerPosition, v.first); } void Navigator::wait() diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 779506a9a..e48d630af 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -25,7 +25,7 @@ namespace DetourNavigator bool removeObject(std::size_t id); - void update(); + void update(const osg::Vec3f& playerPosition); void wait(); @@ -34,9 +34,7 @@ namespace DetourNavigator const osg::Vec3f& end, OutputIterator out) const { const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents); - if (!navMesh) - return out; - return findSmoothPath(*navMesh, toNavMeshCoordinates(mSettings, agentHalfExtents), + return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents), toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), mSettings, out); } diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index d423f2120..89d5e0809 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -1,7 +1,9 @@ #include "navmeshmanager.hpp" #include "debug.hpp" +#include "exceptions.hpp" #include "makenavmesh.hpp" #include "settings.hpp" +#include "sharednavmesh.hpp" #include @@ -27,34 +29,39 @@ namespace DetourNavigator return true; } + void NavMeshManager::addAgent(const osg::Vec3f& agentHalfExtents) + { + auto cached = mCache.find(agentHalfExtents); + if (cached != mCache.end()) + return; + mCache.insert(std::make_pair(agentHalfExtents, + std::make_shared(NavMeshCacheItem {makeEmptyNavMesh(mSettings), mRevision})) + ); + log("cache add for agent=", agentHalfExtents); + } + void NavMeshManager::reset(const osg::Vec3f& agentHalfExtents) { mCache.erase(agentHalfExtents); } - void NavMeshManager::update(const osg::Vec3f& agentHalfExtents) + void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { - auto cached = mCache.find(agentHalfExtents); - if (cached == mCache.end()) - cached = mCache.insert(std::make_pair(agentHalfExtents, - std::make_shared(NavMeshCacheItem { - makeEmptyNavMesh(agentHalfExtents, *mRecastMeshManager.getMesh(), mSettings), - mRevision - }))).first; - else if (cached->second->mRevision >= mRevision) + const auto& cached = getCached(agentHalfExtents); + if (cached->mRevision >= mRevision) return; - cached->second->mRevision = mRevision; + cached->mRevision = mRevision; const auto changedTiles = mChangedTiles.find(agentHalfExtents); - if (changedTiles == mChangedTiles.end()) + if (changedTiles != mChangedTiles.end()) { - mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached->second, - std::set()); - } - else - { - mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached->second, - std::move(changedTiles->second)); + TilePosition playerTile; + playerPosition *= mSettings.mRecastScaleFactor; + std::swap(playerPosition.y(), playerPosition.z()); + cached->mValue.raw()->calcTileLoc(playerPosition.ptr(), &playerTile.x(), &playerTile.y()); + mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, playerTile, + changedTiles->second); mChangedTiles.erase(changedTiles); + log("cache update posted for agent=", agentHalfExtents); } } @@ -63,12 +70,9 @@ namespace DetourNavigator mAsyncNavMeshUpdater.wait(); } - NavMeshConstPtr NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const + SharedNavMesh NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const { - const auto it = mCache.find(agentHalfExtents); - if (it == mCache.end()) - return nullptr; - return it->second->mValue; + return getCached(agentHalfExtents)->mValue; } void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform) @@ -85,29 +89,36 @@ namespace DetourNavigator { if (const auto& item = v.second) { - if (const auto& navMesh = item->mValue) - { - auto& changedTiles = mChangedTiles[v.first]; + auto& changedTiles = mChangedTiles[v.first]; - int minTileX; - int minTileY; - navMesh->calcTileLoc(min.ptr(), &minTileX, &minTileY); + int minTileX; + int minTileY; + item->mValue.raw()->calcTileLoc(min.ptr(), &minTileX, &minTileY); - int maxTileX; - int maxTileY; - navMesh->calcTileLoc(max.ptr(), &maxTileX, &maxTileY); + int maxTileX; + int maxTileY; + item->mValue.raw()->calcTileLoc(max.ptr(), &maxTileX, &maxTileY); - if (minTileX > maxTileX) - std::swap(minTileX, maxTileX); + if (minTileX > maxTileX) + std::swap(minTileX, maxTileX); - if (minTileY > maxTileY) - std::swap(minTileY, maxTileY); + if (minTileY > maxTileY) + std::swap(minTileY, maxTileY); - for (int tileX = minTileX; tileX <= maxTileX; ++tileX) - for (int tileY = minTileY; tileY <= maxTileY; ++tileY) - changedTiles.insert(TilePosition {tileX, tileY}); - } + for (int tileX = minTileX; tileX <= maxTileX; ++tileX) + for (int tileY = minTileY; tileY <= maxTileY; ++tileY) + changedTiles.insert(TilePosition {tileX, tileY}); } } } + + const std::shared_ptr& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const + { + const auto cached = mCache.find(agentHalfExtents); + if (cached != mCache.end()) + return cached->second; + std::ostringstream stream; + stream << "Agent with half extents is not found: " << agentHalfExtents; + throw InvalidArgument(stream.str()); + } } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 40440bafa..2736140f1 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -3,6 +3,9 @@ #include "asyncnavmeshupdater.hpp" #include "cachedrecastmeshmanager.hpp" +#include "sharednavmesh.hpp" + +#include #include @@ -15,8 +18,6 @@ class dtNavMesh; namespace DetourNavigator { - using NavMeshConstPtr = std::shared_ptr; - class NavMeshManager { public: @@ -34,13 +35,15 @@ namespace DetourNavigator bool removeObject(std::size_t id); + void addAgent(const osg::Vec3f& agentHalfExtents); + void reset(const osg::Vec3f& agentHalfExtents); - void update(const osg::Vec3f& agentHalfExtents); + void update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents); void wait(); - NavMeshConstPtr getNavMesh(const osg::Vec3f& agentHalfExtents) const; + SharedNavMesh getNavMesh(const osg::Vec3f& agentHalfExtents) const; private: std::size_t mRevision = 0; @@ -51,6 +54,8 @@ namespace DetourNavigator AsyncNavMeshUpdater mAsyncNavMeshUpdater; void addChangedTiles(const btCollisionShape& shape, const btTransform& transform); + + const std::shared_ptr& getCached(const osg::Vec3f& agentHalfExtents) const; }; } diff --git a/components/detournavigator/sharednavmesh.hpp b/components/detournavigator/sharednavmesh.hpp new file mode 100644 index 000000000..101cc5866 --- /dev/null +++ b/components/detournavigator/sharednavmesh.hpp @@ -0,0 +1,58 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H + +#include +#include + +class dtNavMesh; + +namespace DetourNavigator +{ + using NavMeshPtr = std::shared_ptr; + + class LockedSharedNavMesh + { + public: + LockedSharedNavMesh(std::mutex& mutex, const NavMeshPtr& value) + : mLock(new std::lock_guard(mutex)), mValue(value) + {} + + dtNavMesh* operator ->() const + { + return mValue.get(); + } + + dtNavMesh& operator *() const + { + return *mValue; + } + + private: + std::unique_ptr> mLock; + NavMeshPtr mValue; + }; + + class SharedNavMesh + { + public: + SharedNavMesh(const NavMeshPtr& value) + : mMutex(std::make_shared()), mValue(value) + {} + + LockedSharedNavMesh lock() const + { + return LockedSharedNavMesh(*mMutex, mValue); + } + + NavMeshPtr raw() const + { + return mValue; + } + + private: + std::shared_ptr mMutex; + NavMeshPtr mValue; + }; +} + +#endif From f8909218ee4ee52943b17b97d315fc797c33e24e Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 1 Apr 2018 22:17:04 +0300 Subject: [PATCH 043/130] Store recast mesh bounds --- components/detournavigator/makenavmesh.cpp | 6 ++---- components/detournavigator/recastmesh.cpp | 4 +++- components/detournavigator/recastmesh.hpp | 14 ++++++++++++++ 3 files changed, 19 insertions(+), 5 deletions(-) diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index b08cba238..9be9ca5c3 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -252,10 +252,8 @@ namespace DetourNavigator getRadius(settings, agentHalfExtents), " changedTile=", changedTile); - osg::Vec3f boundsMin; - osg::Vec3f boundsMax; - rcCalcBounds(recastMesh.getVertices().data(), int(recastMesh.getVerticesCount()), - boundsMin.ptr(), boundsMax.ptr()); + const auto& boundsMin = recastMesh.getBoundsMin(); + const auto& boundsMax = recastMesh.getBoundsMax(); const auto& params = *navMesh.lock()->getParams(); const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]); diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index 866fdfa40..45c2f98e7 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -1,7 +1,8 @@ #include "recastmesh.hpp" -#include "chunkytrimesh.hpp" #include "settings.hpp" +#include + namespace DetourNavigator { RecastMesh::RecastMesh(std::vector indices, std::vector vertices, const Settings& settings) @@ -9,5 +10,6 @@ namespace DetourNavigator , mVertices(std::move(vertices)) , mChunkyTriMesh(mVertices, mIndices, settings.mTrianglesPerChunk) { + rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); } } diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp index 35d5cb247..8dcb717e2 100644 --- a/components/detournavigator/recastmesh.hpp +++ b/components/detournavigator/recastmesh.hpp @@ -6,6 +6,8 @@ #include #include +#include + namespace DetourNavigator { struct Settings; @@ -40,10 +42,22 @@ namespace DetourNavigator return mChunkyTriMesh; } + const osg::Vec3f& getBoundsMin() const + { + return mBoundsMin; + } + + const osg::Vec3f& getBoundsMax() const + { + return mBoundsMax; + } + private: std::vector mIndices; std::vector mVertices; ChunkyTriMesh mChunkyTriMesh; + osg::Vec3f mBoundsMin; + osg::Vec3f mBoundsMax; }; } From 373adc6ec4e8235f3254f4c5059cb2374c138cbd Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 2 Apr 2018 09:55:12 +0300 Subject: [PATCH 044/130] Option to enable/disable file names revisions --- apps/openmw/mwworld/worldimp.cpp | 2 ++ .../detournavigator/navigator.cpp | 2 ++ .../detournavigator/asyncnavmeshupdater.cpp | 17 +++++++++++++---- components/detournavigator/debug.cpp | 4 ++-- components/detournavigator/settings.hpp | 2 ++ files/settings-default.cfg | 2 ++ 6 files changed, 23 insertions(+), 6 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index db9ba211b..e5a06abcc 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -189,6 +189,8 @@ namespace MWWorld navigatorSettings.mEnableWriteNavMeshToFile = Settings::Manager::getBool("enable write nav mesh to file", "Navigator"); navigatorSettings.mRecastMeshPathPrefix = Settings::Manager::getString("recast mesh path prefix", "Navigator"); navigatorSettings.mNavMeshPathPrefix = Settings::Manager::getString("nav mesh path prefix", "Navigator"); + navigatorSettings.mEnableRecastMeshFileNameRevision = Settings::Manager::getBool("enable recast mesh file name revision", "Navigator"); + navigatorSettings.mEnableNavMeshFileNameRevision = Settings::Manager::getBool("enable nav mesh file name revision", "Navigator"); DetourNavigator::Log::instance().setEnabled(Settings::Manager::getBool("enable log", "Navigator")); mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings)); diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 4ac1b15ac..2bfab13a4 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -35,6 +35,8 @@ namespace { mSettings.mEnableWriteRecastMeshToFile = false; mSettings.mEnableWriteNavMeshToFile = false; + mSettings.mEnableRecastMeshFileNameRevision = false; + mSettings.mEnableNavMeshFileNameRevision = false; mSettings.mCellHeight = 0.2f; mSettings.mCellSize = 0.2f; mSettings.mDetailSampleDist = 6; diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 4897d2594..48860c33d 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -117,12 +117,21 @@ namespace DetourNavigator void AsyncNavMeshUpdater::writeDebugFiles(const Job& job) const { std::string revision; - if (mSettings.get().mEnableWriteNavMeshToFile || mSettings.get().mEnableWriteRecastMeshToFile) - revision = std::to_string((std::chrono::steady_clock::now() + std::string recastMeshRevision; + std::string navMeshRevision; + if ((mSettings.get().mEnableWriteNavMeshToFile || mSettings.get().mEnableWriteRecastMeshToFile) + && (mSettings.get().mEnableRecastMeshFileNameRevision || mSettings.get().mEnableNavMeshFileNameRevision)) + { + revision = "." + std::to_string((std::chrono::steady_clock::now() - std::chrono::steady_clock::time_point()).count()); + if (mSettings.get().mEnableRecastMeshFileNameRevision) + recastMeshRevision = revision; + if (mSettings.get().mEnableNavMeshFileNameRevision) + navMeshRevision = revision; + } if (mSettings.get().mEnableWriteRecastMeshToFile) - writeToFile(*job.mRecastMesh, mSettings.get().mRecastMeshPathPrefix, revision); + writeToFile(*job.mRecastMesh, mSettings.get().mRecastMeshPathPrefix, recastMeshRevision); if (mSettings.get().mEnableWriteNavMeshToFile) - writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, revision); + writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } } diff --git a/components/detournavigator/debug.cpp b/components/detournavigator/debug.cpp index d1c6edefd..0ddf002d9 100644 --- a/components/detournavigator/debug.cpp +++ b/components/detournavigator/debug.cpp @@ -10,7 +10,7 @@ namespace DetourNavigator { void writeToFile(const RecastMesh& recastMesh, const std::string& pathPrefix, const std::string& revision) { - const auto path = pathPrefix + "recastmesh." + revision + ".obj"; + const auto path = pathPrefix + "recastmesh" + revision + ".obj"; std::ofstream file(path); if (!file.is_open()) throw NavigatorException("Open file failed: " + path); @@ -63,7 +63,7 @@ namespace DetourNavigator int dataSize; }; - const auto path = pathPrefix + "navmesh." + revision + ".bin"; + const auto path = pathPrefix + "all_tiles_navmesh" + revision + ".bin"; std::ofstream file(path, std::ios::binary); if (!file.is_open()) throw NavigatorException("Open file failed: " + path); diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index e06b8159f..6983eb431 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -9,6 +9,8 @@ namespace DetourNavigator { bool mEnableWriteRecastMeshToFile; bool mEnableWriteNavMeshToFile; + bool mEnableRecastMeshFileNameRevision; + bool mEnableNavMeshFileNameRevision; float mCellHeight; float mCellSize; float mDetailSampleDist; diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 58213f089..8a78e745c 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -595,5 +595,7 @@ triangles per chunk = 256 enable log = false enable write recast mesh to file = false enable write nav mesh to file = false +enable recast mesh file name revision = false +enable nav mesh file name revision = false recast mesh path prefix = nav mesh path prefix = From dd5e6a61a3202e57b199abb4a64bd802f16936d2 Mon Sep 17 00:00:00 2001 From: elsid Date: Tue, 3 Apr 2018 00:04:19 +0300 Subject: [PATCH 045/130] Support btCompoundShape for RecastMesh --- apps/openmw/mwworld/scene.cpp | 10 ++++---- .../cachedrecastmeshmanager.cpp | 9 +++++++- .../cachedrecastmeshmanager.hpp | 9 +------- components/detournavigator/navigator.cpp | 5 ++++ components/detournavigator/navigator.hpp | 6 +---- components/detournavigator/navmeshmanager.cpp | 9 ++++++++ components/detournavigator/navmeshmanager.hpp | 10 +------- .../detournavigator/recastmeshbuilder.cpp | 23 ++++++++++++++++++- .../detournavigator/recastmeshbuilder.hpp | 6 +++++ .../detournavigator/recastmeshmanager.cpp | 10 +------- .../detournavigator/recastmeshmanager.hpp | 4 +--- 11 files changed, 59 insertions(+), 42 deletions(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 3aca0af32..73dc63252 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -83,12 +84,9 @@ namespace if (const auto object = physics.getObject(ptr)) { - if (const auto concaveShape = dynamic_cast(object->getShapeInstance()->mCollisionShape)) - { - const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - navigator->addObject(reinterpret_cast(object), *concaveShape, - object->getCollisionObject()->getWorldTransform()); - } + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + navigator->addObject(reinterpret_cast(object), *object->getCollisionObject()->getCollisionShape(), + object->getCollisionObject()->getWorldTransform()); } else if (const auto actor = physics.getActor(ptr)) { diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index 0fcaf116e..60306ecc6 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -5,7 +5,14 @@ namespace DetourNavigator { CachedRecastMeshManager::CachedRecastMeshManager(const Settings& settings) : mImpl(settings) + {} + + bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { + if (!mImpl.addObject(id, shape, transform)) + return false; + mCached.reset(); + return true; } boost::optional CachedRecastMeshManager::removeObject(std::size_t id) @@ -21,5 +28,5 @@ namespace DetourNavigator if (!mCached) mCached = mImpl.getMesh(); return mCached; -} + } } diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 4be6fb134..6705a26f1 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -12,14 +12,7 @@ namespace DetourNavigator public: CachedRecastMeshManager(const Settings& settings); - template - bool addObject(std::size_t id, const T& shape, const btTransform& transform) - { - if (!mImpl.addObject(id, shape, transform)) - return false; - mCached.reset(); - return true; - } + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); boost::optional removeObject(std::size_t id); diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index c3ec41e96..fe1b931af 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -25,6 +25,11 @@ namespace DetourNavigator mNavMeshManager.reset(agentHalfExtents); } + bool Navigator::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + { + return mNavMeshManager.addObject(id, shape, transform); + } + bool Navigator::removeObject(std::size_t id) { return mNavMeshManager.removeObject(id); diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index e48d630af..69db211b1 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -17,11 +17,7 @@ namespace DetourNavigator void removeAgent(const osg::Vec3f& agentHalfExtents); - template - bool addObject(std::size_t id, const T& shape, const btTransform& transform) - { - return mNavMeshManager.addObject(id, shape, transform); - } + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); bool removeObject(std::size_t id); diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 89d5e0809..e2aa14879 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -19,6 +19,15 @@ namespace DetourNavigator , mAsyncNavMeshUpdater(settings) {} + bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + { + if (!mRecastMeshManager.addObject(id, shape, transform)) + return false; + ++mRevision; + addChangedTiles(shape, transform); + return true; + } + bool NavMeshManager::removeObject(std::size_t id) { const auto object = mRecastMeshManager.removeObject(id); diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 2736140f1..f3285a8db 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -23,15 +23,7 @@ namespace DetourNavigator public: NavMeshManager(const Settings& settings); - template - bool addObject(std::size_t id, const T& shape, const btTransform& transform) - { - if (!mRecastMeshManager.addObject(id, shape, transform)) - return false; - ++mRevision; - addChangedTiles(shape, transform); - return true; - } + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); bool removeObject(std::size_t id); diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index ba9b8a3de..eb44dbcd5 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -1,12 +1,15 @@ #include "recastmeshbuilder.hpp" #include "chunkytrimesh.hpp" +#include "debug.hpp" #include "settings.hpp" #include "settingsutils.hpp" +#include "exceptions.hpp" #include -#include +#include #include +#include namespace { @@ -22,7 +25,25 @@ namespace DetourNavigator RecastMeshBuilder::RecastMeshBuilder(const Settings& settings) : mSettings(settings) + {} + + void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform) + { + if (shape.isCompound()) + return addObject(static_cast(shape), transform); + else if (shape.getShapeType() == TERRAIN_SHAPE_PROXYTYPE) + return addObject(static_cast(shape), transform); + else if (shape.isConcave()) + return addObject(static_cast(shape), transform); + std::ostringstream message; + message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType()); + throw InvalidArgument(message.str()); + } + + void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform) { + for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) + addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i)); } void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform) diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index 3236b6398..5010a95e0 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -3,6 +3,8 @@ #include "recastmesh.hpp" +class btCollisionShape; +class btCompoundShape; class btConcaveShape; class btHeightfieldTerrainShape; class btTransform; @@ -16,6 +18,10 @@ namespace DetourNavigator public: RecastMeshBuilder(const Settings& settings); + void addObject(const btCollisionShape& shape, const btTransform& transform); + + void addObject(const btCompoundShape& shape, const btTransform& transform); + void addObject(const btConcaveShape& shape, const btTransform& transform); void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform); diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index 8568c6e14..1c32ac1e7 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -9,15 +9,7 @@ namespace DetourNavigator , mMeshBuilder(settings) {} - bool RecastMeshManager::addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform) - { - if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second) - return false; - mShouldRebuild = true; - return true; - } - - bool RecastMeshManager::addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform) + bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second) return false; diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index b4a57ffe0..429430707 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -24,9 +24,7 @@ namespace DetourNavigator RecastMeshManager(const Settings& settings); - bool addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform); - - bool addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform); + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); boost::optional removeObject(std::size_t id); From 794cfc4aa3923d609c553083648df83a89c20e41 Mon Sep 17 00:00:00 2001 From: elsid Date: Wed, 4 Apr 2018 01:10:43 +0300 Subject: [PATCH 046/130] Write detournavigator log to file --- components/detournavigator/debug.hpp | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index 2a9f851a3..520851fbe 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -6,8 +6,11 @@ #include #include +#include +#include #include #include +#include #include #include @@ -25,7 +28,11 @@ namespace DetourNavigator class Log { public: - Log() : mEnabled(false) {} + Log() + : mEnabled() + { + mFile.exceptions(std::ios::failbit | std::ios::badbit); + } void setEnabled(bool value) { @@ -40,7 +47,14 @@ namespace DetourNavigator void write(const std::string& text) { if (mEnabled) - std::cout << text; + { + const std::lock_guard lock(mMutex); + if (!mFile.is_open()) + { + mFile.open("detournavigator.log"); + } + mFile << text << std::flush; + } } static Log& instance() @@ -50,7 +64,9 @@ namespace DetourNavigator } private: - bool mEnabled; + std::mutex mMutex; + std::ofstream mFile; + std::atomic_bool mEnabled; }; inline void write(std::ostream& stream) From 1caa18bb4fbf612b0aab9eb10483113910b1fa3e Mon Sep 17 00:00:00 2001 From: elsid Date: Wed, 4 Apr 2018 03:20:48 +0300 Subject: [PATCH 047/130] Use one recast mesh for all jobs --- .../detournavigator/asyncnavmeshupdater.cpp | 34 ++++++++++++++----- .../detournavigator/asyncnavmeshupdater.hpp | 9 +++-- 2 files changed, 33 insertions(+), 10 deletions(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 48860c33d..d5b6d380f 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -45,12 +45,16 @@ namespace DetourNavigator const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, const std::set& changedTiles) { + setRecastMesh(recastMesh); + + if (changedTiles.empty()) + return; + const std::lock_guard lock(mMutex); + for (const auto& changedTile : changedTiles) - { - mJobs.push(Job {agentHalfExtents, recastMesh, navMeshCacheItem, changedTile, - makePriority(changedTile, playerTile)}); - } + mJobs.push(Job {agentHalfExtents, navMeshCacheItem, changedTile, makePriority(changedTile, playerTile)}); + mHasJob.notify_all(); } @@ -85,12 +89,14 @@ namespace DetourNavigator const auto start = std::chrono::steady_clock::now(); - updateNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, job.mChangedTile, mSettings, + const auto recastMesh = getRecastMesh(); + + updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, job.mNavMeshCacheItem->mValue); const auto finish = std::chrono::steady_clock::now(); - writeDebugFiles(job); + writeDebugFiles(job, *recastMesh); using FloatMs = std::chrono::duration; @@ -114,7 +120,7 @@ namespace DetourNavigator return job; } - void AsyncNavMeshUpdater::writeDebugFiles(const Job& job) const + void AsyncNavMeshUpdater::writeDebugFiles(const Job& job, const RecastMesh& recastMesh) const { std::string revision; std::string recastMeshRevision; @@ -130,8 +136,20 @@ namespace DetourNavigator navMeshRevision = revision; } if (mSettings.get().mEnableWriteRecastMeshToFile) - writeToFile(*job.mRecastMesh, mSettings.get().mRecastMeshPathPrefix, recastMeshRevision); + writeToFile(recastMesh, mSettings.get().mRecastMeshPathPrefix, recastMeshRevision); if (mSettings.get().mEnableWriteNavMeshToFile) writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } + + std::shared_ptr AsyncNavMeshUpdater::getRecastMesh() + { + const std::lock_guard lock(mRecastMeshMutex); + return mRecastMesh; + } + + void AsyncNavMeshUpdater::setRecastMesh(const std::shared_ptr& value) + { + const std::lock_guard lock(mRecastMeshMutex); + mRecastMesh = value; + } } diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index a9432ceaf..8a70278fb 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -44,7 +44,6 @@ namespace DetourNavigator struct Job { osg::Vec3f mAgentHalfExtents; - std::shared_ptr mRecastMesh; std::shared_ptr mNavMeshCacheItem; TilePosition mChangedTile; std::pair mPriority; @@ -63,6 +62,8 @@ namespace DetourNavigator std::condition_variable mHasJob; std::condition_variable mDone; Jobs mJobs; + std::mutex mRecastMeshMutex; + std::shared_ptr mRecastMesh; std::thread mThread; void process() throw(); @@ -73,7 +74,11 @@ namespace DetourNavigator void notifyHasJob(); - void writeDebugFiles(const Job& job) const; + void writeDebugFiles(const Job& job, const RecastMesh& recastMesh) const; + + std::shared_ptr getRecastMesh(); + + void setRecastMesh(const std::shared_ptr& value); }; } From 70a369f70e1f298313d92ed48bc14a4020563aa9 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 7 Apr 2018 16:11:23 +0300 Subject: [PATCH 048/130] Add command to enable NavMesh render togglenavmesh or tnm --- apps/openmw/CMakeLists.txt | 4 +- apps/openmw/mwrender/navmesh.cpp | 63 +++++++++ apps/openmw/mwrender/navmesh.hpp | 39 ++++++ apps/openmw/mwrender/renderingmanager.cpp | 38 +++++- apps/openmw/mwrender/renderingmanager.hpp | 14 +- apps/openmw/mwrender/rendermode.hpp | 3 +- apps/openmw/mwscript/docs/vmformat.txt | 3 +- apps/openmw/mwscript/miscextensions.cpp | 15 +++ apps/openmw/mwworld/worldimp.cpp | 4 +- apps/openmw/mwworld/worldimp.hpp | 2 +- components/CMakeLists.txt | 4 +- components/compiler/extensions0.cpp | 2 + components/compiler/opcodes.hpp | 1 + .../detournavigator/asyncnavmeshupdater.cpp | 2 + .../detournavigator/asyncnavmeshupdater.hpp | 6 +- components/detournavigator/navigator.cpp | 10 ++ components/detournavigator/navigator.hpp | 4 + components/detournavigator/navmeshmanager.cpp | 11 +- components/detournavigator/navmeshmanager.hpp | 2 + components/sceneutil/detourdebugdraw.cpp | 123 ++++++++++++++++++ components/sceneutil/detourdebugdraw.hpp | 48 +++++++ components/sceneutil/navmesh.cpp | 22 ++++ components/sceneutil/navmesh.hpp | 23 ++++ components/sceneutil/util.cpp | 11 ++ components/sceneutil/util.hpp | 4 + 25 files changed, 436 insertions(+), 22 deletions(-) create mode 100644 apps/openmw/mwrender/navmesh.cpp create mode 100644 apps/openmw/mwrender/navmesh.hpp create mode 100644 components/sceneutil/detourdebugdraw.cpp create mode 100644 components/sceneutil/detourdebugdraw.hpp create mode 100644 components/sceneutil/navmesh.cpp create mode 100644 components/sceneutil/navmesh.hpp diff --git a/apps/openmw/CMakeLists.txt b/apps/openmw/CMakeLists.txt index 85906b16e..bac9634db 100644 --- a/apps/openmw/CMakeLists.txt +++ b/apps/openmw/CMakeLists.txt @@ -21,7 +21,7 @@ add_openmw_dir (mwrender actors objects renderingmanager animation rotatecontroller sky npcanimation vismask creatureanimation effectmanager util renderinginterface pathgrid rendermode weaponanimation bulletdebugdraw globalmap characterpreview camera localmap water terrainstorage ripplesimulation - renderbin actoranimation landmanager + renderbin actoranimation landmanager navmesh ) add_openmw_dir (mwinput @@ -117,7 +117,7 @@ include_directories( ${FFmpeg_INCLUDE_DIRS} ) -find_package(RecastNavigation COMPONENTS Detour Recast REQUIRED) +find_package(RecastNavigation COMPONENTS DebugUtils Detour Recast REQUIRED) include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) diff --git a/apps/openmw/mwrender/navmesh.cpp b/apps/openmw/mwrender/navmesh.cpp new file mode 100644 index 000000000..0d8cb8867 --- /dev/null +++ b/apps/openmw/mwrender/navmesh.cpp @@ -0,0 +1,63 @@ +#include "navmesh.hpp" +#include "vismask.hpp" + +#include + +#include + +namespace MWRender +{ + NavMesh::NavMesh(const osg::ref_ptr& root) + : mRootNode(root) + , mEnabled(false) + , mRevision(0) + { + } + + NavMesh::~NavMesh() + { + if (mEnabled) + disable(); + } + + bool NavMesh::toggle() + { + if (mEnabled) + disable(); + else + enable(); + + return mEnabled; + } + + void NavMesh::update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t revision, + const DetourNavigator::Settings& settings) + { + if (!mEnabled || mRevision >= revision) + return; + + mRevision = revision; + if (mGroup) + mRootNode->removeChild(mGroup); + mGroup = SceneUtil::createNavMeshGroup(*sharedNavMesh.lock(), settings); + if (mGroup) + { + mGroup->setNodeMask(Mask_Debug); + mRootNode->addChild(mGroup); + } + } + + void NavMesh::enable() + { + if (mGroup) + mRootNode->addChild(mGroup); + mEnabled = true; + } + + void NavMesh::disable() + { + if (mGroup) + mRootNode->removeChild(mGroup); + mEnabled = false; + } +} diff --git a/apps/openmw/mwrender/navmesh.hpp b/apps/openmw/mwrender/navmesh.hpp new file mode 100644 index 000000000..5ce98ee7b --- /dev/null +++ b/apps/openmw/mwrender/navmesh.hpp @@ -0,0 +1,39 @@ +#ifndef OPENMW_MWRENDER_NAVMESH_H +#define OPENMW_MWRENDER_NAVMESH_H + +#include + +#include + +namespace osg +{ + class Group; + class Geometry; +} + +namespace MWRender +{ + class NavMesh + { + public: + NavMesh(const osg::ref_ptr& root); + ~NavMesh(); + + bool toggle(); + + void update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t revision, + const DetourNavigator::Settings& settings); + + void enable(); + + void disable(); + + private: + osg::ref_ptr mRootNode; + bool mEnabled; + std::size_t mRevision; + osg::ref_ptr mGroup; + }; +} + +#endif diff --git a/apps/openmw/mwrender/renderingmanager.cpp b/apps/openmw/mwrender/renderingmanager.cpp index 476beb990..e29f9c7d2 100644 --- a/apps/openmw/mwrender/renderingmanager.cpp +++ b/apps/openmw/mwrender/renderingmanager.cpp @@ -46,6 +46,8 @@ #include #include +#include + #include #include "../mwworld/cellstore.hpp" @@ -63,6 +65,7 @@ #include "water.hpp" #include "terrainstorage.hpp" #include "util.hpp" +#include "navmesh.hpp" namespace { @@ -189,13 +192,16 @@ namespace MWRender Resource::ResourceSystem* mResourceSystem; }; - RenderingManager::RenderingManager(osgViewer::Viewer* viewer, osg::ref_ptr rootNode, Resource::ResourceSystem* resourceSystem, SceneUtil::WorkQueue* workQueue, - const Fallback::Map* fallback, const std::string& resourcePath) + RenderingManager::RenderingManager(osgViewer::Viewer* viewer, osg::ref_ptr rootNode, + Resource::ResourceSystem* resourceSystem, SceneUtil::WorkQueue* workQueue, + const Fallback::Map* fallback, const std::string& resourcePath, + DetourNavigator::Navigator& navigator) : mViewer(viewer) , mRootNode(rootNode) , mResourceSystem(resourceSystem) , mWorkQueue(workQueue) , mUnrefQueue(new SceneUtil::UnrefQueue) + , mNavigator(navigator) , mLandFogStart(0.f) , mLandFogEnd(std::numeric_limits::max()) , mUnderwaterFogStart(0.f) @@ -228,6 +234,7 @@ namespace MWRender mRootNode->addChild(mSceneRoot); + mNavMesh.reset(new NavMesh(mRootNode)); mPathgrid.reset(new Pathgrid(mRootNode)); mObjects.reset(new Objects(mResourceSystem, sceneRoot, mUnrefQueue.get())); @@ -482,7 +489,7 @@ namespace MWRender { mSky->setEnabled(enabled); } - + bool RenderingManager::toggleBorders() { mBorders = !mBorders; @@ -516,6 +523,10 @@ namespace MWRender mViewer->getCamera()->setCullMask(mask); return enabled; } + else if (mode == Render_NavMesh) + { + return mNavMesh->toggle(); + } return false; } @@ -581,6 +592,19 @@ namespace MWRender mWater->update(dt); } + const auto navMeshes = mNavigator.getNavMeshes(); + if (!navMeshes.empty()) + { + try + { + mNavMesh->update(navMeshes.begin()->second->mValue, navMeshes.begin()->second->mNavMeshRevision, + mNavigator.getSettings()); + } + catch (const std::exception& e) + { + Log(Debug::Error) << "NavMesh render update exception: " << e.what(); + } + } mCamera->update(dt, paused); osg::Vec3f focal, cameraPos; @@ -749,8 +773,8 @@ namespace MWRender osg::Vec3 directions[6] = { rawCubemap ? osg::Vec3(1,0,0) : osg::Vec3(0,0,1), - osg::Vec3(0,0,-1), - osg::Vec3(-1,0,0), + osg::Vec3(0,0,-1), + osg::Vec3(-1,0,0), rawCubemap ? osg::Vec3(0,0,1) : osg::Vec3(1,0,0), osg::Vec3(0,1,0), osg::Vec3(0,-1,0)}; @@ -789,7 +813,7 @@ namespace MWRender mFieldOfView = fovBackup; if (rawCubemap) // for raw cubemap don't run on GPU, just merge the images - { + { image->allocateImage(cubeSize * 6,cubeSize,images[0]->r(),images[0]->getPixelFormat(),images[0]->getDataType()); for (int i = 0; i < 6; ++i) @@ -797,7 +821,7 @@ namespace MWRender return true; } - + // run on GPU now: osg::ref_ptr cubeTexture (new osg::TextureCubeMap); diff --git a/apps/openmw/mwrender/renderingmanager.hpp b/apps/openmw/mwrender/renderingmanager.hpp index b4473c3b4..a8eae5286 100644 --- a/apps/openmw/mwrender/renderingmanager.hpp +++ b/apps/openmw/mwrender/renderingmanager.hpp @@ -55,6 +55,11 @@ namespace SceneUtil class UnrefQueue; } +namespace DetourNavigator +{ + class Navigator; +} + namespace MWRender { @@ -68,12 +73,15 @@ namespace MWRender class Water; class TerrainStorage; class LandManager; + class NavMesh; class RenderingManager : public MWRender::RenderingInterface { public: - RenderingManager(osgViewer::Viewer* viewer, osg::ref_ptr rootNode, Resource::ResourceSystem* resourceSystem, SceneUtil::WorkQueue* workQueue, - const Fallback::Map* fallback, const std::string& resourcePath); + RenderingManager(osgViewer::Viewer* viewer, osg::ref_ptr rootNode, + Resource::ResourceSystem* resourceSystem, SceneUtil::WorkQueue* workQueue, + const Fallback::Map* fallback, const std::string& resourcePath, + DetourNavigator::Navigator& navigator); ~RenderingManager(); MWRender::Objects& getObjects(); @@ -235,6 +243,8 @@ namespace MWRender osg::ref_ptr mSunLight; + DetourNavigator::Navigator& mNavigator; + std::unique_ptr mNavMesh; std::unique_ptr mPathgrid; std::unique_ptr mObjects; std::unique_ptr mWater; diff --git a/apps/openmw/mwrender/rendermode.hpp b/apps/openmw/mwrender/rendermode.hpp index 2847888d1..9f0c5a7cd 100644 --- a/apps/openmw/mwrender/rendermode.hpp +++ b/apps/openmw/mwrender/rendermode.hpp @@ -10,7 +10,8 @@ namespace MWRender Render_Wireframe, Render_Pathgrid, Render_Water, - Render_Scene + Render_Scene, + Render_NavMesh, }; } diff --git a/apps/openmw/mwscript/docs/vmformat.txt b/apps/openmw/mwscript/docs/vmformat.txt index fed780be7..2ce22633c 100644 --- a/apps/openmw/mwscript/docs/vmformat.txt +++ b/apps/openmw/mwscript/docs/vmformat.txt @@ -455,5 +455,6 @@ op 0x2000304: Show op 0x2000305: Show, explicit op 0x2000306: OnActivate, explicit op 0x2000307: ToggleBorders, tb +op 0x2000308: ToggleNavMesh -opcodes 0x2000308-0x3ffffff unused +opcodes 0x2000309-0x3ffffff unused diff --git a/apps/openmw/mwscript/miscextensions.cpp b/apps/openmw/mwscript/miscextensions.cpp index 7250e9fcf..8ccb619d0 100644 --- a/apps/openmw/mwscript/miscextensions.cpp +++ b/apps/openmw/mwscript/miscextensions.cpp @@ -1317,6 +1317,20 @@ namespace MWScript } }; + class OpToggleNavMesh : public Interpreter::Opcode0 + { + public: + + virtual void execute (Interpreter::Runtime& runtime) + { + bool enabled = + MWBase::Environment::get().getWorld()->toggleRenderMode (MWRender::Render_NavMesh); + + runtime.getContext().report (enabled ? + "Navigation Mesh Rendering -> On" : "Navigation Mesh Rendering -> Off"); + } + }; + void installOpcodes (Interpreter::Interpreter& interpreter) { interpreter.installSegment5 (Compiler::Misc::opcodeXBox, new OpXBox); @@ -1417,6 +1431,7 @@ namespace MWScript interpreter.installSegment3 (Compiler::Misc::opcodeShowSceneGraph, new OpShowSceneGraph); interpreter.installSegment3 (Compiler::Misc::opcodeShowSceneGraphExplicit, new OpShowSceneGraph); interpreter.installSegment5 (Compiler::Misc::opcodeToggleBorders, new OpToggleBorders); + interpreter.installSegment5 (Compiler::Misc::opcodeToggleNavMesh, new OpToggleNavMesh); } } } diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index e5a06abcc..442fd0450 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -164,8 +164,6 @@ namespace MWWorld mPlayerTraveling(false), mPlayerInJail(false), mSpellPreloadTimer(0.f) { mPhysics.reset(new MWPhysics::PhysicsSystem(resourceSystem, rootNode)); - mRendering.reset(new MWRender::RenderingManager(viewer, rootNode, resourceSystem, workQueue, &mFallback, resourcePath)); - mProjectileManager.reset(new ProjectileManager(mRendering->getLightRoot(), resourceSystem, mRendering.get(), mPhysics.get())); DetourNavigator::Settings navigatorSettings; navigatorSettings.mCellHeight = Settings::Manager::getFloat("cell height", "Navigator"); @@ -194,6 +192,8 @@ namespace MWWorld DetourNavigator::Log::instance().setEnabled(Settings::Manager::getBool("enable log", "Navigator")); mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings)); + mRendering.reset(new MWRender::RenderingManager(viewer, rootNode, resourceSystem, workQueue, &mFallback, resourcePath, *mNavigator)); + mProjectileManager.reset(new ProjectileManager(mRendering->getLightRoot(), resourceSystem, mRendering.get(), mPhysics.get())); mRendering->preloadCommonAssets(); mEsm.resize(contentFiles.size()); diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp index 4d264ff7f..4e3deffbe 100644 --- a/apps/openmw/mwworld/worldimp.hpp +++ b/apps/openmw/mwworld/worldimp.hpp @@ -94,11 +94,11 @@ namespace MWWorld std::unique_ptr mPlayer; std::unique_ptr mPhysics; + std::unique_ptr mNavigator; std::unique_ptr mRendering; std::unique_ptr mWorldScene; std::unique_ptr mWeatherManager; std::shared_ptr mProjectileManager; - std::unique_ptr mNavigator; bool mGodMode; bool mScriptsEnabled; diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index 2b857d811..f7aea8f37 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -51,7 +51,7 @@ add_component_dir (shader add_component_dir (sceneutil clone attach visitor util statesetupdater controller skeleton riggeometry morphgeometry lightcontroller lightmanager lightutil positionattitudetransform workqueue unrefqueue pathgridutil waterutil writescene serialize optimizer - actorutil + actorutil detourdebugdraw navmesh ) add_component_dir (nif @@ -210,7 +210,7 @@ include_directories(${Bullet_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}) add_library(components STATIC ${COMPONENT_FILES} ${MOC_SRCS} ${ESM_UI_HDR}) -find_package(RecastNavigation COMPONENTS Detour Recast REQUIRED) +find_package(RecastNavigation COMPONENTS DebugUtils Detour Recast REQUIRED) include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) diff --git a/components/compiler/extensions0.cpp b/components/compiler/extensions0.cpp index 54b8c03cb..e39b97e3f 100644 --- a/components/compiler/extensions0.cpp +++ b/components/compiler/extensions0.cpp @@ -320,6 +320,8 @@ namespace Compiler extensions.registerInstruction ("removefromlevitem", "ccl", opcodeRemoveFromLevItem); extensions.registerInstruction ("tb", "", opcodeToggleBorders); extensions.registerInstruction ("toggleborders", "", opcodeToggleBorders); + extensions.registerInstruction ("togglenavmesh", "", opcodeToggleNavMesh); + extensions.registerInstruction ("tnm", "", opcodeToggleNavMesh); } } diff --git a/components/compiler/opcodes.hpp b/components/compiler/opcodes.hpp index c141eec68..75ef73837 100644 --- a/components/compiler/opcodes.hpp +++ b/components/compiler/opcodes.hpp @@ -296,6 +296,7 @@ namespace Compiler const int opcodeShowSceneGraph = 0x2002f; const int opcodeShowSceneGraphExplicit = 0x20030; const int opcodeToggleBorders = 0x2000307; + const int opcodeToggleNavMesh = 0x2000308; } namespace Sky diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index d5b6d380f..900d69942 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -94,6 +94,8 @@ namespace DetourNavigator updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, job.mNavMeshCacheItem->mValue); + ++job.mNavMeshCacheItem->mNavMeshRevision; + const auto finish = std::chrono::steady_clock::now(); writeDebugFiles(job, *recastMesh); diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 8a70278fb..649fa9ffb 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -25,7 +25,11 @@ namespace DetourNavigator struct NavMeshCacheItem { SharedNavMesh mValue; - std::size_t mRevision; + std::size_t mRecastMeshRevision; + std::atomic_size_t mNavMeshRevision; + + NavMeshCacheItem(const NavMeshPtr& value, std::size_t revision) + : mValue(value), mRecastMeshRevision(revision), mNavMeshRevision(0) {} }; class AsyncNavMeshUpdater diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index fe1b931af..e2fc976a3 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -45,4 +45,14 @@ namespace DetourNavigator { mNavMeshManager.wait(); } + + std::map> Navigator::getNavMeshes() const + { + return mNavMeshManager.getNavMeshes(); + } + + const Settings& Navigator::getSettings() const + { + return mSettings; + } } diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 69db211b1..b8d77c705 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -34,6 +34,10 @@ namespace DetourNavigator toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), mSettings, out); } + std::map> getNavMeshes() const; + + const Settings& getSettings() const; + private: Settings mSettings; NavMeshManager mNavMeshManager; diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index e2aa14879..741d6666e 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -44,7 +44,7 @@ namespace DetourNavigator if (cached != mCache.end()) return; mCache.insert(std::make_pair(agentHalfExtents, - std::make_shared(NavMeshCacheItem {makeEmptyNavMesh(mSettings), mRevision})) + std::make_shared(makeEmptyNavMesh(mSettings), mRevision)) ); log("cache add for agent=", agentHalfExtents); } @@ -57,9 +57,9 @@ namespace DetourNavigator void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { const auto& cached = getCached(agentHalfExtents); - if (cached->mRevision >= mRevision) + if (cached->mRecastMeshRevision >= mRevision) return; - cached->mRevision = mRevision; + cached->mRecastMeshRevision = mRevision; const auto changedTiles = mChangedTiles.find(agentHalfExtents); if (changedTiles != mChangedTiles.end()) { @@ -84,6 +84,11 @@ namespace DetourNavigator return getCached(agentHalfExtents)->mValue; } + std::map> NavMeshManager::getNavMeshes() const + { + return mCache; + } + void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform) { btVector3 aabbMin; diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index f3285a8db..4f7d9d24d 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -37,6 +37,8 @@ namespace DetourNavigator SharedNavMesh getNavMesh(const osg::Vec3f& agentHalfExtents) const; + std::map> getNavMeshes() const; + private: std::size_t mRevision = 0; const Settings& mSettings; diff --git a/components/sceneutil/detourdebugdraw.cpp b/components/sceneutil/detourdebugdraw.cpp new file mode 100644 index 000000000..f6c438e79 --- /dev/null +++ b/components/sceneutil/detourdebugdraw.cpp @@ -0,0 +1,123 @@ +#include "detourdebugdraw.hpp" +#include "util.hpp" + +#include + +#include +#include +#include + +#define OPENMW_TO_STRING(X) #X +#define OPENMW_LINE_STRING OPENMW_TO_STRING(__LINE__) + +namespace +{ + using DetourNavigator::operator<<; + + osg::PrimitiveSet::Mode toOsgPrimitiveSetMode(duDebugDrawPrimitives value) + { + switch (value) + { + case DU_DRAW_POINTS: + return osg::PrimitiveSet::POINTS; + case DU_DRAW_LINES: + return osg::PrimitiveSet::LINES; + case DU_DRAW_TRIS: + return osg::PrimitiveSet::TRIANGLES; + case DU_DRAW_QUADS: + return osg::PrimitiveSet::QUADS; + } + throw std::logic_error("Can't convert duDebugDrawPrimitives to osg::PrimitiveSet::Mode, value=" + + std::to_string(value)); + } + +} + +namespace SceneUtil +{ + DebugDraw::DebugDraw(osg::Group& group, const osg::Vec3f& shift, float recastInvertedScaleFactor) + : mGroup(group) + , mShift(shift) + , mRecastInvertedScaleFactor(recastInvertedScaleFactor) + , mDepthMask(false) + , mMode(osg::PrimitiveSet::POINTS) + , mSize(1.0f) + { + } + + void DebugDraw::depthMask(bool state) + { + mDepthMask = state; + } + + void DebugDraw::texture(bool state) + { + if (state) + throw std::logic_error("DebugDraw does not support textures (at " __FILE__ ":" OPENMW_LINE_STRING ")"); + } + + void DebugDraw::begin(duDebugDrawPrimitives prim, float size) + { + mMode = toOsgPrimitiveSetMode(prim); + mVertices = new osg::Vec3Array; + mColors = new osg::Vec4Array; + mSize = size * mRecastInvertedScaleFactor; + } + + void DebugDraw::vertex(const float* pos, unsigned color) + { + vertex(pos[0], pos[1], pos[2], color); + } + + void DebugDraw::vertex(const float x, const float y, const float z, unsigned color) + { + addVertex(osg::Vec3f(x, y, z)); + addColor(SceneUtil::colourFromRGBA(color)); + } + + void DebugDraw::vertex(const float* pos, unsigned color, const float* uv) + { + vertex(pos[0], pos[1], pos[2], color, uv[0], uv[1]); + } + + void DebugDraw::vertex(const float, const float, const float, unsigned, const float, const float) + { + throw std::logic_error("Not implemented (at " __FILE__ ":" OPENMW_LINE_STRING ")"); + } + + void DebugDraw::end() + { + osg::ref_ptr stateSet(new osg::StateSet); + stateSet->setMode(GL_BLEND, osg::StateAttribute::ON); + stateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF); + stateSet->setMode(GL_DEPTH, (mDepthMask ? osg::StateAttribute::ON : osg::StateAttribute::OFF)); + stateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN); + stateSet->setAttributeAndModes(new osg::LineWidth(mSize)); + stateSet->setAttributeAndModes(new osg::BlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)); + + osg::ref_ptr geometry(new osg::Geometry); + geometry->setStateSet(stateSet); + geometry->setUseDisplayList(false); + geometry->setVertexArray(mVertices); + geometry->setColorArray(mColors, osg::Array::BIND_PER_VERTEX); + geometry->addPrimitiveSet(new osg::DrawArrays(mMode, 0, static_cast(mVertices->size()))); + + mGroup.addChild(geometry); + mColors.release(); + mVertices.release(); + } + + void DebugDraw::addVertex(osg::Vec3f&& position) + { + std::swap(position.y(), position.z()); + mVertices->push_back(position * mRecastInvertedScaleFactor + mShift); + } + + void DebugDraw::addColor(osg::Vec4f&& value) + { + mColors->push_back(value); + } +} + +#undef OPENMW_TO_STRING +#undef OPENMW_LINE_STRING diff --git a/components/sceneutil/detourdebugdraw.hpp b/components/sceneutil/detourdebugdraw.hpp new file mode 100644 index 000000000..87f501e2b --- /dev/null +++ b/components/sceneutil/detourdebugdraw.hpp @@ -0,0 +1,48 @@ +#include + +#include + +namespace osg +{ + class Group; +} + +namespace SceneUtil +{ + class DebugDraw : public duDebugDraw + { + public: + DebugDraw(osg::Group& group, const osg::Vec3f& shift, float recastInvertedScaleFactor); + + void depthMask(bool state) override; + + void texture(bool state) override; + + void begin(duDebugDrawPrimitives prim, float size) override; + + void vertex(const float* pos, unsigned int color) override; + + void vertex(const float x, const float y, const float z, unsigned int color) override; + + void vertex(const float* pos, unsigned int color, const float* uv) override; + + void vertex(const float x, const float y, const float z, unsigned int color, + const float u, const float v) override; + + void end() override; + + private: + osg::Group& mGroup; + osg::Vec3f mShift; + float mRecastInvertedScaleFactor; + bool mDepthMask; + osg::PrimitiveSet::Mode mMode; + float mSize; + osg::ref_ptr mVertices; + osg::ref_ptr mColors; + + void addVertex(osg::Vec3f&& position); + + void addColor(osg::Vec4f&& value); + }; +} diff --git a/components/sceneutil/navmesh.cpp b/components/sceneutil/navmesh.cpp new file mode 100644 index 000000000..aeb1779bd --- /dev/null +++ b/components/sceneutil/navmesh.cpp @@ -0,0 +1,22 @@ +#include "navmesh.hpp" +#include "detourdebugdraw.hpp" + +#include + +#include + +#include + +namespace SceneUtil +{ + osg::ref_ptr createNavMeshGroup(const dtNavMesh& navMesh, const DetourNavigator::Settings& settings) + { + const osg::ref_ptr group(new osg::Group); + DebugDraw debugDraw(*group, osg::Vec3f(0, 0, 10), 1.0f / settings.mRecastScaleFactor); + dtNavMeshQuery navMeshQuery; + navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes); + duDebugDrawNavMeshWithClosedList(&debugDraw, navMesh, navMeshQuery, + DU_DRAWNAVMESH_OFFMESHCONS | DU_DRAWNAVMESH_CLOSEDLIST); + return group; + } +} diff --git a/components/sceneutil/navmesh.hpp b/components/sceneutil/navmesh.hpp new file mode 100644 index 000000000..b255b0575 --- /dev/null +++ b/components/sceneutil/navmesh.hpp @@ -0,0 +1,23 @@ +#ifndef OPENMW_COMPONENTS_SCENEUTIL_NAVMESH_H +#define OPENMW_COMPONENTS_SCENEUTIL_NAVMESH_H + +#include + +class dtNavMesh; + +namespace osg +{ + class Group; +} + +namespace DetourNavigator +{ + struct Settings; +} + +namespace SceneUtil +{ + osg::ref_ptr createNavMeshGroup(const dtNavMesh& navMesh, const DetourNavigator::Settings& settings); +} + +#endif diff --git a/components/sceneutil/util.cpp b/components/sceneutil/util.cpp index eec302965..bbeda683a 100644 --- a/components/sceneutil/util.cpp +++ b/components/sceneutil/util.cpp @@ -42,4 +42,15 @@ osg::Vec4f colourFromRGB(unsigned int clr) return colour; } +osg::Vec4f colourFromRGBA(unsigned int value) +{ + return osg::Vec4f(makeOsgColorComponent(value, 0), makeOsgColorComponent(value, 8), + makeOsgColorComponent(value, 16), makeOsgColorComponent(value, 24)); +} + +float makeOsgColorComponent(unsigned int value, unsigned int shift) +{ + return float((value >> shift) & 0xFFu) / 255.0f; +} + } diff --git a/components/sceneutil/util.hpp b/components/sceneutil/util.hpp index 109099740..156d173d2 100644 --- a/components/sceneutil/util.hpp +++ b/components/sceneutil/util.hpp @@ -15,6 +15,10 @@ namespace SceneUtil osg::Vec4f colourFromRGB (unsigned int clr); + osg::Vec4f colourFromRGBA (unsigned int value); + + float makeOsgColorComponent (unsigned int value, unsigned int shift); + } #endif From d1e71f93227f6499b908722480eec76fdeca578f Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 7 Apr 2018 23:09:42 +0300 Subject: [PATCH 049/130] Support btBoxShape for RecastMesh --- .../detournavigator/recastmeshbuilder.cpp | 128 +++++++++++++++++- components/detournavigator/chunkytrimesh.cpp | 3 +- .../detournavigator/recastmeshbuilder.cpp | 47 ++++++- .../detournavigator/recastmeshbuilder.hpp | 5 + 4 files changed, 176 insertions(+), 7 deletions(-) diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index ff72bc3eb..63f6aa6b4 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -31,12 +31,17 @@ namespace } }; + TEST_F(DetourNavigatorRecastMeshBuilderTest, create_for_empty_should_throw_exception) + { + EXPECT_THROW(mBuilder.create(), std::invalid_argument); + } + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape) { btTriangleMesh mesh; mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); - mBuilder.addObject(shape, btTransform::getIdentity()); + mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); const auto recastMesh = mBuilder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -51,7 +56,7 @@ namespace btTriangleMesh mesh; mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); - mBuilder.addObject(shape, + mBuilder.addObject(static_cast(shape), btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); const auto recastMesh = mBuilder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ @@ -66,7 +71,7 @@ namespace { const std::array heightfieldData {{0, 0, 0, 0}}; btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); - mBuilder.addObject(shape, btTransform::getIdentity()); + mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); const auto recastMesh = mBuilder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -0.5, 0, -0.5, @@ -78,4 +83,121 @@ namespace })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles) + { + btBoxShape shape(btVector3(1, 1, 2)); + mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 1, 2, 1, + -1, 2, 1, + 1, 2, -1, + -1, 2, -1, + 1, -2, 1, + -1, -2, 1, + 1, -2, -1, + -1, -2, -1, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({ + 0, 2, 3, + 3, 1, 0, + 0, 4, 6, + 6, 2, 0, + 0, 1, 5, + 5, 4, 0, + 7, 5, 1, + 1, 3, 7, + 7, 3, 2, + 2, 6, 7, + 7, 6, 4, + 4, 5, 7, + })); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_compound_shape) + { + btTriangleMesh mesh1; + mesh1.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape triangle1(&mesh1, true); + btBoxShape box(btVector3(1, 1, 2)); + btTriangleMesh mesh2; + mesh2.addTriangle(btVector3(1, 1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape triangle2(&mesh2, true); + btCompoundShape shape; + shape.addChildShape(btTransform::getIdentity(), &triangle1); + shape.addChildShape(btTransform::getIdentity(), &box); + shape.addChildShape(btTransform::getIdentity(), &triangle2); + mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 1, 0, -1, + -1, 0, 1, + -1, 0, -1, + 1, 2, 1, + -1, 2, 1, + 1, 2, -1, + -1, 2, -1, + 1, -2, 1, + -1, -2, 1, + 1, -2, -1, + -1, -2, -1, + 1, 0, -1, + -1, 0, 1, + 1, 0, 1, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({ + 0, 1, 2, + 3, 5, 6, + 6, 4, 3, + 3, 7, 9, + 9, 5, 3, + 3, 4, 8, + 8, 7, 3, + 10, 8, 4, + 4, 6, 10, + 10, 6, 5, + 5, 9, 10, + 10, 9, 7, + 7, 8, 10, + 11, 12, 13, + })); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape) + { + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape triangle(&mesh, true); + btCompoundShape shape; + shape.addChildShape(btTransform::getIdentity(), &triangle); + mBuilder.addObject(static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 2, 3, 0, + 0, 3, 4, + 0, 3, 0, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape_with_transformed_bhv_triangle_shape) + { + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape triangle(&mesh, true); + btCompoundShape shape; + shape.addChildShape(btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), + &triangle); + mBuilder.addObject(static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 3, 12, 2, + 1, 12, 10, + 1, 12, 2, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } } diff --git a/components/detournavigator/chunkytrimesh.cpp b/components/detournavigator/chunkytrimesh.cpp index 9402569fc..1b7f53845 100644 --- a/components/detournavigator/chunkytrimesh.cpp +++ b/components/detournavigator/chunkytrimesh.cpp @@ -1,4 +1,5 @@ #include "chunkytrimesh.hpp" +#include "exceptions.hpp" #include @@ -119,7 +120,7 @@ namespace DetourNavigator const auto trianglesCount = indices.size() / 3; if (trianglesCount == 0) - return; + throw InvalidArgument("ChunkyTriMesh tris should contain at least 3 values"); const auto nchunks = (trianglesCount + trisPerChunk - 1) / trisPerChunk; diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index eb44dbcd5..1e0d2dfc8 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -7,9 +7,13 @@ #include +#include #include #include #include +#include + +#include namespace { @@ -35,6 +39,8 @@ namespace DetourNavigator return addObject(static_cast(shape), transform); else if (shape.isConcave()) return addObject(static_cast(shape), transform); + else if (shape.getShapeType() == BOX_SHAPE_PROXYTYPE) + return addObject(static_cast(shape), transform); std::ostringstream message; message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType()); throw InvalidArgument(message.str()); @@ -51,7 +57,7 @@ namespace DetourNavigator return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 3; i > 0; --i) - addVertex(transform(triangle[i - 1])); + addTriangleVertex(transform(triangle[i - 1])); })); } @@ -60,10 +66,40 @@ namespace DetourNavigator return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 0; i < 3; ++i) - addVertex(transform(triangle[i])); + addTriangleVertex(transform(triangle[i])); })); } + void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform) + { + const auto indexOffset = int(mVertices.size() / 3); + + for (int vertex = 0; vertex < shape.getNumVertices(); ++vertex) + { + btVector3 position; + shape.getVertex(vertex, position); + addVertex(transform(position)); + } + + static const std::array indices {{ + 0, 2, 3, + 3, 1, 0, + 0, 4, 6, + 6, 2, 0, + 0, 1, 5, + 5, 4, 0, + 7, 5, 1, + 1, 3, 7, + 7, 3, 2, + 2, 6, 7, + 7, 6, 4, + 4, 5, 7, + }}; + + std::transform(indices.begin(), indices.end(), std::back_inserter(mIndices), + [&] (int index) { return index + indexOffset; }); + } + std::shared_ptr RecastMeshBuilder::create() const { return std::make_shared(mIndices, mVertices, mSettings); @@ -83,10 +119,15 @@ namespace DetourNavigator shape.processAllTriangles(&callback, aabbMin, aabbMax); } + void RecastMeshBuilder::addTriangleVertex(const btVector3& worldPosition) + { + mIndices.push_back(static_cast(mVertices.size() / 3)); + addVertex(worldPosition); + } + void RecastMeshBuilder::addVertex(const btVector3& worldPosition) { const auto navMeshPosition = toNavMeshCoordinates(mSettings, makeOsgVec3f(worldPosition)); - mIndices.push_back(static_cast(mIndices.size())); mVertices.push_back(navMeshPosition.x()); mVertices.push_back(navMeshPosition.y()); mVertices.push_back(navMeshPosition.z()); diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index 5010a95e0..28ca1f713 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -3,6 +3,7 @@ #include "recastmesh.hpp" +class btBoxShape; class btCollisionShape; class btCompoundShape; class btConcaveShape; @@ -26,6 +27,8 @@ namespace DetourNavigator void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform); + void addObject(const btBoxShape& shape, const btTransform& transform); + std::shared_ptr create() const; void reset(); @@ -37,6 +40,8 @@ namespace DetourNavigator void addObject(const btConcaveShape& shape, btTriangleCallback&& callback); + void addTriangleVertex(const btVector3& worldPosition); + void addVertex(const btVector3& worldPosition); }; } From ed3a255f65b43bbe507cd57d342b27e8de502210 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 15 Apr 2018 22:54:45 +0300 Subject: [PATCH 050/130] Do not use NavMesh to find changed tiles --- apps/openmw/mwworld/worldimp.cpp | 1 + apps/openmw_test_suite/CMakeLists.txt | 1 + .../detournavigator/gettilespositions.cpp | 104 ++++++++++++++++++ .../detournavigator/navigator.cpp | 1 + .../detournavigator/gettilespositions.hpp | 55 +++++++++ components/detournavigator/makenavmesh.cpp | 10 +- components/detournavigator/makenavmesh.hpp | 1 + components/detournavigator/navmeshmanager.cpp | 45 ++------ .../detournavigator/recastmeshmanager.cpp | 10 +- components/detournavigator/settings.hpp | 1 + components/detournavigator/settingsutils.hpp | 5 + components/detournavigator/sharednavmesh.hpp | 5 - files/settings-default.cfg | 15 +++ 13 files changed, 200 insertions(+), 54 deletions(-) create mode 100644 apps/openmw_test_suite/detournavigator/gettilespositions.cpp create mode 100644 components/detournavigator/gettilespositions.hpp diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 442fd0450..ce604580d 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -166,6 +166,7 @@ namespace MWWorld mPhysics.reset(new MWPhysics::PhysicsSystem(resourceSystem, rootNode)); DetourNavigator::Settings navigatorSettings; + navigatorSettings.mBorderSize = Settings::Manager::getInt("border size", "Navigator"); navigatorSettings.mCellHeight = Settings::Manager::getFloat("cell height", "Navigator"); navigatorSettings.mCellSize = Settings::Manager::getFloat("cell size", "Navigator"); navigatorSettings.mDetailSampleDist = Settings::Manager::getFloat("detail sample dist", "Navigator"); diff --git a/apps/openmw_test_suite/CMakeLists.txt b/apps/openmw_test_suite/CMakeLists.txt index 57fb1a012..fc04648e5 100644 --- a/apps/openmw_test_suite/CMakeLists.txt +++ b/apps/openmw_test_suite/CMakeLists.txt @@ -21,6 +21,7 @@ if (GTEST_FOUND AND GMOCK_FOUND) detournavigator/navigator.cpp detournavigator/settingsutils.cpp detournavigator/recastmeshbuilder.cpp + detournavigator/gettilespositions.cpp ) source_group(apps\\openmw_test_suite FILES openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) diff --git a/apps/openmw_test_suite/detournavigator/gettilespositions.cpp b/apps/openmw_test_suite/detournavigator/gettilespositions.cpp new file mode 100644 index 000000000..1ad5c063d --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/gettilespositions.cpp @@ -0,0 +1,104 @@ +#include +#include + +#include +#include + +namespace +{ + using namespace testing; + using namespace DetourNavigator; + + struct CollectTilesPositions + { + std::vector& mTilesPositions; + + void operator ()(const TilePosition& value) + { + mTilesPositions.push_back(value); + } + }; + + struct DetourNavigatorGetTilesPositionsTest : Test + { + Settings mSettings; + std::vector mTilesPositions; + CollectTilesPositions mCollect {mTilesPositions}; + + DetourNavigatorGetTilesPositionsTest() + { + mSettings.mBorderSize = 0; + mSettings.mCellSize = 0.5; + mSettings.mRecastScaleFactor = 1; + mSettings.mTileSize = 64; + } + }; + + TEST_F(DetourNavigatorGetTilesPositionsTest, for_object_in_single_tile_should_return_one_tile) + { + getTilesPositions(osg::Vec3f(2, 2, 0), osg::Vec3f(31, 31, 1), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre(TilePosition(0, 0))); + } + + TEST_F(DetourNavigatorGetTilesPositionsTest, for_object_with_x_bounds_in_two_tiles_should_return_two_tiles) + { + getTilesPositions(osg::Vec3f(0, 0, 0), osg::Vec3f(32, 31, 1), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre(TilePosition(0, 0), TilePosition(1, 0))); + } + + TEST_F(DetourNavigatorGetTilesPositionsTest, for_object_with_y_bounds_in_two_tiles_should_return_two_tiles) + { + getTilesPositions(osg::Vec3f(0, 0, 0), osg::Vec3f(31, 32, 1), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre(TilePosition(0, 0), TilePosition(0, 1))); + } + + TEST_F(DetourNavigatorGetTilesPositionsTest, tiling_works_only_for_x_and_y_coordinates) + { + getTilesPositions(osg::Vec3f(0, 0, 0), osg::Vec3f(31, 31, 32), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre(TilePosition(0, 0))); + } + + TEST_F(DetourNavigatorGetTilesPositionsTest, tiling_should_work_with_negative_coordinates) + { + getTilesPositions(osg::Vec3f(-31, -31, 0), osg::Vec3f(31, 31, 1), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre( + TilePosition(-1, -1), + TilePosition(-1, 0), + TilePosition(0, -1), + TilePosition(0, 0) + )); + } + + TEST_F(DetourNavigatorGetTilesPositionsTest, border_size_should_extend_tile_bounds) + { + mSettings.mBorderSize = 1; + + getTilesPositions(osg::Vec3f(0, 0, 0), osg::Vec3f(31.5, 31.5, 1), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre( + TilePosition(-1, -1), + TilePosition(-1, 0), + TilePosition(-1, 1), + TilePosition(0, -1), + TilePosition(0, 0), + TilePosition(0, 1), + TilePosition(1, -1), + TilePosition(1, 0), + TilePosition(1, 1) + )); + } + + TEST_F(DetourNavigatorGetTilesPositionsTest, should_apply_recast_scale_factor) + { + mSettings.mRecastScaleFactor = 0.5; + + getTilesPositions(osg::Vec3f(0, 0, 0), osg::Vec3f(32, 32, 1), mSettings, mCollect); + + EXPECT_THAT(mTilesPositions, ElementsAre(TilePosition(0, 0))); + } +} diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 2bfab13a4..0e475ad9f 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -37,6 +37,7 @@ namespace mSettings.mEnableWriteNavMeshToFile = false; mSettings.mEnableRecastMeshFileNameRevision = false; mSettings.mEnableNavMeshFileNameRevision = false; + mSettings.mBorderSize = 16; mSettings.mCellHeight = 0.2f; mSettings.mCellSize = 0.2f; mSettings.mDetailSampleDist = 6; diff --git a/components/detournavigator/gettilespositions.hpp b/components/detournavigator/gettilespositions.hpp new file mode 100644 index 000000000..96ab89fd7 --- /dev/null +++ b/components/detournavigator/gettilespositions.hpp @@ -0,0 +1,55 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_GETTILESPOSITIONS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_GETTILESPOSITIONS_H + +#include "settings.hpp" +#include "settingsutils.hpp" + +#include + +#include + +namespace DetourNavigator +{ + inline osg::Vec3f makeOsgVec3f(const btVector3& value) + { + return osg::Vec3f(value.x(), value.y(), value.z()); + } + + template + void getTilesPositions(const osg::Vec3f& aabbMin, const osg::Vec3f& aabbMax, + const Settings& settings, Callback&& callback) + { + auto min = toNavMeshCoordinates(settings, aabbMin); + auto max = toNavMeshCoordinates(settings, aabbMax); + + const auto border = getBorderSize(settings); + min -= osg::Vec3f(border, border, border); + max += osg::Vec3f(border, border, border); + + auto minTile = getTilePosition(settings, min); + auto maxTile = getTilePosition(settings, max); + + if (minTile.x() > maxTile.x()) + std::swap(minTile.x(), maxTile.x()); + + if (minTile.y() > maxTile.y()) + std::swap(minTile.y(), maxTile.y()); + + for (int tileX = minTile.x(); tileX <= maxTile.x(); ++tileX) + for (int tileY = minTile.y(); tileY <= maxTile.y(); ++tileY) + callback(TilePosition {tileX, tileY}); + } + + template + void getTilesPositions(const btCollisionShape& shape, const btTransform& transform, + const Settings& settings, Callback&& callback) + { + btVector3 aabbMin; + btVector3 aabbMax; + shape.getAabb(transform, aabbMin, aabbMax); + + getTilesPositions(makeOsgVec3f(aabbMin), makeOsgVec3f(aabbMax), settings, std::forward(callback)); + } +} + +#endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 9be9ca5c3..2d5d4c242 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -82,15 +82,15 @@ namespace config.maxVertsPerPoly = settings.mMaxVertsPerPoly; config.detailSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : config.cs * settings.mDetailSampleDist; config.detailSampleMaxError = config.ch * settings.mDetailSampleMaxError; - config.borderSize = config.walkableRadius + 3; + config.borderSize = settings.mBorderSize; config.width = settings.mTileSize + config.borderSize * 2; config.height = settings.mTileSize + config.borderSize * 2; rcVcopy(config.bmin, boundsMin.ptr()); rcVcopy(config.bmax, boundsMax.ptr()); - config.bmin[0] -= config.borderSize * config.cs; - config.bmin[2] -= config.borderSize * config.cs; - config.bmax[0] += config.borderSize * config.cs; - config.bmax[2] += config.borderSize * config.cs; + config.bmin[0] -= getBorderSize(settings); + config.bmin[2] -= getBorderSize(settings); + config.bmax[0] += getBorderSize(settings); + config.bmax[2] += getBorderSize(settings); rcHeightfield solid; OPENMW_CHECK_DT_RESULT(rcCreateHeightfield(nullptr, solid, config.width, config.height, diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 0a47dd66d..60ad2acf7 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -1,6 +1,7 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H +#include "settings.hpp" #include "tileposition.hpp" #include diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 741d6666e..eeaae309d 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -1,6 +1,7 @@ #include "navmeshmanager.hpp" #include "debug.hpp" #include "exceptions.hpp" +#include "gettilespositions.hpp" #include "makenavmesh.hpp" #include "settings.hpp" #include "sharednavmesh.hpp" @@ -63,12 +64,10 @@ namespace DetourNavigator const auto changedTiles = mChangedTiles.find(agentHalfExtents); if (changedTiles != mChangedTiles.end()) { - TilePosition playerTile; playerPosition *= mSettings.mRecastScaleFactor; std::swap(playerPosition.y(), playerPosition.z()); - cached->mValue.raw()->calcTileLoc(playerPosition.ptr(), &playerTile.x(), &playerTile.y()); - mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, playerTile, - changedTiles->second); + mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, + getTilePosition(mSettings, playerPosition), changedTiles->second); mChangedTiles.erase(changedTiles); log("cache update posted for agent=", agentHalfExtents); } @@ -91,39 +90,11 @@ namespace DetourNavigator void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform) { - btVector3 aabbMin; - btVector3 aabbMax; - shape.getAabb(transform, aabbMin, aabbMax); - osg::Vec3f min(aabbMin.x(), aabbMin.z(), aabbMin.y()); - osg::Vec3f max(aabbMax.x(), aabbMax.z(), aabbMax.y()); - min *= mSettings.mRecastScaleFactor; - max *= mSettings.mRecastScaleFactor; - - for (auto& v : mCache) - { - if (const auto& item = v.second) - { - auto& changedTiles = mChangedTiles[v.first]; - - int minTileX; - int minTileY; - item->mValue.raw()->calcTileLoc(min.ptr(), &minTileX, &minTileY); - - int maxTileX; - int maxTileY; - item->mValue.raw()->calcTileLoc(max.ptr(), &maxTileX, &maxTileY); - - if (minTileX > maxTileX) - std::swap(minTileX, maxTileX); - - if (minTileY > maxTileY) - std::swap(minTileY, maxTileY); - - for (int tileX = minTileX; tileX <= maxTileX; ++tileX) - for (int tileY = minTileY; tileY <= maxTileY; ++tileY) - changedTiles.insert(TilePosition {tileX, tileY}); - } - } + getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& v) { + for (const auto& cached : mCache) + if (cached.second) + mChangedTiles[cached.first].insert(v); + }); } const std::shared_ptr& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index 1c32ac1e7..ccfa25372 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -7,7 +7,8 @@ namespace DetourNavigator RecastMeshManager::RecastMeshManager(const Settings& settings) : mShouldRebuild(false) , mMeshBuilder(settings) - {} + { + } bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { @@ -40,12 +41,7 @@ namespace DetourNavigator return; mMeshBuilder.reset(); for (const auto& v : mObjects) - { - if (v.second.mShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) - mMeshBuilder.addObject(*static_cast(v.second.mShape), v.second.mTransform); - else if (v.second.mShape->isConcave()) - mMeshBuilder.addObject(*static_cast(v.second.mShape), v.second.mTransform); - } + mMeshBuilder.addObject(*v.second.mShape, v.second.mTransform); mShouldRebuild = false; } } diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index 6983eb431..0d34ae7e9 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -19,6 +19,7 @@ namespace DetourNavigator float mMaxSimplificationError; float mMaxSlope; float mRecastScaleFactor; + int mBorderSize; int mMaxEdgeLen; int mMaxNavMeshQueryNodes; int mMaxVertsPerPoly; diff --git a/components/detournavigator/settingsutils.hpp b/components/detournavigator/settingsutils.hpp index d14863dca..d0d51e167 100644 --- a/components/detournavigator/settingsutils.hpp +++ b/components/detournavigator/settingsutils.hpp @@ -60,6 +60,11 @@ namespace DetourNavigator osg::Vec2f(tilePosition.x() + 1, tilePosition.y() + 1) * getTileSize(settings), }; } + + inline float getBorderSize(const Settings& settings) + { + return settings.mBorderSize * settings.mCellSize; + } } #endif diff --git a/components/detournavigator/sharednavmesh.hpp b/components/detournavigator/sharednavmesh.hpp index 101cc5866..657973c2f 100644 --- a/components/detournavigator/sharednavmesh.hpp +++ b/components/detournavigator/sharednavmesh.hpp @@ -44,11 +44,6 @@ namespace DetourNavigator return LockedSharedNavMesh(*mMutex, mValue); } - NavMeshPtr raw() const - { - return mValue; - } - private: std::shared_ptr mMutex; NavMeshPtr mValue; diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 8a78e745c..a1ea14678 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -567,6 +567,9 @@ max simplification error = 1.3 # The width and height of each tile. (value > 0) tile size = 64 +# The size of the non-navigable border around the heightfield. (value >= 0) +border size = 16 + # The maximum allowed length for contour edges along the border of the mesh. (value >= 0) max edge len = 12 @@ -593,9 +596,21 @@ triangles per chunk = 256 # Enable debug log (true, false) enable log = false + +# Write recast mesh to file in .obj format for each use to update nav mesh (true, false) enable write recast mesh to file = false + +# Write NavMesh to file to be able to open by RecastDemo (true, false) enable write nav mesh to file = false + +# Write each recast mesh file with revision in name. Otherwise will rewrite same file. (true, false) enable recast mesh file name revision = false + +# Write each nav mesh file with revision in name. Otherwise will rewrite same file. (true, false) enable nav mesh file name revision = false + +# Write recast mesh file at path with this prefix recast mesh path prefix = + +# Write nav mesh file at path with this prefix nav mesh path prefix = From 02ce4a7e50e5b8e45603b8a10e4fa37859f98c68 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 14:56:04 +0300 Subject: [PATCH 051/130] Log to detournavigator log cell load and unload --- apps/openmw/mwworld/scene.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 73dc63252..cee9310bd 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -13,6 +13,7 @@ #include #include #include +#include #include "../mwbase/environment.hpp" #include "../mwbase/world.hpp" @@ -259,6 +260,7 @@ namespace MWWorld void Scene::unloadCell (CellStoreCollection::iterator iter) { Log(Debug::Info) << "Unloading cell " << (*iter)->getCell()->getDescription(); + DetourNavigator::log("unload cell ", (*iter)->getCell()->getDescription()); const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); ListAndResetObjectsVisitor visitor; @@ -309,6 +311,7 @@ namespace MWWorld if(result.second) { Log(Debug::Info) << "Loading cell " << cell->getCell()->getDescription(); + DetourNavigator::log("load cell ", cell->getCell()->getDescription()); float verts = ESM::Land::LAND_SIZE; float worldsize = ESM::Land::REAL_SIZE; From faaf50446d4a7077db61c07674c0fd1c42745323 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 13:59:53 +0300 Subject: [PATCH 052/130] Option to initially enable NavMesh render --- apps/openmw/mwrender/navmesh.cpp | 4 ++-- apps/openmw/mwrender/navmesh.hpp | 2 +- apps/openmw/mwrender/renderingmanager.cpp | 2 +- files/settings-default.cfg | 1 + 4 files changed, 5 insertions(+), 4 deletions(-) diff --git a/apps/openmw/mwrender/navmesh.cpp b/apps/openmw/mwrender/navmesh.cpp index 0d8cb8867..79ee33b97 100644 --- a/apps/openmw/mwrender/navmesh.cpp +++ b/apps/openmw/mwrender/navmesh.cpp @@ -7,9 +7,9 @@ namespace MWRender { - NavMesh::NavMesh(const osg::ref_ptr& root) + NavMesh::NavMesh(const osg::ref_ptr& root, bool enabled) : mRootNode(root) - , mEnabled(false) + , mEnabled(enabled) , mRevision(0) { } diff --git a/apps/openmw/mwrender/navmesh.hpp b/apps/openmw/mwrender/navmesh.hpp index 5ce98ee7b..a6c1f086e 100644 --- a/apps/openmw/mwrender/navmesh.hpp +++ b/apps/openmw/mwrender/navmesh.hpp @@ -16,7 +16,7 @@ namespace MWRender class NavMesh { public: - NavMesh(const osg::ref_ptr& root); + NavMesh(const osg::ref_ptr& root, bool enabled); ~NavMesh(); bool toggle(); diff --git a/apps/openmw/mwrender/renderingmanager.cpp b/apps/openmw/mwrender/renderingmanager.cpp index e29f9c7d2..400a2d05c 100644 --- a/apps/openmw/mwrender/renderingmanager.cpp +++ b/apps/openmw/mwrender/renderingmanager.cpp @@ -234,7 +234,7 @@ namespace MWRender mRootNode->addChild(mSceneRoot); - mNavMesh.reset(new NavMesh(mRootNode)); + mNavMesh.reset(new NavMesh(mRootNode, Settings::Manager::getBool("enable render", "Navigator"))); mPathgrid.reset(new Pathgrid(mRootNode)); mObjects.reset(new Objects(mResourceSystem, sceneRoot, mUnrefQueue.get())); diff --git a/files/settings-default.cfg b/files/settings-default.cfg index a1ea14678..496cfaf2b 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -614,3 +614,4 @@ recast mesh path prefix = # Write nav mesh file at path with this prefix nav mesh path prefix = +enable render = false From dd5f4498f65eada2ea357c969e9a36ccac672adc Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 16 Apr 2018 22:57:35 +0300 Subject: [PATCH 053/130] Increment NavMesh revision on remove or add tile --- .../detournavigator/asyncnavmeshupdater.cpp | 5 +-- .../detournavigator/asyncnavmeshupdater.hpp | 12 +------ components/detournavigator/makenavmesh.cpp | 36 ++++++++++++++++--- components/detournavigator/makenavmesh.hpp | 3 +- .../detournavigator/navmeshcacheitem.hpp | 21 +++++++++++ 5 files changed, 57 insertions(+), 20 deletions(-) create mode 100644 components/detournavigator/navmeshcacheitem.hpp diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 900d69942..cc3156a6c 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -91,10 +91,7 @@ namespace DetourNavigator const auto recastMesh = getRecastMesh(); - updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, - job.mNavMeshCacheItem->mValue); - - ++job.mNavMeshCacheItem->mNavMeshRevision; + updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, *job.mNavMeshCacheItem); const auto finish = std::chrono::steady_clock::now(); diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 649fa9ffb..7ffa8f5f0 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -1,8 +1,8 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H +#include "navmeshcacheitem.hpp" #include "recastmesh.hpp" -#include "sharednavmesh.hpp" #include "tileposition.hpp" #include @@ -22,16 +22,6 @@ class dtNavMesh; namespace DetourNavigator { - struct NavMeshCacheItem - { - SharedNavMesh mValue; - std::size_t mRecastMeshRevision; - std::atomic_size_t mNavMeshRevision; - - NavMeshCacheItem(const NavMeshPtr& value, std::size_t revision) - : mValue(value), mRecastMeshRevision(revision), mNavMeshRevision(0) {} - }; - class AsyncNavMeshUpdater { public: diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 2d5d4c242..a1c6d732a 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -214,6 +214,23 @@ namespace return NavMeshData(navMeshData, navMeshDataSize); } + + struct AutoIncrementRevision + { + std::atomic_size_t& mNavMeshRevision; + bool mNavMeshChanged; + + AutoIncrementRevision(std::atomic_size_t& navMeshRevision) + : mNavMeshRevision(navMeshRevision) + , mNavMeshChanged(false) + {} + + ~AutoIncrementRevision() + { + if (mNavMeshChanged) + ++mNavMeshRevision; + } + }; } namespace DetourNavigator @@ -241,7 +258,7 @@ namespace DetourNavigator } void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const TilePosition& changedTile, const Settings& settings, SharedNavMesh& navMesh) + const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem) { log("update NavMesh with mutiple tiles:", " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), @@ -255,15 +272,19 @@ namespace DetourNavigator const auto& boundsMin = recastMesh.getBoundsMin(); const auto& boundsMax = recastMesh.getBoundsMax(); + auto& navMesh = navMeshCacheItem.mValue; const auto& params = *navMesh.lock()->getParams(); const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]); const auto x = changedTile.x(); const auto y = changedTile.y(); + AutoIncrementRevision incRev(navMeshCacheItem.mNavMeshRevision); + { const auto locked = navMesh.lock(); - locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr); + incRev.mNavMeshChanged = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), + nullptr, nullptr)); } const auto tileBounds = makeTileBounds(settings, changedTile); @@ -274,10 +295,17 @@ namespace DetourNavigator tileBorderMin, tileBorderMax, settings); if (!navMeshData.mValue) + { + log("ignore add tile: NavMeshData is null"); return; + } - OPENMW_CHECK_DT_STATUS(navMesh.lock()->addTile(navMeshData.mValue.get(), navMeshData.mSize, - DT_TILE_FREE_DATA, 0, 0)); + const auto status = navMesh.lock()->addTile(navMeshData.mValue.get(), navMeshData.mSize, + DT_TILE_FREE_DATA, 0, 0); + if (dtStatusSucceed(status)) + incRev.mNavMeshChanged = true; + else + log("failed to add tile with status=", WriteDtStatus {status}); navMeshData.mValue.release(); } } diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 60ad2acf7..03c3e6362 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H #include "settings.hpp" +#include "navmeshcacheitem.hpp" #include "tileposition.hpp" #include @@ -22,7 +23,7 @@ namespace DetourNavigator NavMeshPtr makeEmptyNavMesh(const Settings& settings); void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const TilePosition& changedTile, const Settings& settings, SharedNavMesh& navMesh); + const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem); } #endif diff --git a/components/detournavigator/navmeshcacheitem.hpp b/components/detournavigator/navmeshcacheitem.hpp new file mode 100644 index 000000000..4c73fd05d --- /dev/null +++ b/components/detournavigator/navmeshcacheitem.hpp @@ -0,0 +1,21 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHCACHEITEM_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHCACHEITEM_H + +#include "sharednavmesh.hpp" + +#include + +namespace DetourNavigator +{ + struct NavMeshCacheItem + { + SharedNavMesh mValue; + std::size_t mRecastMeshRevision; + std::atomic_size_t mNavMeshRevision; + + NavMeshCacheItem(const NavMeshPtr& value, std::size_t revision) + : mValue(value), mRecastMeshRevision(revision), mNavMeshRevision(0) {} + }; +} + +#endif From 937e8e18036c2255ca84f6936b3b5cc530b99238 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 16 Apr 2018 01:39:51 +0300 Subject: [PATCH 054/130] Allow to create empty RecastMesh --- .../detournavigator/recastmeshbuilder.cpp | 6 ++++-- components/detournavigator/chunkytrimesh.cpp | 2 +- components/detournavigator/makenavmesh.cpp | 14 ++++++++++---- components/detournavigator/recastmesh.cpp | 3 ++- 4 files changed, 17 insertions(+), 8 deletions(-) diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index 63f6aa6b4..a227df803 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -31,9 +31,11 @@ namespace } }; - TEST_F(DetourNavigatorRecastMeshBuilderTest, create_for_empty_should_throw_exception) + TEST_F(DetourNavigatorRecastMeshBuilderTest, create_for_empty_should_return_empty) { - EXPECT_THROW(mBuilder.create(), std::invalid_argument); + const auto recastMesh = mBuilder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector()); + EXPECT_EQ(recastMesh->getIndices(), std::vector()); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape) diff --git a/components/detournavigator/chunkytrimesh.cpp b/components/detournavigator/chunkytrimesh.cpp index 1b7f53845..cdce8b0e1 100644 --- a/components/detournavigator/chunkytrimesh.cpp +++ b/components/detournavigator/chunkytrimesh.cpp @@ -120,7 +120,7 @@ namespace DetourNavigator const auto trianglesCount = indices.size() / 3; if (trianglesCount == 0) - throw InvalidArgument("ChunkyTriMesh tris should contain at least 3 values"); + return; const auto nchunks = (trianglesCount + trisPerChunk - 1) / trisPerChunk; diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index a1c6d732a..52fa53068 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -269,9 +269,6 @@ namespace DetourNavigator getRadius(settings, agentHalfExtents), " changedTile=", changedTile); - const auto& boundsMin = recastMesh.getBoundsMin(); - const auto& boundsMax = recastMesh.getBoundsMax(); - auto& navMesh = navMeshCacheItem.mValue; const auto& params = *navMesh.lock()->getParams(); const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]); @@ -287,6 +284,15 @@ namespace DetourNavigator nullptr, nullptr)); } + const auto& boundsMin = recastMesh.getBoundsMin(); + const auto& boundsMax = recastMesh.getBoundsMax(); + + if (boundsMin == boundsMax) + { + log("ignore add tile: recastMesh is empty"); + return; + } + const auto tileBounds = makeTileBounds(settings, changedTile); const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); @@ -307,5 +313,5 @@ namespace DetourNavigator else log("failed to add tile with status=", WriteDtStatus {status}); navMeshData.mValue.release(); - } +} } diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index 45c2f98e7..d765656e4 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -10,6 +10,7 @@ namespace DetourNavigator , mVertices(std::move(vertices)) , mChunkyTriMesh(mVertices, mIndices, settings.mTrianglesPerChunk) { - rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); + if (getVerticesCount()) + rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); } } From 6f3028b8f9c81e430a0d884906af9fc46e62c9ef Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 15:27:25 +0300 Subject: [PATCH 055/130] Update navigator when unload cell or add/remove object to scene --- apps/openmw/mwworld/scene.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index cee9310bd..026d067dd 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -266,7 +266,8 @@ namespace MWWorld ListAndResetObjectsVisitor visitor; (*iter)->forEach(visitor); - const auto playerHalfExtents = mPhysics->getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); + const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); + const auto playerHalfExtents = mPhysics->getHalfExtents(player); for (const auto& ptr : visitor.mObjects) { if (const auto object = mPhysics->getObject(ptr)) @@ -293,6 +294,8 @@ namespace MWWorld } } + navigator->update(player.getRefData().getPosition().asVec3()); + MWBase::Environment::get().getMechanicsManager()->drop (*iter); mRendering.removeCell(*iter); @@ -689,6 +692,9 @@ namespace MWWorld { addObject(ptr, *mPhysics, mRendering); MWBase::Environment::get().getWorld()->scaleObject(ptr, ptr.getCellRef().getScale()); + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); + navigator->update(player.getRefData().getPosition().asVec3()); } catch (std::exception& e) { @@ -702,7 +708,11 @@ namespace MWWorld MWBase::Environment::get().getSoundManager()->stopSound3D (ptr); const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); if (const auto object = mPhysics->getObject(ptr)) + { navigator->removeObject(reinterpret_cast(object)); + const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); + navigator->update(player.getRefData().getPosition().asVec3()); + } else if (const auto actor = mPhysics->getActor(ptr)) { const auto playerHalfExtents = mPhysics->getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); From c26773bd295a9bd8529e58d7b86f3a4ad8eb6dba Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 15:27:47 +0300 Subject: [PATCH 056/130] Log update NavMesh status --- .../detournavigator/asyncnavmeshupdater.cpp | 21 ++++++++++++-- components/detournavigator/makenavmesh.cpp | 28 +++++++++++++++---- components/detournavigator/makenavmesh.hpp | 10 ++++++- files/settings-default.cfg | 2 ++ 4 files changed, 52 insertions(+), 9 deletions(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index cc3156a6c..424d1f260 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -24,6 +24,22 @@ namespace namespace DetourNavigator { + static std::ostream& operator <<(std::ostream& stream, UpdateNavMeshStatus value) + { + switch (value) + { + case UpdateNavMeshStatus::ignore: + return stream << "ignore"; + case UpdateNavMeshStatus::removed: + return stream << "removed"; + case UpdateNavMeshStatus::add: + return stream << "add"; + case UpdateNavMeshStatus::replaced: + return stream << "replaced"; + } + return stream << "unknown"; + } + AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings) : mSettings(std::cref(settings)) , mShouldStop() @@ -91,7 +107,8 @@ namespace DetourNavigator const auto recastMesh = getRecastMesh(); - updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, *job.mNavMeshCacheItem); + const auto status = updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, + *job.mNavMeshCacheItem); const auto finish = std::chrono::steady_clock::now(); @@ -99,7 +116,7 @@ namespace DetourNavigator using FloatMs = std::chrono::duration; - log("cache updated for agent=", job.mAgentHalfExtents, + log("cache updated for agent=", job.mAgentHalfExtents, " status=", status, " time=", std::chrono::duration_cast(finish - start).count(), "ms"); } diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 52fa53068..fb2fb2bb5 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -231,6 +231,18 @@ namespace ++mNavMeshRevision; } }; + + UpdateNavMeshStatus makeUpdateNavMeshStatus(bool removed, bool add) + { + if (removed && add) + return UpdateNavMeshStatus::replaced; + else if (removed) + return UpdateNavMeshStatus::removed; + else if (add) + return UpdateNavMeshStatus::add; + else + return UpdateNavMeshStatus::ignore; + } } namespace DetourNavigator @@ -257,7 +269,7 @@ namespace DetourNavigator return navMesh; } - void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem) { log("update NavMesh with mutiple tiles:", @@ -277,20 +289,22 @@ namespace DetourNavigator const auto y = changedTile.y(); AutoIncrementRevision incRev(navMeshCacheItem.mNavMeshRevision); + bool removed = false; { const auto locked = navMesh.lock(); - incRev.mNavMeshChanged = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), - nullptr, nullptr)); + removed = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr)); } + incRev.mNavMeshChanged = removed; + const auto& boundsMin = recastMesh.getBoundsMin(); const auto& boundsMax = recastMesh.getBoundsMax(); if (boundsMin == boundsMax) { log("ignore add tile: recastMesh is empty"); - return; + return makeUpdateNavMeshStatus(removed, false); } const auto tileBounds = makeTileBounds(settings, changedTile); @@ -303,7 +317,7 @@ namespace DetourNavigator if (!navMeshData.mValue) { log("ignore add tile: NavMeshData is null"); - return; + return makeUpdateNavMeshStatus(removed, false); } const auto status = navMesh.lock()->addTile(navMeshData.mValue.get(), navMeshData.mSize, @@ -313,5 +327,7 @@ namespace DetourNavigator else log("failed to add tile with status=", WriteDtStatus {status}); navMeshData.mValue.release(); -} + + return makeUpdateNavMeshStatus(removed, dtStatusSucceed(status)); + } } diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 03c3e6362..96e655be8 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -20,9 +20,17 @@ namespace DetourNavigator using NavMeshPtr = std::shared_ptr; + enum class UpdateNavMeshStatus + { + ignore, + removed, + add, + replaced + }; + NavMeshPtr makeEmptyNavMesh(const Settings& settings); - void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem); } diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 496cfaf2b..f6fc99c0e 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -614,4 +614,6 @@ recast mesh path prefix = # Write nav mesh file at path with this prefix nav mesh path prefix = + +# Render nav mesh (true, false) enable render = false From f268ec5d34532d5b116a4fb8d0d5cd7e9305e023 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 01:39:21 +0300 Subject: [PATCH 057/130] Measure total time for NavMesh build from first pop --- .../detournavigator/asyncnavmeshupdater.cpp | 18 +++++++++++++++++- .../detournavigator/asyncnavmeshupdater.hpp | 8 +++++++- 2 files changed, 24 insertions(+), 2 deletions(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 424d1f260..c9fca3c92 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -105,6 +105,8 @@ namespace DetourNavigator const auto start = std::chrono::steady_clock::now(); + setFirstStart(start); + const auto recastMesh = getRecastMesh(); const auto status = updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, @@ -117,7 +119,8 @@ namespace DetourNavigator using FloatMs = std::chrono::duration; log("cache updated for agent=", job.mAgentHalfExtents, " status=", status, - " time=", std::chrono::duration_cast(finish - start).count(), "ms"); + " time=", std::chrono::duration_cast(finish - start).count(), "ms", + " total_time=", std::chrono::duration_cast(finish - getFirstStart()).count(), "ms"); } boost::optional AsyncNavMeshUpdater::getNextJob() @@ -168,4 +171,17 @@ namespace DetourNavigator const std::lock_guard lock(mRecastMeshMutex); mRecastMesh = value; } + + std::chrono::steady_clock::time_point AsyncNavMeshUpdater::getFirstStart() + { + const std::lock_guard lock(mFirstStartMutex); + return *mFirstStart; + } + + void AsyncNavMeshUpdater::setFirstStart(const std::chrono::steady_clock::time_point& value) + { + const std::lock_guard lock(mFirstStartMutex); + if (!mFirstStart) + mFirstStart = value; + } } diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 7ffa8f5f0..721b89cec 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -10,8 +10,8 @@ #include #include +#include #include -#include #include #include #include @@ -58,6 +58,8 @@ namespace DetourNavigator Jobs mJobs; std::mutex mRecastMeshMutex; std::shared_ptr mRecastMesh; + std::mutex mFirstStartMutex; + boost::optional mFirstStart; std::thread mThread; void process() throw(); @@ -73,6 +75,10 @@ namespace DetourNavigator std::shared_ptr getRecastMesh(); void setRecastMesh(const std::shared_ptr& value); + + std::chrono::steady_clock::time_point getFirstStart(); + + void setFirstStart(const std::chrono::steady_clock::time_point& value); }; } From dbb1d99bffe88aaece0f0079ce1470d6e1c8e18b Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 16:09:49 +0300 Subject: [PATCH 058/130] Add NavMeshItem generation to fix update NavMesh for render --- apps/openmw/mwrender/navmesh.cpp | 8 +++++--- apps/openmw/mwrender/navmesh.hpp | 3 ++- apps/openmw/mwrender/renderingmanager.cpp | 4 ++-- components/detournavigator/asyncnavmeshupdater.cpp | 2 ++ components/detournavigator/navmeshcacheitem.hpp | 5 +++-- components/detournavigator/navmeshmanager.cpp | 2 +- components/detournavigator/navmeshmanager.hpp | 1 + 7 files changed, 16 insertions(+), 9 deletions(-) diff --git a/apps/openmw/mwrender/navmesh.cpp b/apps/openmw/mwrender/navmesh.cpp index 79ee33b97..787e332e9 100644 --- a/apps/openmw/mwrender/navmesh.cpp +++ b/apps/openmw/mwrender/navmesh.cpp @@ -10,6 +10,7 @@ namespace MWRender NavMesh::NavMesh(const osg::ref_ptr& root, bool enabled) : mRootNode(root) , mEnabled(enabled) + , mGeneration(0) , mRevision(0) { } @@ -30,12 +31,13 @@ namespace MWRender return mEnabled; } - void NavMesh::update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t revision, - const DetourNavigator::Settings& settings) + void NavMesh::update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t generation, + std::size_t revision, const DetourNavigator::Settings& settings) { - if (!mEnabled || mRevision >= revision) + if (!mEnabled || (mGeneration >= generation && mRevision >= revision)) return; + mGeneration = generation; mRevision = revision; if (mGroup) mRootNode->removeChild(mGroup); diff --git a/apps/openmw/mwrender/navmesh.hpp b/apps/openmw/mwrender/navmesh.hpp index a6c1f086e..0bed616f9 100644 --- a/apps/openmw/mwrender/navmesh.hpp +++ b/apps/openmw/mwrender/navmesh.hpp @@ -21,7 +21,7 @@ namespace MWRender bool toggle(); - void update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t revision, + void update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t generation, std::size_t revision, const DetourNavigator::Settings& settings); void enable(); @@ -31,6 +31,7 @@ namespace MWRender private: osg::ref_ptr mRootNode; bool mEnabled; + std::size_t mGeneration; std::size_t mRevision; osg::ref_ptr mGroup; }; diff --git a/apps/openmw/mwrender/renderingmanager.cpp b/apps/openmw/mwrender/renderingmanager.cpp index 400a2d05c..fbe8ba345 100644 --- a/apps/openmw/mwrender/renderingmanager.cpp +++ b/apps/openmw/mwrender/renderingmanager.cpp @@ -597,8 +597,8 @@ namespace MWRender { try { - mNavMesh->update(navMeshes.begin()->second->mValue, navMeshes.begin()->second->mNavMeshRevision, - mNavigator.getSettings()); + mNavMesh->update(navMeshes.begin()->second->mValue, navMeshes.begin()->second->mGeneration, + navMeshes.begin()->second->mNavMeshRevision, mNavigator.getSettings()); } catch (const std::exception& e) { diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index c9fca3c92..b809fc27c 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -119,6 +119,8 @@ namespace DetourNavigator using FloatMs = std::chrono::duration; log("cache updated for agent=", job.mAgentHalfExtents, " status=", status, + " generation=", job.mNavMeshCacheItem->mGeneration, + " revision=", job.mNavMeshCacheItem->mNavMeshRevision, " time=", std::chrono::duration_cast(finish - start).count(), "ms", " total_time=", std::chrono::duration_cast(finish - getFirstStart()).count(), "ms"); } diff --git a/components/detournavigator/navmeshcacheitem.hpp b/components/detournavigator/navmeshcacheitem.hpp index 4c73fd05d..ffea1fbdd 100644 --- a/components/detournavigator/navmeshcacheitem.hpp +++ b/components/detournavigator/navmeshcacheitem.hpp @@ -10,11 +10,12 @@ namespace DetourNavigator struct NavMeshCacheItem { SharedNavMesh mValue; + std::size_t mGeneration; std::size_t mRecastMeshRevision; std::atomic_size_t mNavMeshRevision; - NavMeshCacheItem(const NavMeshPtr& value, std::size_t revision) - : mValue(value), mRecastMeshRevision(revision), mNavMeshRevision(0) {} + NavMeshCacheItem(const NavMeshPtr& value, std::size_t generation, std::size_t revision) + : mValue(value), mGeneration(generation), mRecastMeshRevision(revision), mNavMeshRevision(0) {} }; } diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index eeaae309d..ad9a3a5e7 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -45,7 +45,7 @@ namespace DetourNavigator if (cached != mCache.end()) return; mCache.insert(std::make_pair(agentHalfExtents, - std::make_shared(makeEmptyNavMesh(mSettings), mRevision)) + std::make_shared(makeEmptyNavMesh(mSettings), ++mGenerationCounter, mRevision)) ); log("cache add for agent=", agentHalfExtents); } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 4f7d9d24d..63733cf01 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -46,6 +46,7 @@ namespace DetourNavigator std::map> mCache; std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; + std::size_t mGenerationCounter = 0; void addChangedTiles(const btCollisionShape& shape, const btTransform& transform); From d2fd9abd51f81b2203ecb491e8df619096bdb1b9 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 16 Apr 2018 01:07:18 +0300 Subject: [PATCH 059/130] Split RecastMesh into tiles --- .../detournavigator/recastmeshbuilder.cpp | 149 +++++++++++++++--- components/CMakeLists.txt | 1 + .../detournavigator/asyncnavmeshupdater.cpp | 25 +-- .../detournavigator/asyncnavmeshupdater.hpp | 16 +- .../cachedrecastmeshmanager.cpp | 12 +- .../cachedrecastmeshmanager.hpp | 4 +- .../detournavigator/gettilespositions.hpp | 4 +- components/detournavigator/makenavmesh.cpp | 18 ++- components/detournavigator/makenavmesh.hpp | 5 +- .../detournavigator/navmeshcacheitem.hpp | 5 +- components/detournavigator/navmeshmanager.cpp | 20 +-- components/detournavigator/navmeshmanager.hpp | 3 +- .../detournavigator/recastmeshbuilder.cpp | 32 +++- .../detournavigator/recastmeshbuilder.hpp | 6 +- .../detournavigator/recastmeshmanager.cpp | 9 +- .../detournavigator/recastmeshmanager.hpp | 4 +- components/detournavigator/settingsutils.hpp | 1 + .../tilecachedrecastmeshmanager.cpp | 71 +++++++++ .../tilecachedrecastmeshmanager.hpp | 31 ++++ 19 files changed, 328 insertions(+), 88 deletions(-) create mode 100644 components/detournavigator/tilecachedrecastmeshmanager.cpp create mode 100644 components/detournavigator/tilecachedrecastmeshmanager.hpp diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index a227df803..a2a47722d 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -21,19 +21,23 @@ namespace struct DetourNavigatorRecastMeshBuilderTest : Test { Settings mSettings; - RecastMeshBuilder mBuilder; + TileBounds mBounds; DetourNavigatorRecastMeshBuilderTest() - : mBuilder(mSettings) { mSettings.mRecastScaleFactor = 1.0f; mSettings.mTrianglesPerChunk = 256; + mBounds.mMin = osg::Vec2f(-std::numeric_limits::max() * std::numeric_limits::epsilon(), + -std::numeric_limits::max() * std::numeric_limits::epsilon()); + mBounds.mMax = osg::Vec2f(std::numeric_limits::max() * std::numeric_limits::epsilon(), + std::numeric_limits::max() * std::numeric_limits::epsilon()); } }; TEST_F(DetourNavigatorRecastMeshBuilderTest, create_for_empty_should_return_empty) { - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector()); EXPECT_EQ(recastMesh->getIndices(), std::vector()); } @@ -43,8 +47,9 @@ namespace btTriangleMesh mesh; mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); - mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, -1, 0, 1, @@ -58,9 +63,10 @@ namespace btTriangleMesh mesh; mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); - mBuilder.addObject(static_cast(shape), + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); - const auto recastMesh = mBuilder.create(); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 2, 3, 0, 0, 3, 4, @@ -73,8 +79,9 @@ namespace { const std::array heightfieldData {{0, 0, 0, 0}}; btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); - mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -0.5, 0, -0.5, -0.5, 0, 0.5, @@ -89,8 +96,9 @@ namespace TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles) { btBoxShape shape(btVector3(1, 1, 2)); - mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 2, 1, -1, 2, 1, @@ -130,8 +138,9 @@ namespace shape.addChildShape(btTransform::getIdentity(), &triangle1); shape.addChildShape(btTransform::getIdentity(), &box); shape.addChildShape(btTransform::getIdentity(), &triangle2); - mBuilder.addObject(static_cast(shape), btTransform::getIdentity()); - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, -1, 0, 1, @@ -173,9 +182,10 @@ namespace btBvhTriangleMeshShape triangle(&mesh, true); btCompoundShape shape; shape.addChildShape(btTransform::getIdentity(), &triangle); - mBuilder.addObject(static_cast(shape), - btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 2, 3, 0, 0, 3, 4, @@ -192,9 +202,10 @@ namespace btCompoundShape shape; shape.addChildShape(btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), &triangle); - mBuilder.addObject(static_cast(shape), - btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); - const auto recastMesh = mBuilder.create(); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 3, 12, 2, 1, 12, 10, @@ -202,4 +213,104 @@ namespace })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, without_bounds_add_transformed_compound_shape_with_transformed_bhv_triangle_shape_should_not_filter_by_bounds) + { + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); + btBvhTriangleMeshShape shape(&mesh, true); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 1, 0, -1, + -1, 0, 1, + -1, 0, -1, + -2, 0, -3, + -3, 0, -2, + -3, 0, -3, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_transformed_compound_shape_with_transformed_bhv_triangle_shape_should_filter_by_bounds) + { + mSettings.mRecastScaleFactor = 0.1f; + mBounds.mMin = osg::Vec2f(-3, -3) * mSettings.mRecastScaleFactor; + mBounds.mMax = osg::Vec2f(-2, -2) * mSettings.mRecastScaleFactor; + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); + btBvhTriangleMeshShape shape(&mesh, true); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), btTransform::getIdentity()); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + -0.2f, 0, -0.3f, + -0.3f, 0, -0.2f, + -0.3f, 0, -0.3f, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds) + { + mBounds.mMin = osg::Vec2f(-5, -5); + mBounds.mMax = osg::Vec2f(5, -3); + btTriangleMesh mesh; + mesh.addTriangle(btVector3(0, -1, -1), btVector3(0, -1, -1), btVector3(0, 1, -1)); + mesh.addTriangle(btVector3(0, -3, -3), btVector3(0, -3, -2), btVector3(0, -2, -3)); + btBvhTriangleMeshShape shape(&mesh, true); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), + btTransform(btQuaternion(btVector3(1, 0, 0), static_cast(-osg::PI_4)))); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 0, -0.70710659027099609375, -3.535533905029296875, + 0, 0.707107067108154296875, -3.535533905029296875, + 0, 2.384185791015625e-07, -4.24264049530029296875, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_y_bhv_triangle_shape_should_filter_by_bounds) + { + mBounds.mMin = osg::Vec2f(-5, -5); + mBounds.mMax = osg::Vec2f(-3, 5); + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, 0, -1), btVector3(-1, 0, 1), btVector3(1, 0, -1)); + mesh.addTriangle(btVector3(-3, 0, -3), btVector3(-3, 0, -2), btVector3(-2, 0, -3)); + btBvhTriangleMeshShape shape(&mesh, true); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), + btTransform(btQuaternion(btVector3(0, 1, 0), static_cast(osg::PI_4)))); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + -3.535533905029296875, -0.70710659027099609375, 0, + -3.535533905029296875, 0.707107067108154296875, 0, + -4.24264049530029296875, 2.384185791015625e-07, 0, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_z_bhv_triangle_shape_should_filter_by_bounds) + { + mBounds.mMin = osg::Vec2f(-5, -5); + mBounds.mMax = osg::Vec2f(-1, -1); + btTriangleMesh mesh; + mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); + btBvhTriangleMeshShape shape(&mesh, true); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape), + btTransform(btQuaternion(btVector3(0, 0, 1), static_cast(osg::PI_4)))); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 0.707107067108154296875, 0, -3.535533905029296875, + -0.70710659027099609375, 0, -3.535533905029296875, + 2.384185791015625e-07, 0, -4.24264049530029296875, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + } } diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index f7aea8f37..fbb74a65a 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -168,6 +168,7 @@ add_component_dir(detournavigator asyncnavmeshupdater chunkytrimesh recastmesh + tilecachedrecastmeshmanager ) set (ESM_UI ${CMAKE_SOURCE_DIR}/files/ui/contentselector.ui diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index b809fc27c..fcfc342eb 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -40,8 +40,9 @@ namespace DetourNavigator return stream << "unknown"; } - AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings) - : mSettings(std::cref(settings)) + AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager) + : mSettings(settings) + , mRecastMeshManager(recastMeshManager) , mShouldStop() , mThread([&] { process(); }) { @@ -57,11 +58,11 @@ namespace DetourNavigator mThread.join(); } - void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, + void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, const std::set& changedTiles) { - setRecastMesh(recastMesh); + log("post jobs playerTile=", playerTile); if (changedTiles.empty()) return; @@ -107,9 +108,9 @@ namespace DetourNavigator setFirstStart(start); - const auto recastMesh = getRecastMesh(); + const auto recastMesh = mRecastMeshManager.get().getMesh(job.mChangedTile); - const auto status = updateNavMesh(job.mAgentHalfExtents, *recastMesh, job.mChangedTile, mSettings, + const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, mSettings, *job.mNavMeshCacheItem); const auto finish = std::chrono::steady_clock::now(); @@ -162,18 +163,6 @@ namespace DetourNavigator writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } - std::shared_ptr AsyncNavMeshUpdater::getRecastMesh() - { - const std::lock_guard lock(mRecastMeshMutex); - return mRecastMesh; - } - - void AsyncNavMeshUpdater::setRecastMesh(const std::shared_ptr& value) - { - const std::lock_guard lock(mRecastMeshMutex); - mRecastMesh = value; - } - std::chrono::steady_clock::time_point AsyncNavMeshUpdater::getFirstStart() { const std::lock_guard lock(mFirstStartMutex); diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 721b89cec..e31446a92 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -2,7 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H #include "navmeshcacheitem.hpp" -#include "recastmesh.hpp" +#include "tilecachedrecastmeshmanager.hpp" #include "tileposition.hpp" #include @@ -25,12 +25,11 @@ namespace DetourNavigator class AsyncNavMeshUpdater { public: - AsyncNavMeshUpdater(const Settings& settings); + AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager); ~AsyncNavMeshUpdater(); - void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& recastMesh, - const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, - const std::set& changedTiles); + void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& mNavMeshCacheItem, + const TilePosition& playerTile, const std::set& changedTiles); void wait(); @@ -51,13 +50,12 @@ namespace DetourNavigator using Jobs = std::priority_queue>; std::reference_wrapper mSettings; + std::reference_wrapper mRecastMeshManager; std::atomic_bool mShouldStop; std::mutex mMutex; std::condition_variable mHasJob; std::condition_variable mDone; Jobs mJobs; - std::mutex mRecastMeshMutex; - std::shared_ptr mRecastMesh; std::mutex mFirstStartMutex; boost::optional mFirstStart; std::thread mThread; @@ -72,10 +70,6 @@ namespace DetourNavigator void writeDebugFiles(const Job& job, const RecastMesh& recastMesh) const; - std::shared_ptr getRecastMesh(); - - void setRecastMesh(const std::shared_ptr& value); - std::chrono::steady_clock::time_point getFirstStart(); void setFirstStart(const std::chrono::steady_clock::time_point& value); diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index 60306ecc6..3699bc77d 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -3,9 +3,10 @@ namespace DetourNavigator { - CachedRecastMeshManager::CachedRecastMeshManager(const Settings& settings) - : mImpl(settings) - {} + CachedRecastMeshManager::CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds) + : mImpl(settings, bounds) + { + } bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { @@ -29,4 +30,9 @@ namespace DetourNavigator mCached = mImpl.getMesh(); return mCached; } + + bool CachedRecastMeshManager::isEmpty() const + { + return mImpl.isEmpty(); + } } diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 6705a26f1..5185c3816 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -10,7 +10,7 @@ namespace DetourNavigator class CachedRecastMeshManager { public: - CachedRecastMeshManager(const Settings& settings); + CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); @@ -18,6 +18,8 @@ namespace DetourNavigator std::shared_ptr getMesh(); + bool isEmpty() const; + private: RecastMeshManager mImpl; std::shared_ptr mCached; diff --git a/components/detournavigator/gettilespositions.hpp b/components/detournavigator/gettilespositions.hpp index 96ab89fd7..6f5a37260 100644 --- a/components/detournavigator/gettilespositions.hpp +++ b/components/detournavigator/gettilespositions.hpp @@ -17,7 +17,7 @@ namespace DetourNavigator template void getTilesPositions(const osg::Vec3f& aabbMin, const osg::Vec3f& aabbMax, - const Settings& settings, Callback&& callback) + const Settings& settings, Callback&& callback) { auto min = toNavMeshCoordinates(settings, aabbMin); auto max = toNavMeshCoordinates(settings, aabbMax); @@ -42,7 +42,7 @@ namespace DetourNavigator template void getTilesPositions(const btCollisionShape& shape, const btTransform& transform, - const Settings& settings, Callback&& callback) + const Settings& settings, Callback&& callback) { btVector3 aabbMin; btVector3 aabbMax; diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index fb2fb2bb5..4d54eac6c 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -7,6 +7,7 @@ #include "settings.hpp" #include "settingsutils.hpp" #include "sharednavmesh.hpp" +#include "settingsutils.hpp" #include #include @@ -269,8 +270,9 @@ namespace DetourNavigator return navMesh; } - UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem) + UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, + const RecastMesh* recastMesh, const TilePosition& changedTile, const Settings& settings, + NavMeshCacheItem& navMeshCacheItem) { log("update NavMesh with mutiple tiles:", " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), @@ -298,8 +300,14 @@ namespace DetourNavigator incRev.mNavMeshChanged = removed; - const auto& boundsMin = recastMesh.getBoundsMin(); - const auto& boundsMax = recastMesh.getBoundsMax(); + if (!recastMesh) + { + log("ignore add tile: recastMesh is null"); + return makeUpdateNavMeshStatus(removed, false); + } + + const auto& boundsMin = recastMesh->getBoundsMin(); + const auto& boundsMax = recastMesh->getBoundsMax(); if (boundsMin == boundsMax) { @@ -311,7 +319,7 @@ namespace DetourNavigator const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); - auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y, + auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, x, y, tileBorderMin, tileBorderMax, settings); if (!navMeshData.mValue) diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 96e655be8..c2767dc75 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -4,6 +4,7 @@ #include "settings.hpp" #include "navmeshcacheitem.hpp" #include "tileposition.hpp" +#include "tilebounds.hpp" #include @@ -30,8 +31,8 @@ namespace DetourNavigator NavMeshPtr makeEmptyNavMesh(const Settings& settings); - UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem); + UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, + const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem); } #endif diff --git a/components/detournavigator/navmeshcacheitem.hpp b/components/detournavigator/navmeshcacheitem.hpp index ffea1fbdd..537f6df5d 100644 --- a/components/detournavigator/navmeshcacheitem.hpp +++ b/components/detournavigator/navmeshcacheitem.hpp @@ -11,11 +11,10 @@ namespace DetourNavigator { SharedNavMesh mValue; std::size_t mGeneration; - std::size_t mRecastMeshRevision; std::atomic_size_t mNavMeshRevision; - NavMeshCacheItem(const NavMeshPtr& value, std::size_t generation, std::size_t revision) - : mValue(value), mGeneration(generation), mRecastMeshRevision(revision), mNavMeshRevision(0) {} + NavMeshCacheItem(const NavMeshPtr& value, std::size_t generation) + : mValue(value), mGeneration(generation), mNavMeshRevision(0) {} }; } diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index ad9a3a5e7..a9fb700b7 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -3,6 +3,7 @@ #include "exceptions.hpp" #include "gettilespositions.hpp" #include "makenavmesh.hpp" +#include "navmeshcacheitem.hpp" #include "settings.hpp" #include "sharednavmesh.hpp" @@ -17,14 +18,14 @@ namespace DetourNavigator NavMeshManager::NavMeshManager(const Settings& settings) : mSettings(settings) , mRecastMeshManager(settings) - , mAsyncNavMeshUpdater(settings) - {} + , mAsyncNavMeshUpdater(settings, mRecastMeshManager) + { + } bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { if (!mRecastMeshManager.addObject(id, shape, transform)) return false; - ++mRevision; addChangedTiles(shape, transform); return true; } @@ -34,7 +35,6 @@ namespace DetourNavigator const auto object = mRecastMeshManager.removeObject(id); if (!object) return false; - ++mRevision; addChangedTiles(*object->mShape, object->mTransform); return true; } @@ -45,8 +45,7 @@ namespace DetourNavigator if (cached != mCache.end()) return; mCache.insert(std::make_pair(agentHalfExtents, - std::make_shared(makeEmptyNavMesh(mSettings), ++mGenerationCounter, mRevision)) - ); + std::make_shared(makeEmptyNavMesh(mSettings), ++mGenerationCounter))); log("cache add for agent=", agentHalfExtents); } @@ -58,18 +57,15 @@ namespace DetourNavigator void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { const auto& cached = getCached(agentHalfExtents); - if (cached->mRecastMeshRevision >= mRevision) - return; - cached->mRecastMeshRevision = mRevision; const auto changedTiles = mChangedTiles.find(agentHalfExtents); if (changedTiles != mChangedTiles.end()) { playerPosition *= mSettings.mRecastScaleFactor; std::swap(playerPosition.y(), playerPosition.z()); - mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, - getTilePosition(mSettings, playerPosition), changedTiles->second); + mAsyncNavMeshUpdater.post(agentHalfExtents, cached, getTilePosition(mSettings, playerPosition), + changedTiles->second); + log("cache update posted for agent=", agentHalfExtents, " changedTiles=", changedTiles->second.size()); mChangedTiles.erase(changedTiles); - log("cache update posted for agent=", agentHalfExtents); } } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 63733cf01..21328454e 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -40,9 +40,8 @@ namespace DetourNavigator std::map> getNavMeshes() const; private: - std::size_t mRevision = 0; const Settings& mSettings; - CachedRecastMeshManager mRecastMeshManager; + TileCachedRecastMeshManager mRecastMeshManager; std::map> mCache; std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index 1e0d2dfc8..a34b114ac 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -27,9 +27,13 @@ namespace DetourNavigator { using BulletHelpers::makeProcessTriangleCallback; - RecastMeshBuilder::RecastMeshBuilder(const Settings& settings) + RecastMeshBuilder::RecastMeshBuilder(const Settings& settings, const TileBounds& bounds) : mSettings(settings) - {} + , mBounds(bounds) + { + mBounds.mMin /= mSettings.get().mRecastScaleFactor; + mBounds.mMax /= mSettings.get().mRecastScaleFactor; + } void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform) { @@ -54,7 +58,7 @@ namespace DetourNavigator void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform) { - return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) + return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 3; i > 0; --i) addTriangleVertex(transform(triangle[i - 1])); @@ -63,7 +67,7 @@ namespace DetourNavigator void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform) { - return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) + return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 0; i < 3; ++i) addTriangleVertex(transform(triangle[i])); @@ -111,11 +115,29 @@ namespace DetourNavigator mVertices.clear(); } - void RecastMeshBuilder::addObject(const btConcaveShape& shape, btTriangleCallback&& callback) + void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform, + btTriangleCallback&& callback) { btVector3 aabbMin; btVector3 aabbMax; shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax); + const btVector3 boundsMinMin(mBounds.mMin.x(), mBounds.mMin.y(), 0); + const btVector3 boundsMinMax(mBounds.mMin.x(), mBounds.mMax.y(), 0); + const btVector3 boundsMaxMin(mBounds.mMax.x(), mBounds.mMin.y(), 0); + const btVector3 boundsMaxMax(mBounds.mMax.x(), mBounds.mMax.y(), 0); + const auto inversedTransform = transform.inverse(); + const auto localBoundsMinMin = inversedTransform(boundsMinMin); + const auto localBoundsMinMax = inversedTransform(boundsMinMax); + const auto localBoundsMaxMin = inversedTransform(boundsMaxMin); + const auto localBoundsMaxMax = inversedTransform(boundsMaxMax); + aabbMin.setX(std::min({localBoundsMinMin.x(), localBoundsMinMax.x(), + localBoundsMaxMin.x(), localBoundsMaxMax.x()})); + aabbMin.setY(std::min({localBoundsMinMin.y(), localBoundsMinMax.y(), + localBoundsMaxMin.y(), localBoundsMaxMax.y()})); + aabbMax.setX(std::max({localBoundsMinMin.x(), localBoundsMinMax.x(), + localBoundsMaxMin.x(), localBoundsMaxMax.x()})); + aabbMax.setY(std::max({localBoundsMinMin.y(), localBoundsMinMax.y(), + localBoundsMaxMin.y(), localBoundsMaxMax.y()})); shape.processAllTriangles(&callback, aabbMin, aabbMax); } diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index 28ca1f713..d06f2cdd6 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHBUILDER_H #include "recastmesh.hpp" +#include "tilebounds.hpp" class btBoxShape; class btCollisionShape; @@ -17,7 +18,7 @@ namespace DetourNavigator class RecastMeshBuilder { public: - RecastMeshBuilder(const Settings& settings); + RecastMeshBuilder(const Settings& settings, const TileBounds& bounds); void addObject(const btCollisionShape& shape, const btTransform& transform); @@ -35,10 +36,11 @@ namespace DetourNavigator private: std::reference_wrapper mSettings; + TileBounds mBounds; std::vector mIndices; std::vector mVertices; - void addObject(const btConcaveShape& shape, btTriangleCallback&& callback); + void addObject(const btConcaveShape& shape, const btTransform& transform, btTriangleCallback&& callback); void addTriangleVertex(const btVector3& worldPosition); diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index ccfa25372..919609190 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -4,9 +4,9 @@ namespace DetourNavigator { - RecastMeshManager::RecastMeshManager(const Settings& settings) + RecastMeshManager::RecastMeshManager(const Settings& settings, const TileBounds& bounds) : mShouldRebuild(false) - , mMeshBuilder(settings) + , mMeshBuilder(settings, bounds) { } @@ -35,6 +35,11 @@ namespace DetourNavigator return mMeshBuilder.create(); } + bool RecastMeshManager::isEmpty() const + { + return mObjects.empty(); + } + void RecastMeshManager::rebuild() { if (!mShouldRebuild) diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index 429430707..f2aa7f871 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -22,7 +22,7 @@ namespace DetourNavigator btTransform mTransform; }; - RecastMeshManager(const Settings& settings); + RecastMeshManager(const Settings& settings, const TileBounds& bounds); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); @@ -30,6 +30,8 @@ namespace DetourNavigator std::shared_ptr getMesh(); + bool isEmpty() const; + private: bool mShouldRebuild; RecastMeshBuilder mMeshBuilder; diff --git a/components/detournavigator/settingsutils.hpp b/components/detournavigator/settingsutils.hpp index d0d51e167..0b327717f 100644 --- a/components/detournavigator/settingsutils.hpp +++ b/components/detournavigator/settingsutils.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_SETTINGSUTILS_H #include "settings.hpp" +#include "tilebounds.hpp" #include "tileposition.hpp" #include "tilebounds.hpp" diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp new file mode 100644 index 000000000..9c4f63e59 --- /dev/null +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -0,0 +1,71 @@ +#include "tilecachedrecastmeshmanager.hpp" +#include "makenavmesh.hpp" +#include "gettilespositions.hpp" +#include "settingsutils.hpp" + +namespace DetourNavigator +{ + TileCachedRecastMeshManager::TileCachedRecastMeshManager(const Settings& settings) + : mSettings(settings) + { + } + + bool TileCachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, + const btTransform& transform) + { + bool result = false; + auto& tilesPositions = mObjectsTilesPositions[id]; + const auto border = getBorderSize(mSettings); + getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& tilePosition) + { + std::unique_lock lock(mTilesMutex); + auto tile = mTiles.find(tilePosition); + if (tile == mTiles.end()) + { + auto tileBounds = makeTileBounds(mSettings, tilePosition); + tileBounds.mMin -= osg::Vec2f(border, border); + tileBounds.mMax += osg::Vec2f(border, border); + tile = mTiles.insert(std::make_pair(tilePosition, + CachedRecastMeshManager(mSettings, tileBounds))).first; + } + if (tile->second.addObject(id, shape, transform)) + { + lock.unlock(); + tilesPositions.push_back(tilePosition); + result = true; + } + }); + return result; + } + + boost::optional TileCachedRecastMeshManager::removeObject(std::size_t id) + { + const auto object = mObjectsTilesPositions.find(id); + if (object == mObjectsTilesPositions.end()) + return boost::none; + boost::optional result; + for (const auto& tilePosition : object->second) + { + std::unique_lock lock(mTilesMutex); + const auto tile = mTiles.find(tilePosition); + if (tile == mTiles.end()) + continue; + const auto tileResult = tile->second.removeObject(id); + if (tile->second.isEmpty()) + mTiles.erase(tile); + lock.unlock(); + if (tileResult && !result) + result = tileResult; + } + return result; + } + + std::shared_ptr TileCachedRecastMeshManager::getMesh(const TilePosition& tilePosition) + { + const std::lock_guard lock(mTilesMutex); + const auto it = mTiles.find(tilePosition); + if (it == mTiles.end()) + return nullptr; + return it->second.getMesh(); + } +} diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp new file mode 100644 index 000000000..f957dec1d --- /dev/null +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -0,0 +1,31 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_TILECACHEDRECASTMESHMANAGER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_TILECACHEDRECASTMESHMANAGER_H + +#include "cachedrecastmeshmanager.hpp" +#include "tileposition.hpp" + +#include +#include + +namespace DetourNavigator +{ + class TileCachedRecastMeshManager + { + public: + TileCachedRecastMeshManager(const Settings& settings); + + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + + boost::optional removeObject(std::size_t id); + + std::shared_ptr getMesh(const TilePosition& tilePosition); + + private: + const Settings& mSettings; + std::mutex mTilesMutex; + std::map mTiles; + std::unordered_map> mObjectsTilesPositions; + }; +} + +#endif From 4aba0fa85fde3825df7db2c2abe4021562a9cfc4 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Apr 2018 02:57:01 +0300 Subject: [PATCH 060/130] Limit number of NavMesh tiles to add by distance from player tile --- apps/openmw/mwworld/scene.cpp | 4 ++ .../detournavigator/asyncnavmeshupdater.cpp | 37 ++++++++++++---- .../detournavigator/asyncnavmeshupdater.hpp | 9 +++- .../detournavigator/gettilespositions.hpp | 1 + components/detournavigator/makenavmesh.cpp | 15 +++++-- components/detournavigator/makenavmesh.hpp | 19 ++++++++- components/detournavigator/navmeshmanager.cpp | 42 +++++++++++++++---- components/detournavigator/navmeshmanager.hpp | 2 + components/detournavigator/settingsutils.hpp | 2 + .../tilecachedrecastmeshmanager.cpp | 15 +++++++ .../tilecachedrecastmeshmanager.hpp | 13 ++++++ 11 files changed, 140 insertions(+), 19 deletions(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 026d067dd..32c83b95e 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -390,6 +390,10 @@ namespace MWWorld void Scene::playerMoved(const osg::Vec3f &pos) { + const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); + navigator->update(player.getRefData().getPosition().asVec3()); + if (!mCurrentCell || !mCurrentCell->isExterior()) return; diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index fcfc342eb..20438674a 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -64,13 +64,19 @@ namespace DetourNavigator { log("post jobs playerTile=", playerTile); + setPlayerTile(playerTile); + if (changedTiles.empty()) return; const std::lock_guard lock(mMutex); for (const auto& changedTile : changedTiles) - mJobs.push(Job {agentHalfExtents, navMeshCacheItem, changedTile, makePriority(changedTile, playerTile)}); + { + if (mPushed[agentHalfExtents].insert(changedTile).second) + mJobs.push(Job {agentHalfExtents, navMeshCacheItem, changedTile, + makePriority(changedTile, playerTile)}); + } mHasJob.notify_all(); } @@ -109,13 +115,14 @@ namespace DetourNavigator setFirstStart(start); const auto recastMesh = mRecastMeshManager.get().getMesh(job.mChangedTile); + const auto playerTile = getPlayerTile(); - const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, mSettings, - *job.mNavMeshCacheItem); + const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile, + mSettings, *job.mNavMeshCacheItem); const auto finish = std::chrono::steady_clock::now(); - writeDebugFiles(job, *recastMesh); + writeDebugFiles(job, recastMesh.get()); using FloatMs = std::chrono::duration; @@ -139,10 +146,14 @@ namespace DetourNavigator log("got ", mJobs.size(), " jobs"); const auto job = mJobs.top(); mJobs.pop(); + const auto pushed = mPushed.find(job.mAgentHalfExtents); + pushed->second.erase(job.mChangedTile); + if (pushed->second.empty()) + mPushed.erase(pushed); return job; } - void AsyncNavMeshUpdater::writeDebugFiles(const Job& job, const RecastMesh& recastMesh) const + void AsyncNavMeshUpdater::writeDebugFiles(const Job& job, const RecastMesh* recastMesh) const { std::string revision; std::string recastMeshRevision; @@ -157,8 +168,8 @@ namespace DetourNavigator if (mSettings.get().mEnableNavMeshFileNameRevision) navMeshRevision = revision; } - if (mSettings.get().mEnableWriteRecastMeshToFile) - writeToFile(recastMesh, mSettings.get().mRecastMeshPathPrefix, recastMeshRevision); + if (recastMesh && mSettings.get().mEnableWriteRecastMeshToFile) + writeToFile(*recastMesh, mSettings.get().mRecastMeshPathPrefix, recastMeshRevision); if (mSettings.get().mEnableWriteNavMeshToFile) writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } @@ -175,4 +186,16 @@ namespace DetourNavigator if (!mFirstStart) mFirstStart = value; } + + TilePosition AsyncNavMeshUpdater::getPlayerTile() + { + const std::lock_guard lock(mPlayerTileMutex); + return mPlayerTile; + } + + void AsyncNavMeshUpdater::setPlayerTile(const TilePosition& value) + { + const std::lock_guard lock(mPlayerTileMutex); + mPlayerTile = value; + } } diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index e31446a92..6b4facf6d 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -56,6 +56,9 @@ namespace DetourNavigator std::condition_variable mHasJob; std::condition_variable mDone; Jobs mJobs; + std::map> mPushed; + std::mutex mPlayerTileMutex; + TilePosition mPlayerTile; std::mutex mFirstStartMutex; boost::optional mFirstStart; std::thread mThread; @@ -68,11 +71,15 @@ namespace DetourNavigator void notifyHasJob(); - void writeDebugFiles(const Job& job, const RecastMesh& recastMesh) const; + void writeDebugFiles(const Job& job, const RecastMesh* recastMesh) const; std::chrono::steady_clock::time_point getFirstStart(); void setFirstStart(const std::chrono::steady_clock::time_point& value); + + TilePosition getPlayerTile(); + + void setPlayerTile(const TilePosition& value); }; } diff --git a/components/detournavigator/gettilespositions.hpp b/components/detournavigator/gettilespositions.hpp index 6f5a37260..b52984452 100644 --- a/components/detournavigator/gettilespositions.hpp +++ b/components/detournavigator/gettilespositions.hpp @@ -3,6 +3,7 @@ #include "settings.hpp" #include "settingsutils.hpp" +#include "tileposition.hpp" #include diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 4d54eac6c..8db1d32b4 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -270,8 +270,8 @@ namespace DetourNavigator return navMesh; } - UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, - const RecastMesh* recastMesh, const TilePosition& changedTile, const Settings& settings, + UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, + const TilePosition& changedTile, const TilePosition& playerTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem) { log("update NavMesh with mutiple tiles:", @@ -281,7 +281,9 @@ namespace DetourNavigator getMaxClimb(settings), " agentRadius=", std::setprecision(std::numeric_limits::max_exponent10), getRadius(settings, agentHalfExtents), - " changedTile=", changedTile); + " changedTile=", changedTile, + " playerTile=", playerTile, + " changedTileDistance=", getDistance(changedTile, playerTile)); auto& navMesh = navMeshCacheItem.mValue; const auto& params = *navMesh.lock()->getParams(); @@ -315,6 +317,13 @@ namespace DetourNavigator return makeUpdateNavMeshStatus(removed, false); } + const auto maxTiles = navMesh.lock()->getParams()->maxTiles; + if (!shouldAddTile(changedTile, playerTile, maxTiles)) + { + log("ignore add tile: too far from player"); + return makeUpdateNavMeshStatus(removed, false); + } + const auto tileBounds = makeTileBounds(settings, changedTile); const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index c2767dc75..cc9e6d855 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -29,10 +29,27 @@ namespace DetourNavigator replaced }; + inline float getLength(const osg::Vec2i& value) + { + return std::sqrt(float(osg::square(value.x()) + osg::square(value.y()))); + } + + inline float getDistance(const TilePosition& lhs, const TilePosition& rhs) + { + return getLength(lhs - rhs); + } + + inline bool shouldAddTile(const TilePosition& changedTile, const TilePosition& playerTile, int maxTiles) + { + const auto expectedTilesCount = std::ceil(osg::PI * osg::square(getDistance(changedTile, playerTile))); + return expectedTilesCount * 3 <= maxTiles; + } + NavMeshPtr makeEmptyNavMesh(const Settings& settings); UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, - const TilePosition& changedTile, const Settings& settings, NavMeshCacheItem& navMeshCacheItem); + const TilePosition& changedTile, const TilePosition& playerTile, const Settings& settings, + NavMeshCacheItem& navMeshCacheItem); } #endif diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index a9fb700b7..5f6cdb93c 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -56,17 +56,45 @@ namespace DetourNavigator void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { + playerPosition *= mSettings.mRecastScaleFactor; + std::swap(playerPosition.y(), playerPosition.z()); + const auto playerTile = getTilePosition(mSettings, playerPosition); + if (mLastRecastMeshManagerRevision >= mRecastMeshManager.getRevision() && mPlayerTile + && *mPlayerTile == playerTile) + return; + mLastRecastMeshManagerRevision = mRecastMeshManager.getRevision(); + mPlayerTile = playerTile; + std::set tilesToPost; const auto& cached = getCached(agentHalfExtents); const auto changedTiles = mChangedTiles.find(agentHalfExtents); - if (changedTiles != mChangedTiles.end()) { - playerPosition *= mSettings.mRecastScaleFactor; - std::swap(playerPosition.y(), playerPosition.z()); - mAsyncNavMeshUpdater.post(agentHalfExtents, cached, getTilePosition(mSettings, playerPosition), - changedTiles->second); - log("cache update posted for agent=", agentHalfExtents, " changedTiles=", changedTiles->second.size()); - mChangedTiles.erase(changedTiles); + const auto locked = cached->mValue.lock(); + if (changedTiles != mChangedTiles.end()) + { + for (const auto& tile : changedTiles->second) + if (locked->getTileAt(tile.x(), tile.y(), 0)) + tilesToPost.insert(tile); + for (const auto& tile : tilesToPost) + changedTiles->second.erase(tile); + if (changedTiles->second.empty()) + mChangedTiles.erase(changedTiles); + } + const auto maxTiles = locked->getParams()->maxTiles; + mRecastMeshManager.forEachTilePosition([&] (const TilePosition& tile) + { + if (tilesToPost.count(tile)) + return; + const auto shouldAdd = shouldAddTile(tile, playerTile, maxTiles); + const auto presentInNavMesh = bool(locked->getTileAt(tile.x(), tile.y(), 0)); + if ((shouldAdd && !presentInNavMesh) || (!shouldAdd && presentInNavMesh)) + tilesToPost.insert(tile); + }); } + mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost); + log("cache update posted for agent=", agentHalfExtents, + " playerTile=", *mPlayerTile, + " recastMeshManagerRevision=", mLastRecastMeshManagerRevision, + " changedTiles=", changedTiles->second.size()); } void NavMeshManager::wait() diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 21328454e..f0b273efd 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -46,6 +46,8 @@ namespace DetourNavigator std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; std::size_t mGenerationCounter = 0; + boost::optional mPlayerTile; + std::size_t mLastRecastMeshManagerRevision = 0; void addChangedTiles(const btCollisionShape& shape, const btTransform& transform); diff --git a/components/detournavigator/settingsutils.hpp b/components/detournavigator/settingsutils.hpp index 0b327717f..812753686 100644 --- a/components/detournavigator/settingsutils.hpp +++ b/components/detournavigator/settingsutils.hpp @@ -6,6 +6,8 @@ #include "tileposition.hpp" #include "tilebounds.hpp" +#include +#include #include #include diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index 9c4f63e59..eb4dffcb6 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -35,6 +35,8 @@ namespace DetourNavigator result = true; } }); + if (result) + ++mRevision; return result; } @@ -57,6 +59,8 @@ namespace DetourNavigator if (tileResult && !result) result = tileResult; } + if (result) + ++mRevision; return result; } @@ -68,4 +72,15 @@ namespace DetourNavigator return nullptr; return it->second.getMesh(); } + + bool TileCachedRecastMeshManager::hasTile(const TilePosition& tilePosition) + { + const std::lock_guard lock(mTilesMutex); + return mTiles.count(tilePosition); + } + + std::size_t TileCachedRecastMeshManager::getRevision() const + { + return mRevision; + } } diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index f957dec1d..1c685b2ec 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -20,11 +20,24 @@ namespace DetourNavigator std::shared_ptr getMesh(const TilePosition& tilePosition); + bool hasTile(const TilePosition& tilePosition); + + template + void forEachTilePosition(Function&& function) + { + const std::lock_guard lock(mTilesMutex); + for (const auto& tile : mTiles) + function(tile.first); + } + + std::size_t getRevision() const; + private: const Settings& mSettings; std::mutex mTilesMutex; std::map mTiles; std::unordered_map> mObjectsTilesPositions; + std::size_t mRevision = 0; }; } From 144e1a063b320e94ccb9d2458a6c139925191b64 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 26 May 2018 17:44:25 +0300 Subject: [PATCH 061/130] Support animated objects --- apps/openmw/mwphysics/physicssystem.hpp | 8 + apps/openmw/mwworld/worldimp.cpp | 19 +- apps/openmw_test_suite/CMakeLists.txt | 1 + .../detournavigator/navigator.cpp | 171 ++++++++++++++++++ .../detournavigator/recastmeshobject.cpp | 66 +++++++ components/CMakeLists.txt | 1 + .../detournavigator/asyncnavmeshupdater.cpp | 5 +- .../cachedrecastmeshmanager.cpp | 10 +- .../cachedrecastmeshmanager.hpp | 4 +- components/detournavigator/debug.hpp | 9 + components/detournavigator/navigator.cpp | 5 + components/detournavigator/navigator.hpp | 2 + components/detournavigator/navmeshmanager.cpp | 10 +- components/detournavigator/navmeshmanager.hpp | 2 + .../detournavigator/recastmeshmanager.cpp | 22 ++- .../detournavigator/recastmeshmanager.hpp | 19 +- .../detournavigator/recastmeshobject.cpp | 58 ++++++ .../detournavigator/recastmeshobject.hpp | 44 +++++ .../tilecachedrecastmeshmanager.cpp | 23 ++- .../tilecachedrecastmeshmanager.hpp | 4 +- 20 files changed, 460 insertions(+), 23 deletions(-) create mode 100644 apps/openmw_test_suite/detournavigator/recastmeshobject.cpp create mode 100644 components/detournavigator/recastmeshobject.cpp create mode 100644 components/detournavigator/recastmeshobject.hpp diff --git a/apps/openmw/mwphysics/physicssystem.hpp b/apps/openmw/mwphysics/physicssystem.hpp index b084cc4c9..21fbe3f17 100644 --- a/apps/openmw/mwphysics/physicssystem.hpp +++ b/apps/openmw/mwphysics/physicssystem.hpp @@ -4,6 +4,7 @@ #include #include #include +#include #include #include @@ -174,6 +175,13 @@ namespace MWPhysics void markAsNonSolid (const MWWorld::ConstPtr& ptr); bool isOnSolidGround (const MWWorld::Ptr& actor) const; + + template + void forEachAnimatedObject(Function&& function) const + { + std::for_each(mAnimatedObjects.begin(), mAnimatedObjects.end(), function); + } + private: void updateWater(); diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index ce604580d..9b8f97e8c 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -3,6 +3,8 @@ #include #include +#include + #include #include @@ -51,6 +53,7 @@ #include "../mwphysics/physicssystem.hpp" #include "../mwphysics/actor.hpp" #include "../mwphysics/collisiontype.hpp" +#include "../mwphysics/object.hpp" #include "player.hpp" #include "manualref.hpp" @@ -1535,6 +1538,16 @@ namespace MWWorld } if(player != results.end()) moveObjectImp(player->first, player->second.x(), player->second.y(), player->second.z(), false); + + bool navigatorObjectsUpdated = false; + mPhysics->forEachAnimatedObject([&] (const MWPhysics::Object* object) + { + navigatorObjectsUpdated = mNavigator->updateObject(std::size_t(object), + *object->getCollisionObject()->getCollisionShape(), + object->getCollisionObject()->getWorldTransform()) || navigatorObjectsUpdated; + }); + if (navigatorObjectsUpdated) + mNavigator->update(getPlayerPtr().getRefData().getPosition().asVec3()); } bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors) @@ -2254,7 +2267,7 @@ namespace MWWorld float waterlevel = cell->getWaterLevel(); - // SwimHeightScale affects the upper z position an actor can swim to + // SwimHeightScale affects the upper z position an actor can swim to // while in water. Based on observation from the original engine, // the upper z position you get with a +1 SwimHeightScale is the depth // limit for being able to cast water walking on an underwater target. @@ -2400,7 +2413,7 @@ namespace MWWorld { mRendering->screenshot(image, w, h); } - + bool World::screenshot360(osg::Image* image, std::string settingStr) { return mRendering->screenshot360(image,settingStr); @@ -3573,7 +3586,7 @@ namespace MWWorld continue; } else - mRendering->spawnEffect("meshes\\" + areaStatic->mModel, texture, origin, static_cast(effectIt->mArea * 2)); + mRendering->spawnEffect("meshes\\" + areaStatic->mModel, texture, origin, static_cast(effectIt->mArea * 2)); // Play explosion sound (make sure to use NoTrack, since we will delete the projectile now) static const std::string schools[] = { diff --git a/apps/openmw_test_suite/CMakeLists.txt b/apps/openmw_test_suite/CMakeLists.txt index fc04648e5..b86f4b812 100644 --- a/apps/openmw_test_suite/CMakeLists.txt +++ b/apps/openmw_test_suite/CMakeLists.txt @@ -22,6 +22,7 @@ if (GTEST_FOUND AND GMOCK_FOUND) detournavigator/settingsutils.cpp detournavigator/recastmeshbuilder.cpp detournavigator/gettilespositions.cpp + detournavigator/recastmeshobject.cpp ) source_group(apps\\openmw_test_suite FILES openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 0e475ad9f..de0636ca1 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -4,6 +4,8 @@ #include #include +#include +#include #include @@ -131,6 +133,175 @@ namespace })) << mPath; } + TEST_F(DetourNavigatorNavigatorTest, add_object_should_change_navmesh) + { + const std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape heightfieldShape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + heightfieldShape.setLocalScaling(btVector3(128, 128, 1)); + + btBoxShape boxShape(btVector3(20, 20, 100)); + btCompoundShape compoundShape; + compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(1, heightfieldShape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath)); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.85963428020477294921875), + osg::Vec3f(-194.9653167724609375, 194.9653167724609375, -6.5760211944580078125), + osg::Vec3f(-174.930633544921875, 174.930633544921875, -15.01167774200439453125), + osg::Vec3f(-154.8959503173828125, 154.8959503173828125, -23.4473323822021484375), + osg::Vec3f(-134.86126708984375, 134.86126708984375, -31.8829898834228515625), + osg::Vec3f(-114.82657623291015625, 114.82657623291015625, -40.3186492919921875), + osg::Vec3f(-94.7918853759765625, 94.7918853759765625, -47.39907073974609375), + osg::Vec3f(-74.75719451904296875, 74.75719451904296875, -53.7258148193359375), + osg::Vec3f(-54.722499847412109375, 54.722499847412109375, -60.052555084228515625), + osg::Vec3f(-34.68780517578125, 34.68780517578125, -66.37929534912109375), + osg::Vec3f(-14.6531162261962890625, 14.6531162261962890625, -72.70604705810546875), + osg::Vec3f(5.3815765380859375, -5.3815765380859375, -75.35065460205078125), + osg::Vec3f(25.41626739501953125, -25.41626739501953125, -67.96945953369140625), + osg::Vec3f(45.450958251953125, -45.450958251953125, -60.58824920654296875), + osg::Vec3f(65.48564910888671875, -65.48564910888671875, -53.20705413818359375), + osg::Vec3f(85.5203399658203125, -85.5203399658203125, -45.825855255126953125), + osg::Vec3f(105.55503082275390625, -105.55503082275390625, -38.44464874267578125), + osg::Vec3f(125.5897216796875, -125.5897216796875, -31.063449859619140625), + osg::Vec3f(145.6244049072265625, -145.6244049072265625, -23.6822509765625), + osg::Vec3f(165.659088134765625, -165.659088134765625, -16.3010540008544921875), + osg::Vec3f(185.6937713623046875, -185.6937713623046875, -8.91985416412353515625), + osg::Vec3f(205.7284698486328125, -205.7284698486328125, -1.53864824771881103515625), + osg::Vec3f(215, -215, 1.877177715301513671875), + })) << mPath; + + mNavigator->addObject(2, compoundShape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mPath.clear(); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath)); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.87827122211456298828125), + osg::Vec3f(-199.7968292236328125, 191.09100341796875, -3.54876613616943359375), + osg::Vec3f(-184.5936431884765625, 167.1819915771484375, -8.97847270965576171875), + osg::Vec3f(-169.3904571533203125, 143.2729949951171875, -14.40817737579345703125), + osg::Vec3f(-154.1872711181640625, 119.36397552490234375, -19.837890625), + osg::Vec3f(-138.9840850830078125, 95.45496368408203125, -25.2675952911376953125), + osg::Vec3f(-123.78090667724609375, 71.54595184326171875, -30.6972980499267578125), + osg::Vec3f(-108.57772064208984375, 47.636936187744140625, -36.12701416015625), + osg::Vec3f(-93.3745269775390625, 23.7279262542724609375, -40.754688262939453125), + osg::Vec3f(-78.17134857177734375, -0.18108306825160980224609375, -37.128787994384765625), + osg::Vec3f(-62.968158721923828125, -24.0900936126708984375, -33.50289154052734375), + osg::Vec3f(-47.764972686767578125, -47.999103546142578125, -30.797946929931640625), + osg::Vec3f(-23.852447509765625, -63.196765899658203125, -33.97112274169921875), + osg::Vec3f(0.0600789971649646759033203125, -78.39443206787109375, -37.14543914794921875), + osg::Vec3f(23.97260284423828125, -93.5920867919921875, -40.7740936279296875), + osg::Vec3f(47.885128021240234375, -108.78974151611328125, -36.051288604736328125), + osg::Vec3f(71.7976531982421875, -123.98740386962890625, -30.62355804443359375), + osg::Vec3f(95.71018218994140625, -139.18505859375, -25.1958160400390625), + osg::Vec3f(119.6226959228515625, -154.382720947265625, -19.7680912017822265625), + osg::Vec3f(143.53521728515625, -169.58038330078125, -14.3403491973876953125), + osg::Vec3f(167.4477386474609375, -184.778045654296875, -8.91261768341064453125), + osg::Vec3f(191.360260009765625, -199.9757080078125, -3.484879016876220703125), + osg::Vec3f(215, -215, 1.87827455997467041015625), + })) << mPath; + } + + TEST_F(DetourNavigatorNavigatorTest, update_changed_object_should_change_navmesh) + { + const std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape heightfieldShape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + heightfieldShape.setLocalScaling(btVector3(128, 128, 1)); + + btBoxShape boxShape(btVector3(20, 20, 100)); + btCompoundShape compoundShape; + compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(1, heightfieldShape, btTransform::getIdentity()); + mNavigator->addObject(2, compoundShape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath)); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.87827122211456298828125), + osg::Vec3f(-199.7968292236328125, 191.09100341796875, -3.54876613616943359375), + osg::Vec3f(-184.5936431884765625, 167.1819915771484375, -8.97847270965576171875), + osg::Vec3f(-169.3904571533203125, 143.2729949951171875, -14.40817737579345703125), + osg::Vec3f(-154.1872711181640625, 119.36397552490234375, -19.837890625), + osg::Vec3f(-138.9840850830078125, 95.45496368408203125, -25.2675952911376953125), + osg::Vec3f(-123.78090667724609375, 71.54595184326171875, -30.6972980499267578125), + osg::Vec3f(-108.57772064208984375, 47.636936187744140625, -36.12701416015625), + osg::Vec3f(-93.3745269775390625, 23.7279262542724609375, -40.754688262939453125), + osg::Vec3f(-78.17134857177734375, -0.18108306825160980224609375, -37.128787994384765625), + osg::Vec3f(-62.968158721923828125, -24.0900936126708984375, -33.50289154052734375), + osg::Vec3f(-47.764972686767578125, -47.999103546142578125, -30.797946929931640625), + osg::Vec3f(-23.852447509765625, -63.196765899658203125, -33.97112274169921875), + osg::Vec3f(0.0600789971649646759033203125, -78.39443206787109375, -37.14543914794921875), + osg::Vec3f(23.97260284423828125, -93.5920867919921875, -40.7740936279296875), + osg::Vec3f(47.885128021240234375, -108.78974151611328125, -36.051288604736328125), + osg::Vec3f(71.7976531982421875, -123.98740386962890625, -30.62355804443359375), + osg::Vec3f(95.71018218994140625, -139.18505859375, -25.1958160400390625), + osg::Vec3f(119.6226959228515625, -154.382720947265625, -19.7680912017822265625), + osg::Vec3f(143.53521728515625, -169.58038330078125, -14.3403491973876953125), + osg::Vec3f(167.4477386474609375, -184.778045654296875, -8.91261768341064453125), + osg::Vec3f(191.360260009765625, -199.9757080078125, -3.484879016876220703125), + osg::Vec3f(215, -215, 1.87827455997467041015625), + })) << mPath; + + compoundShape.updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0))); + + mNavigator->updateObject(2, compoundShape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mPath.clear(); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.85963428020477294921875), + osg::Vec3f(-194.9653167724609375, 194.9653167724609375, -6.5760211944580078125), + osg::Vec3f(-174.930633544921875, 174.930633544921875, -15.01167774200439453125), + osg::Vec3f(-154.8959503173828125, 154.8959503173828125, -23.4473323822021484375), + osg::Vec3f(-134.86126708984375, 134.86126708984375, -31.8829898834228515625), + osg::Vec3f(-114.82657623291015625, 114.82657623291015625, -40.3186492919921875), + osg::Vec3f(-94.7918853759765625, 94.7918853759765625, -47.39907073974609375), + osg::Vec3f(-74.75719451904296875, 74.75719451904296875, -53.7258148193359375), + osg::Vec3f(-54.722499847412109375, 54.722499847412109375, -60.052555084228515625), + osg::Vec3f(-34.68780517578125, 34.68780517578125, -66.37929534912109375), + osg::Vec3f(-14.6531162261962890625, 14.6531162261962890625, -72.70604705810546875), + osg::Vec3f(5.3815765380859375, -5.3815765380859375, -75.35065460205078125), + osg::Vec3f(25.41626739501953125, -25.41626739501953125, -67.96945953369140625), + osg::Vec3f(45.450958251953125, -45.450958251953125, -60.58824920654296875), + osg::Vec3f(65.48564910888671875, -65.48564910888671875, -53.20705413818359375), + osg::Vec3f(85.5203399658203125, -85.5203399658203125, -45.825855255126953125), + osg::Vec3f(105.55503082275390625, -105.55503082275390625, -38.44464874267578125), + osg::Vec3f(125.5897216796875, -125.5897216796875, -31.063449859619140625), + osg::Vec3f(145.6244049072265625, -145.6244049072265625, -23.6822509765625), + osg::Vec3f(165.659088134765625, -165.659088134765625, -16.3010540008544921875), + osg::Vec3f(185.6937713623046875, -185.6937713623046875, -8.91985416412353515625), + osg::Vec3f(205.7284698486328125, -205.7284698486328125, -1.53864824771881103515625), + osg::Vec3f(215, -215, 1.877177715301513671875), + })) << mPath; + } + TEST_F(DetourNavigatorNavigatorTest, for_overlapping_heightfields_should_use_higher) { const std::array heightfieldData {{ diff --git a/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp b/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp new file mode 100644 index 000000000..b0f03aa65 --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp @@ -0,0 +1,66 @@ +#include "operators.hpp" + +#include + +#include +#include + +#include + +namespace +{ + using namespace testing; + using namespace DetourNavigator; + + struct DetourNavigatorRecastMeshObjectTest : Test + { + btBoxShape mBoxShape {btVector3(1, 2, 3)}; + btCompoundShape mCompoundShape {btVector3(1, 2, 3)}; + btTransform mTransform {btQuaternion(btVector3(1, 2, 3), 1), btVector3(1, 2, 3)}; + + DetourNavigatorRecastMeshObjectTest() + { + mCompoundShape.addChildShape(mTransform, std::addressof(mBoxShape)); + } + }; + + TEST_F(DetourNavigatorRecastMeshObjectTest, constructed_object_should_have_shape_and_transform) + { + const RecastMeshObject object(mBoxShape, mTransform); + EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShape)); + EXPECT_EQ(object.getTransform(), mTransform); + } + + TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_same_transform_for_not_compound_shape_should_return_false) + { + RecastMeshObject object(mBoxShape, mTransform); + EXPECT_FALSE(object.update(mTransform)); + } + + TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_transform_should_return_true) + { + RecastMeshObject object(mBoxShape, mTransform); + EXPECT_TRUE(object.update(btTransform::getIdentity())); + } + + TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_not_changed_child_transform_should_return_false) + { + RecastMeshObject object(mCompoundShape, mTransform); + EXPECT_FALSE(object.update(mTransform)); + } + + TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_changed_child_transform_should_return_true) + { + RecastMeshObject object(mCompoundShape, mTransform); + mCompoundShape.updateChildTransform(0, btTransform::getIdentity()); + EXPECT_TRUE(object.update(mTransform)); + } + + TEST_F(DetourNavigatorRecastMeshObjectTest, repeated_update_for_compound_shape_without_changes_should_return_false) + { + RecastMeshObject object(mCompoundShape, mTransform); + mCompoundShape.updateChildTransform(0, btTransform::getIdentity()); + object.update(mTransform); + EXPECT_FALSE(object.update(mTransform)); + } +} diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index fbb74a65a..7ca7ce673 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -169,6 +169,7 @@ add_component_dir(detournavigator chunkytrimesh recastmesh tilecachedrecastmeshmanager + recastmeshobject ) set (ESM_UI ${CMAKE_SOURCE_DIR}/files/ui/contentselector.ui diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 20438674a..91af31e22 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -78,6 +78,8 @@ namespace DetourNavigator makePriority(changedTile, playerTile)}); } + log("posted ", mJobs.size(), " jobs"); + mHasJob.notify_all(); } @@ -169,7 +171,8 @@ namespace DetourNavigator navMeshRevision = revision; } if (recastMesh && mSettings.get().mEnableWriteRecastMeshToFile) - writeToFile(*recastMesh, mSettings.get().mRecastMeshPathPrefix, recastMeshRevision); + writeToFile(*recastMesh, mSettings.get().mRecastMeshPathPrefix + std::to_string(job.mChangedTile.x()) + + "_" + std::to_string(job.mChangedTile.y()) + "_", recastMeshRevision); if (mSettings.get().mEnableWriteNavMeshToFile) writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index 3699bc77d..cba3946e0 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -16,7 +16,15 @@ namespace DetourNavigator return true; } - boost::optional CachedRecastMeshManager::removeObject(std::size_t id) + bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform) + { + if (!mImpl.updateObject(id, transform)) + return false; + mCached.reset(); + return true; + } + + boost::optional CachedRecastMeshManager::removeObject(std::size_t id) { const auto object = mImpl.removeObject(id); if (object) diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 5185c3816..71229ab2f 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -14,7 +14,9 @@ namespace DetourNavigator bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); - boost::optional removeObject(std::size_t id); + bool updateObject(std::size_t id, const btTransform& transform); + + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(); diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index 520851fbe..bc5254322 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -7,6 +7,7 @@ #include #include +#include #include #include #include @@ -25,6 +26,13 @@ namespace DetourNavigator class RecastMesh; + inline std::ostream& operator <<(std::ostream& stream, const std::chrono::steady_clock::time_point& value) + { + using float_s = std::chrono::duration>; + return stream << std::fixed << std::setprecision(4) + << std::chrono::duration_cast(value.time_since_epoch()).count(); + } + class Log { public: @@ -88,6 +96,7 @@ namespace DetourNavigator if (!log.isEnabled()) return; std::ostringstream stream; + stream << '[' << std::chrono::steady_clock::now() << "] "; write(stream, std::forward(values) ...); log.write(stream.str()); } diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index e2fc976a3..913ba2e2a 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -30,6 +30,11 @@ namespace DetourNavigator return mNavMeshManager.addObject(id, shape, transform); } + bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + { + return mNavMeshManager.updateObject(id, shape, transform); + } + bool Navigator::removeObject(std::size_t id) { return mNavMeshManager.removeObject(id); diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index b8d77c705..69529a9d4 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -19,6 +19,8 @@ namespace DetourNavigator bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool removeObject(std::size_t id); void update(const osg::Vec3f& playerPosition); diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 5f6cdb93c..c12351ee0 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -30,12 +30,20 @@ namespace DetourNavigator return true; } + bool NavMeshManager::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + { + if (!mRecastMeshManager.updateObject(id, transform)) + return false; + addChangedTiles(shape, transform); + return true; + } + bool NavMeshManager::removeObject(std::size_t id) { const auto object = mRecastMeshManager.removeObject(id); if (!object) return false; - addChangedTiles(*object->mShape, object->mTransform); + addChangedTiles(object->mShape, object->mTransform); return true; } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index f0b273efd..109aa2237 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -25,6 +25,8 @@ namespace DetourNavigator bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool removeObject(std::size_t id); void addAgent(const osg::Vec3f& agentHalfExtents); diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index 919609190..d4b905e7d 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -1,5 +1,6 @@ #include "recastmeshmanager.hpp" +#include #include namespace DetourNavigator @@ -12,18 +13,29 @@ namespace DetourNavigator bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { - if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second) + if (!mObjects.emplace(id, RecastMeshObject(shape, transform)).second) return false; mShouldRebuild = true; - return true; + return mShouldRebuild; } - boost::optional RecastMeshManager::removeObject(std::size_t id) + bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform) + { + const auto object = mObjects.find(id); + if (object == mObjects.end()) + return false; + if (!object->second.update(transform)) + return false; + mShouldRebuild = true; + return mShouldRebuild; + } + + boost::optional RecastMeshManager::removeObject(std::size_t id) { const auto object = mObjects.find(id); if (object == mObjects.end()) return boost::none; - const auto result = object->second; + const RemovedRecastMeshObject result {object->second.getShape(), object->second.getTransform()}; mObjects.erase(object); mShouldRebuild = true; return result; @@ -46,7 +58,7 @@ namespace DetourNavigator return; mMeshBuilder.reset(); for (const auto& v : mObjects) - mMeshBuilder.addObject(*v.second.mShape, v.second.mTransform); + mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform()); mShouldRebuild = false; } } diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index f2aa7f871..c8e32714e 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHMANAGER_H #include "recastmeshbuilder.hpp" +#include "recastmeshobject.hpp" #include @@ -13,20 +14,22 @@ class btCollisionShape; namespace DetourNavigator { + struct RemovedRecastMeshObject + { + std::reference_wrapper mShape; + btTransform mTransform; + }; + class RecastMeshManager { public: - struct Object - { - const btCollisionShape* mShape; - btTransform mTransform; - }; - RecastMeshManager(const Settings& settings, const TileBounds& bounds); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); - boost::optional removeObject(std::size_t id); + bool updateObject(std::size_t id, const btTransform& transform); + + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(); @@ -35,7 +38,7 @@ namespace DetourNavigator private: bool mShouldRebuild; RecastMeshBuilder mMeshBuilder; - std::unordered_map mObjects; + std::unordered_map mObjects; void rebuild(); }; diff --git a/components/detournavigator/recastmeshobject.cpp b/components/detournavigator/recastmeshobject.cpp new file mode 100644 index 000000000..b6727ba5e --- /dev/null +++ b/components/detournavigator/recastmeshobject.cpp @@ -0,0 +1,58 @@ +#include "recastmeshobject.hpp" + +#include + +#include + +#include + +namespace DetourNavigator +{ + RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform) + : mShape(shape) + , mTransform(transform) + , mChildren(makeChildrenObjects(shape)) + { + } + + bool RecastMeshObject::update(const btTransform& transform) + { + bool result = false; + if (!(mTransform == transform)) + { + mTransform = transform; + result = true; + } + if (mShape.get().isCompound()) + result = updateCompoundObject(static_cast(mShape.get()), mChildren) || result; + return result; + } + + bool RecastMeshObject::updateCompoundObject(const btCompoundShape& shape, std::vector& children) + { + assert(static_cast(shape.getNumChildShapes()) == children.size()); + bool result = false; + for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) + { + assert(shape.getChildShape(i) == std::addressof(children[static_cast(i)].mShape.get())); + result = children[static_cast(i)].update(shape.getChildTransform(i)) || result; + } + return result; + } + + std::vector makeChildrenObjects(const btCollisionShape& shape) + { + if (shape.isCompound()) + return makeChildrenObjects(static_cast(shape)); + else + return std::vector(); + } + + std::vector makeChildrenObjects(const btCompoundShape& shape) + { + std::vector result; + for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) + result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i)); + return result; + } +} diff --git a/components/detournavigator/recastmeshobject.hpp b/components/detournavigator/recastmeshobject.hpp new file mode 100644 index 000000000..697acfa58 --- /dev/null +++ b/components/detournavigator/recastmeshobject.hpp @@ -0,0 +1,44 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H + +#include + +#include +#include + +class btCollisionShape; +class btCompoundShape; + +namespace DetourNavigator +{ + class RecastMeshObject + { + public: + RecastMeshObject(const btCollisionShape& shape, const btTransform& transform); + + bool update(const btTransform& transform); + + const btCollisionShape& getShape() const + { + return mShape; + } + + const btTransform& getTransform() const + { + return mTransform; + } + + private: + std::reference_wrapper mShape; + btTransform mTransform; + std::vector mChildren; + + static bool updateCompoundObject(const btCompoundShape& shape, std::vector& children); + }; + + std::vector makeChildrenObjects(const btCollisionShape& shape); + + std::vector makeChildrenObjects(const btCompoundShape& shape); +} + +#endif diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index eb4dffcb6..346ab9fd1 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -40,12 +40,31 @@ namespace DetourNavigator return result; } - boost::optional TileCachedRecastMeshManager::removeObject(std::size_t id) + bool TileCachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform) + { + const auto object = mObjectsTilesPositions.find(id); + if (object == mObjectsTilesPositions.end()) + return false; + bool result = false; + std::unique_lock lock(mTilesMutex); + for (const auto& tilePosition : object->second) + { + const auto tile = mTiles.find(tilePosition); + if (tile != mTiles.end()) + result = tile->second.updateObject(id, transform) || result; + } + lock.unlock(); + if (result) + ++mRevision; + return result; + } + + boost::optional TileCachedRecastMeshManager::removeObject(std::size_t id) { const auto object = mObjectsTilesPositions.find(id); if (object == mObjectsTilesPositions.end()) return boost::none; - boost::optional result; + boost::optional result; for (const auto& tilePosition : object->second) { std::unique_lock lock(mTilesMutex); diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index 1c685b2ec..9e5c07e84 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -16,7 +16,9 @@ namespace DetourNavigator bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); - boost::optional removeObject(std::size_t id); + bool updateObject(std::size_t id, const btTransform& transform); + + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(const TilePosition& tilePosition); From 84949bedb1ef418ad6b6ddd8d2a0a0da3664cf80 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 3 Jun 2018 15:27:10 +0300 Subject: [PATCH 062/130] Remove and add tile in single critical section --- components/detournavigator/makenavmesh.cpp | 64 +++++++++------------- 1 file changed, 27 insertions(+), 37 deletions(-) diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 8db1d32b4..f67134496 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -216,23 +216,6 @@ namespace return NavMeshData(navMeshData, navMeshDataSize); } - struct AutoIncrementRevision - { - std::atomic_size_t& mNavMeshRevision; - bool mNavMeshChanged; - - AutoIncrementRevision(std::atomic_size_t& navMeshRevision) - : mNavMeshRevision(navMeshRevision) - , mNavMeshChanged(false) - {} - - ~AutoIncrementRevision() - { - if (mNavMeshChanged) - ++mNavMeshRevision; - } - }; - UpdateNavMeshStatus makeUpdateNavMeshStatus(bool removed, bool add) { if (removed && add) @@ -292,20 +275,17 @@ namespace DetourNavigator const auto x = changedTile.x(); const auto y = changedTile.y(); - AutoIncrementRevision incRev(navMeshCacheItem.mNavMeshRevision); - bool removed = false; - - { + const auto removeTile = [&] { const auto locked = navMesh.lock(); - removed = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr)); - } - - incRev.mNavMeshChanged = removed; + const auto removed = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr)); + navMeshCacheItem.mNavMeshRevision += removed; + return makeUpdateNavMeshStatus(removed, false); + }; if (!recastMesh) { log("ignore add tile: recastMesh is null"); - return makeUpdateNavMeshStatus(removed, false); + return removeTile(); } const auto& boundsMin = recastMesh->getBoundsMin(); @@ -314,14 +294,14 @@ namespace DetourNavigator if (boundsMin == boundsMax) { log("ignore add tile: recastMesh is empty"); - return makeUpdateNavMeshStatus(removed, false); + return removeTile(); } const auto maxTiles = navMesh.lock()->getParams()->maxTiles; if (!shouldAddTile(changedTile, playerTile, maxTiles)) { log("ignore add tile: too far from player"); - return makeUpdateNavMeshStatus(removed, false); + return removeTile(); } const auto tileBounds = makeTileBounds(settings, changedTile); @@ -334,17 +314,27 @@ namespace DetourNavigator if (!navMeshData.mValue) { log("ignore add tile: NavMeshData is null"); - return makeUpdateNavMeshStatus(removed, false); + return removeTile(); } - const auto status = navMesh.lock()->addTile(navMeshData.mValue.get(), navMeshData.mSize, - DT_TILE_FREE_DATA, 0, 0); - if (dtStatusSucceed(status)) - incRev.mNavMeshChanged = true; - else - log("failed to add tile with status=", WriteDtStatus {status}); - navMeshData.mValue.release(); + dtStatus addStatus; + bool removed; + { + const auto locked = navMesh.lock(); + removed = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr)); + addStatus = locked->addTile(navMeshData.mValue.get(), navMeshData.mSize, DT_TILE_FREE_DATA, 0, 0); + } - return makeUpdateNavMeshStatus(removed, dtStatusSucceed(status)); + if (dtStatusSucceed(addStatus)) + { + ++navMeshCacheItem.mNavMeshRevision; + navMeshData.mValue.release(); + return makeUpdateNavMeshStatus(removed, true); + } + else + { + log("failed to add tile with status=", WriteDtStatus {addStatus}); + return makeUpdateNavMeshStatus(removed, false); + } } } From c3298d13a6c19ee171cbf895e4136538c416dade Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 7 Jul 2018 16:19:24 +0300 Subject: [PATCH 063/130] Add log sinks (stdout and file) --- apps/openmw/mwworld/worldimp.cpp | 4 +- components/detournavigator/debug.hpp | 65 ++++++++++++++++++++-------- files/settings-default.cfg | 3 ++ 3 files changed, 52 insertions(+), 20 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 9b8f97e8c..94227a724 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -193,7 +193,9 @@ namespace MWWorld navigatorSettings.mNavMeshPathPrefix = Settings::Manager::getString("nav mesh path prefix", "Navigator"); navigatorSettings.mEnableRecastMeshFileNameRevision = Settings::Manager::getBool("enable recast mesh file name revision", "Navigator"); navigatorSettings.mEnableNavMeshFileNameRevision = Settings::Manager::getBool("enable nav mesh file name revision", "Navigator"); - DetourNavigator::Log::instance().setEnabled(Settings::Manager::getBool("enable log", "Navigator")); + if (Settings::Manager::getBool("enable log", "Navigator")) + DetourNavigator::Log::instance().setSink(std::unique_ptr( + new DetourNavigator::FileSink(Settings::Manager::getString("log path", "Navigator")))); mNavigator.reset(new DetourNavigator::Navigator(navigatorSettings)); mRendering.reset(new MWRender::RenderingManager(viewer, rootNode, resourceSystem, workQueue, &mFallback, resourcePath, *mNavigator)); diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index bc5254322..2a19bcce8 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -6,11 +6,11 @@ #include #include -#include #include #include #include #include +#include #include #include #include @@ -33,36 +33,64 @@ namespace DetourNavigator << std::chrono::duration_cast(value.time_since_epoch()).count(); } - class Log + struct Sink + { + virtual ~Sink() = default; + virtual void write(const std::string& text) = 0; + }; + + class FileSink final : public Sink { public: - Log() - : mEnabled() + FileSink(std::string path) + : mPath(std::move(path)) { mFile.exceptions(std::ios::failbit | std::ios::badbit); } - void setEnabled(bool value) + void write(const std::string& text) override { - mEnabled = value; + if (!mFile.is_open()) + { + mFile.open(mPath); + } + mFile << text << std::flush; + } + + private: + std::string mPath; + std::ofstream mFile; + }; + + class StdoutSink final : public Sink + { + public: + void write(const std::string& text) override + { + std::cout << text << std::flush; + } + }; + + class Log + { + public: + void setSink(std::unique_ptr sink) + { + const std::lock_guard guard(mMutex); + mSink = std::move(sink); } bool isEnabled() const { - return mEnabled; + const std::lock_guard guard(mMutex); + return bool(mSink); } void write(const std::string& text) { - if (mEnabled) - { - const std::lock_guard lock(mMutex); - if (!mFile.is_open()) - { - mFile.open("detournavigator.log"); - } - mFile << text << std::flush; - } + const std::lock_guard guard(mMutex); + if (mSink) + mSink->write(text); } static Log& instance() @@ -72,9 +100,8 @@ namespace DetourNavigator } private: - std::mutex mMutex; - std::ofstream mFile; - std::atomic_bool mEnabled; + mutable std::mutex mMutex; + std::unique_ptr mSink; }; inline void write(std::ostream& stream) diff --git a/files/settings-default.cfg b/files/settings-default.cfg index f6fc99c0e..1b346dad6 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -597,6 +597,9 @@ triangles per chunk = 256 # Enable debug log (true, false) enable log = false +# Write debug log to this file +log path = detournavigator.log + # Write recast mesh to file in .obj format for each use to update nav mesh (true, false) enable write recast mesh to file = false From 330e596c6494970279a8e3f15990f891195529b8 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 7 Jul 2018 20:30:07 +0300 Subject: [PATCH 064/130] Remove useless parameter --- components/nifbullet/bulletnifloader.cpp | 6 ++---- components/nifbullet/bulletnifloader.hpp | 2 +- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/components/nifbullet/bulletnifloader.cpp b/components/nifbullet/bulletnifloader.cpp index 7b206e40c..0554db08f 100644 --- a/components/nifbullet/bulletnifloader.cpp +++ b/components/nifbullet/bulletnifloader.cpp @@ -131,16 +131,14 @@ osg::ref_ptr BulletNifLoader::load(const Nif::File& nif) // Find a boundingBox in the node hierarchy. // Return: use bounding box for collision? -bool BulletNifLoader::findBoundingBox(const Nif::Node* node, int flags) +bool BulletNifLoader::findBoundingBox(const Nif::Node* node) { - flags |= node->flags; - if (node->hasBounds) { mShape->mCollisionBoxHalfExtents = node->boundXYZ; mShape->mCollisionBoxTranslate = node->boundPos; - if (flags & Nif::NiNode::Flag_BBoxCollision) + if (node->flags & Nif::NiNode::Flag_BBoxCollision) { return true; } diff --git a/components/nifbullet/bulletnifloader.hpp b/components/nifbullet/bulletnifloader.hpp index f970b7f3e..26b5b329d 100644 --- a/components/nifbullet/bulletnifloader.hpp +++ b/components/nifbullet/bulletnifloader.hpp @@ -53,7 +53,7 @@ public: osg::ref_ptr load(const Nif::File& file); private: - bool findBoundingBox(const Nif::Node* node, int flags = 0); + bool findBoundingBox(const Nif::Node* node); void handleNode(const std::string& fileName, Nif::Node const *node, int flags, bool isCollisionNode, bool isAnimated=false, bool autogenerated=false); From e24d4d70524329a51a6193cb79fe8841712b6103 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 8 Jul 2018 12:43:04 +0300 Subject: [PATCH 065/130] Explicitly use RC_NULL_AREA constant to mark unwalkable areas --- components/detournavigator/makenavmesh.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index f67134496..c3c12d675 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -99,7 +99,7 @@ namespace { const auto& chunkyMesh = recastMesh.getChunkyTriMesh(); - std::vector areas(chunkyMesh.getMaxTrisPerChunk(), 0); + std::vector areas(chunkyMesh.getMaxTrisPerChunk(), RC_NULL_AREA); const osg::Vec2f tileBoundsMin(config.bmin[0], config.bmin[2]); const osg::Vec2f tileBoundsMax(config.bmax[0], config.bmax[2]); std::vector cids; @@ -116,7 +116,7 @@ namespace areas.begin(), std::min(areas.begin() + static_cast(chunk.mSize), areas.end()), - 0 + RC_NULL_AREA ); rcMarkWalkableTriangles( From f6a60790f8578d4c27e95fb1fa8f96cdd673e4da Mon Sep 17 00:00:00 2001 From: elsid Date: Wed, 11 Jul 2018 01:05:19 +0300 Subject: [PATCH 066/130] Create collision shape for all avoided nodes --- .../nifloader/testbulletnifloader.cpp | 5 ++ components/nifbullet/bulletnifloader.cpp | 87 +++++++++---------- components/nifbullet/bulletnifloader.hpp | 13 +-- components/resource/bulletshape.cpp | 11 +++ components/resource/bulletshape.hpp | 3 + 5 files changed, 67 insertions(+), 52 deletions(-) diff --git a/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp b/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp index a2311be49..ceb035db8 100644 --- a/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp +++ b/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp @@ -142,6 +142,7 @@ namespace Resource static bool operator ==(const Resource::BulletShape& lhs, const Resource::BulletShape& rhs) { return compareObjects(lhs.mCollisionShape, rhs.mCollisionShape) + && compareObjects(lhs.mAvoidCollisionShape, rhs.mAvoidCollisionShape) && lhs.mCollisionBoxHalfExtents == rhs.mCollisionBoxHalfExtents && lhs.mCollisionBoxTranslate == rhs.mCollisionBoxTranslate && lhs.mAnimatedShapes == rhs.mAnimatedShapes; @@ -151,6 +152,7 @@ namespace Resource { return stream << "Resource::BulletShape {" << value.mCollisionShape << ", " + << value.mAvoidCollisionShape << ", " << value.mCollisionBoxHalfExtents << ", " << value.mAnimatedShapes << "}"; @@ -837,7 +839,10 @@ namespace EXPECT_CALL(mNifFile, getFilename()).WillOnce(Return("test.nif")); const auto result = mLoader.load(mNifFile); + std::unique_ptr triangles(new btTriangleMesh(false)); + triangles->addTriangle(btVector3(0, 0, 0), btVector3(1, 0, 0), btVector3(1, 1, 0)); Resource::BulletShape expected; + expected.mAvoidCollisionShape = new Resource::TriangleMeshShape(triangles.release(), false); EXPECT_EQ(*result, expected); } diff --git a/components/nifbullet/bulletnifloader.cpp b/components/nifbullet/bulletnifloader.cpp index 0554db08f..991e9fff5 100644 --- a/components/nifbullet/bulletnifloader.cpp +++ b/components/nifbullet/bulletnifloader.cpp @@ -8,7 +8,6 @@ #include #include #include -#include #include @@ -42,27 +41,41 @@ bool pathFileNameStartsWithX(const std::string& path) return letterPos < path.size() && (path[letterPos] == 'x' || path[letterPos] == 'X'); } +void fillTriangleMeshWithTransform(btTriangleMesh& mesh, const Nif::NiTriShapeData& data, const osg::Matrixf &transform) +{ + mesh.preallocateVertices(static_cast(data.vertices.size())); + mesh.preallocateIndices(static_cast(data.triangles.size())); + + const std::vector &vertices = data.vertices; + const std::vector &triangles = data.triangles; + + for (std::size_t i = 0; i < triangles.size(); i += 3) + { + mesh.addTriangle( + getbtVector(vertices[triangles[i + 0]] * transform), + getbtVector(vertices[triangles[i + 1]] * transform), + getbtVector(vertices[triangles[i + 2]] * transform) + ); + } } -namespace NifBullet +void fillTriangleMesh(btTriangleMesh& mesh, const Nif::NiTriShapeData& data) { + fillTriangleMeshWithTransform(mesh, data, osg::Matrixf()); +} -BulletNifLoader::BulletNifLoader() - : mCompoundShape() - , mStaticMesh() -{ } -BulletNifLoader::~BulletNifLoader() +namespace NifBullet { -} osg::ref_ptr BulletNifLoader::load(const Nif::File& nif) { mShape = new Resource::BulletShape; - mCompoundShape = nullptr; - mStaticMesh = nullptr; + mCompoundShape.reset(); + mStaticMesh.reset(); + mAvoidStaticMesh.reset(); if (nif.numRoots() < 1) { @@ -125,6 +138,9 @@ osg::ref_ptr BulletNifLoader::load(const Nif::File& nif) mStaticMesh.release(); } + if (mAvoidStaticMesh) + mShape->mAvoidCollisionShape = new Resource::TriangleMeshShape(mAvoidStaticMesh.release(), false); + return mShape; } } @@ -189,7 +205,7 @@ const Nif::Node* BulletNifLoader::getCollisionNode(const Nif::Node* rootNode) } void BulletNifLoader::handleNode(const std::string& fileName, const Nif::Node *node, int flags, - bool isCollisionNode, bool isAnimated, bool autogenerated) + bool isCollisionNode, bool isAnimated, bool autogenerated, bool avoid) { // Accumulate the flags from all the child nodes. This works for all // the flags we currently use, at least. @@ -205,8 +221,7 @@ void BulletNifLoader::handleNode(const std::string& fileName, const Nif::Node *n Log(Debug::Info) << "Found RootCollisionNode attached to non-root node in " << fileName << ". Treat it as a common NiTriShape."; // Don't collide with AvoidNode shapes - if(node->recType == Nif::RC_AvoidNode) - flags |= 0x800; + avoid = avoid || (node->recType == Nif::RC_AvoidNode); // Check for extra data Nif::Extra const *e = node; @@ -242,7 +257,7 @@ void BulletNifLoader::handleNode(const std::string& fileName, const Nif::Node *n // (occurs in tr_ex_imp_wall_arch_04.nif) if(!node->hasBounds && node->recType == Nif::RC_NiTriShape) { - handleNiTriShape(static_cast(node), flags, getWorldTransform(node), isAnimated); + handleNiTriShape(static_cast(node), flags, getWorldTransform(node), isAnimated, avoid); } } @@ -254,12 +269,13 @@ void BulletNifLoader::handleNode(const std::string& fileName, const Nif::Node *n for(size_t i = 0;i < list.length();i++) { if(!list[i].empty()) - handleNode(fileName, list[i].getPtr(), flags, isCollisionNode, isAnimated, autogenerated); + handleNode(fileName, list[i].getPtr(), flags, isCollisionNode, isAnimated, autogenerated, avoid); } } } -void BulletNifLoader::handleNiTriShape(const Nif::NiTriShape *shape, int flags, const osg::Matrixf &transform, bool isAnimated) +void BulletNifLoader::handleNiTriShape(const Nif::NiTriShape *shape, int flags, const osg::Matrixf &transform, + bool isAnimated, bool avoid) { assert(shape != nullptr); @@ -285,21 +301,7 @@ void BulletNifLoader::handleNiTriShape(const Nif::NiTriShape *shape, int flags, std::unique_ptr childMesh(new btTriangleMesh); - const Nif::NiTriShapeData *data = shape->data.getPtr(); - - childMesh->preallocateVertices(data->vertices.size()); - childMesh->preallocateIndices(data->triangles.size()); - - const std::vector &vertices = data->vertices; - const std::vector &triangles = data->triangles; - - for(size_t i = 0;i < data->triangles.size();i+=3) - { - osg::Vec3f b1 = vertices[triangles[i+0]]; - osg::Vec3f b2 = vertices[triangles[i+1]]; - osg::Vec3f b3 = vertices[triangles[i+2]]; - childMesh->addTriangle(getbtVector(b1), getbtVector(b2), getbtVector(b3)); - } + fillTriangleMesh(*childMesh, shape->data.get()); std::unique_ptr childShape(new Resource::TriangleMeshShape(childMesh.get(), true)); childMesh.release(); @@ -322,27 +324,20 @@ void BulletNifLoader::handleNiTriShape(const Nif::NiTriShape *shape, int flags, mCompoundShape->addChildShape(trans, childShape.get()); childShape.release(); } + else if (avoid) + { + if (!mAvoidStaticMesh) + mAvoidStaticMesh.reset(new btTriangleMesh(false)); + + fillTriangleMeshWithTransform(*mAvoidStaticMesh, shape->data.get(), transform); + } else { if (!mStaticMesh) mStaticMesh.reset(new btTriangleMesh(false)); // Static shape, just transform all vertices into position - const Nif::NiTriShapeData *data = shape->data.getPtr(); - const std::vector &vertices = data->vertices; - const std::vector &triangles = data->triangles; - - mStaticMesh->preallocateVertices(data->vertices.size()); - mStaticMesh->preallocateIndices(data->triangles.size()); - - size_t numtris = data->triangles.size(); - for(size_t i = 0;i < numtris;i+=3) - { - osg::Vec3f b1 = vertices[triangles[i+0]]*transform; - osg::Vec3f b2 = vertices[triangles[i+1]]*transform; - osg::Vec3f b3 = vertices[triangles[i+2]]*transform; - mStaticMesh->addTriangle(getbtVector(b1), getbtVector(b2), getbtVector(b3)); - } + fillTriangleMeshWithTransform(*mStaticMesh, shape->data.get(), transform); } } diff --git a/components/nifbullet/bulletnifloader.hpp b/components/nifbullet/bulletnifloader.hpp index 26b5b329d..8d55e0ba0 100644 --- a/components/nifbullet/bulletnifloader.hpp +++ b/components/nifbullet/bulletnifloader.hpp @@ -11,6 +11,8 @@ #include #include +#include + #include #include #include @@ -35,10 +37,6 @@ namespace NifBullet class BulletNifLoader { public: - BulletNifLoader(); - - virtual ~BulletNifLoader(); - void warn(const std::string &msg) { Log(Debug::Warning) << "NIFLoader: Warn:" << msg; @@ -55,16 +53,19 @@ public: private: bool findBoundingBox(const Nif::Node* node); - void handleNode(const std::string& fileName, Nif::Node const *node, int flags, bool isCollisionNode, bool isAnimated=false, bool autogenerated=false); + void handleNode(const std::string& fileName, Nif::Node const *node, int flags, bool isCollisionNode, + bool isAnimated=false, bool autogenerated=false, bool avoid=false); const Nif::Node* getCollisionNode(const Nif::Node* rootNode); - void handleNiTriShape(const Nif::NiTriShape *shape, int flags, const osg::Matrixf& transform, bool isAnimated); + void handleNiTriShape(const Nif::NiTriShape *shape, int flags, const osg::Matrixf& transform, bool isAnimated, bool avoid); std::unique_ptr mCompoundShape; std::unique_ptr mStaticMesh; + std::unique_ptr mAvoidStaticMesh; + osg::ref_ptr mShape; }; diff --git a/components/resource/bulletshape.cpp b/components/resource/bulletshape.cpp index 15a747dd3..645a5dd3b 100644 --- a/components/resource/bulletshape.cpp +++ b/components/resource/bulletshape.cpp @@ -13,12 +13,14 @@ namespace Resource BulletShape::BulletShape() : mCollisionShape(nullptr) + , mAvoidCollisionShape(nullptr) { } BulletShape::BulletShape(const BulletShape ©, const osg::CopyOp ©op) : mCollisionShape(duplicateCollisionShape(copy.mCollisionShape)) + , mAvoidCollisionShape(duplicateCollisionShape(copy.mAvoidCollisionShape)) , mCollisionBoxHalfExtents(copy.mCollisionBoxHalfExtents) , mCollisionBoxTranslate(copy.mCollisionBoxTranslate) , mAnimatedShapes(copy.mAnimatedShapes) @@ -27,6 +29,7 @@ BulletShape::BulletShape(const BulletShape ©, const osg::CopyOp ©op) BulletShape::~BulletShape() { + deleteShape(mAvoidCollisionShape); deleteShape(mCollisionShape); } @@ -82,6 +85,11 @@ btCollisionShape *BulletShape::getCollisionShape() return mCollisionShape; } +btCollisionShape *BulletShape::getAvoidCollisionShape() +{ + return mAvoidCollisionShape; +} + osg::ref_ptr BulletShape::makeInstance() const { osg::ref_ptr instance (new BulletShapeInstance(this)); @@ -99,6 +107,9 @@ BulletShapeInstance::BulletShapeInstance(osg::ref_ptr source) if (source->mCollisionShape) mCollisionShape = duplicateCollisionShape(source->mCollisionShape); + + if (source->mAvoidCollisionShape) + mAvoidCollisionShape = duplicateCollisionShape(source->mAvoidCollisionShape); } } diff --git a/components/resource/bulletshape.hpp b/components/resource/bulletshape.hpp index a418bb28c..f2f45cac9 100644 --- a/components/resource/bulletshape.hpp +++ b/components/resource/bulletshape.hpp @@ -25,6 +25,7 @@ namespace Resource META_Object(Resource, BulletShape) btCollisionShape* mCollisionShape; + btCollisionShape* mAvoidCollisionShape; // Used for actors. Note, ideally actors would use a separate loader - as it is // we have to keep a redundant copy of the actor model around in mCollisionShape, which isn't used. @@ -44,6 +45,8 @@ namespace Resource btCollisionShape* getCollisionShape(); + btCollisionShape* getAvoidCollisionShape(); + private: void deleteShape(btCollisionShape* shape); From b33a291a67f2a96ef2dcce9b9f0dac2296cac93c Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 14 Jul 2018 12:06:15 +0300 Subject: [PATCH 067/130] Log thread id --- components/detournavigator/debug.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index 2a19bcce8..fb8d5bd21 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -14,6 +14,7 @@ #include #include #include +#include class dtNavMesh; @@ -123,7 +124,7 @@ namespace DetourNavigator if (!log.isEnabled()) return; std::ostringstream stream; - stream << '[' << std::chrono::steady_clock::now() << "] "; + stream << '[' << std::chrono::steady_clock::now() << "] [" << std::this_thread::get_id() << "] "; write(stream, std::forward(values) ...); log.write(stream.str()); } From c771986c56710b63c5851bdcc717501d0badf025 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 14 Jul 2018 15:05:28 +0300 Subject: [PATCH 068/130] Prioritise NavMesh jobs first to remove and last to add When player move fast enough, tiles update for specific area square couldn't catch player move. Tiles to be removed are left in the queue with lower priority then tiles to be added which are nearest to player. This can lead to overflow for amount of tiles. So we try to do remove first. But we detect change type approximately using mixed change type, because even if we do it precise, change type could change while job is in queue. --- .../detournavigator/asyncnavmeshupdater.cpp | 20 +++++--- .../detournavigator/asyncnavmeshupdater.hpp | 11 ++++- components/detournavigator/navmeshmanager.cpp | 48 ++++++++++++++----- components/detournavigator/navmeshmanager.hpp | 4 +- 4 files changed, 61 insertions(+), 22 deletions(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 91af31e22..bea6ffa57 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -9,16 +9,22 @@ namespace { + using DetourNavigator::ChangeType; using DetourNavigator::TilePosition; - int getDistance(const TilePosition& lhs, const TilePosition& rhs) + int getManhattanDistance(const TilePosition& lhs, const TilePosition& rhs) { return std::abs(lhs.x() - rhs.x()) + std::abs(lhs.y() - rhs.y()); } - std::pair makePriority(const TilePosition& changedTile, const TilePosition& playerTile) + std::tuple makePriority(const TilePosition& position, const ChangeType changeType, + const TilePosition& playerTile) { - return std::make_pair(getDistance(changedTile, playerTile), getDistance(changedTile, TilePosition {0, 0})); + return std::make_tuple( + changeType, + getManhattanDistance(position, playerTile), + getManhattanDistance(position, TilePosition {0, 0}) + ); } } @@ -60,7 +66,7 @@ namespace DetourNavigator void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, - const std::set& changedTiles) + const std::map& changedTiles) { log("post jobs playerTile=", playerTile); @@ -73,9 +79,9 @@ namespace DetourNavigator for (const auto& changedTile : changedTiles) { - if (mPushed[agentHalfExtents].insert(changedTile).second) - mJobs.push(Job {agentHalfExtents, navMeshCacheItem, changedTile, - makePriority(changedTile, playerTile)}); + if (mPushed[agentHalfExtents].insert(changedTile.first).second) + mJobs.push(Job {agentHalfExtents, navMeshCacheItem, changedTile.first, + makePriority(changedTile.first, changedTile.second, playerTile)}); } log("posted ", mJobs.size(), " jobs"); diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 6b4facf6d..bba788c3c 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -22,6 +22,13 @@ class dtNavMesh; namespace DetourNavigator { + enum class ChangeType + { + remove = 0, + mixed = 1, + add = 2, + }; + class AsyncNavMeshUpdater { public: @@ -29,7 +36,7 @@ namespace DetourNavigator ~AsyncNavMeshUpdater(); void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& mNavMeshCacheItem, - const TilePosition& playerTile, const std::set& changedTiles); + const TilePosition& playerTile, const std::map& changedTiles); void wait(); @@ -39,7 +46,7 @@ namespace DetourNavigator osg::Vec3f mAgentHalfExtents; std::shared_ptr mNavMeshCacheItem; TilePosition mChangedTile; - std::pair mPriority; + std::tuple mPriority; friend inline bool operator <(const Job& lhs, const Job& rhs) { diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index c12351ee0..b13c5d83c 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -13,6 +13,16 @@ #include +namespace +{ + using DetourNavigator::ChangeType; + + ChangeType addChangeType(const ChangeType current, const ChangeType add) + { + return current == add ? current : ChangeType::mixed; + } +} + namespace DetourNavigator { NavMeshManager::NavMeshManager(const Settings& settings) @@ -26,7 +36,7 @@ namespace DetourNavigator { if (!mRecastMeshManager.addObject(id, shape, transform)) return false; - addChangedTiles(shape, transform); + addChangedTiles(shape, transform, ChangeType::add); return true; } @@ -34,7 +44,7 @@ namespace DetourNavigator { if (!mRecastMeshManager.updateObject(id, transform)) return false; - addChangedTiles(shape, transform); + addChangedTiles(shape, transform, ChangeType::mixed); return true; } @@ -43,7 +53,7 @@ namespace DetourNavigator const auto object = mRecastMeshManager.removeObject(id); if (!object) return false; - addChangedTiles(object->mShape, object->mTransform); + addChangedTiles(object->mShape, object->mTransform, ChangeType::remove); return true; } @@ -72,7 +82,7 @@ namespace DetourNavigator return; mLastRecastMeshManagerRevision = mRecastMeshManager.getRevision(); mPlayerTile = playerTile; - std::set tilesToPost; + std::map tilesToPost; const auto& cached = getCached(agentHalfExtents); const auto changedTiles = mChangedTiles.find(agentHalfExtents); { @@ -80,10 +90,16 @@ namespace DetourNavigator if (changedTiles != mChangedTiles.end()) { for (const auto& tile : changedTiles->second) - if (locked->getTileAt(tile.x(), tile.y(), 0)) - tilesToPost.insert(tile); + if (locked->getTileAt(tile.first.x(), tile.first.y(), 0)) + { + auto tileToPost = tilesToPost.find(tile.first); + if (tileToPost == tilesToPost.end()) + tilesToPost.insert(tile); + else + tileToPost->second = addChangeType(tileToPost->second, tile.second); + } for (const auto& tile : tilesToPost) - changedTiles->second.erase(tile); + changedTiles->second.erase(tile.first); if (changedTiles->second.empty()) mChangedTiles.erase(changedTiles); } @@ -94,8 +110,10 @@ namespace DetourNavigator return; const auto shouldAdd = shouldAddTile(tile, playerTile, maxTiles); const auto presentInNavMesh = bool(locked->getTileAt(tile.x(), tile.y(), 0)); - if ((shouldAdd && !presentInNavMesh) || (!shouldAdd && presentInNavMesh)) - tilesToPost.insert(tile); + if (shouldAdd && !presentInNavMesh) + tilesToPost.insert(std::make_pair(tile, ChangeType::add)); + else if (!shouldAdd && presentInNavMesh) + tilesToPost.insert(std::make_pair(tile, ChangeType::mixed)); }); } mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost); @@ -120,12 +138,20 @@ namespace DetourNavigator return mCache; } - void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform) + void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform, + const ChangeType changeType) { getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& v) { for (const auto& cached : mCache) if (cached.second) - mChangedTiles[cached.first].insert(v); + { + auto& tiles = mChangedTiles[cached.first]; + auto tile = tiles.find(v); + if (tile == tiles.end()) + tiles.insert(std::make_pair(v, changeType)); + else + tile->second = addChangeType(tile->second, changeType); + } }); } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 109aa2237..01840a3b6 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -45,13 +45,13 @@ namespace DetourNavigator const Settings& mSettings; TileCachedRecastMeshManager mRecastMeshManager; std::map> mCache; - std::map> mChangedTiles; + std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; std::size_t mGenerationCounter = 0; boost::optional mPlayerTile; std::size_t mLastRecastMeshManagerRevision = 0; - void addChangedTiles(const btCollisionShape& shape, const btTransform& transform); + void addChangedTiles(const btCollisionShape& shape, const btTransform& transform, const ChangeType changeType); const std::shared_ptr& getCached(const osg::Vec3f& agentHalfExtents) const; }; From fa23b590a4dee50196190a75ff0926018476b694 Mon Sep 17 00:00:00 2001 From: elsid Date: Thu, 12 Jul 2018 11:44:11 +0300 Subject: [PATCH 069/130] Add unwalkable areas to NavMesh --- apps/openmw/mwphysics/object.cpp | 2 +- apps/openmw/mwworld/scene.cpp | 7 +- apps/openmw/mwworld/worldimp.cpp | 9 ++- .../detournavigator/navigator.cpp | 57 ++++++++++++++ .../detournavigator/recastmeshbuilder.cpp | 76 +++++++++++++++---- .../detournavigator/recastmeshobject.cpp | 30 +++++--- .../cachedrecastmeshmanager.cpp | 12 +-- .../cachedrecastmeshmanager.hpp | 5 +- components/detournavigator/chunkytrimesh.cpp | 16 ++-- components/detournavigator/chunkytrimesh.hpp | 6 +- components/detournavigator/makenavmesh.cpp | 13 ++++ components/detournavigator/navigator.cpp | 52 ++++++++++++- components/detournavigator/navigator.hpp | 18 +++++ components/detournavigator/navmeshmanager.cpp | 13 ++-- components/detournavigator/navmeshmanager.hpp | 6 +- components/detournavigator/recastmesh.cpp | 10 ++- components/detournavigator/recastmesh.hpp | 9 ++- .../detournavigator/recastmeshbuilder.cpp | 32 +++++--- .../detournavigator/recastmeshbuilder.hpp | 11 +-- .../detournavigator/recastmeshmanager.cpp | 11 +-- .../detournavigator/recastmeshmanager.hpp | 5 +- .../detournavigator/recastmeshobject.cpp | 28 ++++--- .../detournavigator/recastmeshobject.hpp | 17 +++-- .../tilecachedrecastmeshmanager.cpp | 12 +-- .../tilecachedrecastmeshmanager.hpp | 5 +- components/resource/bulletshape.cpp | 11 ++- components/resource/bulletshape.hpp | 6 +- 27 files changed, 368 insertions(+), 111 deletions(-) diff --git a/apps/openmw/mwphysics/object.cpp b/apps/openmw/mwphysics/object.cpp index d14f579dd..2f2866821 100644 --- a/apps/openmw/mwphysics/object.cpp +++ b/apps/openmw/mwphysics/object.cpp @@ -40,7 +40,7 @@ namespace MWPhysics void Object::setScale(float scale) { - mShapeInstance->getCollisionShape()->setLocalScaling(btVector3(scale,scale,scale)); + mShapeInstance->setLocalScaling(btVector3(scale, scale, scale)); } void Object::setRotation(const btQuaternion& quat) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 32c83b95e..bfd21d5e2 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -86,7 +87,11 @@ namespace if (const auto object = physics.getObject(ptr)) { const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - navigator->addObject(reinterpret_cast(object), *object->getCollisionObject()->getCollisionShape(), + const DetourNavigator::ObjectShapes shapes { + *object->getShapeInstance()->getCollisionShape(), + object->getShapeInstance()->getAvoidCollisionShape() + }; + navigator->addObject(reinterpret_cast(object), shapes, object->getCollisionObject()->getWorldTransform()); } else if (const auto actor = physics.getActor(ptr)) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 94227a724..a7bda8c0b 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -4,6 +4,7 @@ #include #include +#include #include @@ -17,6 +18,7 @@ #include +#include #include #include @@ -1544,8 +1546,11 @@ namespace MWWorld bool navigatorObjectsUpdated = false; mPhysics->forEachAnimatedObject([&] (const MWPhysics::Object* object) { - navigatorObjectsUpdated = mNavigator->updateObject(std::size_t(object), - *object->getCollisionObject()->getCollisionShape(), + const DetourNavigator::ObjectShapes shapes { + *object->getShapeInstance()->getCollisionShape(), + object->getShapeInstance()->getAvoidCollisionShape() + }; + navigatorObjectsUpdated = mNavigator->updateObject(std::size_t(object), shapes, object->getCollisionObject()->getWorldTransform()) || navigatorObjectsUpdated; }); if (navigatorObjectsUpdated) diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index de0636ca1..aa7906008 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -358,4 +358,61 @@ namespace osg::Vec3f(215, -215, 1.96328866481781005859375), })) << mPath; } + + TEST_F(DetourNavigatorNavigatorTest, path_should_be_around_avoid_shape) + { + std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + std::array heightfieldDataAvoid {{ + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + -25, -25, -25, -25, -25, + }}; + btHeightfieldTerrainShape shapeAvoid(5, 5, heightfieldDataAvoid.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shapeAvoid.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(1, ObjectShapes {shape, &shapeAvoid}, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.9393787384033203125), + osg::Vec3f(-200.8159637451171875, 190.47265625, -0.639537751674652099609375), + osg::Vec3f(-186.6319427490234375, 165.9453125, -3.2184507846832275390625), + osg::Vec3f(-172.447906494140625, 141.41796875, -5.797363758087158203125), + osg::Vec3f(-158.263885498046875, 116.8906097412109375, -8.37627887725830078125), + osg::Vec3f(-144.079864501953125, 92.3632659912109375, -10.95519161224365234375), + osg::Vec3f(-129.89581298828125, 67.83591461181640625, -13.534107208251953125), + osg::Vec3f(-115.7117919921875, 43.308563232421875, -16.1130199432373046875), + osg::Vec3f(-101.5277557373046875, 18.7812137603759765625, -18.6919345855712890625), + osg::Vec3f(-87.34372711181640625, -5.7461376190185546875, -20.4680538177490234375), + osg::Vec3f(-67.02922821044921875, -25.4970550537109375, -20.514247894287109375), + osg::Vec3f(-46.714717864990234375, -45.2479705810546875, -20.5604457855224609375), + osg::Vec3f(-26.40021514892578125, -64.99889373779296875, -20.6066417694091796875), + osg::Vec3f(-6.085712432861328125, -84.74980926513671875, -20.652835845947265625), + osg::Vec3f(14.22879505157470703125, -104.50072479248046875, -18.151393890380859375), + osg::Vec3f(39.05098724365234375, -118.16222381591796875, -15.6674861907958984375), + osg::Vec3f(63.87317657470703125, -131.82373046875, -13.18357944488525390625), + osg::Vec3f(88.69537353515625, -145.4852142333984375, -10.69967365264892578125), + osg::Vec3f(113.51757049560546875, -159.146697998046875, -8.21576690673828125), + osg::Vec3f(138.3397674560546875, -172.808197021484375, -5.731858730316162109375), + osg::Vec3f(163.1619720458984375, -186.469696044921875, -3.2479503154754638671875), + osg::Vec3f(187.984161376953125, -200.1311798095703125, -0.764044582843780517578125), + osg::Vec3f(212.8063507080078125, -213.7926788330078125, 1.7198636531829833984375), + osg::Vec3f(215, -215, 1.93937528133392333984375), + })) << mPath; + } } diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index a2a47722d..ad0502cb8 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -40,6 +40,7 @@ namespace const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector()); EXPECT_EQ(recastMesh->getIndices(), std::vector()); + EXPECT_EQ(recastMesh->getFlags(), std::vector()); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape) @@ -48,7 +49,7 @@ namespace mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity()); + builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -56,6 +57,7 @@ namespace -1, 0, -1, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_bhv_triangle_mesh_shape) @@ -64,8 +66,11 @@ namespace mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), - btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + builder.addObject( + static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), + 1 + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 2, 3, 0, @@ -73,6 +78,7 @@ namespace 0, 3, 0, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_terrian_shape) @@ -80,7 +86,7 @@ namespace const std::array heightfieldData {{0, 0, 0, 0}}; btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity()); + builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -0.5, 0, -0.5, @@ -91,13 +97,14 @@ namespace 0.5, 0, 0.5, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles) { btBoxShape shape(btVector3(1, 1, 2)); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity()); + builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 2, 1, @@ -123,6 +130,7 @@ namespace 7, 6, 4, 4, 5, 7, })); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_compound_shape) @@ -139,7 +147,7 @@ namespace shape.addChildShape(btTransform::getIdentity(), &box); shape.addChildShape(btTransform::getIdentity(), &triangle2); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity()); + builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -173,6 +181,7 @@ namespace 7, 8, 10, 11, 12, 13, })); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape) @@ -184,7 +193,8 @@ namespace shape.addChildShape(btTransform::getIdentity(), &triangle); RecastMeshBuilder builder(mSettings, mBounds); builder.addObject(static_cast(shape), - btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), + 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 2, 3, 0, @@ -192,6 +202,7 @@ namespace 0, 3, 0, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape_with_transformed_bhv_triangle_shape) @@ -203,8 +214,11 @@ namespace shape.addChildShape(btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), &triangle); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), - btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3))); + builder.addObject( + static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), + 1 + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 3, 12, 2, @@ -212,16 +226,17 @@ namespace 1, 12, 2, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } - TEST_F(DetourNavigatorRecastMeshBuilderTest, without_bounds_add_transformed_compound_shape_with_transformed_bhv_triangle_shape_should_not_filter_by_bounds) + TEST_F(DetourNavigatorRecastMeshBuilderTest, without_bounds_add_bhv_triangle_shape_should_not_filter_by_bounds) { btTriangleMesh mesh; mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity()); + builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -232,9 +247,10 @@ namespace -3, 0, -3, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1})); } - TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_transformed_compound_shape_with_transformed_bhv_triangle_shape_should_filter_by_bounds) + TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_bhv_triangle_shape_should_filter_by_bounds) { mSettings.mRecastScaleFactor = 0.1f; mBounds.mMin = osg::Vec2f(-3, -3) * mSettings.mRecastScaleFactor; @@ -244,7 +260,7 @@ namespace mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity()); + builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -0.2f, 0, -0.3f, @@ -252,6 +268,7 @@ namespace -0.3f, 0, -0.3f, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds) @@ -264,7 +281,7 @@ namespace btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); builder.addObject(static_cast(shape), - btTransform(btQuaternion(btVector3(1, 0, 0), static_cast(-osg::PI_4)))); + btTransform(btQuaternion(btVector3(1, 0, 0), static_cast(-osg::PI_4))), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 0, -0.70710659027099609375, -3.535533905029296875, @@ -272,6 +289,7 @@ namespace 0, 2.384185791015625e-07, -4.24264049530029296875, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_y_bhv_triangle_shape_should_filter_by_bounds) @@ -284,7 +302,7 @@ namespace btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); builder.addObject(static_cast(shape), - btTransform(btQuaternion(btVector3(0, 1, 0), static_cast(osg::PI_4)))); + btTransform(btQuaternion(btVector3(0, 1, 0), static_cast(osg::PI_4))), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -3.535533905029296875, -0.70710659027099609375, 0, @@ -292,6 +310,7 @@ namespace -4.24264049530029296875, 2.384185791015625e-07, 0, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_z_bhv_triangle_shape_should_filter_by_bounds) @@ -304,7 +323,7 @@ namespace btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); builder.addObject(static_cast(shape), - btTransform(btQuaternion(btVector3(0, 0, 1), static_cast(osg::PI_4)))); + btTransform(btQuaternion(btVector3(0, 0, 1), static_cast(osg::PI_4))), 1); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 0.707107067108154296875, 0, -3.535533905029296875, @@ -312,5 +331,30 @@ namespace 2.384185791015625e-07, 0, -4.24264049530029296875, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, flags_values_should_be_corresponding_to_added_objects) + { + btTriangleMesh mesh1; + mesh1.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); + btBvhTriangleMeshShape shape1(&mesh1, true); + btTriangleMesh mesh2; + mesh2.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); + btBvhTriangleMeshShape shape2(&mesh2, true); + RecastMeshBuilder builder(mSettings, mBounds); + builder.addObject(static_cast(shape1), btTransform::getIdentity(), 1); + builder.addObject(static_cast(shape2), btTransform::getIdentity(), 0); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getVertices(), std::vector({ + 1, 0, -1, + -1, 0, 1, + -1, 0, -1, + -2, 0, -3, + -3, 0, -2, + -3, 0, -3, + })); + EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); + EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 0})); } } diff --git a/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp b/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp index b0f03aa65..ba8441c60 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp @@ -26,41 +26,47 @@ namespace TEST_F(DetourNavigatorRecastMeshObjectTest, constructed_object_should_have_shape_and_transform) { - const RecastMeshObject object(mBoxShape, mTransform); + const RecastMeshObject object(mBoxShape, mTransform, 1); EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShape)); EXPECT_EQ(object.getTransform(), mTransform); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_same_transform_for_not_compound_shape_should_return_false) { - RecastMeshObject object(mBoxShape, mTransform); - EXPECT_FALSE(object.update(mTransform)); + RecastMeshObject object(mBoxShape, mTransform, 1); + EXPECT_FALSE(object.update(mTransform, 1)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_transform_should_return_true) { - RecastMeshObject object(mBoxShape, mTransform); - EXPECT_TRUE(object.update(btTransform::getIdentity())); + RecastMeshObject object(mBoxShape, mTransform, 1); + EXPECT_TRUE(object.update(btTransform::getIdentity(), 1)); + } + + TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_flags_should_return_true) + { + RecastMeshObject object(mBoxShape, mTransform, 1); + EXPECT_TRUE(object.update(mTransform, 2)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_not_changed_child_transform_should_return_false) { - RecastMeshObject object(mCompoundShape, mTransform); - EXPECT_FALSE(object.update(mTransform)); + RecastMeshObject object(mCompoundShape, mTransform, 1); + EXPECT_FALSE(object.update(mTransform, 1)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_changed_child_transform_should_return_true) { - RecastMeshObject object(mCompoundShape, mTransform); + RecastMeshObject object(mCompoundShape, mTransform, 1); mCompoundShape.updateChildTransform(0, btTransform::getIdentity()); - EXPECT_TRUE(object.update(mTransform)); + EXPECT_TRUE(object.update(mTransform, 1)); } TEST_F(DetourNavigatorRecastMeshObjectTest, repeated_update_for_compound_shape_without_changes_should_return_false) { - RecastMeshObject object(mCompoundShape, mTransform); + RecastMeshObject object(mCompoundShape, mTransform, 1); mCompoundShape.updateChildTransform(0, btTransform::getIdentity()); - object.update(mTransform); - EXPECT_FALSE(object.update(mTransform)); + object.update(mTransform, 1); + EXPECT_FALSE(object.update(mTransform, 1)); } } diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index cba3946e0..ce9fe5c51 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -5,20 +5,20 @@ namespace DetourNavigator { CachedRecastMeshManager::CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds) : mImpl(settings, bounds) - { - } + {} - bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, + const btTransform& transform, const unsigned char flags) { - if (!mImpl.addObject(id, shape, transform)) + if (!mImpl.addObject(id, shape, transform, flags)) return false; mCached.reset(); return true; } - bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform) + bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const unsigned char flags) { - if (!mImpl.updateObject(id, transform)) + if (!mImpl.updateObject(id, transform, flags)) return false; mCached.reset(); return true; diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 71229ab2f..6f3f2a05a 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -12,9 +12,10 @@ namespace DetourNavigator public: CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags); - bool updateObject(std::size_t id, const btTransform& transform); + bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags); boost::optional removeObject(std::size_t id); diff --git a/components/detournavigator/chunkytrimesh.cpp b/components/detournavigator/chunkytrimesh.cpp index cdce8b0e1..f6e257c54 100644 --- a/components/detournavigator/chunkytrimesh.cpp +++ b/components/detournavigator/chunkytrimesh.cpp @@ -13,6 +13,7 @@ namespace DetourNavigator { Rect mBounds; std::ptrdiff_t mOffset; + unsigned char mFlags; }; template @@ -43,9 +44,9 @@ namespace DetourNavigator } void subdivide(std::vector& items, const std::size_t imin, const std::size_t imax, - const std::size_t trisPerChunk, const std::vector& inIndices, + const std::size_t trisPerChunk, const std::vector& inIndices, const std::vector& inFlags, std::size_t& curNode, std::vector& nodes, std::size_t& curTri, - std::vector& outIndices) + std::vector& outIndices, std::vector& outFlags) { const auto inum = imax - imin; const auto icur = curNode; @@ -71,6 +72,7 @@ namespace DetourNavigator inIndices.begin() + items[i].mOffset * 3 + 3, outIndices.begin() + static_cast(curTri) * 3 ); + outFlags[curTri] = inFlags[static_cast(items[i].mOffset)]; curTri++; } } @@ -102,9 +104,9 @@ namespace DetourNavigator const auto isplit = imin + inum / 2; // Left - subdivide(items, imin, isplit, trisPerChunk, inIndices, curNode, nodes, curTri, outIndices); + subdivide(items, imin, isplit, trisPerChunk, inIndices, inFlags, curNode, nodes, curTri, outIndices, outFlags); // Right - subdivide(items, isplit, imax, trisPerChunk, inIndices, curNode, nodes, curTri, outIndices); + subdivide(items, isplit, imax, trisPerChunk, inIndices, inFlags, curNode, nodes, curTri, outIndices, outFlags); const auto iescape = static_cast(curNode) - static_cast(icur); // Negative index means escape. @@ -114,7 +116,7 @@ namespace DetourNavigator } ChunkyTriMesh::ChunkyTriMesh(const std::vector& verts, const std::vector& indices, - const std::size_t trisPerChunk) + const std::vector& flags, const std::size_t trisPerChunk) : mMaxTrisPerChunk(0) { const auto trianglesCount = indices.size() / 3; @@ -126,6 +128,7 @@ namespace DetourNavigator mNodes.resize(nchunks * 4); mIndices.resize(trianglesCount * 3); + mFlags.resize(trianglesCount); // Build tree std::vector items(trianglesCount); @@ -135,6 +138,7 @@ namespace DetourNavigator auto& item = items[i]; item.mOffset = static_cast(i); + item.mFlags = flags[i]; // Calc triangle XZ bounds. const auto baseIndex = static_cast(indices[i * 3]) * 3; @@ -156,7 +160,7 @@ namespace DetourNavigator std::size_t curTri = 0; std::size_t curNode = 0; - subdivide(items, 0, trianglesCount, trisPerChunk, indices, curNode, mNodes, curTri, mIndices); + subdivide(items, 0, trianglesCount, trisPerChunk, indices, flags, curNode, mNodes, curTri, mIndices, mFlags); items.clear(); diff --git a/components/detournavigator/chunkytrimesh.hpp b/components/detournavigator/chunkytrimesh.hpp index bc1898e2f..ddd0b93e6 100644 --- a/components/detournavigator/chunkytrimesh.hpp +++ b/components/detournavigator/chunkytrimesh.hpp @@ -24,6 +24,7 @@ namespace DetourNavigator struct Chunk { const int* const mIndices; + const unsigned char* const mFlags; const std::size_t mSize; }; @@ -40,7 +41,8 @@ namespace DetourNavigator public: /// Creates partitioned triangle mesh (AABB tree), /// where each node contains at max trisPerChunk triangles. - ChunkyTriMesh(const std::vector& verts, const std::vector& tris, std::size_t trisPerChunk); + ChunkyTriMesh(const std::vector& verts, const std::vector& tris, + const std::vector& flags, const std::size_t trisPerChunk); ChunkyTriMesh(const ChunkyTriMesh&) = delete; ChunkyTriMesh& operator=(const ChunkyTriMesh&) = delete; @@ -74,6 +76,7 @@ namespace DetourNavigator const auto& node = mNodes[chunkId]; return Chunk { mIndices.data() + node.mOffset * 3, + mFlags.data() + node.mOffset, node.mSize }; } @@ -86,6 +89,7 @@ namespace DetourNavigator private: std::vector mNodes; std::vector mIndices; + std::vector mFlags; std::size_t mMaxTrisPerChunk; }; } diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index c3c12d675..4b77f45b7 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -129,6 +129,19 @@ namespace areas.data() ); + for (std::size_t i = 0; i < chunk.mSize; ++i) + areas[i] &= chunk.mFlags[i]; + + rcClearUnwalkableTriangles( + &context, + config.walkableSlopeAngle, + recastMesh.getVertices().data(), + static_cast(recastMesh.getVerticesCount()), + chunk.mIndices, + static_cast(chunk.mSize), + areas.data() + ); + OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles( &context, recastMesh.getVertices().data(), diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index 913ba2e2a..0fc195675 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -2,6 +2,8 @@ #include "debug.hpp" #include "settingsutils.hpp" +#include + namespace DetourNavigator { Navigator::Navigator(const Settings& settings) @@ -27,17 +29,51 @@ namespace DetourNavigator bool Navigator::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { - return mNavMeshManager.addObject(id, shape, transform); + return mNavMeshManager.addObject(id, shape, transform, RC_WALKABLE_AREA); + } + + bool Navigator::addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform) + { + bool result = addObject(id, shapes.mShape, transform); + if (shapes.mAvoid) + { + const auto avoidId = reinterpret_cast(shapes.mAvoid); + if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, RC_NULL_AREA)) + { + updateAvoidShapeId(id, avoidId); + result = true; + } + } + return result; } bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { - return mNavMeshManager.updateObject(id, shape, transform); + return mNavMeshManager.updateObject(id, shape, transform, RC_WALKABLE_AREA); + } + + bool Navigator::updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform) + { + bool result = updateObject(id, shapes.mShape, transform); + if (shapes.mAvoid) + { + const auto avoidId = reinterpret_cast(shapes.mAvoid); + if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, RC_NULL_AREA)) + { + updateAvoidShapeId(id, avoidId); + result = true; + } + } + return result; } bool Navigator::removeObject(std::size_t id) { - return mNavMeshManager.removeObject(id); + bool result = mNavMeshManager.removeObject(id); + const auto avoid = mAvoidIds.find(id); + if (avoid == mAvoidIds.end()) + return result; + return mNavMeshManager.removeObject(avoid->second) || result; } void Navigator::update(const osg::Vec3f& playerPosition) @@ -60,4 +96,14 @@ namespace DetourNavigator { return mSettings; } + + void Navigator::updateAvoidShapeId(std::size_t id, std::size_t avoidId) + { + auto inserted = mAvoidIds.insert(std::make_pair(id, avoidId)); + if (!inserted.second) + { + mNavMeshManager.removeObject(inserted.first->second); + inserted.second = avoidId; + } + } } diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 69529a9d4..39dd41a14 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -8,6 +8,17 @@ namespace DetourNavigator { + struct ObjectShapes + { + const btCollisionShape& mShape; + const btCollisionShape* mAvoid; + + ObjectShapes(const btCollisionShape& shape, const btCollisionShape* avoid) + : mShape(shape), mAvoid(avoid) + { + } + }; + class Navigator { public: @@ -19,8 +30,12 @@ namespace DetourNavigator bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform); + bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform); + bool removeObject(std::size_t id); void update(const osg::Vec3f& playerPosition); @@ -44,6 +59,9 @@ namespace DetourNavigator Settings mSettings; NavMeshManager mNavMeshManager; std::map mAgents; + std::unordered_map mAvoidIds; + + void updateAvoidShapeId(std::size_t id, std::size_t avoidId); }; } diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index b13c5d83c..7ddaef55c 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -29,20 +29,21 @@ namespace DetourNavigator : mSettings(settings) , mRecastMeshManager(settings) , mAsyncNavMeshUpdater(settings, mRecastMeshManager) - { - } + {} - bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags) { - if (!mRecastMeshManager.addObject(id, shape, transform)) + if (!mRecastMeshManager.addObject(id, shape, transform, flags)) return false; addChangedTiles(shape, transform, ChangeType::add); return true; } - bool NavMeshManager::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + bool NavMeshManager::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags) { - if (!mRecastMeshManager.updateObject(id, transform)) + if (!mRecastMeshManager.updateObject(id, transform, flags)) return false; addChangedTiles(shape, transform, ChangeType::mixed); return true; diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 01840a3b6..fbbc81e6c 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -23,9 +23,11 @@ namespace DetourNavigator public: NavMeshManager(const Settings& settings); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags); - bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags); bool removeObject(std::size_t id); diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index d765656e4..fc23c1fea 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -1,15 +1,21 @@ #include "recastmesh.hpp" #include "settings.hpp" +#include "exceptions.hpp" #include namespace DetourNavigator { - RecastMesh::RecastMesh(std::vector indices, std::vector vertices, const Settings& settings) + RecastMesh::RecastMesh(std::vector indices, std::vector vertices, + std::vector flags, const Settings& settings) : mIndices(std::move(indices)) , mVertices(std::move(vertices)) - , mChunkyTriMesh(mVertices, mIndices, settings.mTrianglesPerChunk) + , mFlags(std::move(flags)) + , mChunkyTriMesh(mVertices, mIndices, mFlags, settings.mTrianglesPerChunk) { + if (getTrianglesCount() != mFlags.size()) + throw InvalidArgument("number of flags doesn't match number of triangles: triangles=" + + std::to_string(getTrianglesCount()) + ", flags=" + std::to_string(mFlags.size())); if (getVerticesCount()) rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); } diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp index 8dcb717e2..59f97b2ee 100644 --- a/components/detournavigator/recastmesh.hpp +++ b/components/detournavigator/recastmesh.hpp @@ -15,7 +15,8 @@ namespace DetourNavigator class RecastMesh { public: - RecastMesh(std::vector indices, std::vector vertices, const Settings& settings); + RecastMesh(std::vector indices, std::vector vertices, + std::vector flags, const Settings& settings); const std::vector& getIndices() const { @@ -27,6 +28,11 @@ namespace DetourNavigator return mVertices; } + const std::vector& getFlags() const + { + return mFlags; + } + std::size_t getVerticesCount() const { return mVertices.size() / 3; @@ -55,6 +61,7 @@ namespace DetourNavigator private: std::vector mIndices; std::vector mVertices; + std::vector mFlags; ChunkyTriMesh mChunkyTriMesh; osg::Vec3f mBoundsMin; osg::Vec3f mBoundsMax; diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index a34b114ac..229f42022 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -35,46 +35,52 @@ namespace DetourNavigator mBounds.mMax /= mSettings.get().mRecastScaleFactor; } - void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform) + void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags) { if (shape.isCompound()) - return addObject(static_cast(shape), transform); + return addObject(static_cast(shape), transform, flags); else if (shape.getShapeType() == TERRAIN_SHAPE_PROXYTYPE) - return addObject(static_cast(shape), transform); + return addObject(static_cast(shape), transform, flags); else if (shape.isConcave()) - return addObject(static_cast(shape), transform); + return addObject(static_cast(shape), transform, flags); else if (shape.getShapeType() == BOX_SHAPE_PROXYTYPE) - return addObject(static_cast(shape), transform); + return addObject(static_cast(shape), transform, flags); std::ostringstream message; message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType()); throw InvalidArgument(message.str()); } - void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform) + void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform, + const unsigned char flags) { for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) - addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i)); + addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i), flags); } - void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform) + void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform, + const unsigned char flags) { return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 3; i > 0; --i) addTriangleVertex(transform(triangle[i - 1])); + mFlags.push_back(flags); })); } - void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform) + void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, + const unsigned char flags) { return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 0; i < 3; ++i) addTriangleVertex(transform(triangle[i])); + mFlags.push_back(flags); })); } - void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform) + void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const unsigned char flags) { const auto indexOffset = int(mVertices.size() / 3); @@ -85,6 +91,9 @@ namespace DetourNavigator addVertex(transform(position)); } + for (int vertex = 0; vertex < 12; ++vertex) + mFlags.push_back(flags); + static const std::array indices {{ 0, 2, 3, 3, 1, 0, @@ -106,13 +115,14 @@ namespace DetourNavigator std::shared_ptr RecastMeshBuilder::create() const { - return std::make_shared(mIndices, mVertices, mSettings); + return std::make_shared(mIndices, mVertices, mFlags, mSettings); } void RecastMeshBuilder::reset() { mIndices.clear(); mVertices.clear(); + mFlags.clear(); } void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform, diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index d06f2cdd6..770acbf9d 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -20,15 +20,15 @@ namespace DetourNavigator public: RecastMeshBuilder(const Settings& settings, const TileBounds& bounds); - void addObject(const btCollisionShape& shape, const btTransform& transform); + void addObject(const btCollisionShape& shape, const btTransform& transform, const unsigned char flags); - void addObject(const btCompoundShape& shape, const btTransform& transform); + void addObject(const btCompoundShape& shape, const btTransform& transform, const unsigned char flags); - void addObject(const btConcaveShape& shape, const btTransform& transform); + void addObject(const btConcaveShape& shape, const btTransform& transform, const unsigned char flags); - void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform); + void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, const unsigned char flags); - void addObject(const btBoxShape& shape, const btTransform& transform); + void addObject(const btBoxShape& shape, const btTransform& transform, const unsigned char flags); std::shared_ptr create() const; @@ -39,6 +39,7 @@ namespace DetourNavigator TileBounds mBounds; std::vector mIndices; std::vector mVertices; + std::vector mFlags; void addObject(const btConcaveShape& shape, const btTransform& transform, btTriangleCallback&& callback); diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index d4b905e7d..66009d8b5 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -11,20 +11,21 @@ namespace DetourNavigator { } - bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags) { - if (!mObjects.emplace(id, RecastMeshObject(shape, transform)).second) + if (!mObjects.emplace(id, RecastMeshObject(shape, transform, flags)).second) return false; mShouldRebuild = true; return mShouldRebuild; } - bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform) + bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const unsigned char flags) { const auto object = mObjects.find(id); if (object == mObjects.end()) return false; - if (!object->second.update(transform)) + if (!object->second.update(transform, flags)) return false; mShouldRebuild = true; return mShouldRebuild; @@ -58,7 +59,7 @@ namespace DetourNavigator return; mMeshBuilder.reset(); for (const auto& v : mObjects) - mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform()); + mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getFlags()); mShouldRebuild = false; } } diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index c8e32714e..d475d494d 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -25,9 +25,10 @@ namespace DetourNavigator public: RecastMeshManager(const Settings& settings, const TileBounds& bounds); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags); - bool updateObject(std::size_t id, const btTransform& transform); + bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags); boost::optional removeObject(std::size_t id); diff --git a/components/detournavigator/recastmeshobject.cpp b/components/detournavigator/recastmeshobject.cpp index b6727ba5e..54fb25ea0 100644 --- a/components/detournavigator/recastmeshobject.cpp +++ b/components/detournavigator/recastmeshobject.cpp @@ -8,14 +8,16 @@ namespace DetourNavigator { - RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform) + RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags) : mShape(shape) , mTransform(transform) - , mChildren(makeChildrenObjects(shape)) + , mFlags(flags) + , mChildren(makeChildrenObjects(shape, mFlags)) { } - bool RecastMeshObject::update(const btTransform& transform) + bool RecastMeshObject::update(const btTransform& transform, const unsigned char flags) { bool result = false; if (!(mTransform == transform)) @@ -23,36 +25,42 @@ namespace DetourNavigator mTransform = transform; result = true; } + if (mFlags != flags) + { + mFlags = flags; + result = true; + } if (mShape.get().isCompound()) - result = updateCompoundObject(static_cast(mShape.get()), mChildren) || result; + result = updateCompoundObject(static_cast(mShape.get()), mFlags, mChildren) || result; return result; } - bool RecastMeshObject::updateCompoundObject(const btCompoundShape& shape, std::vector& children) + bool RecastMeshObject::updateCompoundObject(const btCompoundShape& shape, + const unsigned char flags, std::vector& children) { assert(static_cast(shape.getNumChildShapes()) == children.size()); bool result = false; for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) { assert(shape.getChildShape(i) == std::addressof(children[static_cast(i)].mShape.get())); - result = children[static_cast(i)].update(shape.getChildTransform(i)) || result; + result = children[static_cast(i)].update(shape.getChildTransform(i), flags) || result; } return result; } - std::vector makeChildrenObjects(const btCollisionShape& shape) + std::vector makeChildrenObjects(const btCollisionShape& shape, const unsigned char flags) { if (shape.isCompound()) - return makeChildrenObjects(static_cast(shape)); + return makeChildrenObjects(static_cast(shape), flags); else return std::vector(); } - std::vector makeChildrenObjects(const btCompoundShape& shape) + std::vector makeChildrenObjects(const btCompoundShape& shape, const unsigned char flags) { std::vector result; for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) - result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i)); + result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), flags); return result; } } diff --git a/components/detournavigator/recastmeshobject.hpp b/components/detournavigator/recastmeshobject.hpp index 697acfa58..bc7b54d5a 100644 --- a/components/detournavigator/recastmeshobject.hpp +++ b/components/detournavigator/recastmeshobject.hpp @@ -14,9 +14,9 @@ namespace DetourNavigator class RecastMeshObject { public: - RecastMeshObject(const btCollisionShape& shape, const btTransform& transform); + RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const unsigned char flags); - bool update(const btTransform& transform); + bool update(const btTransform& transform, const unsigned char flags); const btCollisionShape& getShape() const { @@ -28,17 +28,24 @@ namespace DetourNavigator return mTransform; } + unsigned char getFlags() const + { + return mFlags; + } + private: std::reference_wrapper mShape; btTransform mTransform; + unsigned char mFlags; std::vector mChildren; - static bool updateCompoundObject(const btCompoundShape& shape, std::vector& children); + static bool updateCompoundObject(const btCompoundShape& shape, const unsigned char flags, + std::vector& children); }; - std::vector makeChildrenObjects(const btCollisionShape& shape); + std::vector makeChildrenObjects(const btCollisionShape& shape, const unsigned char flags); - std::vector makeChildrenObjects(const btCompoundShape& shape); + std::vector makeChildrenObjects(const btCompoundShape& shape, const unsigned char flags); } #endif diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index 346ab9fd1..a3dec79cd 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -7,11 +7,10 @@ namespace DetourNavigator { TileCachedRecastMeshManager::TileCachedRecastMeshManager(const Settings& settings) : mSettings(settings) - { - } + {} bool TileCachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, - const btTransform& transform) + const btTransform& transform, const unsigned char flags) { bool result = false; auto& tilesPositions = mObjectsTilesPositions[id]; @@ -28,7 +27,7 @@ namespace DetourNavigator tile = mTiles.insert(std::make_pair(tilePosition, CachedRecastMeshManager(mSettings, tileBounds))).first; } - if (tile->second.addObject(id, shape, transform)) + if (tile->second.addObject(id, shape, transform, flags)) { lock.unlock(); tilesPositions.push_back(tilePosition); @@ -40,7 +39,8 @@ namespace DetourNavigator return result; } - bool TileCachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform) + bool TileCachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, + const unsigned char flags) { const auto object = mObjectsTilesPositions.find(id); if (object == mObjectsTilesPositions.end()) @@ -51,7 +51,7 @@ namespace DetourNavigator { const auto tile = mTiles.find(tilePosition); if (tile != mTiles.end()) - result = tile->second.updateObject(id, transform) || result; + result = tile->second.updateObject(id, transform, flags) || result; } lock.unlock(); if (result) diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index 9e5c07e84..37299e281 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -14,9 +14,10 @@ namespace DetourNavigator public: TileCachedRecastMeshManager(const Settings& settings); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + const unsigned char flags); - bool updateObject(std::size_t id, const btTransform& transform); + bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags); boost::optional removeObject(std::size_t id); diff --git a/components/resource/bulletshape.cpp b/components/resource/bulletshape.cpp index 645a5dd3b..e3f6b22b4 100644 --- a/components/resource/bulletshape.cpp +++ b/components/resource/bulletshape.cpp @@ -80,16 +80,23 @@ btCollisionShape* BulletShape::duplicateCollisionShape(const btCollisionShape *s throw std::logic_error(std::string("Unhandled Bullet shape duplication: ")+shape->getName()); } -btCollisionShape *BulletShape::getCollisionShape() +btCollisionShape *BulletShape::getCollisionShape() const { return mCollisionShape; } -btCollisionShape *BulletShape::getAvoidCollisionShape() +btCollisionShape *BulletShape::getAvoidCollisionShape() const { return mAvoidCollisionShape; } +void BulletShape::setLocalScaling(const btVector3& scale) +{ + mCollisionShape->setLocalScaling(scale); + if (mAvoidCollisionShape) + mAvoidCollisionShape->setLocalScaling(scale); +} + osg::ref_ptr BulletShape::makeInstance() const { osg::ref_ptr instance (new BulletShapeInstance(this)); diff --git a/components/resource/bulletshape.hpp b/components/resource/bulletshape.hpp index f2f45cac9..8d6354b01 100644 --- a/components/resource/bulletshape.hpp +++ b/components/resource/bulletshape.hpp @@ -43,9 +43,11 @@ namespace Resource btCollisionShape* duplicateCollisionShape(const btCollisionShape* shape) const; - btCollisionShape* getCollisionShape(); + btCollisionShape* getCollisionShape() const; - btCollisionShape* getAvoidCollisionShape(); + btCollisionShape* getAvoidCollisionShape() const; + + void setLocalScaling(const btVector3& scale); private: From 72f211ef28d83bd76a135bc4cfc598e2da7c04cb Mon Sep 17 00:00:00 2001 From: elsid Date: Wed, 18 Jul 2018 22:09:50 +0300 Subject: [PATCH 070/130] Add enums for area type and flags --- .../detournavigator/recastmeshbuilder.cpp | 100 ++++++++++++------ .../detournavigator/recastmeshobject.cpp | 28 ++--- components/detournavigator/areatype.hpp | 15 +++ .../cachedrecastmeshmanager.cpp | 8 +- .../cachedrecastmeshmanager.hpp | 4 +- components/detournavigator/chunkytrimesh.cpp | 20 ++-- components/detournavigator/chunkytrimesh.hpp | 10 +- components/detournavigator/flags.hpp | 15 +++ components/detournavigator/makenavmesh.cpp | 11 +- components/detournavigator/navigator.cpp | 8 +- components/detournavigator/navigator.hpp | 3 +- components/detournavigator/navmeshmanager.cpp | 8 +- components/detournavigator/navmeshmanager.hpp | 4 +- components/detournavigator/recastmesh.cpp | 10 +- components/detournavigator/recastmesh.hpp | 9 +- .../detournavigator/recastmeshbuilder.cpp | 30 +++--- .../detournavigator/recastmeshbuilder.hpp | 12 +-- .../detournavigator/recastmeshmanager.cpp | 10 +- .../detournavigator/recastmeshmanager.hpp | 4 +- .../detournavigator/recastmeshobject.cpp | 27 ++--- .../detournavigator/recastmeshobject.hpp | 18 ++-- .../tilecachedrecastmeshmanager.cpp | 8 +- .../tilecachedrecastmeshmanager.hpp | 4 +- 23 files changed, 218 insertions(+), 148 deletions(-) create mode 100644 components/detournavigator/areatype.hpp create mode 100644 components/detournavigator/flags.hpp diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index ad0502cb8..c27f608a9 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -40,7 +40,7 @@ namespace const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector()); EXPECT_EQ(recastMesh->getIndices(), std::vector()); - EXPECT_EQ(recastMesh->getFlags(), std::vector()); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector()); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape) @@ -49,7 +49,7 @@ namespace mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); + builder.addObject(static_cast(shape), btTransform::getIdentity(), AreaType_ground); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -57,7 +57,7 @@ namespace -1, 0, -1, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_bhv_triangle_mesh_shape) @@ -69,7 +69,7 @@ namespace builder.addObject( static_cast(shape), btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), - 1 + AreaType_ground ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ @@ -78,7 +78,7 @@ namespace 0, 3, 0, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_terrian_shape) @@ -86,7 +86,7 @@ namespace const std::array heightfieldData {{0, 0, 0, 0}}; btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); + builder.addObject(static_cast(shape), btTransform::getIdentity(), AreaType_ground); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -0.5, 0, -0.5, @@ -97,14 +97,14 @@ namespace 0.5, 0, 0.5, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground, AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles) { btBoxShape shape(btVector3(1, 1, 2)); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); + builder.addObject(static_cast(shape), btTransform::getIdentity(), AreaType_ground); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 2, 1, @@ -130,7 +130,7 @@ namespace 7, 6, 4, 4, 5, 7, })); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector(12, AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_compound_shape) @@ -147,7 +147,11 @@ namespace shape.addChildShape(btTransform::getIdentity(), &box); shape.addChildShape(btTransform::getIdentity(), &triangle2); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); + builder.addObject( + static_cast(shape), + btTransform::getIdentity(), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -181,7 +185,7 @@ namespace 7, 8, 10, 11, 12, 13, })); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector(14, AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape) @@ -192,9 +196,11 @@ namespace btCompoundShape shape; shape.addChildShape(btTransform::getIdentity(), &triangle); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), - btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), - 1); + builder.addObject( + static_cast(shape), + btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 2, 3, 0, @@ -202,7 +208,7 @@ namespace 0, 3, 0, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape_with_transformed_bhv_triangle_shape) @@ -217,7 +223,7 @@ namespace builder.addObject( static_cast(shape), btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)), - 1 + AreaType_ground ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ @@ -226,7 +232,7 @@ namespace 1, 12, 2, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, without_bounds_add_bhv_triangle_shape_should_not_filter_by_bounds) @@ -236,7 +242,11 @@ namespace mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); + builder.addObject( + static_cast(shape), + btTransform::getIdentity(), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -247,7 +257,7 @@ namespace -3, 0, -3, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector(2, AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_bhv_triangle_shape_should_filter_by_bounds) @@ -260,7 +270,11 @@ namespace mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), btTransform::getIdentity(), 1); + builder.addObject( + static_cast(shape), + btTransform::getIdentity(), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -0.2f, 0, -0.3f, @@ -268,7 +282,7 @@ namespace -0.3f, 0, -0.3f, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds) @@ -280,8 +294,12 @@ namespace mesh.addTriangle(btVector3(0, -3, -3), btVector3(0, -3, -2), btVector3(0, -2, -3)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), - btTransform(btQuaternion(btVector3(1, 0, 0), static_cast(-osg::PI_4))), 1); + builder.addObject( + static_cast(shape), + btTransform(btQuaternion(btVector3(1, 0, 0), + static_cast(-osg::PI_4))), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 0, -0.70710659027099609375, -3.535533905029296875, @@ -289,7 +307,7 @@ namespace 0, 2.384185791015625e-07, -4.24264049530029296875, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_y_bhv_triangle_shape_should_filter_by_bounds) @@ -301,8 +319,12 @@ namespace mesh.addTriangle(btVector3(-3, 0, -3), btVector3(-3, 0, -2), btVector3(-2, 0, -3)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), - btTransform(btQuaternion(btVector3(0, 1, 0), static_cast(osg::PI_4))), 1); + builder.addObject( + static_cast(shape), + btTransform(btQuaternion(btVector3(0, 1, 0), + static_cast(osg::PI_4))), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ -3.535533905029296875, -0.70710659027099609375, 0, @@ -310,7 +332,7 @@ namespace -4.24264049530029296875, 2.384185791015625e-07, 0, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_z_bhv_triangle_shape_should_filter_by_bounds) @@ -322,8 +344,12 @@ namespace mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); btBvhTriangleMeshShape shape(&mesh, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape), - btTransform(btQuaternion(btVector3(0, 0, 1), static_cast(osg::PI_4))), 1); + builder.addObject( + static_cast(shape), + btTransform(btQuaternion(btVector3(0, 0, 1), + static_cast(osg::PI_4))), + AreaType_ground + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 0.707107067108154296875, 0, -3.535533905029296875, @@ -331,7 +357,7 @@ namespace 2.384185791015625e-07, 0, -4.24264049530029296875, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground})); } TEST_F(DetourNavigatorRecastMeshBuilderTest, flags_values_should_be_corresponding_to_added_objects) @@ -343,8 +369,16 @@ namespace mesh2.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0)); btBvhTriangleMeshShape shape2(&mesh2, true); RecastMeshBuilder builder(mSettings, mBounds); - builder.addObject(static_cast(shape1), btTransform::getIdentity(), 1); - builder.addObject(static_cast(shape2), btTransform::getIdentity(), 0); + builder.addObject( + static_cast(shape1), + btTransform::getIdentity(), + AreaType_ground + ); + builder.addObject( + static_cast(shape2), + btTransform::getIdentity(), + AreaType_null + ); const auto recastMesh = builder.create(); EXPECT_EQ(recastMesh->getVertices(), std::vector({ 1, 0, -1, @@ -355,6 +389,6 @@ namespace -3, 0, -3, })); EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); - EXPECT_EQ(recastMesh->getFlags(), std::vector({1, 0})); + EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground, AreaType_null})); } } diff --git a/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp b/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp index ba8441c60..9b30cadd7 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshobject.cpp @@ -26,47 +26,47 @@ namespace TEST_F(DetourNavigatorRecastMeshObjectTest, constructed_object_should_have_shape_and_transform) { - const RecastMeshObject object(mBoxShape, mTransform, 1); + const RecastMeshObject object(mBoxShape, mTransform, AreaType_ground); EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShape)); EXPECT_EQ(object.getTransform(), mTransform); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_same_transform_for_not_compound_shape_should_return_false) { - RecastMeshObject object(mBoxShape, mTransform, 1); - EXPECT_FALSE(object.update(mTransform, 1)); + RecastMeshObject object(mBoxShape, mTransform, AreaType_ground); + EXPECT_FALSE(object.update(mTransform, AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_transform_should_return_true) { - RecastMeshObject object(mBoxShape, mTransform, 1); - EXPECT_TRUE(object.update(btTransform::getIdentity(), 1)); + RecastMeshObject object(mBoxShape, mTransform, AreaType_ground); + EXPECT_TRUE(object.update(btTransform::getIdentity(), AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_flags_should_return_true) { - RecastMeshObject object(mBoxShape, mTransform, 1); - EXPECT_TRUE(object.update(mTransform, 2)); + RecastMeshObject object(mBoxShape, mTransform, AreaType_ground); + EXPECT_TRUE(object.update(mTransform, AreaType_null)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_not_changed_child_transform_should_return_false) { - RecastMeshObject object(mCompoundShape, mTransform, 1); - EXPECT_FALSE(object.update(mTransform, 1)); + RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground); + EXPECT_FALSE(object.update(mTransform, AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_changed_child_transform_should_return_true) { - RecastMeshObject object(mCompoundShape, mTransform, 1); + RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground); mCompoundShape.updateChildTransform(0, btTransform::getIdentity()); - EXPECT_TRUE(object.update(mTransform, 1)); + EXPECT_TRUE(object.update(mTransform, AreaType_ground)); } TEST_F(DetourNavigatorRecastMeshObjectTest, repeated_update_for_compound_shape_without_changes_should_return_false) { - RecastMeshObject object(mCompoundShape, mTransform, 1); + RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground); mCompoundShape.updateChildTransform(0, btTransform::getIdentity()); - object.update(mTransform, 1); - EXPECT_FALSE(object.update(mTransform, 1)); + object.update(mTransform, AreaType_ground); + EXPECT_FALSE(object.update(mTransform, AreaType_ground)); } } diff --git a/components/detournavigator/areatype.hpp b/components/detournavigator/areatype.hpp new file mode 100644 index 000000000..3efaccc44 --- /dev/null +++ b/components/detournavigator/areatype.hpp @@ -0,0 +1,15 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_AREATYPE_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_AREATYPE_H + +#include + +namespace DetourNavigator +{ + enum AreaType : unsigned char + { + AreaType_null = RC_NULL_AREA, + AreaType_ground = RC_WALKABLE_AREA, + }; +} + +#endif diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index ce9fe5c51..c5ff00a26 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -8,17 +8,17 @@ namespace DetourNavigator {} bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, - const btTransform& transform, const unsigned char flags) + const btTransform& transform, const AreaType areaType) { - if (!mImpl.addObject(id, shape, transform, flags)) + if (!mImpl.addObject(id, shape, transform, areaType)) return false; mCached.reset(); return true; } - bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const unsigned char flags) + bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const AreaType areaType) { - if (!mImpl.updateObject(id, transform, flags)) + if (!mImpl.updateObject(id, transform, areaType)) return false; mCached.reset(); return true; diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 6f3f2a05a..15168f9ad 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -13,9 +13,9 @@ namespace DetourNavigator CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags); + const AreaType areaType); - bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags); + bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); boost::optional removeObject(std::size_t id); diff --git a/components/detournavigator/chunkytrimesh.cpp b/components/detournavigator/chunkytrimesh.cpp index f6e257c54..3a8fc3480 100644 --- a/components/detournavigator/chunkytrimesh.cpp +++ b/components/detournavigator/chunkytrimesh.cpp @@ -13,7 +13,7 @@ namespace DetourNavigator { Rect mBounds; std::ptrdiff_t mOffset; - unsigned char mFlags; + unsigned char mAreaTypes; }; template @@ -44,9 +44,9 @@ namespace DetourNavigator } void subdivide(std::vector& items, const std::size_t imin, const std::size_t imax, - const std::size_t trisPerChunk, const std::vector& inIndices, const std::vector& inFlags, + const std::size_t trisPerChunk, const std::vector& inIndices, const std::vector& inAreaTypes, std::size_t& curNode, std::vector& nodes, std::size_t& curTri, - std::vector& outIndices, std::vector& outFlags) + std::vector& outIndices, std::vector& outAreaTypes) { const auto inum = imax - imin; const auto icur = curNode; @@ -72,7 +72,7 @@ namespace DetourNavigator inIndices.begin() + items[i].mOffset * 3 + 3, outIndices.begin() + static_cast(curTri) * 3 ); - outFlags[curTri] = inFlags[static_cast(items[i].mOffset)]; + outAreaTypes[curTri] = inAreaTypes[static_cast(items[i].mOffset)]; curTri++; } } @@ -104,9 +104,9 @@ namespace DetourNavigator const auto isplit = imin + inum / 2; // Left - subdivide(items, imin, isplit, trisPerChunk, inIndices, inFlags, curNode, nodes, curTri, outIndices, outFlags); + subdivide(items, imin, isplit, trisPerChunk, inIndices, inAreaTypes, curNode, nodes, curTri, outIndices, outAreaTypes); // Right - subdivide(items, isplit, imax, trisPerChunk, inIndices, inFlags, curNode, nodes, curTri, outIndices, outFlags); + subdivide(items, isplit, imax, trisPerChunk, inIndices, inAreaTypes, curNode, nodes, curTri, outIndices, outAreaTypes); const auto iescape = static_cast(curNode) - static_cast(icur); // Negative index means escape. @@ -116,7 +116,7 @@ namespace DetourNavigator } ChunkyTriMesh::ChunkyTriMesh(const std::vector& verts, const std::vector& indices, - const std::vector& flags, const std::size_t trisPerChunk) + const std::vector& flags, const std::size_t trisPerChunk) : mMaxTrisPerChunk(0) { const auto trianglesCount = indices.size() / 3; @@ -128,7 +128,7 @@ namespace DetourNavigator mNodes.resize(nchunks * 4); mIndices.resize(trianglesCount * 3); - mFlags.resize(trianglesCount); + mAreaTypes.resize(trianglesCount); // Build tree std::vector items(trianglesCount); @@ -138,7 +138,7 @@ namespace DetourNavigator auto& item = items[i]; item.mOffset = static_cast(i); - item.mFlags = flags[i]; + item.mAreaTypes = flags[i]; // Calc triangle XZ bounds. const auto baseIndex = static_cast(indices[i * 3]) * 3; @@ -160,7 +160,7 @@ namespace DetourNavigator std::size_t curTri = 0; std::size_t curNode = 0; - subdivide(items, 0, trianglesCount, trisPerChunk, indices, flags, curNode, mNodes, curTri, mIndices, mFlags); + subdivide(items, 0, trianglesCount, trisPerChunk, indices, flags, curNode, mNodes, curTri, mIndices, mAreaTypes); items.clear(); diff --git a/components/detournavigator/chunkytrimesh.hpp b/components/detournavigator/chunkytrimesh.hpp index ddd0b93e6..c9d35f086 100644 --- a/components/detournavigator/chunkytrimesh.hpp +++ b/components/detournavigator/chunkytrimesh.hpp @@ -1,6 +1,8 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_CHUNKYTRIMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_CHUNKYTRIMESH_H +#include "areatype.hpp" + #include #include @@ -24,7 +26,7 @@ namespace DetourNavigator struct Chunk { const int* const mIndices; - const unsigned char* const mFlags; + const AreaType* const mAreaTypes; const std::size_t mSize; }; @@ -42,7 +44,7 @@ namespace DetourNavigator /// Creates partitioned triangle mesh (AABB tree), /// where each node contains at max trisPerChunk triangles. ChunkyTriMesh(const std::vector& verts, const std::vector& tris, - const std::vector& flags, const std::size_t trisPerChunk); + const std::vector& flags, const std::size_t trisPerChunk); ChunkyTriMesh(const ChunkyTriMesh&) = delete; ChunkyTriMesh& operator=(const ChunkyTriMesh&) = delete; @@ -76,7 +78,7 @@ namespace DetourNavigator const auto& node = mNodes[chunkId]; return Chunk { mIndices.data() + node.mOffset * 3, - mFlags.data() + node.mOffset, + mAreaTypes.data() + node.mOffset, node.mSize }; } @@ -89,7 +91,7 @@ namespace DetourNavigator private: std::vector mNodes; std::vector mIndices; - std::vector mFlags; + std::vector mAreaTypes; std::size_t mMaxTrisPerChunk; }; } diff --git a/components/detournavigator/flags.hpp b/components/detournavigator/flags.hpp new file mode 100644 index 000000000..21a1d7694 --- /dev/null +++ b/components/detournavigator/flags.hpp @@ -0,0 +1,15 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_FLAGS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_FLAGS_H + +namespace DetourNavigator +{ + using Flags = unsigned short; + + enum Flag : Flags + { + Flag_none = 0, + Flag_walk = 1 << 0, + }; +} + +#endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 4b77f45b7..454b88f9e 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -8,6 +8,7 @@ #include "settingsutils.hpp" #include "sharednavmesh.hpp" #include "settingsutils.hpp" +#include "flags.hpp" #include #include @@ -99,7 +100,7 @@ namespace { const auto& chunkyMesh = recastMesh.getChunkyTriMesh(); - std::vector areas(chunkyMesh.getMaxTrisPerChunk(), RC_NULL_AREA); + std::vector areas(chunkyMesh.getMaxTrisPerChunk(), AreaType_null); const osg::Vec2f tileBoundsMin(config.bmin[0], config.bmin[2]); const osg::Vec2f tileBoundsMax(config.bmax[0], config.bmax[2]); std::vector cids; @@ -116,7 +117,7 @@ namespace areas.begin(), std::min(areas.begin() + static_cast(chunk.mSize), areas.end()), - RC_NULL_AREA + AreaType_null ); rcMarkWalkableTriangles( @@ -130,7 +131,7 @@ namespace ); for (std::size_t i = 0; i < chunk.mSize; ++i) - areas[i] &= chunk.mFlags[i]; + areas[i] = chunk.mAreaTypes[i]; rcClearUnwalkableTriangles( &context, @@ -186,8 +187,8 @@ namespace } for (int i = 0; i < polyMesh.npolys; ++i) - if (polyMesh.areas[i] == RC_WALKABLE_AREA) - polyMesh.flags[i] = 1; + if (polyMesh.areas[i] == AreaType_ground) + polyMesh.flags[i] = Flag_walk; dtNavMeshCreateParams params; params.verts = polyMesh.verts; diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index 0fc195675..f6ead7c7d 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -29,7 +29,7 @@ namespace DetourNavigator bool Navigator::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { - return mNavMeshManager.addObject(id, shape, transform, RC_WALKABLE_AREA); + return mNavMeshManager.addObject(id, shape, transform, AreaType_ground); } bool Navigator::addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform) @@ -38,7 +38,7 @@ namespace DetourNavigator if (shapes.mAvoid) { const auto avoidId = reinterpret_cast(shapes.mAvoid); - if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, RC_NULL_AREA)) + if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, AreaType_null)) { updateAvoidShapeId(id, avoidId); result = true; @@ -49,7 +49,7 @@ namespace DetourNavigator bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { - return mNavMeshManager.updateObject(id, shape, transform, RC_WALKABLE_AREA); + return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground); } bool Navigator::updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform) @@ -58,7 +58,7 @@ namespace DetourNavigator if (shapes.mAvoid) { const auto avoidId = reinterpret_cast(shapes.mAvoid); - if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, RC_NULL_AREA)) + if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, AreaType_null)) { updateAvoidShapeId(id, avoidId); result = true; diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 39dd41a14..0f82bd7ab 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -15,8 +15,7 @@ namespace DetourNavigator ObjectShapes(const btCollisionShape& shape, const btCollisionShape* avoid) : mShape(shape), mAvoid(avoid) - { - } + {} }; class Navigator diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 7ddaef55c..265ef749f 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -32,18 +32,18 @@ namespace DetourNavigator {} bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { - if (!mRecastMeshManager.addObject(id, shape, transform, flags)) + if (!mRecastMeshManager.addObject(id, shape, transform, areaType)) return false; addChangedTiles(shape, transform, ChangeType::add); return true; } bool NavMeshManager::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { - if (!mRecastMeshManager.updateObject(id, transform, flags)) + if (!mRecastMeshManager.updateObject(id, transform, areaType)) return false; addChangedTiles(shape, transform, ChangeType::mixed); return true; diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index fbbc81e6c..25ee305c4 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -24,10 +24,10 @@ namespace DetourNavigator NavMeshManager(const Settings& settings); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags); + const AreaType areaType); bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags); + const AreaType areaType); bool removeObject(std::size_t id); diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index fc23c1fea..5a339d342 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -7,15 +7,15 @@ namespace DetourNavigator { RecastMesh::RecastMesh(std::vector indices, std::vector vertices, - std::vector flags, const Settings& settings) + std::vector areaTypes, const Settings& settings) : mIndices(std::move(indices)) , mVertices(std::move(vertices)) - , mFlags(std::move(flags)) - , mChunkyTriMesh(mVertices, mIndices, mFlags, settings.mTrianglesPerChunk) + , mAreaTypes(std::move(areaTypes)) + , mChunkyTriMesh(mVertices, mIndices, mAreaTypes, settings.mTrianglesPerChunk) { - if (getTrianglesCount() != mFlags.size()) + if (getTrianglesCount() != mAreaTypes.size()) throw InvalidArgument("number of flags doesn't match number of triangles: triangles=" - + std::to_string(getTrianglesCount()) + ", flags=" + std::to_string(mFlags.size())); + + std::to_string(getTrianglesCount()) + ", areaTypes=" + std::to_string(mAreaTypes.size())); if (getVerticesCount()) rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); } diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp index 59f97b2ee..2e31cd27d 100644 --- a/components/detournavigator/recastmesh.hpp +++ b/components/detournavigator/recastmesh.hpp @@ -1,6 +1,7 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESH_H +#include "areatype.hpp" #include "chunkytrimesh.hpp" #include @@ -16,7 +17,7 @@ namespace DetourNavigator { public: RecastMesh(std::vector indices, std::vector vertices, - std::vector flags, const Settings& settings); + std::vector areaTypes, const Settings& settings); const std::vector& getIndices() const { @@ -28,9 +29,9 @@ namespace DetourNavigator return mVertices; } - const std::vector& getFlags() const + const std::vector& getAreaTypes() const { - return mFlags; + return mAreaTypes; } std::size_t getVerticesCount() const @@ -61,7 +62,7 @@ namespace DetourNavigator private: std::vector mIndices; std::vector mVertices; - std::vector mFlags; + std::vector mAreaTypes; ChunkyTriMesh mChunkyTriMesh; osg::Vec3f mBoundsMin; osg::Vec3f mBoundsMax; diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index 229f42022..23a8bb83e 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -36,51 +36,51 @@ namespace DetourNavigator } void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { if (shape.isCompound()) - return addObject(static_cast(shape), transform, flags); + return addObject(static_cast(shape), transform, areaType); else if (shape.getShapeType() == TERRAIN_SHAPE_PROXYTYPE) - return addObject(static_cast(shape), transform, flags); + return addObject(static_cast(shape), transform, areaType); else if (shape.isConcave()) - return addObject(static_cast(shape), transform, flags); + return addObject(static_cast(shape), transform, areaType); else if (shape.getShapeType() == BOX_SHAPE_PROXYTYPE) - return addObject(static_cast(shape), transform, flags); + return addObject(static_cast(shape), transform, areaType); std::ostringstream message; message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType()); throw InvalidArgument(message.str()); } void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) - addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i), flags); + addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i), areaType); } void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 3; i > 0; --i) addTriangleVertex(transform(triangle[i - 1])); - mFlags.push_back(flags); + mAreaTypes.push_back(areaType); })); } void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int) { for (std::size_t i = 0; i < 3; ++i) addTriangleVertex(transform(triangle[i])); - mFlags.push_back(flags); + mAreaTypes.push_back(areaType); })); } - void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const unsigned char flags) + void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType) { const auto indexOffset = int(mVertices.size() / 3); @@ -92,7 +92,7 @@ namespace DetourNavigator } for (int vertex = 0; vertex < 12; ++vertex) - mFlags.push_back(flags); + mAreaTypes.push_back(areaType); static const std::array indices {{ 0, 2, 3, @@ -115,14 +115,14 @@ namespace DetourNavigator std::shared_ptr RecastMeshBuilder::create() const { - return std::make_shared(mIndices, mVertices, mFlags, mSettings); + return std::make_shared(mIndices, mVertices, mAreaTypes, mSettings); } void RecastMeshBuilder::reset() { mIndices.clear(); mVertices.clear(); - mFlags.clear(); + mAreaTypes.clear(); } void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform, diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index 770acbf9d..221093362 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -20,15 +20,15 @@ namespace DetourNavigator public: RecastMeshBuilder(const Settings& settings, const TileBounds& bounds); - void addObject(const btCollisionShape& shape, const btTransform& transform, const unsigned char flags); + void addObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - void addObject(const btCompoundShape& shape, const btTransform& transform, const unsigned char flags); + void addObject(const btCompoundShape& shape, const btTransform& transform, const AreaType areaType); - void addObject(const btConcaveShape& shape, const btTransform& transform, const unsigned char flags); + void addObject(const btConcaveShape& shape, const btTransform& transform, const AreaType areaType); - void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, const unsigned char flags); + void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, const AreaType areaType); - void addObject(const btBoxShape& shape, const btTransform& transform, const unsigned char flags); + void addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType); std::shared_ptr create() const; @@ -39,7 +39,7 @@ namespace DetourNavigator TileBounds mBounds; std::vector mIndices; std::vector mVertices; - std::vector mFlags; + std::vector mAreaTypes; void addObject(const btConcaveShape& shape, const btTransform& transform, btTriangleCallback&& callback); diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index 66009d8b5..d51189194 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -12,20 +12,20 @@ namespace DetourNavigator } bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { - if (!mObjects.emplace(id, RecastMeshObject(shape, transform, flags)).second) + if (!mObjects.emplace(id, RecastMeshObject(shape, transform, areaType)).second) return false; mShouldRebuild = true; return mShouldRebuild; } - bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const unsigned char flags) + bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const AreaType areaType) { const auto object = mObjects.find(id); if (object == mObjects.end()) return false; - if (!object->second.update(transform, flags)) + if (!object->second.update(transform, areaType)) return false; mShouldRebuild = true; return mShouldRebuild; @@ -59,7 +59,7 @@ namespace DetourNavigator return; mMeshBuilder.reset(); for (const auto& v : mObjects) - mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getFlags()); + mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getAreaType()); mShouldRebuild = false; } } diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index d475d494d..790059295 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -26,9 +26,9 @@ namespace DetourNavigator RecastMeshManager(const Settings& settings, const TileBounds& bounds); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags); + const AreaType areaType); - bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags); + bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); boost::optional removeObject(std::size_t id); diff --git a/components/detournavigator/recastmeshobject.cpp b/components/detournavigator/recastmeshobject.cpp index 54fb25ea0..1aac9fd81 100644 --- a/components/detournavigator/recastmeshobject.cpp +++ b/components/detournavigator/recastmeshobject.cpp @@ -9,15 +9,15 @@ namespace DetourNavigator { RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) : mShape(shape) , mTransform(transform) - , mFlags(flags) - , mChildren(makeChildrenObjects(shape, mFlags)) + , mAreaType(areaType) + , mChildren(makeChildrenObjects(shape, mAreaType)) { } - bool RecastMeshObject::update(const btTransform& transform, const unsigned char flags) + bool RecastMeshObject::update(const btTransform& transform, const AreaType areaType) { bool result = false; if (!(mTransform == transform)) @@ -25,42 +25,43 @@ namespace DetourNavigator mTransform = transform; result = true; } - if (mFlags != flags) + if (mAreaType != areaType) { - mFlags = flags; + mAreaType = areaType; result = true; } if (mShape.get().isCompound()) - result = updateCompoundObject(static_cast(mShape.get()), mFlags, mChildren) || result; + result = updateCompoundObject(static_cast(mShape.get()), mAreaType, mChildren) + || result; return result; } bool RecastMeshObject::updateCompoundObject(const btCompoundShape& shape, - const unsigned char flags, std::vector& children) + const AreaType areaType, std::vector& children) { assert(static_cast(shape.getNumChildShapes()) == children.size()); bool result = false; for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) { assert(shape.getChildShape(i) == std::addressof(children[static_cast(i)].mShape.get())); - result = children[static_cast(i)].update(shape.getChildTransform(i), flags) || result; + result = children[static_cast(i)].update(shape.getChildTransform(i), areaType) || result; } return result; } - std::vector makeChildrenObjects(const btCollisionShape& shape, const unsigned char flags) + std::vector makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType) { if (shape.isCompound()) - return makeChildrenObjects(static_cast(shape), flags); + return makeChildrenObjects(static_cast(shape), areaType); else return std::vector(); } - std::vector makeChildrenObjects(const btCompoundShape& shape, const unsigned char flags) + std::vector makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType) { std::vector result; for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i) - result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), flags); + result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), areaType); return result; } } diff --git a/components/detournavigator/recastmeshobject.hpp b/components/detournavigator/recastmeshobject.hpp index bc7b54d5a..aff468122 100644 --- a/components/detournavigator/recastmeshobject.hpp +++ b/components/detournavigator/recastmeshobject.hpp @@ -1,6 +1,8 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H +#include "areatype.hpp" + #include #include @@ -14,9 +16,9 @@ namespace DetourNavigator class RecastMeshObject { public: - RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const unsigned char flags); + RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - bool update(const btTransform& transform, const unsigned char flags); + bool update(const btTransform& transform, const AreaType areaType); const btCollisionShape& getShape() const { @@ -28,24 +30,24 @@ namespace DetourNavigator return mTransform; } - unsigned char getFlags() const + AreaType getAreaType() const { - return mFlags; + return mAreaType; } private: std::reference_wrapper mShape; btTransform mTransform; - unsigned char mFlags; + AreaType mAreaType; std::vector mChildren; - static bool updateCompoundObject(const btCompoundShape& shape, const unsigned char flags, + static bool updateCompoundObject(const btCompoundShape& shape, const AreaType areaType, std::vector& children); }; - std::vector makeChildrenObjects(const btCollisionShape& shape, const unsigned char flags); + std::vector makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType); - std::vector makeChildrenObjects(const btCompoundShape& shape, const unsigned char flags); + std::vector makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType); } #endif diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index a3dec79cd..f044b3c43 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -10,7 +10,7 @@ namespace DetourNavigator {} bool TileCachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, - const btTransform& transform, const unsigned char flags) + const btTransform& transform, const AreaType areaType) { bool result = false; auto& tilesPositions = mObjectsTilesPositions[id]; @@ -27,7 +27,7 @@ namespace DetourNavigator tile = mTiles.insert(std::make_pair(tilePosition, CachedRecastMeshManager(mSettings, tileBounds))).first; } - if (tile->second.addObject(id, shape, transform, flags)) + if (tile->second.addObject(id, shape, transform, areaType)) { lock.unlock(); tilesPositions.push_back(tilePosition); @@ -40,7 +40,7 @@ namespace DetourNavigator } bool TileCachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, - const unsigned char flags) + const AreaType areaType) { const auto object = mObjectsTilesPositions.find(id); if (object == mObjectsTilesPositions.end()) @@ -51,7 +51,7 @@ namespace DetourNavigator { const auto tile = mTiles.find(tilePosition); if (tile != mTiles.end()) - result = tile->second.updateObject(id, transform, flags) || result; + result = tile->second.updateObject(id, transform, areaType) || result; } lock.unlock(); if (result) diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index 37299e281..32b06eadd 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -15,9 +15,9 @@ namespace DetourNavigator TileCachedRecastMeshManager(const Settings& settings); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, - const unsigned char flags); + const AreaType areaType); - bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags); + bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); boost::optional removeObject(std::size_t id); From c95cea414c27f04a4acebcf796d7c12451b17465 Mon Sep 17 00:00:00 2001 From: elsid Date: Fri, 20 Jul 2018 22:11:34 +0300 Subject: [PATCH 071/130] Support water for NavMesh --- apps/openmw/mwworld/scene.cpp | 25 +++- apps/openmw/mwworld/scene.hpp | 6 + apps/openmw/mwworld/worldimp.cpp | 57 +++---- .../detournavigator/navigator.cpp | 139 ++++++++++++++++++ .../detournavigator/recastmeshbuilder.cpp | 18 +++ components/detournavigator/areatype.hpp | 1 + .../cachedrecastmeshmanager.cpp | 17 +++ .../cachedrecastmeshmanager.hpp | 4 + components/detournavigator/findsmoothpath.hpp | 9 ++ components/detournavigator/flags.hpp | 1 + .../detournavigator/gettilespositions.hpp | 17 +++ components/detournavigator/makenavmesh.cpp | 101 ++++++++++++- components/detournavigator/makenavmesh.hpp | 1 - components/detournavigator/navigator.cpp | 37 ++++- components/detournavigator/navigator.hpp | 10 +- components/detournavigator/navmeshmanager.cpp | 65 +++++--- components/detournavigator/navmeshmanager.hpp | 10 +- components/detournavigator/recastmesh.cpp | 3 +- components/detournavigator/recastmesh.hpp | 16 +- .../detournavigator/recastmeshbuilder.cpp | 19 ++- .../detournavigator/recastmeshbuilder.hpp | 10 +- .../detournavigator/recastmeshmanager.cpp | 22 +++ .../detournavigator/recastmeshmanager.hpp | 14 ++ components/detournavigator/settings.hpp | 1 + components/detournavigator/settingsutils.hpp | 16 ++ .../tilecachedrecastmeshmanager.cpp | 74 ++++++++++ .../tilecachedrecastmeshmanager.hpp | 5 + 27 files changed, 626 insertions(+), 72 deletions(-) diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index bfd21d5e2..ca19383d1 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -282,6 +282,9 @@ namespace MWWorld mPhysics->remove(ptr); } + const auto cellX = (*iter)->getCell()->getGridX(); + const auto cellY = (*iter)->getCell()->getGridY(); + if ((*iter)->getCell()->isExterior()) { const ESM::Land* land = @@ -291,14 +294,15 @@ namespace MWWorld ); if (land && land->mDataTypes&ESM::Land::DATA_VHGT) { - const auto cellX = (*iter)->getCell()->getGridX(); - const auto cellY = (*iter)->getCell()->getGridY(); if (const auto heightField = mPhysics->getHeightField(cellX, cellY)) navigator->removeObject(reinterpret_cast(heightField)); mPhysics->removeHeightField(cellX, cellY); } } + if ((*iter)->getCell()->hasWater()) + navigator->removeWater(osg::Vec2i(cellX, cellY)); + navigator->update(player.getRefData().getPosition().asVec3()); MWBase::Environment::get().getMechanicsManager()->drop (*iter); @@ -326,11 +330,12 @@ namespace MWWorld const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); + const int cellX = cell->getCell()->getGridX(); + const int cellY = cell->getCell()->getGridY(); + // Load terrain physics first... if (cell->getCell()->isExterior()) { - int cellX = cell->getCell()->getGridX(); - int cellY = cell->getCell()->getGridY(); osg::ref_ptr land = mRendering.getLandManager()->getLand(cellX, cellY); const ESM::Land::LandData* data = land ? land->getData(ESM::Land::DATA_VHGT) : 0; if (data) @@ -368,6 +373,18 @@ namespace MWWorld { mPhysics->enableWater(waterLevel); mRendering.setWaterHeight(waterLevel); + + if (cell->getCell()->isExterior()) + { + if (const auto heightField = mPhysics->getHeightField(cellX, cellY)) + navigator->addWater(osg::Vec2i(cellX, cellY), ESM::Land::REAL_SIZE, + cell->getWaterLevel(), heightField->getCollisionObject()->getWorldTransform()); + } + else + { + navigator->addWater(osg::Vec2i(cellX, cellY), std::numeric_limits::max(), + cell->getWaterLevel(), btTransform::getIdentity()); + } } else mPhysics->disableWater(); diff --git a/apps/openmw/mwworld/scene.hpp b/apps/openmw/mwworld/scene.hpp index e1144d97a..c8578fc35 100644 --- a/apps/openmw/mwworld/scene.hpp +++ b/apps/openmw/mwworld/scene.hpp @@ -6,6 +6,7 @@ #include #include +#include namespace osg { @@ -27,6 +28,11 @@ namespace Loading class Listener; } +namespace DetourNavigator +{ + class Water; +} + namespace MWRender { class SkyManager; diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index a7bda8c0b..bb8bd9615 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -168,6 +168,34 @@ namespace MWWorld mLevitationEnabled(true), mGoToJail(false), mDaysInPrison(0), mPlayerTraveling(false), mPlayerInJail(false), mSpellPreloadTimer(0.f) { + mEsm.resize(contentFiles.size()); + Loading::Listener* listener = MWBase::Environment::get().getWindowManager()->getLoadingScreen(); + listener->loadingOn(); + + GameContentLoader gameContentLoader(*listener); + EsmLoader esmLoader(mStore, mEsm, encoder, *listener); + + gameContentLoader.addLoader(".esm", &esmLoader); + gameContentLoader.addLoader(".esp", &esmLoader); + gameContentLoader.addLoader(".omwgame", &esmLoader); + gameContentLoader.addLoader(".omwaddon", &esmLoader); + gameContentLoader.addLoader(".project", &esmLoader); + + loadContentFiles(fileCollections, contentFiles, gameContentLoader); + + listener->loadingOff(); + + // insert records that may not be present in all versions of MW + if (mEsm[0].getFormat() == 0) + ensureNeededRecords(); + + fillGlobalVariables(); + + mStore.setUp(true); + mStore.movePlayerRecord(); + + mSwimHeightScale = mStore.get().find("fSwimHeightScale")->mValue.getFloat(); + mPhysics.reset(new MWPhysics::PhysicsSystem(resourceSystem, rootNode)); DetourNavigator::Settings navigatorSettings; @@ -180,6 +208,7 @@ namespace MWWorld navigatorSettings.mMaxSimplificationError = Settings::Manager::getFloat("max simplification error", "Navigator"); navigatorSettings.mMaxSlope = MWPhysics::sMaxSlope; navigatorSettings.mRecastScaleFactor = Settings::Manager::getFloat("recast scale factor", "Navigator"); + navigatorSettings.mSwimHeightScale = mSwimHeightScale; navigatorSettings.mMaxEdgeLen = Settings::Manager::getInt("max edge len", "Navigator"); navigatorSettings.mMaxNavMeshQueryNodes = Settings::Manager::getInt("max nav mesh query nodes", "Navigator"); navigatorSettings.mMaxVertsPerPoly = Settings::Manager::getInt("max verts per poly", "Navigator"); @@ -204,34 +233,6 @@ namespace MWWorld mProjectileManager.reset(new ProjectileManager(mRendering->getLightRoot(), resourceSystem, mRendering.get(), mPhysics.get())); mRendering->preloadCommonAssets(); - mEsm.resize(contentFiles.size()); - Loading::Listener* listener = MWBase::Environment::get().getWindowManager()->getLoadingScreen(); - listener->loadingOn(); - - GameContentLoader gameContentLoader(*listener); - EsmLoader esmLoader(mStore, mEsm, encoder, *listener); - - gameContentLoader.addLoader(".esm", &esmLoader); - gameContentLoader.addLoader(".esp", &esmLoader); - gameContentLoader.addLoader(".omwgame", &esmLoader); - gameContentLoader.addLoader(".omwaddon", &esmLoader); - gameContentLoader.addLoader(".project", &esmLoader); - - loadContentFiles(fileCollections, contentFiles, gameContentLoader); - - listener->loadingOff(); - - // insert records that may not be present in all versions of MW - if (mEsm[0].getFormat() == 0) - ensureNeededRecords(); - - fillGlobalVariables(); - - mStore.setUp(true); - mStore.movePlayerRecord(); - - mSwimHeightScale = mStore.get().find("fSwimHeightScale")->mValue.getFloat(); - mWeatherManager.reset(new MWWorld::WeatherManager(*mRendering, mFallback, mStore)); mWorldScene.reset(new Scene(*mRendering.get(), mPhysics.get())); diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index aa7906008..84aa34474 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -48,6 +48,7 @@ namespace mSettings.mMaxSimplificationError = 1.3f; mSettings.mMaxSlope = 49; mSettings.mRecastScaleFactor = 0.017647058823529415f; + mSettings.mSwimHeightScale = 0.89999997615814208984375f; mSettings.mMaxEdgeLen = 12; mSettings.mMaxNavMeshQueryNodes = 2048; mSettings.mMaxVertsPerPoly = 6; @@ -415,4 +416,142 @@ namespace osg::Vec3f(215, -215, 1.93937528133392333984375), })) << mPath; } + + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_ground_lower_than_water) + { + std::array heightfieldData {{ + -50, -50, -50, -50, 0, + -50, -100, -150, -100, -50, + -50, -150, -200, -150, -100, + -50, -100, -150, -100, -100, + 0, -50, -100, -100, -100, + }}; + btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, 300, btTransform::getIdentity()); + mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mStart.x() = 0; + mStart.z() = 300; + mEnd.x() = 0; + mEnd.z() = 300; + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(0, 215, 185.33331298828125), + osg::Vec3f(0, 186.6666717529296875, 185.33331298828125), + osg::Vec3f(0, 158.333343505859375, 185.33331298828125), + osg::Vec3f(0, 130.0000152587890625, 185.33331298828125), + osg::Vec3f(0, 101.66667938232421875, 185.33331298828125), + osg::Vec3f(0, 73.333343505859375, 185.33331298828125), + osg::Vec3f(0, 45.0000152587890625, 185.33331298828125), + osg::Vec3f(0, 16.6666812896728515625, 185.33331298828125), + osg::Vec3f(0, -11.66664981842041015625, 185.33331298828125), + osg::Vec3f(0, -39.999980926513671875, 185.33331298828125), + osg::Vec3f(0, -68.33331298828125, 185.33331298828125), + osg::Vec3f(0, -96.66664886474609375, 185.33331298828125), + osg::Vec3f(0, -124.99997711181640625, 185.33331298828125), + osg::Vec3f(0, -153.33331298828125, 185.33331298828125), + osg::Vec3f(0, -181.6666412353515625, 185.33331298828125), + osg::Vec3f(0, -209.999969482421875, 185.33331298828125), + osg::Vec3f(0, -215, 185.33331298828125), + })) << mPath; + } + + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water) + { + std::array heightfieldData {{ + 0, 0, 0, 0, 0, 0, 0, + 0, -100, -100, -100, -100, -100, 0, + 0, -100, -150, -150, -150, -100, 0, + 0, -100, -150, -200, -150, -100, 0, + 0, -100, -150, -150, -150, -100, 0, + 0, -100, -100, -100, -100, -100, 0, + 0, 0, 0, 0, 0, 0, 0, + }}; + btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity()); + mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mStart.x() = 0; + mEnd.x() = 0; + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(0, 215, -94.75363922119140625), + osg::Vec3f(0, 186.6666717529296875, -106.0000152587890625), + osg::Vec3f(0, 158.333343505859375, -115.85507965087890625), + osg::Vec3f(0, 130.0000152587890625, -125.71016693115234375), + osg::Vec3f(0, 101.66667938232421875, -135.5652313232421875), + osg::Vec3f(0, 73.333343505859375, -143.3333587646484375), + osg::Vec3f(0, 45.0000152587890625, -143.3333587646484375), + osg::Vec3f(0, 16.6666812896728515625, -143.3333587646484375), + osg::Vec3f(0, -11.66664981842041015625, -143.3333587646484375), + osg::Vec3f(0, -39.999980926513671875, -143.3333587646484375), + osg::Vec3f(0, -68.33331298828125, -143.3333587646484375), + osg::Vec3f(0, -96.66664886474609375, -137.3043670654296875), + osg::Vec3f(0, -124.99997711181640625, -127.44930267333984375), + osg::Vec3f(0, -153.33331298828125, -117.5942230224609375), + osg::Vec3f(0, -181.6666412353515625, -107.7391510009765625), + osg::Vec3f(0, -209.999969482421875, -97.79712677001953125), + osg::Vec3f(0, -215, -94.753631591796875), + })) << mPath; + } + + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_max_int_cells_size) + { + std::array heightfieldData {{ + 0, 0, 0, 0, 0, 0, 0, + 0, -100, -100, -100, -100, -100, 0, + 0, -100, -150, -150, -150, -100, 0, + 0, -100, -150, -200, -150, -100, 0, + 0, -100, -150, -150, -150, -100, 0, + 0, -100, -100, -100, -100, -100, 0, + 0, 0, 0, 0, 0, 0, 0, + }}; + btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addWater(osg::Vec2i(0, 0), std::numeric_limits::max(), -25, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mStart.x() = 0; + mEnd.x() = 0; + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(0, 215, -94.75363922119140625), + osg::Vec3f(0, 186.6666717529296875, -106.0000152587890625), + osg::Vec3f(0, 158.333343505859375, -115.85507965087890625), + osg::Vec3f(0, 130.0000152587890625, -125.71016693115234375), + osg::Vec3f(0, 101.66667938232421875, -135.5652313232421875), + osg::Vec3f(0, 73.333343505859375, -143.3333587646484375), + osg::Vec3f(0, 45.0000152587890625, -143.3333587646484375), + osg::Vec3f(0, 16.6666812896728515625, -143.3333587646484375), + osg::Vec3f(0, -11.66664981842041015625, -143.3333587646484375), + osg::Vec3f(0, -39.999980926513671875, -143.3333587646484375), + osg::Vec3f(0, -68.33331298828125, -143.3333587646484375), + osg::Vec3f(0, -96.66664886474609375, -137.3043670654296875), + osg::Vec3f(0, -124.99997711181640625, -127.44930267333984375), + osg::Vec3f(0, -153.33331298828125, -117.5942230224609375), + osg::Vec3f(0, -181.6666412353515625, -107.7391510009765625), + osg::Vec3f(0, -209.999969482421875, -97.79712677001953125), + osg::Vec3f(0, -215, -94.753631591796875), + })) << mPath; + } } diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index c27f608a9..ffef6114c 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -13,6 +13,14 @@ #include +namespace DetourNavigator +{ + static inline bool operator ==(const RecastMesh::Water& lhs, const RecastMesh::Water& rhs) + { + return lhs.mCellSize == rhs.mCellSize && lhs.mTransform == rhs.mTransform; + } +} + namespace { using namespace testing; @@ -391,4 +399,14 @@ namespace EXPECT_EQ(recastMesh->getIndices(), std::vector({0, 1, 2, 3, 4, 5})); EXPECT_EQ(recastMesh->getAreaTypes(), std::vector({AreaType_ground, AreaType_null})); } + + TEST_F(DetourNavigatorRecastMeshBuilderTest, add_water_then_get_water_should_return_it) + { + RecastMeshBuilder builder(mSettings, mBounds); + builder.addWater(1000, btTransform(btMatrix3x3::getIdentity(), btVector3(100, 200, 300))); + const auto recastMesh = builder.create(); + EXPECT_EQ(recastMesh->getWater(), std::vector({ + RecastMesh::Water {1000, btTransform(btMatrix3x3::getIdentity(), btVector3(100, 200, 300))} + })); + } } diff --git a/components/detournavigator/areatype.hpp b/components/detournavigator/areatype.hpp index 3efaccc44..0daa524ca 100644 --- a/components/detournavigator/areatype.hpp +++ b/components/detournavigator/areatype.hpp @@ -8,6 +8,7 @@ namespace DetourNavigator enum AreaType : unsigned char { AreaType_null = RC_NULL_AREA, + AreaType_water, AreaType_ground = RC_WALKABLE_AREA, }; } diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index c5ff00a26..8a9fbd4ee 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -32,6 +32,23 @@ namespace DetourNavigator return object; } + bool CachedRecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, + const btTransform& transform) + { + if (!mImpl.addWater(cellPosition, cellSize, transform)) + return false; + mCached.reset(); + return true; + } + + boost::optional CachedRecastMeshManager::removeWater(const osg::Vec2i& cellPosition) + { + const auto water = mImpl.removeWater(cellPosition); + if (water) + mCached.reset(); + return water; + } + std::shared_ptr CachedRecastMeshManager::getMesh() { if (!mCached) diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 15168f9ad..048d00270 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -17,6 +17,10 @@ namespace DetourNavigator bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); + bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); + + boost::optional removeWater(const osg::Vec2i& cellPosition); + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(); diff --git a/components/detournavigator/findsmoothpath.hpp b/components/detournavigator/findsmoothpath.hpp index 2fbc07c5f..c145e828c 100644 --- a/components/detournavigator/findsmoothpath.hpp +++ b/components/detournavigator/findsmoothpath.hpp @@ -3,6 +3,7 @@ #include "dtstatus.hpp" #include "exceptions.hpp" +#include "flags.hpp" #include "settings.hpp" #include "settingsutils.hpp" @@ -10,6 +11,8 @@ #include #include +#include + #include #include @@ -27,6 +30,11 @@ namespace DetourNavigator return osg::Vec3f(values[0], values[1], values[2]); } + inline osg::Vec3f makeOsgVec3f(const btVector3& value) + { + return osg::Vec3f(value.x(), value.y(), value.z()); + } + inline bool inRange(const osg::Vec3f& v1, const osg::Vec3f& v2, const float r, const float h) { const auto d = v2 - v1; @@ -217,6 +225,7 @@ namespace DetourNavigator OPENMW_CHECK_DT_STATUS(navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes)); dtQueryFilter queryFilter; + queryFilter.setIncludeFlags(Flag_swim | Flag_walk); dtPolyRef startRef = 0; osg::Vec3f startPolygonPosition; diff --git a/components/detournavigator/flags.hpp b/components/detournavigator/flags.hpp index 21a1d7694..38c0f13f6 100644 --- a/components/detournavigator/flags.hpp +++ b/components/detournavigator/flags.hpp @@ -9,6 +9,7 @@ namespace DetourNavigator { Flag_none = 0, Flag_walk = 1 << 0, + Flag_swim = 1 << 1, }; } diff --git a/components/detournavigator/gettilespositions.hpp b/components/detournavigator/gettilespositions.hpp index b52984452..86ce77402 100644 --- a/components/detournavigator/gettilespositions.hpp +++ b/components/detournavigator/gettilespositions.hpp @@ -51,6 +51,23 @@ namespace DetourNavigator getTilesPositions(makeOsgVec3f(aabbMin), makeOsgVec3f(aabbMax), settings, std::forward(callback)); } + + template + void getTilesPositions(const int cellSize, const btTransform& transform, + const Settings& settings, Callback&& callback) + { + const auto halfCellSize = cellSize / 2; + auto aabbMin = transform(btVector3(-halfCellSize, -halfCellSize, 0)); + auto aabbMax = transform(btVector3(halfCellSize, halfCellSize, 0)); + + aabbMin.setX(std::min(aabbMin.x(), aabbMax.x())); + aabbMin.setY(std::min(aabbMin.y(), aabbMax.y())); + + aabbMax.setX(std::max(aabbMin.x(), aabbMax.x())); + aabbMax.setY(std::max(aabbMin.y(), aabbMax.y())); + + getTilesPositions(makeOsgVec3f(aabbMin), makeOsgVec3f(aabbMax), settings, std::forward(callback)); + } } #endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 454b88f9e..71e888168 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -15,6 +15,7 @@ #include #include +#include #include #include @@ -64,6 +65,41 @@ namespace {} }; + osg::Vec3f makeOsgVec3f(const btVector3& value) + { + return osg::Vec3f(value.x(), value.y(), value.z()); + } + + struct WaterBounds + { + osg::Vec3f mMin; + osg::Vec3f mMax; + }; + + WaterBounds getWaterBounds(const RecastMesh::Water& water, const Settings& settings, + const osg::Vec3f& agentHalfExtents) + { + if (water.mCellSize == std::numeric_limits::max()) + { + const auto transform = getSwimLevelTransform(settings, water.mTransform, agentHalfExtents.z()); + const auto min = toNavMeshCoordinates(settings, makeOsgVec3f(transform(btVector3(-1, -1, 0)))); + const auto max = toNavMeshCoordinates(settings, makeOsgVec3f(transform(btVector3(1, 1, 0)))); + return WaterBounds { + osg::Vec3f(-std::numeric_limits::max(), min.y(), -std::numeric_limits::max()), + osg::Vec3f(std::numeric_limits::max(), max.y(), std::numeric_limits::max()) + }; + } + else + { + const auto transform = getSwimLevelTransform(settings, water.mTransform, agentHalfExtents.z()); + const auto halfCellSize = water.mCellSize / 2.0f; + return WaterBounds { + toNavMeshCoordinates(settings, makeOsgVec3f(transform(btVector3(-halfCellSize, -halfCellSize, 0)))), + toNavMeshCoordinates(settings, makeOsgVec3f(transform(btVector3(halfCellSize, halfCellSize, 0)))) + }; + } + } + NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const int tileX, const int tileY, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings) @@ -156,6 +192,56 @@ namespace } } + { + const std::array areas {{AreaType_water, AreaType_water}}; + + for (const auto& water : recastMesh.getWater()) + { + const auto bounds = getWaterBounds(water, settings, agentHalfExtents); + + const osg::Vec2f tileBoundsMin( + std::min(config.bmax[0], std::max(config.bmin[0], bounds.mMin.x())), + std::min(config.bmax[2], std::max(config.bmin[2], bounds.mMin.z())) + ); + const osg::Vec2f tileBoundsMax( + std::min(config.bmax[0], std::max(config.bmin[0], bounds.mMax.x())), + std::min(config.bmax[2], std::max(config.bmin[2], bounds.mMax.z())) + ); + + if (tileBoundsMax == tileBoundsMin) + continue; + + const std::array vertices {{ + osg::Vec3f(tileBoundsMin.x(), bounds.mMin.y(), tileBoundsMin.y()), + osg::Vec3f(tileBoundsMin.x(), bounds.mMin.y(), tileBoundsMax.y()), + osg::Vec3f(tileBoundsMax.x(), bounds.mMin.y(), tileBoundsMax.y()), + osg::Vec3f(tileBoundsMax.x(), bounds.mMin.y(), tileBoundsMin.y()), + }}; + + std::array convertedVertices; + auto convertedVerticesIt = convertedVertices.begin(); + + for (const auto& vertex : vertices) + convertedVerticesIt = std::copy(vertex.ptr(), vertex.ptr() + 3, convertedVerticesIt); + + const std::array indices {{ + 0, 1, 2, + 0, 2, 3, + }}; + + OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles( + &context, + convertedVertices.data(), + static_cast(convertedVertices.size() / 3), + indices.data(), + areas.data(), + static_cast(areas.size()), + solid, + config.walkableClimb + )); + } + } + rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, solid); rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, solid); rcFilterWalkableLowHeightSpans(&context, config.walkableHeight, solid); @@ -187,8 +273,12 @@ namespace } for (int i = 0; i < polyMesh.npolys; ++i) + { if (polyMesh.areas[i] == AreaType_ground) polyMesh.flags[i] = Flag_walk; + else if (polyMesh.areas[i] == AreaType_water) + polyMesh.flags[i] = Flag_swim; + } dtNavMeshCreateParams params; params.verts = polyMesh.verts; @@ -302,8 +392,15 @@ namespace DetourNavigator return removeTile(); } - const auto& boundsMin = recastMesh->getBoundsMin(); - const auto& boundsMax = recastMesh->getBoundsMax(); + auto boundsMin = recastMesh->getBoundsMin(); + auto boundsMax = recastMesh->getBoundsMax(); + + for (const auto& water : recastMesh->getWater()) + { + const auto bounds = getWaterBounds(water, settings, agentHalfExtents); + boundsMin.y() = std::min(boundsMin.y(), bounds.mMin.y()); + boundsMax.y() = std::max(boundsMax.y(), bounds.mMax.y()); + } if (boundsMin == boundsMax) { diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index cc9e6d855..7a60152d7 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -9,7 +9,6 @@ #include #include -#include class dtNavMesh; diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index f6ead7c7d..359a9a316 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -71,9 +71,24 @@ namespace DetourNavigator { bool result = mNavMeshManager.removeObject(id); const auto avoid = mAvoidIds.find(id); - if (avoid == mAvoidIds.end()) - return result; - return mNavMeshManager.removeObject(avoid->second) || result; + if (avoid != mAvoidIds.end()) + result = mNavMeshManager.removeObject(avoid->second) || result; + const auto water = mWaterIds.find(id); + if (water != mWaterIds.end()) + result = mNavMeshManager.removeObject(water->second) || result; + return result; + } + + bool Navigator::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) + { + return mNavMeshManager.removeWater(cellPosition); } void Navigator::update(const osg::Vec3f& playerPosition) @@ -97,13 +112,23 @@ namespace DetourNavigator return mSettings; } - void Navigator::updateAvoidShapeId(std::size_t id, std::size_t avoidId) + void Navigator::updateAvoidShapeId(const std::size_t id, const std::size_t avoidId) + { + updateId(id, avoidId, mWaterIds); + } + + void Navigator::updateWaterShapeId(const std::size_t id, const std::size_t waterId) + { + updateId(id, waterId, mWaterIds); + } + + void Navigator::updateId(const std::size_t id, const std::size_t updateId, std::unordered_map& ids) { - auto inserted = mAvoidIds.insert(std::make_pair(id, avoidId)); + auto inserted = ids.insert(std::make_pair(id, updateId)); if (!inserted.second) { mNavMeshManager.removeObject(inserted.first->second); - inserted.second = avoidId; + inserted.second = updateId; } } } diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 0f82bd7ab..b06397525 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -37,6 +37,11 @@ namespace DetourNavigator bool removeObject(std::size_t id); + bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level, + const btTransform& transform); + + bool removeWater(const osg::Vec2i& cellPosition); + void update(const osg::Vec3f& playerPosition); void wait(); @@ -59,8 +64,11 @@ namespace DetourNavigator NavMeshManager mNavMeshManager; std::map mAgents; std::unordered_map mAvoidIds; + std::unordered_map mWaterIds; - void updateAvoidShapeId(std::size_t id, std::size_t avoidId); + void updateAvoidShapeId(const std::size_t id, const std::size_t avoidId); + void updateWaterShapeId(const std::size_t id, const std::size_t waterId); + void updateId(const std::size_t id, const std::size_t waterId, std::unordered_map& ids); }; } diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 265ef749f..bfca44f79 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -58,6 +58,23 @@ namespace DetourNavigator return true; } + bool NavMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform) + { + if (!mRecastMeshManager.addWater(cellPosition, cellSize, transform)) + return false; + addChangedTiles(cellSize, transform, ChangeType::add); + return true; + } + + bool NavMeshManager::removeWater(const osg::Vec2i& cellPosition) + { + const auto water = mRecastMeshManager.removeWater(cellPosition); + if (!water) + return false; + addChangedTiles(water->mCellSize, water->mTransform, ChangeType::remove); + return true; + } + void NavMeshManager::addAgent(const osg::Vec3f& agentHalfExtents) { auto cached = mCache.find(agentHalfExtents); @@ -75,9 +92,7 @@ namespace DetourNavigator void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { - playerPosition *= mSettings.mRecastScaleFactor; - std::swap(playerPosition.y(), playerPosition.z()); - const auto playerTile = getTilePosition(mSettings, playerPosition); + const auto playerTile = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition)); if (mLastRecastMeshManagerRevision >= mRecastMeshManager.getRevision() && mPlayerTile && *mPlayerTile == playerTile) return; @@ -140,20 +155,36 @@ namespace DetourNavigator } void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform, - const ChangeType changeType) - { - getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& v) { - for (const auto& cached : mCache) - if (cached.second) - { - auto& tiles = mChangedTiles[cached.first]; - auto tile = tiles.find(v); - if (tile == tiles.end()) - tiles.insert(std::make_pair(v, changeType)); - else - tile->second = addChangeType(tile->second, changeType); - } - }); + const ChangeType changeType) + { + getTilesPositions(shape, transform, mSettings, + [&] (const TilePosition& v) { addChangedTile(v, changeType); }); + } + + void NavMeshManager::addChangedTiles(const int cellSize, const btTransform& transform, + const ChangeType changeType) + { + if (cellSize == std::numeric_limits::max()) + return; + + getTilesPositions(cellSize, transform, mSettings, + [&] (const TilePosition& v) { addChangedTile(v, changeType); }); + } + + void NavMeshManager::addChangedTile(const TilePosition& tilePosition, const ChangeType changeType) + { + for (const auto& cached : mCache) + { + if (cached.second) + { + auto& tiles = mChangedTiles[cached.first]; + auto tile = tiles.find(tilePosition); + if (tile == tiles.end()) + tiles.insert(std::make_pair(tilePosition, changeType)); + else + tile->second = addChangeType(tile->second, changeType); + } + } } const std::shared_ptr& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 25ee305c4..6636402bf 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -7,8 +7,6 @@ #include -#include - #include #include @@ -33,6 +31,10 @@ namespace DetourNavigator void addAgent(const osg::Vec3f& agentHalfExtents); + bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); + + bool removeWater(const osg::Vec2i& cellPosition); + void reset(const osg::Vec3f& agentHalfExtents); void update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents); @@ -55,6 +57,10 @@ namespace DetourNavigator void addChangedTiles(const btCollisionShape& shape, const btTransform& transform, const ChangeType changeType); + void addChangedTiles(const int cellSize, const btTransform& transform, const ChangeType changeType); + + void addChangedTile(const TilePosition& tilePosition, const ChangeType changeType); + const std::shared_ptr& getCached(const osg::Vec3f& agentHalfExtents) const; }; } diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index 5a339d342..b4897d14a 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -7,10 +7,11 @@ namespace DetourNavigator { RecastMesh::RecastMesh(std::vector indices, std::vector vertices, - std::vector areaTypes, const Settings& settings) + std::vector areaTypes, std::vector water, const Settings& settings) : mIndices(std::move(indices)) , mVertices(std::move(vertices)) , mAreaTypes(std::move(areaTypes)) + , mWater(std::move(water)) , mChunkyTriMesh(mVertices, mIndices, mAreaTypes, settings.mTrianglesPerChunk) { if (getTrianglesCount() != mAreaTypes.size()) diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp index 2e31cd27d..12dc73e48 100644 --- a/components/detournavigator/recastmesh.hpp +++ b/components/detournavigator/recastmesh.hpp @@ -9,6 +9,8 @@ #include +#include + namespace DetourNavigator { struct Settings; @@ -16,8 +18,14 @@ namespace DetourNavigator class RecastMesh { public: + struct Water + { + int mCellSize; + btTransform mTransform; + }; + RecastMesh(std::vector indices, std::vector vertices, - std::vector areaTypes, const Settings& settings); + std::vector areaTypes, std::vector water, const Settings& settings); const std::vector& getIndices() const { @@ -34,6 +42,11 @@ namespace DetourNavigator return mAreaTypes; } + const std::vector& getWater() const + { + return mWater; + } + std::size_t getVerticesCount() const { return mVertices.size() / 3; @@ -63,6 +76,7 @@ namespace DetourNavigator std::vector mIndices; std::vector mVertices; std::vector mAreaTypes; + std::vector mWater; ChunkyTriMesh mChunkyTriMesh; osg::Vec3f mBoundsMin; osg::Vec3f mBoundsMax; diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index 23a8bb83e..3e87aa34b 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -82,19 +82,16 @@ namespace DetourNavigator void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType) { - const auto indexOffset = int(mVertices.size() / 3); + const auto indexOffset = static_cast(mVertices.size() / 3); - for (int vertex = 0; vertex < shape.getNumVertices(); ++vertex) + for (int vertex = 0, count = shape.getNumVertices(); vertex < count; ++vertex) { btVector3 position; shape.getVertex(vertex, position); addVertex(transform(position)); } - for (int vertex = 0; vertex < 12; ++vertex) - mAreaTypes.push_back(areaType); - - static const std::array indices {{ + const std::array indices {{ 0, 2, 3, 3, 1, 0, 0, 4, 6, @@ -111,11 +108,18 @@ namespace DetourNavigator std::transform(indices.begin(), indices.end(), std::back_inserter(mIndices), [&] (int index) { return index + indexOffset; }); + + std::generate_n(std::back_inserter(mAreaTypes), 12, [=] { return areaType; }); + } + + void RecastMeshBuilder::addWater(const int cellSize, const btTransform& transform) + { + mWater.push_back(RecastMesh::Water {cellSize, transform}); } std::shared_ptr RecastMeshBuilder::create() const { - return std::make_shared(mIndices, mVertices, mAreaTypes, mSettings); + return std::make_shared(mIndices, mVertices, mAreaTypes, mWater, mSettings); } void RecastMeshBuilder::reset() @@ -123,6 +127,7 @@ namespace DetourNavigator mIndices.clear(); mVertices.clear(); mAreaTypes.clear(); + mWater.clear(); } void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform, diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index 221093362..af0565cab 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -4,14 +4,17 @@ #include "recastmesh.hpp" #include "tilebounds.hpp" +#include + +#include +#include + class btBoxShape; class btCollisionShape; class btCompoundShape; class btConcaveShape; class btHeightfieldTerrainShape; -class btTransform; class btTriangleCallback; -class btVector3; namespace DetourNavigator { @@ -30,6 +33,8 @@ namespace DetourNavigator void addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType); + void addWater(const int mCellSize, const btTransform& transform); + std::shared_ptr create() const; void reset(); @@ -40,6 +45,7 @@ namespace DetourNavigator std::vector mIndices; std::vector mVertices; std::vector mAreaTypes; + std::vector mWater; void addObject(const btConcaveShape& shape, const btTransform& transform, btTriangleCallback&& callback); diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index d51189194..cabde7fdf 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -42,6 +42,26 @@ namespace DetourNavigator return result; } + bool RecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, + const btTransform& transform) + { + if (!mWater.insert(std::make_pair(cellPosition, Water {cellSize, transform})).second) + return false; + mShouldRebuild = true; + return true; + } + + boost::optional RecastMeshManager::removeWater(const osg::Vec2i& cellPosition) + { + const auto water = mWater.find(cellPosition); + if (water == mWater.end()) + return boost::none; + mShouldRebuild = true; + const auto result = water->second; + mWater.erase(water); + return result; + } + std::shared_ptr RecastMeshManager::getMesh() { rebuild(); @@ -58,6 +78,8 @@ namespace DetourNavigator if (!mShouldRebuild) return; mMeshBuilder.reset(); + for (const auto& v : mWater) + mMeshBuilder.addWater(v.second.mCellSize, v.second.mTransform); for (const auto& v : mObjects) mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getAreaType()); mShouldRebuild = false; diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index 790059295..c4391b682 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -6,8 +6,11 @@ #include +#include + #include +#include #include class btCollisionShape; @@ -23,6 +26,12 @@ namespace DetourNavigator class RecastMeshManager { public: + struct Water + { + int mCellSize; + btTransform mTransform; + }; + RecastMeshManager(const Settings& settings, const TileBounds& bounds); bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, @@ -30,6 +39,10 @@ namespace DetourNavigator bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); + bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); + + boost::optional removeWater(const osg::Vec2i& cellPosition); + boost::optional removeObject(std::size_t id); std::shared_ptr getMesh(); @@ -40,6 +53,7 @@ namespace DetourNavigator bool mShouldRebuild; RecastMeshBuilder mMeshBuilder; std::unordered_map mObjects; + std::map mWater; void rebuild(); }; diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index 0d34ae7e9..ccfece3da 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -19,6 +19,7 @@ namespace DetourNavigator float mMaxSimplificationError; float mMaxSlope; float mRecastScaleFactor; + float mSwimHeightScale; int mBorderSize; int mMaxEdgeLen; int mMaxNavMeshQueryNodes; diff --git a/components/detournavigator/settingsutils.hpp b/components/detournavigator/settingsutils.hpp index 812753686..d96ea53cc 100644 --- a/components/detournavigator/settingsutils.hpp +++ b/components/detournavigator/settingsutils.hpp @@ -6,6 +6,8 @@ #include "tileposition.hpp" #include "tilebounds.hpp" +#include + #include #include #include @@ -68,6 +70,20 @@ namespace DetourNavigator { return settings.mBorderSize * settings.mCellSize; } + + inline float getSwimLevel(const Settings& settings, const float agentHalfExtentsZ) + { + return - settings.mSwimHeightScale * agentHalfExtentsZ; + } + + inline btTransform getSwimLevelTransform(const Settings& settings, const btTransform& transform, + const float agentHalfExtentsZ) + { + return btTransform( + transform.getBasis(), + transform.getOrigin() + btVector3(0, 0, getSwimLevel(settings, agentHalfExtentsZ) - agentHalfExtentsZ) + ); + } } #endif diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index f044b3c43..164253f85 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -83,6 +83,80 @@ namespace DetourNavigator return result; } + bool TileCachedRecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, + const btTransform& transform) + { + const auto border = getBorderSize(mSettings); + + auto& tilesPositions = mWaterTilesPositions[cellPosition]; + + bool result = false; + + if (cellSize == std::numeric_limits::max()) + { + const std::lock_guard lock(mTilesMutex); + for (auto& tile : mTiles) + { + if (tile.second.addWater(cellPosition, cellSize, transform)) + { + tilesPositions.push_back(tile.first); + result = true; + } + } + } + else + { + getTilesPositions(cellSize, transform, mSettings, [&] (const TilePosition& tilePosition) + { + std::unique_lock lock(mTilesMutex); + auto tile = mTiles.find(tilePosition); + if (tile == mTiles.end()) + { + auto tileBounds = makeTileBounds(mSettings, tilePosition); + tileBounds.mMin -= osg::Vec2f(border, border); + tileBounds.mMax += osg::Vec2f(border, border); + tile = mTiles.insert(std::make_pair(tilePosition, + CachedRecastMeshManager(mSettings, tileBounds))).first; + } + if (tile->second.addWater(cellPosition, cellSize, transform)) + { + lock.unlock(); + tilesPositions.push_back(tilePosition); + result = true; + } + }); + } + + if (result) + ++mRevision; + + return result; + } + + boost::optional TileCachedRecastMeshManager::removeWater(const osg::Vec2i& cellPosition) + { + const auto object = mWaterTilesPositions.find(cellPosition); + if (object == mWaterTilesPositions.end()) + return boost::none; + boost::optional result; + for (const auto& tilePosition : object->second) + { + std::unique_lock lock(mTilesMutex); + const auto tile = mTiles.find(tilePosition); + if (tile == mTiles.end()) + continue; + const auto tileResult = tile->second.removeWater(cellPosition); + if (tile->second.isEmpty()) + mTiles.erase(tile); + lock.unlock(); + if (tileResult && !result) + result = tileResult; + } + if (result) + ++mRevision; + return result; + } + std::shared_ptr TileCachedRecastMeshManager::getMesh(const TilePosition& tilePosition) { const std::lock_guard lock(mTilesMutex); diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index 32b06eadd..f67d2c392 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -21,6 +21,10 @@ namespace DetourNavigator boost::optional removeObject(std::size_t id); + bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); + + boost::optional removeWater(const osg::Vec2i& cellPosition); + std::shared_ptr getMesh(const TilePosition& tilePosition); bool hasTile(const TilePosition& tilePosition); @@ -40,6 +44,7 @@ namespace DetourNavigator std::mutex mTilesMutex; std::map mTiles; std::unordered_map> mObjectsTilesPositions; + std::map> mWaterTilesPositions; std::size_t mRevision = 0; }; } From dc09674362aaac2c447fe8ab30d8baa1e434edcf Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Jul 2018 13:37:02 +0300 Subject: [PATCH 072/130] Add command and settings option to enable actors paths render --- apps/openmw/CMakeLists.txt | 2 +- apps/openmw/mwbase/world.hpp | 4 + apps/openmw/mwmechanics/aipackage.cpp | 7 ++ apps/openmw/mwrender/actorspaths.cpp | 99 +++++++++++++++++++++++ apps/openmw/mwrender/actorspaths.hpp | 51 ++++++++++++ apps/openmw/mwrender/renderingmanager.cpp | 20 ++++- apps/openmw/mwrender/renderingmanager.hpp | 10 +++ apps/openmw/mwrender/rendermode.hpp | 1 + apps/openmw/mwscript/docs/vmformat.txt | 3 +- apps/openmw/mwscript/miscextensions.cpp | 15 ++++ apps/openmw/mwworld/scene.cpp | 3 + apps/openmw/mwworld/worldimp.cpp | 6 ++ apps/openmw/mwworld/worldimp.hpp | 3 + components/CMakeLists.txt | 2 +- components/compiler/extensions0.cpp | 2 +- components/compiler/opcodes.hpp | 1 + components/sceneutil/agentpath.cpp | 71 ++++++++++++++++ components/sceneutil/agentpath.hpp | 26 ++++++ components/sceneutil/detourdebugdraw.cpp | 9 ++- components/sceneutil/detourdebugdraw.hpp | 2 + files/settings-default.cfg | 5 +- 21 files changed, 334 insertions(+), 8 deletions(-) create mode 100644 apps/openmw/mwrender/actorspaths.cpp create mode 100644 apps/openmw/mwrender/actorspaths.hpp create mode 100644 components/sceneutil/agentpath.cpp create mode 100644 components/sceneutil/agentpath.hpp diff --git a/apps/openmw/CMakeLists.txt b/apps/openmw/CMakeLists.txt index bac9634db..ad8853753 100644 --- a/apps/openmw/CMakeLists.txt +++ b/apps/openmw/CMakeLists.txt @@ -21,7 +21,7 @@ add_openmw_dir (mwrender actors objects renderingmanager animation rotatecontroller sky npcanimation vismask creatureanimation effectmanager util renderinginterface pathgrid rendermode weaponanimation bulletdebugdraw globalmap characterpreview camera localmap water terrainstorage ripplesimulation - renderbin actoranimation landmanager navmesh + renderbin actoranimation landmanager navmesh actorspaths ) add_openmw_dir (mwinput diff --git a/apps/openmw/mwbase/world.hpp b/apps/openmw/mwbase/world.hpp index 18f997324..db6bda141 100644 --- a/apps/openmw/mwbase/world.hpp +++ b/apps/openmw/mwbase/world.hpp @@ -4,6 +4,7 @@ #include #include #include +#include #include @@ -597,6 +598,9 @@ namespace MWBase virtual void preloadEffects(const ESM::EffectList* effectList) = 0; virtual DetourNavigator::Navigator* getNavigator() const = 0; + + virtual void updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const = 0; }; } diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 0b06d8c1d..16af9c8e7 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -5,6 +5,7 @@ #include #include #include +#include #include "../mwbase/world.hpp" #include "../mwbase/environment.hpp" @@ -102,6 +103,12 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& const ESM::Position pos = actor.getRefData().getPosition(); //position of the actor + { + const auto halfExtents = MWBase::Environment::get().getWorld()->getHalfExtents(actor); + MWBase::Environment::get().getWorld()->updateActorPath(actor, mPathFinder.getPath(), halfExtents, + pos.asVec3(), dest); + } + /// Stops the actor when it gets too close to a unloaded cell //... At current time, this test is unnecessary. AI shuts down when actor is more than 7168 //... units from player, and exterior cells are 8192 units long and wide. diff --git a/apps/openmw/mwrender/actorspaths.cpp b/apps/openmw/mwrender/actorspaths.cpp new file mode 100644 index 000000000..35b255355 --- /dev/null +++ b/apps/openmw/mwrender/actorspaths.cpp @@ -0,0 +1,99 @@ +#include "actorspaths.hpp" +#include "vismask.hpp" + +#include + +#include + +namespace MWRender +{ + ActorsPaths::ActorsPaths(const osg::ref_ptr& root, bool enabled) + : mRootNode(root) + , mEnabled(enabled) + { + } + + ActorsPaths::~ActorsPaths() + { + if (mEnabled) + disable(); + } + + bool ActorsPaths::toggle() + { + if (mEnabled) + disable(); + else + enable(); + + return mEnabled; + } + + void ActorsPaths::update(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end, + const DetourNavigator::Settings& settings) + { + if (!mEnabled) + return; + + const auto group = mGroups.find(actor); + if (group != mGroups.end()) + mRootNode->removeChild(group->second); + + const auto newGroup = SceneUtil::createAgentPathGroup(path, halfExtents, start, end, settings); + if (newGroup) + { + newGroup->setNodeMask(Mask_Debug); + mRootNode->addChild(newGroup); + mGroups[actor] = newGroup; + } + } + + void ActorsPaths::remove(const MWWorld::ConstPtr& actor) + { + const auto group = mGroups.find(actor); + if (group != mGroups.end()) + { + mRootNode->removeChild(group->second); + mGroups.erase(group); + } + } + + void ActorsPaths::removeCell(const MWWorld::CellStore* const store) + { + for (auto it = mGroups.begin(); it != mGroups.end(); ) + { + if (it->first.getCell() == store) + { + mRootNode->removeChild(it->second); + it = mGroups.erase(it); + } + else + ++it; + } + } + + void ActorsPaths::updatePtr(const MWWorld::ConstPtr& old, const MWWorld::ConstPtr& updated) + { + const auto it = mGroups.find(old); + if (it == mGroups.end()) + return; + auto group = std::move(it->second); + mGroups.erase(it); + mGroups.insert(std::make_pair(updated, std::move(group))); + } + + void ActorsPaths::enable() + { + std::for_each(mGroups.begin(), mGroups.end(), + [&] (const Groups::value_type& v) { mRootNode->addChild(v.second); }); + mEnabled = true; + } + + void ActorsPaths::disable() + { + std::for_each(mGroups.begin(), mGroups.end(), + [&] (const Groups::value_type& v) { mRootNode->removeChild(v.second); }); + mEnabled = false; + } +} diff --git a/apps/openmw/mwrender/actorspaths.hpp b/apps/openmw/mwrender/actorspaths.hpp new file mode 100644 index 000000000..1f61834d4 --- /dev/null +++ b/apps/openmw/mwrender/actorspaths.hpp @@ -0,0 +1,51 @@ +#ifndef OPENMW_MWRENDER_AGENTSPATHS_H +#define OPENMW_MWRENDER_AGENTSPATHS_H + +#include + +#include + +#include + +#include +#include + +namespace osg +{ + class Group; +} + +namespace MWRender +{ + class ActorsPaths + { + public: + ActorsPaths(const osg::ref_ptr& root, bool enabled); + ~ActorsPaths(); + + bool toggle(); + + void update(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end, + const DetourNavigator::Settings& settings); + + void remove(const MWWorld::ConstPtr& actor); + + void removeCell(const MWWorld::CellStore* const store); + + void updatePtr(const MWWorld::ConstPtr& old, const MWWorld::ConstPtr& updated); + + void enable(); + + void disable(); + + private: + using Groups = std::map>; + + osg::ref_ptr mRootNode; + Groups mGroups; + bool mEnabled; + }; +} + +#endif diff --git a/apps/openmw/mwrender/renderingmanager.cpp b/apps/openmw/mwrender/renderingmanager.cpp index fbe8ba345..5c0a3347c 100644 --- a/apps/openmw/mwrender/renderingmanager.cpp +++ b/apps/openmw/mwrender/renderingmanager.cpp @@ -66,6 +66,7 @@ #include "terrainstorage.hpp" #include "util.hpp" #include "navmesh.hpp" +#include "actorspaths.hpp" namespace { @@ -234,7 +235,8 @@ namespace MWRender mRootNode->addChild(mSceneRoot); - mNavMesh.reset(new NavMesh(mRootNode, Settings::Manager::getBool("enable render", "Navigator"))); + mNavMesh.reset(new NavMesh(mRootNode, Settings::Manager::getBool("enable nav mesh render", "Navigator"))); + mActorsPaths.reset(new ActorsPaths(mRootNode, Settings::Manager::getBool("enable agents paths render", "Navigator"))); mPathgrid.reset(new Pathgrid(mRootNode)); mObjects.reset(new Objects(mResourceSystem, sceneRoot, mUnrefQueue.get())); @@ -472,6 +474,7 @@ namespace MWRender void RenderingManager::removeCell(const MWWorld::CellStore *store) { mPathgrid->removeCell(store); + mActorsPaths->removeCell(store); mObjects->removeCell(store); if (store->getCell()->isExterior()) @@ -527,6 +530,10 @@ namespace MWRender { return mNavMesh->toggle(); } + else if (mode == Render_ActorsPaths) + { + return mActorsPaths->toggle(); + } return false; } @@ -666,6 +673,7 @@ namespace MWRender void RenderingManager::removeObject(const MWWorld::Ptr &ptr) { + mActorsPaths->remove(ptr); mObjects->removeObject(ptr); mWater->removeEmitter(ptr); } @@ -1049,6 +1057,7 @@ namespace MWRender void RenderingManager::updatePtr(const MWWorld::Ptr &old, const MWWorld::Ptr &updated) { mObjects->updatePtr(old, updated); + mActorsPaths->updatePtr(old, updated); } void RenderingManager::spawnEffect(const std::string &model, const std::string &texture, const osg::Vec3f &worldPosition, float scale, bool isMagicVFX) @@ -1369,5 +1378,14 @@ namespace MWRender return mTerrainStorage->getLandManager(); } + void RenderingManager::updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const + { + mActorsPaths->update(actor, path, halfExtents, start, end, mNavigator.getSettings()); + } + void RenderingManager::removeActorPath(const MWWorld::ConstPtr& actor) const + { + mActorsPaths->remove(actor); + } } diff --git a/apps/openmw/mwrender/renderingmanager.hpp b/apps/openmw/mwrender/renderingmanager.hpp index a8eae5286..76ec67445 100644 --- a/apps/openmw/mwrender/renderingmanager.hpp +++ b/apps/openmw/mwrender/renderingmanager.hpp @@ -12,6 +12,8 @@ #include "renderinginterface.hpp" #include "rendermode.hpp" +#include + namespace osg { class Group; @@ -58,6 +60,7 @@ namespace SceneUtil namespace DetourNavigator { class Navigator; + struct Settings; } namespace MWRender @@ -74,6 +77,7 @@ namespace MWRender class TerrainStorage; class LandManager; class NavMesh; + class ActorsPaths; class RenderingManager : public MWRender::RenderingInterface { @@ -219,6 +223,11 @@ namespace MWRender bool toggleBorders(); + void updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const; + + void removeActorPath(const MWWorld::ConstPtr& actor) const; + private: void updateProjectionMatrix(); void updateTextureFiltering(); @@ -245,6 +254,7 @@ namespace MWRender DetourNavigator::Navigator& mNavigator; std::unique_ptr mNavMesh; + std::unique_ptr mActorsPaths; std::unique_ptr mPathgrid; std::unique_ptr mObjects; std::unique_ptr mWater; diff --git a/apps/openmw/mwrender/rendermode.hpp b/apps/openmw/mwrender/rendermode.hpp index 9f0c5a7cd..077710f4f 100644 --- a/apps/openmw/mwrender/rendermode.hpp +++ b/apps/openmw/mwrender/rendermode.hpp @@ -12,6 +12,7 @@ namespace MWRender Render_Water, Render_Scene, Render_NavMesh, + Render_ActorsPaths, }; } diff --git a/apps/openmw/mwscript/docs/vmformat.txt b/apps/openmw/mwscript/docs/vmformat.txt index 2ce22633c..bc7d93a13 100644 --- a/apps/openmw/mwscript/docs/vmformat.txt +++ b/apps/openmw/mwscript/docs/vmformat.txt @@ -456,5 +456,6 @@ op 0x2000305: Show, explicit op 0x2000306: OnActivate, explicit op 0x2000307: ToggleBorders, tb op 0x2000308: ToggleNavMesh +op 0x2000309: ToggleActorsPaths -opcodes 0x2000309-0x3ffffff unused +opcodes 0x200030a-0x3ffffff unused diff --git a/apps/openmw/mwscript/miscextensions.cpp b/apps/openmw/mwscript/miscextensions.cpp index 8ccb619d0..8507b7628 100644 --- a/apps/openmw/mwscript/miscextensions.cpp +++ b/apps/openmw/mwscript/miscextensions.cpp @@ -1331,6 +1331,20 @@ namespace MWScript } }; + class OpToggleActorsPaths : public Interpreter::Opcode0 + { + public: + + virtual void execute (Interpreter::Runtime& runtime) + { + bool enabled = + MWBase::Environment::get().getWorld()->toggleRenderMode (MWRender::Render_ActorsPaths); + + runtime.getContext().report (enabled ? + "Agents Paths Rendering -> On" : "Agents Paths Rendering -> Off"); + } + }; + void installOpcodes (Interpreter::Interpreter& interpreter) { interpreter.installSegment5 (Compiler::Misc::opcodeXBox, new OpXBox); @@ -1432,6 +1446,7 @@ namespace MWScript interpreter.installSegment3 (Compiler::Misc::opcodeShowSceneGraphExplicit, new OpShowSceneGraph); interpreter.installSegment5 (Compiler::Misc::opcodeToggleBorders, new OpToggleBorders); interpreter.installSegment5 (Compiler::Misc::opcodeToggleNavMesh, new OpToggleNavMesh); + interpreter.installSegment5 (Compiler::Misc::opcodeToggleActorsPaths, new OpToggleActorsPaths); } } } diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index ca19383d1..2f6c0330f 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -278,7 +278,10 @@ namespace MWWorld if (const auto object = mPhysics->getObject(ptr)) navigator->removeObject(reinterpret_cast(object)); else if (const auto actor = mPhysics->getActor(ptr)) + { navigator->removeAgent(playerHalfExtents); + mRendering.removeActorPath(ptr); + } mPhysics->remove(ptr); } diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index bb8bd9615..2929a4974 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -3745,4 +3745,10 @@ namespace MWWorld return mNavigator.get(); } + void World::updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const + { + mRendering->updateActorPath(actor, path, halfExtents, start, end); + } + } diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp index 4e3deffbe..b49267962 100644 --- a/apps/openmw/mwworld/worldimp.hpp +++ b/apps/openmw/mwworld/worldimp.hpp @@ -691,6 +691,9 @@ namespace MWWorld void preloadEffects(const ESM::EffectList* effectList) override; DetourNavigator::Navigator* getNavigator() const override; + + void updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const override; }; } diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index 7ca7ce673..cf45d3212 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -51,7 +51,7 @@ add_component_dir (shader add_component_dir (sceneutil clone attach visitor util statesetupdater controller skeleton riggeometry morphgeometry lightcontroller lightmanager lightutil positionattitudetransform workqueue unrefqueue pathgridutil waterutil writescene serialize optimizer - actorutil detourdebugdraw navmesh + actorutil detourdebugdraw navmesh agentpath ) add_component_dir (nif diff --git a/components/compiler/extensions0.cpp b/components/compiler/extensions0.cpp index e39b97e3f..241abfaa4 100644 --- a/components/compiler/extensions0.cpp +++ b/components/compiler/extensions0.cpp @@ -321,7 +321,7 @@ namespace Compiler extensions.registerInstruction ("tb", "", opcodeToggleBorders); extensions.registerInstruction ("toggleborders", "", opcodeToggleBorders); extensions.registerInstruction ("togglenavmesh", "", opcodeToggleNavMesh); - extensions.registerInstruction ("tnm", "", opcodeToggleNavMesh); + extensions.registerInstruction ("toggleactorspaths", "", opcodeToggleActorsPaths); } } diff --git a/components/compiler/opcodes.hpp b/components/compiler/opcodes.hpp index 75ef73837..c591115ec 100644 --- a/components/compiler/opcodes.hpp +++ b/components/compiler/opcodes.hpp @@ -297,6 +297,7 @@ namespace Compiler const int opcodeShowSceneGraphExplicit = 0x20030; const int opcodeToggleBorders = 0x2000307; const int opcodeToggleNavMesh = 0x2000308; + const int opcodeToggleActorsPaths = 0x2000309; } namespace Sky diff --git a/components/sceneutil/agentpath.cpp b/components/sceneutil/agentpath.cpp new file mode 100644 index 000000000..aaee4dd1e --- /dev/null +++ b/components/sceneutil/agentpath.cpp @@ -0,0 +1,71 @@ +#include "agentpath.hpp" +#include "detourdebugdraw.hpp" + +#include +#include + +#include + +namespace +{ + void drawAgent(duDebugDraw& debugDraw, const osg::Vec3f& pos, const float radius, const float height, + const float climb, const unsigned color) + { + debugDraw.depthMask(false); + + duDebugDrawCylinderWire(&debugDraw, pos.x() - radius, pos.z() + 0.02f, pos.y() - radius, pos.x() + radius, + pos.z() + height, pos.y() + radius, color, radius * 0.2f); + + duDebugDrawCircle(&debugDraw, pos.x(), pos.z() + climb, pos.y(), radius, duRGBA(0, 0 , 0, 64), radius * 0.1f); + + const auto colb = duRGBA(0, 0, 0, 196); + debugDraw.begin(DU_DRAW_LINES); + debugDraw.vertex(pos.x(), pos.z() - climb, pos.y(), colb); + debugDraw.vertex(pos.x(), pos.z() + climb, pos.y(), colb); + debugDraw.vertex(pos.x() - radius / 2, pos.z() + 0.02f, pos.y(), colb); + debugDraw.vertex(pos.x() + radius / 2, pos.z() + 0.02f, pos.y(), colb); + debugDraw.vertex(pos.x(), pos.z() + 0.02f, pos.y() - radius / 2, colb); + debugDraw.vertex(pos.x(), pos.z() + 0.02f, pos.y() + radius / 2, colb); + debugDraw.end(); + + debugDraw.depthMask(true); + } +} + +namespace SceneUtil +{ + osg::ref_ptr createAgentPathGroup(const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end, + const DetourNavigator::Settings& settings) + { + using namespace DetourNavigator; + + const osg::ref_ptr group(new osg::Group); + + DebugDraw debugDraw(*group, osg::Vec3f(0, 0, 0), 1); + + const auto agentRadius = halfExtents.x(); + const auto agentHeight = 2.0f * halfExtents.z(); + const auto agentClimb = settings.mMaxClimb; + const auto startColor = duRGBA(128, 25, 0, 192); + const auto endColor = duRGBA(51, 102, 0, 129); + + drawAgent(debugDraw, start, agentRadius, agentHeight, agentClimb, startColor); + drawAgent(debugDraw, end, agentRadius, agentHeight, agentClimb, endColor); + + const auto pathColor = duRGBA(0, 0, 0, 220); + + debugDraw.depthMask(false); + + debugDraw.begin(osg::PrimitiveSet::LINE_STRIP, agentRadius * 0.5f); + debugDraw.vertex(osg::Vec3f(start.x(), start.z() + agentClimb, start.y()).ptr(), startColor); + std::for_each(path.begin(), path.end(), + [&] (const osg::Vec3f& v) { debugDraw.vertex(osg::Vec3f(v.x(), v.z() + agentClimb, v.y()).ptr(), pathColor); }); + debugDraw.vertex(osg::Vec3f(end.x(), end.z() + agentClimb, end.y()).ptr(), endColor); + debugDraw.end(); + + debugDraw.depthMask(true); + + return group; + } +} diff --git a/components/sceneutil/agentpath.hpp b/components/sceneutil/agentpath.hpp new file mode 100644 index 000000000..a8965d852 --- /dev/null +++ b/components/sceneutil/agentpath.hpp @@ -0,0 +1,26 @@ +#ifndef OPENMW_COMPONENTS_SCENEUTIL_AGENTPATH_H +#define OPENMW_COMPONENTS_SCENEUTIL_AGENTPATH_H + +#include + +#include + +namespace osg +{ + class Group; + class Vec3f; +} + +namespace DetourNavigator +{ + struct Settings; +} + +namespace SceneUtil +{ + osg::ref_ptr createAgentPathGroup(const std::deque& path, + const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end, + const DetourNavigator::Settings& settings); +} + +#endif diff --git a/components/sceneutil/detourdebugdraw.cpp b/components/sceneutil/detourdebugdraw.cpp index f6c438e79..a0ae67dc2 100644 --- a/components/sceneutil/detourdebugdraw.cpp +++ b/components/sceneutil/detourdebugdraw.cpp @@ -56,14 +56,19 @@ namespace SceneUtil throw std::logic_error("DebugDraw does not support textures (at " __FILE__ ":" OPENMW_LINE_STRING ")"); } - void DebugDraw::begin(duDebugDrawPrimitives prim, float size) + void DebugDraw::begin(osg::PrimitiveSet::Mode mode, float size) { - mMode = toOsgPrimitiveSetMode(prim); + mMode = mode; mVertices = new osg::Vec3Array; mColors = new osg::Vec4Array; mSize = size * mRecastInvertedScaleFactor; } + void DebugDraw::begin(duDebugDrawPrimitives prim, float size) + { + begin(toOsgPrimitiveSetMode(prim), size); + } + void DebugDraw::vertex(const float* pos, unsigned color) { vertex(pos[0], pos[1], pos[2], color); diff --git a/components/sceneutil/detourdebugdraw.hpp b/components/sceneutil/detourdebugdraw.hpp index 87f501e2b..bb170e7ba 100644 --- a/components/sceneutil/detourdebugdraw.hpp +++ b/components/sceneutil/detourdebugdraw.hpp @@ -18,6 +18,8 @@ namespace SceneUtil void texture(bool state) override; + void begin(osg::PrimitiveSet::Mode mode, float size); + void begin(duDebugDrawPrimitives prim, float size) override; void vertex(const float* pos, unsigned int color) override; diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 1b346dad6..c046a19b3 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -619,4 +619,7 @@ recast mesh path prefix = nav mesh path prefix = # Render nav mesh (true, false) -enable render = false +enable nav mesh render = false + +# Render agents paths (true, false) +enable agents paths render = false From d02beae5a8522b0c0c7ae6f90877d7d016d1d556 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 21 Jul 2018 14:16:19 +0300 Subject: [PATCH 073/130] Find path for actors according to their abilities to swim and walk --- apps/openmw/mwmechanics/aipackage.cpp | 16 +++- apps/openmw/mwmechanics/aipackage.hpp | 2 + apps/openmw/mwmechanics/pathfinding.cpp | 4 +- apps/openmw/mwmechanics/pathfinding.hpp | 3 +- .../detournavigator/navigator.cpp | 81 +++++++++++++++---- components/detournavigator/findsmoothpath.hpp | 5 +- components/detournavigator/navigator.hpp | 6 +- 7 files changed, 92 insertions(+), 25 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 16af9c8e7..a14617249 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -141,7 +141,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& || world->isFlying(actor); // Prohibit shortcuts for AiWander, if the actor can not move in 3 dimensions. - if (actorCanMoveByZ || getTypeId() != TypeIdWander) + if (actorCanMoveByZ) mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS, actorCanMoveByZ); // try to shortcut first if (!mIsShortcutting) @@ -400,3 +400,17 @@ bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& act // no points of actor's circle should be farther from the center than destination point return (radius <= distToDest); } + +DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld::Ptr& actor) const +{ + const auto& actorClass = actor.getClass(); + DetourNavigator::Flags result = DetourNavigator::Flag_none; + + if (actorClass.isPureWaterCreature(actor) || (getTypeId() != TypeIdWander && actorClass.canSwim(actor))) + result |= DetourNavigator::Flag_swim; + + if (actorClass.canWalk(actor)) + result |= DetourNavigator::Flag_walk; + + return result; +} diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 59bd6689d..20f47480e 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -132,6 +132,8 @@ namespace MWMechanics const PathgridGraph& getPathGridGraph(const MWWorld::CellStore* cell); + DetourNavigator::Flags getNavigatorFlags(const MWWorld::Ptr& actor) const; + // TODO: all this does not belong here, move into temporary storage PathFinder mPathFinder; ObstacleCheck mObstacleCheck; diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 5a34bb230..2611cb5ed 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -290,14 +290,14 @@ namespace MWMechanics } void PathFinder::buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const osg::Vec3f& halfExtents) + const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags) { try { mPath.clear(); const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - navigator->findPath(halfExtents, startPoint, endPoint, std::back_inserter(mPath)); + navigator->findPath(halfExtents, startPoint, endPoint, flags, std::back_inserter(mPath)); mConstructed = true; } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index f488e3b14..aaae2e88e 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -4,6 +4,7 @@ #include #include +#include #include #include @@ -176,7 +177,7 @@ namespace MWMechanics } void buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const osg::Vec3f& halfExtents); + const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags); private: bool mConstructed; diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 84aa34474..52e350572 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -64,20 +64,20 @@ namespace TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_throw_exception) { - EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), InvalidArgument); } TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception) { mNavigator->addAgent(mAgentHalfExtents); - EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException); } TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_throw_exception) { mNavigator->addAgent(mAgentHalfExtents); mNavigator->removeAgent(mAgentHalfExtents); - EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), InvalidArgument); } TEST_F(DetourNavigatorNavigatorTest, add_agent_should_count_each_agent) @@ -85,7 +85,7 @@ namespace mNavigator->addAgent(mAgentHalfExtents); mNavigator->addAgent(mAgentHalfExtents); mNavigator->removeAgent(mAgentHalfExtents); - EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException); + EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException); } TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path) @@ -105,7 +105,7 @@ namespace mNavigator->update(mPlayerPosition); mNavigator->wait(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.85963428020477294921875), @@ -155,7 +155,7 @@ namespace mNavigator->update(mPlayerPosition); mNavigator->wait(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath)); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath)); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.85963428020477294921875), @@ -188,7 +188,7 @@ namespace mNavigator->wait(); mPath.clear(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath)); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath)); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.87827122211456298828125), @@ -239,7 +239,7 @@ namespace mNavigator->update(mPlayerPosition); mNavigator->wait(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath)); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath)); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.87827122211456298828125), @@ -274,7 +274,7 @@ namespace mNavigator->wait(); mPath.clear(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.85963428020477294921875), @@ -331,7 +331,7 @@ namespace mNavigator->update(mPlayerPosition); mNavigator->wait(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.96328866481781005859375), @@ -387,7 +387,7 @@ namespace mNavigator->update(mPlayerPosition); mNavigator->wait(); - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(-215, 215, 1.9393787384033203125), @@ -417,7 +417,7 @@ namespace })) << mPath; } - TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_ground_lower_than_water) + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_ground_lower_than_water_with_only_swim_flag) { std::array heightfieldData {{ -50, -50, -50, -50, 0, @@ -440,7 +440,7 @@ namespace mEnd.x() = 0; mEnd.z() = 300; - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(0, 215, 185.33331298828125), @@ -463,7 +463,7 @@ namespace })) << mPath; } - TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water) + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_swim_and_walk_flags) { std::array heightfieldData {{ 0, 0, 0, 0, 0, 0, 0, @@ -486,7 +486,7 @@ namespace mStart.x() = 0; mEnd.x() = 0; - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim | Flag_walk, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(0, 215, -94.75363922119140625), @@ -509,7 +509,7 @@ namespace })) << mPath; } - TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_max_int_cells_size) + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_max_int_cells_size_and_swim_and_walk_flags) { std::array heightfieldData {{ 0, 0, 0, 0, 0, 0, 0, @@ -532,7 +532,7 @@ namespace mStart.x() = 0; mEnd.x() = 0; - mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut); + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim | Flag_walk, mOut); EXPECT_EQ(mPath, std::deque({ osg::Vec3f(0, 215, -94.75363922119140625), @@ -554,4 +554,51 @@ namespace osg::Vec3f(0, -215, -94.753631591796875), })) << mPath; } + + TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_ground_when_ground_cross_water_with_only_walk_flag) + { + std::array heightfieldData {{ + 0, 0, 0, 0, 0, 0, 0, + 0, -100, -100, -100, -100, -100, 0, + 0, -100, -150, -150, -150, -100, 0, + 0, -100, -150, -200, -150, -100, 0, + 0, -100, -150, -150, -150, -100, 0, + 0, -100, -100, -100, -100, -100, 0, + 0, 0, 0, 0, 0, 0, 0, + }}; + btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity()); + mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mStart.x() = 0; + mEnd.x() = 0; + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(0, 215, -94.75363922119140625), + osg::Vec3f(9.8083515167236328125, 188.4185333251953125, -105.19994354248046875), + osg::Vec3f(19.6167049407958984375, 161.837066650390625, -114.25496673583984375), + osg::Vec3f(29.42505645751953125, 135.255615234375, -123.309967041015625), + osg::Vec3f(39.23340606689453125, 108.674163818359375, -132.3649749755859375), + osg::Vec3f(49.04175567626953125, 82.09270477294921875, -137.2874755859375), + osg::Vec3f(58.8501129150390625, 55.5112457275390625, -139.2451171875), + osg::Vec3f(68.6584625244140625, 28.9297885894775390625, -141.2027740478515625), + osg::Vec3f(78.4668121337890625, 2.3483295440673828125, -143.1604156494140625), + osg::Vec3f(88.27516937255859375, -24.233127593994140625, -141.3894805908203125), + osg::Vec3f(83.73651885986328125, -52.2005767822265625, -142.3761444091796875), + osg::Vec3f(79.19786834716796875, -80.16802978515625, -143.114837646484375), + osg::Vec3f(64.8477935791015625, -104.598602294921875, -137.840911865234375), + osg::Vec3f(50.497714996337890625, -129.0291748046875, -131.45831298828125), + osg::Vec3f(36.147632598876953125, -153.459747314453125, -121.42321014404296875), + osg::Vec3f(21.7975559234619140625, -177.8903350830078125, -111.38809967041015625), + osg::Vec3f(7.44747829437255859375, -202.3209075927734375, -101.1938323974609375), + osg::Vec3f(0, -215, -94.753631591796875), + })) << mPath; + } } diff --git a/components/detournavigator/findsmoothpath.hpp b/components/detournavigator/findsmoothpath.hpp index c145e828c..08bfa14da 100644 --- a/components/detournavigator/findsmoothpath.hpp +++ b/components/detournavigator/findsmoothpath.hpp @@ -219,13 +219,14 @@ namespace DetourNavigator template OutputIterator findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, - const osg::Vec3f& start, const osg::Vec3f& end, const Settings& settings, OutputIterator out) + const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, + const Settings& settings, OutputIterator out) { dtNavMeshQuery navMeshQuery; OPENMW_CHECK_DT_STATUS(navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes)); dtQueryFilter queryFilter; - queryFilter.setIncludeFlags(Flag_swim | Flag_walk); + queryFilter.setIncludeFlags(includeFlags); dtPolyRef startRef = 0; osg::Vec3f startPolygonPosition; diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index b06397525..3e60d72e0 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATOR_H #include "findsmoothpath.hpp" +#include "flags.hpp" #include "navmeshmanager.hpp" #include "settings.hpp" #include "settingsutils.hpp" @@ -48,11 +49,12 @@ namespace DetourNavigator template OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start, - const osg::Vec3f& end, OutputIterator out) const + const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const { const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents); return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents), - toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), mSettings, out); + toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags, + mSettings, out); } std::map> getNavMeshes() const; From 661da42bd299653d80f6155b62212af5bd7b37c3 Mon Sep 17 00:00:00 2001 From: elsid Date: Thu, 23 Aug 2018 00:20:25 +0300 Subject: [PATCH 074/130] Build path by navigator --- apps/openmw/mwmechanics/aipackage.cpp | 4 +- apps/openmw/mwmechanics/aiwander.cpp | 27 +++++++-- apps/openmw/mwmechanics/aiwander.hpp | 1 + apps/openmw/mwmechanics/pathfinding.cpp | 75 +++++++++++-------------- apps/openmw/mwmechanics/pathfinding.hpp | 27 +++++---- 5 files changed, 72 insertions(+), 62 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index a14617249..5130488e3 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -148,7 +148,9 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& { if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell())) // if need to rebuild path { - mPathFinder.buildSyncedPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell())); + const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); + mPathFinder.buildPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell()), + playerHalfExtents, getNavigatorFlags(actor)); mRotateOnTheRunChecks = 3; // give priority to go directly on target if there is minimal opportunity diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index 4a452e1f7..e0822e806 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -50,7 +50,8 @@ namespace MWMechanics AiWander::AiWander(int distance, int duration, int timeOfDay, const std::vector& idle, bool repeat): mDistance(distance), mDuration(duration), mRemainingDuration(duration), mTimeOfDay(timeOfDay), mIdle(idle), - mRepeat(repeat), mStoredInitialActorPosition(false), mInitialActorPosition(osg::Vec3f(0, 0, 0)), mHasDestination(false), mDestination(osg::Vec3f(0, 0, 0)) + mRepeat(repeat), mStoredInitialActorPosition(false), mInitialActorPosition(osg::Vec3f(0, 0, 0)), + mHasDestination(false), mDestination(osg::Vec3f(0, 0, 0)), mUsePathgrid(false) { mIdle.resize(8, 0); init(); @@ -151,8 +152,18 @@ namespace MWMechanics // rebuild a path to it if (!mPathFinder.isPathConstructed() && mHasDestination) { - mPathFinder.buildSyncedPath(pos.asVec3(), mDestination, actor.getCell(), - getPathGridGraph(actor.getCell())); + if (mUsePathgrid) + { + mPathFinder.buildPathByPathgrid(pos.asVec3(), mDestination, actor.getCell(), + getPathGridGraph(actor.getCell())); + } + else + { + const auto world = MWBase::Environment::get().getWorld(); + const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); + mPathFinder.buildPath(pos.asVec3(), mDestination, actor.getCell(), getPathGridGraph(actor.getCell()), + playerHalfExtents, getNavigatorFlags(actor)); + } if (mPathFinder.isPathConstructed()) storage.setState(AiWanderStorage::Wander_Walking); @@ -310,14 +321,17 @@ namespace MWMechanics if ((!isWaterCreature && !destinationIsAtWater(actor, mDestination)) || (isWaterCreature && !destinationThroughGround(currentPosition, mDestination))) { - mPathFinder.buildSyncedPath(currentPosition, destinationPosition, actor.getCell(), - getPathGridGraph(actor.getCell())); + const auto world = MWBase::Environment::get().getWorld();; + const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); + mPathFinder.buildPath(currentPosition, destinationPosition, actor.getCell(), + getPathGridGraph(actor.getCell()), playerHalfExtents, getNavigatorFlags(actor)); mPathFinder.addPointToPath(destinationPosition); if (mPathFinder.isPathConstructed()) { storage.setState(AiWanderStorage::Wander_Walking, true); mHasDestination = true; + mUsePathgrid = false; } return; } @@ -595,12 +609,13 @@ namespace MWMechanics // don't take shortcuts for wandering const auto destVec3f = PathFinder::makeOsgVec3(dest); - mPathFinder.buildSyncedPath(start, destVec3f, actor.getCell(), getPathGridGraph(actor.getCell())); + mPathFinder.buildPathByPathgrid(start, destVec3f, actor.getCell(), getPathGridGraph(actor.getCell())); if (mPathFinder.isPathConstructed()) { mDestination = destVec3f; mHasDestination = true; + mUsePathgrid = true; // Remove this node as an option and add back the previously used node (stops NPC from picking the same node): ESM::Pathgrid::Point temp = storage.mAllowedNodes[randNode]; storage.mAllowedNodes.erase(storage.mAllowedNodes.begin() + randNode); diff --git a/apps/openmw/mwmechanics/aiwander.hpp b/apps/openmw/mwmechanics/aiwander.hpp index 8df863590..bba6f7113 100644 --- a/apps/openmw/mwmechanics/aiwander.hpp +++ b/apps/openmw/mwmechanics/aiwander.hpp @@ -164,6 +164,7 @@ namespace MWMechanics bool mHasDestination; osg::Vec3f mDestination; + bool mUsePathgrid; void getNeighbouringNodes(ESM::Pathgrid::Point dest, const MWWorld::CellStore* currentCell, ESM::Pathgrid::PointList& points); diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 2611cb5ed..ee091de4c 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -124,13 +124,9 @@ namespace MWMechanics * j = @.x in local coordinates (i.e. within the cell) * k = @.x in world coordinates */ - void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph) + void PathFinder::buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const PathgridGraph& pathgridGraph, std::back_insert_iterator> out) { - mConstructed = true; - mPath.clear(); - mCell = cell; - const auto pathgrid = pathgridGraph.getPathgrid(); // Refer to AiWander reseach topic on openmw forums for some background. @@ -138,7 +134,7 @@ namespace MWMechanics // physics take care of any blockages. if(!pathgrid || pathgrid->mPoints.empty()) { - mPath.push_back(endPoint); + *out++ = endPoint; return; } @@ -165,7 +161,7 @@ namespace MWMechanics float startTo1stNodeLength2 = distanceSquared(pathgrid->mPoints[startNode], startPointInLocalCoords); if ((startToEndLength2 < startTo1stNodeLength2) || (startToEndLength2 < endTolastNodeLength2)) { - mPath.push_back(endPoint); + *out++ = endPoint; return; } @@ -178,7 +174,7 @@ namespace MWMechanics { ESM::Pathgrid::Point temp(pathgrid->mPoints[startNode]); converter.toWorld(temp); - mPath.push_back(makeOsgVec3(temp)); + *out++ = makeOsgVec3(temp); } else { @@ -207,7 +203,7 @@ namespace MWMechanics } // convert supplied path to world coordinates - std::transform(path.begin(), path.end(), std::back_inserter(mPath), + std::transform(path.begin(), path.end(), out, [&] (ESM::Pathgrid::Point& point) { converter.toWorld(point); @@ -228,7 +224,7 @@ namespace MWMechanics // // The AI routines will have to deal with such situations. if(endNode.second) - mPath.push_back(endPoint); + *out++ = endPoint; } float PathFinder::getZAngleToNext(float x, float y) const @@ -263,43 +259,40 @@ namespace MWMechanics mPath.pop_front(); } - // see header for the rationale - void PathFinder::buildSyncedPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const MWWorld::CellStore* cell, const MWMechanics::PathgridGraph& pathgridGraph) + void PathFinder::buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph) { - if (mPath.size() < 2) - { - // if path has one point, then it's the destination. - // don't need to worry about bad path for this case - buildPath(startPoint, endPoint, cell, pathgridGraph); - } - else - { - const auto oldStart = getPath().front(); - buildPath(startPoint, endPoint, cell, pathgridGraph); - if (mPath.size() >= 2) - { - // if 2nd waypoint of new path == 1st waypoint of old, - // delete 1st waypoint of new path. - if (mPath[1] == oldStart) - { - mPath.pop_front(); - } - } - } + mPath.clear(); + mCell = cell; + + buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath)); + + mConstructed = true; } - void PathFinder::buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags) + void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents, + const DetourNavigator::Flags flags) + { + mPath.clear(); + mCell = cell; + + buildPathByNavigatorImpl(startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath)); + + if (mPath.empty()) + buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath)); + + mConstructed = true; + } + + void PathFinder::buildPathByNavigatorImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags, + std::back_insert_iterator> out) { try { - mPath.clear(); - const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - navigator->findPath(halfExtents, startPoint, endPoint, flags, std::back_inserter(mPath)); - - mConstructed = true; + navigator->findPath(halfExtents, startPoint, endPoint, flags, out); } catch (const DetourNavigator::NavigatorException& exception) { diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index aaae2e88e..543305ff6 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -70,8 +71,12 @@ namespace MWMechanics mCell = nullptr; } + void buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); + void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); + const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents, + const DetourNavigator::Flags flags); /// Remove front point if exist and within tolerance void update(const osg::Vec3f& position, const float tolerance = DEFAULT_TOLERANCE); @@ -106,16 +111,6 @@ namespace MWMechanics return mCell; } - /** Synchronize new path with old one to avoid visiting 1 waypoint 2 times - @note - BuildPath() takes closest PathGrid point to NPC as first point of path. - This is undesirable if NPC has just passed a Pathgrid point, as this - makes the 2nd point of the new path == the 1st point of old path. - Which results in NPC "running in a circle" back to the just passed waypoint. - */ - void buildSyncedPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); - void addPointToPath(const osg::Vec3f& point) { mConstructed = true; @@ -176,14 +171,18 @@ namespace MWMechanics return closestIndex; } - void buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags); - private: bool mConstructed; std::deque mPath; const MWWorld::CellStore* mCell; + + void buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const PathgridGraph& pathgridGraph, std::back_insert_iterator> out); + + void buildPathByNavigatorImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags, + std::back_insert_iterator> out); }; } From f8dbd5902f9e73d8bf2efc74208bc24455ff9185 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 25 Aug 2018 23:51:54 +0300 Subject: [PATCH 075/130] Update doors objects in navigator --- apps/openmw/mwworld/worldimp.cpp | 32 ++++++++++++++++++++++++-------- apps/openmw/mwworld/worldimp.hpp | 9 +++++++++ 2 files changed, 33 insertions(+), 8 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 2929a4974..b467a687a 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -1543,21 +1543,34 @@ namespace MWWorld } if(player != results.end()) moveObjectImp(player->first, player->second.x(), player->second.y(), player->second.z(), false); + } + + void World::updateNavigator() + { + bool updated = false; - bool navigatorObjectsUpdated = false; mPhysics->forEachAnimatedObject([&] (const MWPhysics::Object* object) { - const DetourNavigator::ObjectShapes shapes { - *object->getShapeInstance()->getCollisionShape(), - object->getShapeInstance()->getAvoidCollisionShape() - }; - navigatorObjectsUpdated = mNavigator->updateObject(std::size_t(object), shapes, - object->getCollisionObject()->getWorldTransform()) || navigatorObjectsUpdated; + updated = updateNavigatorObject(object) || updated; }); - if (navigatorObjectsUpdated) + + for (const auto& door : mDoorStates) + if (const auto object = mPhysics->getObject(door.first)) + updated = updateNavigatorObject(object) || updated; + + if (updated) mNavigator->update(getPlayerPtr().getRefData().getPosition().asVec3()); } + bool World::updateNavigatorObject(const MWPhysics::Object* object) + { + const DetourNavigator::ObjectShapes shapes { + *object->getShapeInstance()->getCollisionShape(), + object->getShapeInstance()->getAvoidCollisionShape() + }; + return mNavigator->updateObject(std::size_t(object), shapes, object->getCollisionObject()->getWorldTransform()); + } + bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors) { osg::Vec3f a(x1,y1,z1); @@ -1747,7 +1760,10 @@ namespace MWWorld updateWeather(duration, paused); if (!paused) + { doPhysics (duration); + updateNavigator(); + } updatePlayer(); diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp index b49267962..adf6ece3d 100644 --- a/apps/openmw/mwworld/worldimp.hpp +++ b/apps/openmw/mwworld/worldimp.hpp @@ -61,6 +61,11 @@ namespace ToUTF8 struct ContentLoader; +namespace MWPhysics +{ + class Object; +} + namespace MWWorld { class WeatherManager; @@ -148,6 +153,10 @@ namespace MWWorld void doPhysics(float duration); ///< Run physics simulation and modify \a world accordingly. + void updateNavigator(); + + bool updateNavigatorObject(const MWPhysics::Object* object); + void ensureNeededRecords(); void fillGlobalVariables(); From 346e9e3141254e85abada1d475667429022c2b65 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 26 Aug 2018 23:27:38 +0300 Subject: [PATCH 076/130] Add off mesh connections for doors without teleport --- apps/openmw/mwmechanics/aipackage.cpp | 3 + apps/openmw/mwworld/scene.cpp | 164 +++++++++++++----- apps/openmw/mwworld/scene.hpp | 5 +- apps/openmw/mwworld/worldimp.cpp | 2 +- .../detournavigator/asyncnavmeshupdater.cpp | 7 +- .../detournavigator/asyncnavmeshupdater.hpp | 5 +- components/detournavigator/flags.hpp | 1 + components/detournavigator/makenavmesh.cpp | 49 ++++-- components/detournavigator/makenavmesh.hpp | 4 +- components/detournavigator/navigator.cpp | 20 +++ components/detournavigator/navigator.hpp | 17 ++ components/detournavigator/navmeshmanager.cpp | 31 +++- components/detournavigator/navmeshmanager.hpp | 6 + .../offmeshconnectionsmanager.hpp | 112 ++++++++++++ 14 files changed, 361 insertions(+), 65 deletions(-) create mode 100644 components/detournavigator/offmeshconnectionsmanager.hpp diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 5130488e3..1797e3172 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -414,5 +414,8 @@ DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld:: if (actorClass.canWalk(actor)) result |= DetourNavigator::Flag_walk; + if (actorClass.isBipedal(actor) && getTypeId() != TypeIdWander) + result |= DetourNavigator::Flag_openDoor; + return result; } diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 2f6c0330f..f68f1008c 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -29,6 +29,7 @@ #include "../mwphysics/actor.hpp" #include "../mwphysics/object.hpp" #include "../mwphysics/heightfield.hpp" +#include "../mwphysics/convert.hpp" #include "player.hpp" #include "localscripts.hpp" @@ -40,25 +41,45 @@ namespace { + osg::Quat makeActorOsgQuat(const ESM::Position& position) + { + return osg::Quat(position.rot[2], osg::Vec3(0, 0, -1)); + } + + osg::Quat makeInversedOrderObjectOsgQuat(const ESM::Position& position) + { + const float xr = position.rot[0]; + const float yr = position.rot[1]; + const float zr = position.rot[2]; + + return osg::Quat(xr, osg::Vec3(-1, 0, 0)) + * osg::Quat(yr, osg::Vec3(0, -1, 0)) + * osg::Quat(zr, osg::Vec3(0, 0, -1)); + } - void setNodeRotation(const MWWorld::Ptr& ptr, MWRender::RenderingManager& rendering, bool inverseRotationOrder) + osg::Quat makeObjectOsgQuat(const ESM::Position& position) + { + const float xr = position.rot[0]; + const float yr = position.rot[1]; + const float zr = position.rot[2]; + + return osg::Quat(zr, osg::Vec3(0, 0, -1)) + * osg::Quat(yr, osg::Vec3(0, -1, 0)) + * osg::Quat(xr, osg::Vec3(-1, 0, 0)); + } + + void setNodeRotation(const MWWorld::Ptr& ptr, MWRender::RenderingManager& rendering, const bool inverseRotationOrder) { if (!ptr.getRefData().getBaseNode()) return; - osg::Quat worldRotQuat(ptr.getRefData().getPosition().rot[2], osg::Vec3(0,0,-1)); - if (!ptr.getClass().isActor()) - { - float xr = ptr.getRefData().getPosition().rot[0]; - float yr = ptr.getRefData().getPosition().rot[1]; - if (!inverseRotationOrder) - worldRotQuat = worldRotQuat * osg::Quat(yr, osg::Vec3(0,-1,0)) * - osg::Quat(xr, osg::Vec3(-1,0,0)); - else - worldRotQuat = osg::Quat(xr, osg::Vec3(-1,0,0)) * osg::Quat(yr, osg::Vec3(0,-1,0)) * worldRotQuat; - } - - rendering.rotateObject(ptr, worldRotQuat); + rendering.rotateObject(ptr, + ptr.getClass().isActor() + ? makeActorOsgQuat(ptr.getRefData().getPosition()) + : (inverseRotationOrder + ? makeInversedOrderObjectOsgQuat(ptr.getRefData().getPosition()) + : makeObjectOsgQuat(ptr.getRefData().getPosition())) + ); } void addObject(const MWWorld::Ptr& ptr, MWPhysics::PhysicsSystem& physics, @@ -84,23 +105,6 @@ namespace ptr.getClass().insertObject (ptr, model, physics); - if (const auto object = physics.getObject(ptr)) - { - const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - const DetourNavigator::ObjectShapes shapes { - *object->getShapeInstance()->getCollisionShape(), - object->getShapeInstance()->getAvoidCollisionShape() - }; - navigator->addObject(reinterpret_cast(object), shapes, - object->getCollisionObject()->getWorldTransform()); - } - else if (const auto actor = physics.getActor(ptr)) - { - const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); - const auto playerHalfExtents = physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); - navigator->addAgent(playerHalfExtents); - } - if (useAnim) MWBase::Environment::get().getMechanicsManager()->add(ptr); @@ -111,6 +115,71 @@ namespace MWBase::Environment::get().getWorld()->applyLoopingParticles(ptr); } + void addObject(const MWWorld::Ptr& ptr, const MWPhysics::PhysicsSystem& physics, DetourNavigator::Navigator& navigator) + { + if (const auto object = physics.getObject(ptr)) + { + if (ptr.getClass().isDoor() && !ptr.getCellRef().getTeleport()) + { + const auto shape = object->getShapeInstance()->getCollisionShape(); + + btVector3 aabbMin; + btVector3 aabbMax; + shape->getAabb(btTransform::getIdentity(), aabbMin, aabbMax); + + const auto center = (aabbMax + aabbMin) * 0.5f; + + const auto distanceFromDoor = MWBase::Environment::get().getWorld()->getMaxActivationDistance() * 0.5f; + const auto toPoint = aabbMax.x() - aabbMin.x() < aabbMax.y() - aabbMin.y() + ? btVector3(distanceFromDoor, 0, 0) + : btVector3(0, distanceFromDoor, 0); + + const auto& transform = object->getCollisionObject()->getWorldTransform(); + const btTransform closedDoorTransform( + MWPhysics::toBullet(makeObjectOsgQuat(ptr.getCellRef().getPosition())), + transform.getOrigin() + ); + + const auto start = DetourNavigator::makeOsgVec3f(closedDoorTransform(center + toPoint)); + const auto startPoint = physics.castRay(start, start - osg::Vec3f(0, 0, 1000), ptr, {}, + MWPhysics::CollisionType_World | MWPhysics::CollisionType_HeightMap | MWPhysics::CollisionType_Water); + const auto connectionStart = startPoint.mHit ? startPoint.mHitPos : start; + + const auto end = DetourNavigator::makeOsgVec3f(closedDoorTransform(center - toPoint)); + const auto endPoint = physics.castRay(end, end - osg::Vec3f(0, 0, 1000), ptr, {}, + MWPhysics::CollisionType_World | MWPhysics::CollisionType_HeightMap | MWPhysics::CollisionType_Water); + const auto connectionEnd = endPoint.mHit ? endPoint.mHitPos : end; + + navigator.addObject( + reinterpret_cast(object), + DetourNavigator::DoorShapes( + *shape, + object->getShapeInstance()->getAvoidCollisionShape(), + connectionStart, + connectionEnd + ), + transform + ); + } + else + { + navigator.addObject( + reinterpret_cast(object), + DetourNavigator::ObjectShapes { + *object->getShapeInstance()->getCollisionShape(), + object->getShapeInstance()->getAvoidCollisionShape() + }, + object->getCollisionObject()->getWorldTransform() + ); + } + } + else if (const auto actor = physics.getActor(ptr)) + { + const auto playerHalfExtents = physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); + navigator.addAgent(playerHalfExtents); + } + } + void updateObjectRotation (const MWWorld::Ptr& ptr, MWPhysics::PhysicsSystem& physics, MWRender::RenderingManager& rendering, bool inverseRotationOrder) { @@ -137,24 +206,19 @@ namespace MWWorld::CellStore& mCell; bool mRescale; Loading::Listener& mLoadingListener; - MWPhysics::PhysicsSystem& mPhysics; - MWRender::RenderingManager& mRendering; std::vector mToInsert; - InsertVisitor (MWWorld::CellStore& cell, bool rescale, Loading::Listener& loadingListener, - MWPhysics::PhysicsSystem& physics, MWRender::RenderingManager& rendering); + InsertVisitor (MWWorld::CellStore& cell, bool rescale, Loading::Listener& loadingListener); bool operator() (const MWWorld::Ptr& ptr); - void insert(); + + template + void insert(AddObject&& addObject); }; - InsertVisitor::InsertVisitor (MWWorld::CellStore& cell, bool rescale, - Loading::Listener& loadingListener, MWPhysics::PhysicsSystem& physics, - MWRender::RenderingManager& rendering) - : mCell (cell), mRescale (rescale), mLoadingListener (loadingListener), - mPhysics (physics), - mRendering (rendering) + InsertVisitor::InsertVisitor (MWWorld::CellStore& cell, bool rescale, Loading::Listener& loadingListener) + : mCell (cell), mRescale (rescale), mLoadingListener (loadingListener) {} bool InsertVisitor::operator() (const MWWorld::Ptr& ptr) @@ -165,7 +229,8 @@ namespace return true; } - void InsertVisitor::insert() + template + void InsertVisitor::insert(AddObject&& addObject) { for (std::vector::iterator it = mToInsert.begin(); it != mToInsert.end(); ++it) { @@ -182,7 +247,7 @@ namespace { try { - addObject(ptr, mPhysics, mRendering); + addObject(ptr); } catch (const std::exception& e) { @@ -577,8 +642,9 @@ namespace MWWorld mLastPlayerPos = pos.asVec3(); } - Scene::Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics) - : mCurrentCell (0), mCellChanged (false), mPhysics(physics), mRendering(rendering) + Scene::Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics, + DetourNavigator::Navigator& navigator) + : mCurrentCell (0), mCellChanged (false), mPhysics(physics), mRendering(rendering), mNavigator(navigator) , mPreloadTimer(0.f) , mHalfGridSize(Settings::Manager::getInt("exterior cell load distance", "Cells")) , mCellLoadingThreshold(1024.f) @@ -706,9 +772,10 @@ namespace MWWorld void Scene::insertCell (CellStore &cell, bool rescale, Loading::Listener* loadingListener) { - InsertVisitor insertVisitor (cell, rescale, *loadingListener, *mPhysics, mRendering); + InsertVisitor insertVisitor (cell, rescale, *loadingListener); cell.forEach (insertVisitor); - insertVisitor.insert(); + insertVisitor.insert([&] (const MWWorld::Ptr& ptr) { addObject(ptr, *mPhysics, mRendering); }); + insertVisitor.insert([&] (const MWWorld::Ptr& ptr) { addObject(ptr, *mPhysics, mNavigator); }); // do adjustPosition (snapping actors to ground) after objects are loaded, so we don't depend on the loading order AdjustPositionVisitor adjustPosVisitor; @@ -720,6 +787,7 @@ namespace MWWorld try { addObject(ptr, *mPhysics, mRendering); + addObject(ptr, *mPhysics, mNavigator); MWBase::Environment::get().getWorld()->scaleObject(ptr, ptr.getCellRef().getScale()); const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); diff --git a/apps/openmw/mwworld/scene.hpp b/apps/openmw/mwworld/scene.hpp index c8578fc35..00f5f98b8 100644 --- a/apps/openmw/mwworld/scene.hpp +++ b/apps/openmw/mwworld/scene.hpp @@ -30,6 +30,7 @@ namespace Loading namespace DetourNavigator { + class Navigator; class Water; } @@ -63,6 +64,7 @@ namespace MWWorld bool mCellChanged; MWPhysics::PhysicsSystem *mPhysics; MWRender::RenderingManager& mRendering; + DetourNavigator::Navigator& mNavigator; std::unique_ptr mPreloader; float mPreloadTimer; int mHalfGridSize; @@ -91,7 +93,8 @@ namespace MWWorld public: - Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics); + Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics, + DetourNavigator::Navigator& navigator); ~Scene(); diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index b467a687a..bfa6b5124 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -235,7 +235,7 @@ namespace MWWorld mWeatherManager.reset(new MWWorld::WeatherManager(*mRendering, mFallback, mStore)); - mWorldScene.reset(new Scene(*mRendering.get(), mPhysics.get())); + mWorldScene.reset(new Scene(*mRendering.get(), mPhysics.get(), *mNavigator)); } void World::fillGlobalVariables() diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index bea6ffa57..168ec8f41 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -46,9 +46,11 @@ namespace DetourNavigator return stream << "unknown"; } - AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager) + AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager, + OffMeshConnectionsManager& offMeshConnectionsManager) : mSettings(settings) , mRecastMeshManager(recastMeshManager) + , mOffMeshConnectionsManager(offMeshConnectionsManager) , mShouldStop() , mThread([&] { process(); }) { @@ -124,9 +126,10 @@ namespace DetourNavigator const auto recastMesh = mRecastMeshManager.get().getMesh(job.mChangedTile); const auto playerTile = getPlayerTile(); + const auto offMeshConnections = mOffMeshConnectionsManager.get().get(job.mChangedTile); const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile, - mSettings, *job.mNavMeshCacheItem); + offMeshConnections, mSettings, *job.mNavMeshCacheItem); const auto finish = std::chrono::steady_clock::now(); diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index bba788c3c..d2d72a290 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H #include "navmeshcacheitem.hpp" +#include "offmeshconnectionsmanager.hpp" #include "tilecachedrecastmeshmanager.hpp" #include "tileposition.hpp" @@ -32,7 +33,8 @@ namespace DetourNavigator class AsyncNavMeshUpdater { public: - AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager); + AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager, + OffMeshConnectionsManager& offMeshConnectionsManager); ~AsyncNavMeshUpdater(); void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& mNavMeshCacheItem, @@ -58,6 +60,7 @@ namespace DetourNavigator std::reference_wrapper mSettings; std::reference_wrapper mRecastMeshManager; + std::reference_wrapper mOffMeshConnectionsManager; std::atomic_bool mShouldStop; std::mutex mMutex; std::condition_variable mHasJob; diff --git a/components/detournavigator/flags.hpp b/components/detournavigator/flags.hpp index 38c0f13f6..f52c0faf5 100644 --- a/components/detournavigator/flags.hpp +++ b/components/detournavigator/flags.hpp @@ -10,6 +10,7 @@ namespace DetourNavigator Flag_none = 0, Flag_walk = 1 << 0, Flag_swim = 1 << 1, + Flag_openDoor = 1 << 2, }; } diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 71e888168..07f222504 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -100,9 +100,31 @@ namespace } } + std::vector getOffMeshVerts(const std::vector& connections) + { + std::vector result; + + result.reserve(connections.size() * 6); + + const auto add = [&] (const osg::Vec3f& v) + { + result.push_back(v.x()); + result.push_back(v.y()); + result.push_back(v.z()); + }; + + for (const auto& v : connections) + { + add(v.mStart); + add(v.mEnd); + } + + return result; + } + NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const int tileX, const int tileY, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, - const Settings& settings) + const std::vector& offMeshConnections, const int tileX, const int tileY, + const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings) { rcContext context; rcConfig config; @@ -280,6 +302,12 @@ namespace polyMesh.flags[i] = Flag_swim; } + const auto offMeshConVerts = getOffMeshVerts(offMeshConnections); + const std::vector offMeshConRad(offMeshConnections.size(), getRadius(settings, agentHalfExtents)); + const std::vector offMeshConDir(offMeshConnections.size(), DT_OFFMESH_CON_BIDIR); + const std::vector offMeshConAreas(offMeshConnections.size(), AreaType_ground); + const std::vector offMeshConFlags(offMeshConnections.size(), Flag_openDoor); + dtNavMeshCreateParams params; params.verts = polyMesh.verts; params.vertCount = polyMesh.nverts; @@ -293,13 +321,13 @@ namespace params.detailVertsCount = polyMeshDetail.nverts; params.detailTris = polyMeshDetail.tris; params.detailTriCount = polyMeshDetail.ntris; - params.offMeshConVerts = nullptr; - params.offMeshConRad = nullptr; - params.offMeshConDir = nullptr; - params.offMeshConAreas = nullptr; - params.offMeshConFlags = nullptr; + params.offMeshConVerts = offMeshConVerts.data(); + params.offMeshConRad = offMeshConRad.data(); + params.offMeshConDir = offMeshConDir.data(); + params.offMeshConAreas = offMeshConAreas.data(); + params.offMeshConFlags = offMeshConFlags.data(); params.offMeshConUserID = nullptr; - params.offMeshConCount = 0; + params.offMeshConCount = static_cast(offMeshConnections.size()); params.walkableHeight = getHeight(settings, agentHalfExtents); params.walkableRadius = getRadius(settings, agentHalfExtents); params.walkableClimb = getMaxClimb(settings); @@ -358,7 +386,8 @@ namespace DetourNavigator } UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, - const TilePosition& changedTile, const TilePosition& playerTile, const Settings& settings, + const TilePosition& changedTile, const TilePosition& playerTile, + const std::vector& offMeshConnections, const Settings& settings, NavMeshCacheItem& navMeshCacheItem) { log("update NavMesh with mutiple tiles:", @@ -419,7 +448,7 @@ namespace DetourNavigator const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); - auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, x, y, + auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, offMeshConnections, x, y, tileBorderMin, tileBorderMax, settings); if (!navMeshData.mValue) diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 7a60152d7..f9c304ee9 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -1,6 +1,7 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H +#include "offmeshconnectionsmanager.hpp" #include "settings.hpp" #include "navmeshcacheitem.hpp" #include "tileposition.hpp" @@ -47,7 +48,8 @@ namespace DetourNavigator NavMeshPtr makeEmptyNavMesh(const Settings& settings); UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, - const TilePosition& changedTile, const TilePosition& playerTile, const Settings& settings, + const TilePosition& changedTile, const TilePosition& playerTile, + const std::vector& offMeshConnections, const Settings& settings, NavMeshCacheItem& navMeshCacheItem); } diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index 359a9a316..1c232a17c 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -47,6 +47,20 @@ namespace DetourNavigator return result; } + bool Navigator::addObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform) + { + if (addObject(id, static_cast(shapes), transform)) + { + mNavMeshManager.addOffMeshConnection( + id, + toNavMeshCoordinates(mSettings, shapes.mConnectionStart), + toNavMeshCoordinates(mSettings, shapes.mConnectionEnd) + ); + return true; + } + return false; + } + bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) { return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground); @@ -67,6 +81,11 @@ namespace DetourNavigator return result; } + bool Navigator::updateObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform) + { + return updateObject(id, static_cast(shapes), transform); + } + bool Navigator::removeObject(std::size_t id) { bool result = mNavMeshManager.removeObject(id); @@ -76,6 +95,7 @@ namespace DetourNavigator const auto water = mWaterIds.find(id); if (water != mWaterIds.end()) result = mNavMeshManager.removeObject(water->second) || result; + mNavMeshManager.removeOffMeshConnection(id); return result; } diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 3e60d72e0..e33f7c4ab 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -19,6 +19,19 @@ namespace DetourNavigator {} }; + struct DoorShapes : ObjectShapes + { + osg::Vec3f mConnectionStart; + osg::Vec3f mConnectionEnd; + + DoorShapes(const btCollisionShape& shape, const btCollisionShape* avoid, + const osg::Vec3f& connectionStart,const osg::Vec3f& connectionEnd) + : ObjectShapes(shape, avoid) + , mConnectionStart(connectionStart) + , mConnectionEnd(connectionEnd) + {} + }; + class Navigator { public: @@ -32,10 +45,14 @@ namespace DetourNavigator bool addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform); + bool addObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform); + bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); bool updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform); + bool updateObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform); + bool removeObject(std::size_t id); bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level, diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index bfca44f79..07df5c7af 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -28,7 +28,8 @@ namespace DetourNavigator NavMeshManager::NavMeshManager(const Settings& settings) : mSettings(settings) , mRecastMeshManager(settings) - , mAsyncNavMeshUpdater(settings, mRecastMeshManager) + , mOffMeshConnectionsManager(settings) + , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager) {} bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, @@ -90,6 +91,34 @@ namespace DetourNavigator mCache.erase(agentHalfExtents); } + void NavMeshManager::addOffMeshConnection(std::size_t id, const osg::Vec3f& start, const osg::Vec3f& end) + { + if (!mOffMeshConnectionsManager.add(id, OffMeshConnection {start, end})) + return; + + const auto startTilePosition = getTilePosition(mSettings, start); + const auto endTilePosition = getTilePosition(mSettings, end); + + addChangedTile(startTilePosition, ChangeType::add); + + if (startTilePosition != endTilePosition) + addChangedTile(endTilePosition, ChangeType::add); + } + + void NavMeshManager::removeOffMeshConnection(std::size_t id) + { + if (const auto connection = mOffMeshConnectionsManager.remove(id)) + { + const auto startTilePosition = getTilePosition(mSettings, connection->mStart); + const auto endTilePosition = getTilePosition(mSettings, connection->mEnd); + + addChangedTile(startTilePosition, ChangeType::remove); + + if (startTilePosition != endTilePosition) + addChangedTile(endTilePosition, ChangeType::remove); + } + } + void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { const auto playerTile = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition)); diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 6636402bf..acec44eb9 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -3,6 +3,7 @@ #include "asyncnavmeshupdater.hpp" #include "cachedrecastmeshmanager.hpp" +#include "offmeshconnectionsmanager.hpp" #include "sharednavmesh.hpp" #include @@ -37,6 +38,10 @@ namespace DetourNavigator void reset(const osg::Vec3f& agentHalfExtents); + void addOffMeshConnection(std::size_t id, const osg::Vec3f& start, const osg::Vec3f& end); + + void removeOffMeshConnection(std::size_t id); + void update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents); void wait(); @@ -48,6 +53,7 @@ namespace DetourNavigator private: const Settings& mSettings; TileCachedRecastMeshManager mRecastMeshManager; + OffMeshConnectionsManager mOffMeshConnectionsManager; std::map> mCache; std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; diff --git a/components/detournavigator/offmeshconnectionsmanager.hpp b/components/detournavigator/offmeshconnectionsmanager.hpp new file mode 100644 index 000000000..0b8f2010b --- /dev/null +++ b/components/detournavigator/offmeshconnectionsmanager.hpp @@ -0,0 +1,112 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OFFMESHCONNECTIONSMANAGER_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OFFMESHCONNECTIONSMANAGER_H + +#include "settings.hpp" +#include "settingsutils.hpp" +#include "tileposition.hpp" + +#include + +#include + +#include +#include +#include +#include +#include + +namespace DetourNavigator +{ + struct OffMeshConnection + { + osg::Vec3f mStart; + osg::Vec3f mEnd; + }; + + class OffMeshConnectionsManager + { + public: + OffMeshConnectionsManager(const Settings& settings) + : mSettings(settings) + {} + + bool add(const std::size_t id, const OffMeshConnection& value) + { + const std::lock_guard lock(mMutex); + + if (!mValuesById.insert(std::make_pair(id, value)).second) + return false; + + const auto startTilePosition = getTilePosition(mSettings, value.mStart); + const auto endTilePosition = getTilePosition(mSettings, value.mEnd); + + mValuesByTilePosition[startTilePosition].insert(id); + + if (startTilePosition != endTilePosition) + mValuesByTilePosition[endTilePosition].insert(id); + + return true; + } + + boost::optional remove(const std::size_t id) + { + const std::lock_guard lock(mMutex); + + const auto itById = mValuesById.find(id); + + if (itById == mValuesById.end()) + return boost::none; + + const auto result = itById->second; + + mValuesById.erase(itById); + + const auto startTilePosition = getTilePosition(mSettings, result.mStart); + const auto endTilePosition = getTilePosition(mSettings, result.mEnd); + + removeByTilePosition(startTilePosition, id); + + if (startTilePosition != endTilePosition) + removeByTilePosition(endTilePosition, id); + + return result; + } + + std::vector get(const TilePosition& tilePosition) + { + std::vector result; + + const std::lock_guard lock(mMutex); + + const auto itByTilePosition = mValuesByTilePosition.find(tilePosition); + + if (itByTilePosition == mValuesByTilePosition.end()) + return result; + + std::for_each(itByTilePosition->second.begin(), itByTilePosition->second.end(), + [&] (const std::size_t v) + { + const auto itById = mValuesById.find(v); + if (itById != mValuesById.end()) + result.push_back(itById->second); + }); + + return result; + } + + private: + const Settings& mSettings; + std::mutex mMutex; + std::unordered_map mValuesById; + std::map> mValuesByTilePosition; + + void removeByTilePosition(const TilePosition& tilePosition, const std::size_t id) + { + const auto it = mValuesByTilePosition.find(tilePosition); + if (it != mValuesByTilePosition.end()) + it->second.erase(id); + } + }; +} + +#endif From ff478aba6de1f8fa1082134d517e5edd7e8a3e54 Mon Sep 17 00:00:00 2001 From: elsid Date: Fri, 31 Aug 2018 01:39:44 +0300 Subject: [PATCH 077/130] Use actor half extent for interior cells --- apps/openmw/mwbase/world.hpp | 2 ++ apps/openmw/mwrender/navmesh.cpp | 16 ++++++++++----- apps/openmw/mwrender/navmesh.hpp | 6 +++++- apps/openmw/mwrender/renderingmanager.cpp | 19 +++++++++++++++--- apps/openmw/mwrender/renderingmanager.hpp | 3 +++ apps/openmw/mwscript/docs/vmformat.txt | 3 ++- apps/openmw/mwscript/miscextensions.cpp | 20 +++++++++++++++++++ apps/openmw/mwworld/scene.cpp | 14 ++++++++----- apps/openmw/mwworld/worldimp.cpp | 5 +++++ apps/openmw/mwworld/worldimp.hpp | 2 ++ components/compiler/extensions0.cpp | 1 + components/compiler/opcodes.hpp | 1 + components/detournavigator/navmeshmanager.cpp | 17 ++++++++++------ components/detournavigator/navmeshmanager.hpp | 4 ++-- 14 files changed, 90 insertions(+), 23 deletions(-) diff --git a/apps/openmw/mwbase/world.hpp b/apps/openmw/mwbase/world.hpp index db6bda141..bd7583f40 100644 --- a/apps/openmw/mwbase/world.hpp +++ b/apps/openmw/mwbase/world.hpp @@ -601,6 +601,8 @@ namespace MWBase virtual void updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const = 0; + + virtual void setNavMeshNumberToRender(const std::size_t value) = 0; }; } diff --git a/apps/openmw/mwrender/navmesh.cpp b/apps/openmw/mwrender/navmesh.cpp index 787e332e9..23f4a8d58 100644 --- a/apps/openmw/mwrender/navmesh.cpp +++ b/apps/openmw/mwrender/navmesh.cpp @@ -31,12 +31,13 @@ namespace MWRender return mEnabled; } - void NavMesh::update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t generation, - std::size_t revision, const DetourNavigator::Settings& settings) + void NavMesh::update(const DetourNavigator::SharedNavMesh& sharedNavMesh, const std::size_t id, + const std::size_t generation, const std::size_t revision, const DetourNavigator::Settings& settings) { - if (!mEnabled || (mGeneration >= generation && mRevision >= revision)) + if (!mEnabled || (mId == id && mGeneration >= generation && mRevision >= revision)) return; + mId = id; mGeneration = generation; mRevision = revision; if (mGroup) @@ -49,6 +50,12 @@ namespace MWRender } } + void NavMesh::reset() + { + if (mGroup) + mRootNode->removeChild(mGroup); + } + void NavMesh::enable() { if (mGroup) @@ -58,8 +65,7 @@ namespace MWRender void NavMesh::disable() { - if (mGroup) - mRootNode->removeChild(mGroup); + reset(); mEnabled = false; } } diff --git a/apps/openmw/mwrender/navmesh.hpp b/apps/openmw/mwrender/navmesh.hpp index 0bed616f9..34e71a70c 100644 --- a/apps/openmw/mwrender/navmesh.hpp +++ b/apps/openmw/mwrender/navmesh.hpp @@ -21,9 +21,12 @@ namespace MWRender bool toggle(); - void update(const DetourNavigator::SharedNavMesh& sharedNavMesh, std::size_t generation, std::size_t revision, + void update(const DetourNavigator::SharedNavMesh& sharedNavMesh, + const std::size_t number, const std::size_t generation, const std::size_t revision, const DetourNavigator::Settings& settings); + void reset(); + void enable(); void disable(); @@ -31,6 +34,7 @@ namespace MWRender private: osg::ref_ptr mRootNode; bool mEnabled; + std::size_t mId = std::numeric_limits::max(); std::size_t mGeneration; std::size_t mRevision; osg::ref_ptr mGroup; diff --git a/apps/openmw/mwrender/renderingmanager.cpp b/apps/openmw/mwrender/renderingmanager.cpp index 5c0a3347c..bc540d7e6 100644 --- a/apps/openmw/mwrender/renderingmanager.cpp +++ b/apps/openmw/mwrender/renderingmanager.cpp @@ -600,12 +600,20 @@ namespace MWRender } const auto navMeshes = mNavigator.getNavMeshes(); - if (!navMeshes.empty()) + + auto it = navMeshes.begin(); + for (std::size_t i = 0; it != navMeshes.end() && i < mNavMeshNumber; ++i) + ++it; + if (it == navMeshes.end()) + { + mNavMesh->reset(); + } + else { try { - mNavMesh->update(navMeshes.begin()->second->mValue, navMeshes.begin()->second->mGeneration, - navMeshes.begin()->second->mNavMeshRevision, mNavigator.getSettings()); + mNavMesh->update(it->second->mValue, mNavMeshNumber, it->second->mGeneration, + it->second->mNavMeshRevision, mNavigator.getSettings()); } catch (const std::exception& e) { @@ -1388,4 +1396,9 @@ namespace MWRender { mActorsPaths->remove(actor); } + + void RenderingManager::setNavMeshNumber(const std::size_t value) + { + mNavMeshNumber = value; + } } diff --git a/apps/openmw/mwrender/renderingmanager.hpp b/apps/openmw/mwrender/renderingmanager.hpp index 76ec67445..7a4500ac9 100644 --- a/apps/openmw/mwrender/renderingmanager.hpp +++ b/apps/openmw/mwrender/renderingmanager.hpp @@ -228,6 +228,8 @@ namespace MWRender void removeActorPath(const MWWorld::ConstPtr& actor) const; + void setNavMeshNumber(const std::size_t value); + private: void updateProjectionMatrix(); void updateTextureFiltering(); @@ -254,6 +256,7 @@ namespace MWRender DetourNavigator::Navigator& mNavigator; std::unique_ptr mNavMesh; + std::size_t mNavMeshNumber = 0; std::unique_ptr mActorsPaths; std::unique_ptr mPathgrid; std::unique_ptr mObjects; diff --git a/apps/openmw/mwscript/docs/vmformat.txt b/apps/openmw/mwscript/docs/vmformat.txt index bc7d93a13..d346ab6e4 100644 --- a/apps/openmw/mwscript/docs/vmformat.txt +++ b/apps/openmw/mwscript/docs/vmformat.txt @@ -457,5 +457,6 @@ op 0x2000306: OnActivate, explicit op 0x2000307: ToggleBorders, tb op 0x2000308: ToggleNavMesh op 0x2000309: ToggleActorsPaths +op 0x200030a: SetNavMeshNumber -opcodes 0x200030a-0x3ffffff unused +opcodes 0x200030b-0x3ffffff unused diff --git a/apps/openmw/mwscript/miscextensions.cpp b/apps/openmw/mwscript/miscextensions.cpp index 8507b7628..0cf2fc464 100644 --- a/apps/openmw/mwscript/miscextensions.cpp +++ b/apps/openmw/mwscript/miscextensions.cpp @@ -1345,6 +1345,25 @@ namespace MWScript } }; + class OpSetNavMeshNumberToRender : public Interpreter::Opcode0 + { + public: + + virtual void execute (Interpreter::Runtime& runtime) + { + const auto navMeshNumber = runtime[0].mInteger; + runtime.pop(); + + if (navMeshNumber < 0) + { + runtime.getContext().report("Invalid navmesh number: use not less than zero values"); + return; + } + + MWBase::Environment::get().getWorld()->setNavMeshNumberToRender(static_cast(navMeshNumber)); + } + }; + void installOpcodes (Interpreter::Interpreter& interpreter) { interpreter.installSegment5 (Compiler::Misc::opcodeXBox, new OpXBox); @@ -1447,6 +1466,7 @@ namespace MWScript interpreter.installSegment5 (Compiler::Misc::opcodeToggleBorders, new OpToggleBorders); interpreter.installSegment5 (Compiler::Misc::opcodeToggleNavMesh, new OpToggleNavMesh); interpreter.installSegment5 (Compiler::Misc::opcodeToggleActorsPaths, new OpToggleActorsPaths); + interpreter.installSegment5 (Compiler::Misc::opcodeSetNavMeshNumberToRender, new OpSetNavMeshNumberToRender); } } } diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index f68f1008c..18ceffba4 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -175,8 +175,10 @@ namespace } else if (const auto actor = physics.getActor(ptr)) { - const auto playerHalfExtents = physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); - navigator.addAgent(playerHalfExtents); + const auto halfExtents = ptr.getCell()->isExterior() + ? physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()) + : actor->getHalfExtents(); + navigator.addAgent(halfExtents); } } @@ -344,7 +346,7 @@ namespace MWWorld navigator->removeObject(reinterpret_cast(object)); else if (const auto actor = mPhysics->getActor(ptr)) { - navigator->removeAgent(playerHalfExtents); + navigator->removeAgent(ptr.getCell()->isExterior() ? playerHalfExtents : actor->getHalfExtents()); mRendering.removeActorPath(ptr); } mPhysics->remove(ptr); @@ -812,8 +814,10 @@ namespace MWWorld } else if (const auto actor = mPhysics->getActor(ptr)) { - const auto playerHalfExtents = mPhysics->getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()); - navigator->removeAgent(playerHalfExtents); + const auto& halfExtents = ptr.getCell()->isExterior() + ? mPhysics->getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr()) + : actor->getHalfExtents(); + navigator->removeAgent(halfExtents); } mPhysics->remove(ptr); mRendering.removeObject (ptr); diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index bfa6b5124..6cfba1e26 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -3767,4 +3767,9 @@ namespace MWWorld mRendering->updateActorPath(actor, path, halfExtents, start, end); } + void World::setNavMeshNumberToRender(const std::size_t value) + { + mRendering->setNavMeshNumber(value); + } + } diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp index adf6ece3d..49cae93ec 100644 --- a/apps/openmw/mwworld/worldimp.hpp +++ b/apps/openmw/mwworld/worldimp.hpp @@ -703,6 +703,8 @@ namespace MWWorld void updateActorPath(const MWWorld::ConstPtr& actor, const std::deque& path, const osg::Vec3f& halfExtents, const osg::Vec3f& start, const osg::Vec3f& end) const override; + + void setNavMeshNumberToRender(const std::size_t value) override; }; } diff --git a/components/compiler/extensions0.cpp b/components/compiler/extensions0.cpp index 241abfaa4..a640d76d8 100644 --- a/components/compiler/extensions0.cpp +++ b/components/compiler/extensions0.cpp @@ -322,6 +322,7 @@ namespace Compiler extensions.registerInstruction ("toggleborders", "", opcodeToggleBorders); extensions.registerInstruction ("togglenavmesh", "", opcodeToggleNavMesh); extensions.registerInstruction ("toggleactorspaths", "", opcodeToggleActorsPaths); + extensions.registerInstruction ("setnavmeshnumber", "l", opcodeSetNavMeshNumberToRender); } } diff --git a/components/compiler/opcodes.hpp b/components/compiler/opcodes.hpp index c591115ec..a2d8a9467 100644 --- a/components/compiler/opcodes.hpp +++ b/components/compiler/opcodes.hpp @@ -298,6 +298,7 @@ namespace Compiler const int opcodeToggleBorders = 0x2000307; const int opcodeToggleNavMesh = 0x2000308; const int opcodeToggleActorsPaths = 0x2000309; + const int opcodeSetNavMeshNumberToRender = 0x200030a; } namespace Sky diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 07df5c7af..67514b8b7 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -122,11 +122,16 @@ namespace DetourNavigator void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents) { const auto playerTile = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition)); - if (mLastRecastMeshManagerRevision >= mRecastMeshManager.getRevision() && mPlayerTile - && *mPlayerTile == playerTile) + auto& lastRevision = mLastRecastMeshManagerRevision[agentHalfExtents]; + auto lastPlayerTile = mPlayerTile.find(agentHalfExtents); + if (lastRevision >= mRecastMeshManager.getRevision() && lastPlayerTile != mPlayerTile.end() + && lastPlayerTile->second == playerTile) return; - mLastRecastMeshManagerRevision = mRecastMeshManager.getRevision(); - mPlayerTile = playerTile; + lastRevision = mRecastMeshManager.getRevision(); + if (lastPlayerTile == mPlayerTile.end()) + lastPlayerTile = mPlayerTile.insert(std::make_pair(agentHalfExtents, playerTile)).first; + else + lastPlayerTile->second = playerTile; std::map tilesToPost; const auto& cached = getCached(agentHalfExtents); const auto changedTiles = mChangedTiles.find(agentHalfExtents); @@ -163,8 +168,8 @@ namespace DetourNavigator } mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost); log("cache update posted for agent=", agentHalfExtents, - " playerTile=", *mPlayerTile, - " recastMeshManagerRevision=", mLastRecastMeshManagerRevision, + " playerTile=", lastPlayerTile->second, + " recastMeshManagerRevision=", lastRevision, " changedTiles=", changedTiles->second.size()); } diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index acec44eb9..cd8c55aa0 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -58,8 +58,8 @@ namespace DetourNavigator std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; std::size_t mGenerationCounter = 0; - boost::optional mPlayerTile; - std::size_t mLastRecastMeshManagerRevision = 0; + std::map mPlayerTile; + std::map mLastRecastMeshManagerRevision; void addChangedTiles(const btCollisionShape& shape, const btTransform& transform, const ChangeType changeType); From 27a74725f1b2a61cc3d62d0ad666a133d3cc0d41 Mon Sep 17 00:00:00 2001 From: elsid Date: Tue, 4 Sep 2018 00:10:58 +0300 Subject: [PATCH 078/130] Use osg::Vec3f --- apps/openmw/mwmechanics/aipackage.cpp | 36 ++++++++++++--------------- apps/openmw/mwmechanics/aipackage.hpp | 2 +- 2 files changed, 17 insertions(+), 21 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 1797e3172..c397901fb 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -101,28 +101,25 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& { mTimer += duration; //Update timer - const ESM::Position pos = actor.getRefData().getPosition(); //position of the actor + const auto position = actor.getRefData().getPosition().asVec3(); //position of the actor { const auto halfExtents = MWBase::Environment::get().getWorld()->getHalfExtents(actor); MWBase::Environment::get().getWorld()->updateActorPath(actor, mPathFinder.getPath(), halfExtents, - pos.asVec3(), dest); + position, dest); } /// Stops the actor when it gets too close to a unloaded cell //... At current time, this test is unnecessary. AI shuts down when actor is more than 7168 //... units from player, and exterior cells are 8192 units long and wide. //... But AI processing distance may increase in the future. - if (isNearInactiveCell(pos)) + if (isNearInactiveCell(position)) { actor.getClass().getMovementSettings(actor).mPosition[1] = 0; return false; } - // handle path building and shortcutting - const osg::Vec3f start = pos.asVec3(); - - const float distToTarget = distance(start, dest); + const float distToTarget = distance(position, dest); const bool isDestReached = (distToTarget <= destTolerance); if (!isDestReached && mTimer > AI_REACTION_TIME) @@ -142,14 +139,14 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& // Prohibit shortcuts for AiWander, if the actor can not move in 3 dimensions. if (actorCanMoveByZ) - mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS, actorCanMoveByZ); // try to shortcut first + mIsShortcutting = shortcutPath(position, dest, actor, &destInLOS, actorCanMoveByZ); // try to shortcut first if (!mIsShortcutting) { if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell())) // if need to rebuild path { const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); - mPathFinder.buildPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell()), + mPathFinder.buildPath(position, dest, actor.getCell(), getPathGridGraph(actor.getCell()), playerHalfExtents, getNavigatorFlags(actor)); mRotateOnTheRunChecks = 3; @@ -160,7 +157,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& auto pPointBeforeDest = mPathFinder.getPath().rbegin() + 1; // if start point is closer to the target then last point of path (excluding target itself) then go straight on the target - if (distance(start, dest) <= distance(dest, *pPointBeforeDest)) + if (distance(position, dest) <= distance(dest, *pPointBeforeDest)) { mPathFinder.clearPath(); mPathFinder.addPointToPath(dest); @@ -180,13 +177,13 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& mTimer = 0; } - mPathFinder.update(pos.asVec3(), std::max(destTolerance, DEFAULT_TOLERANCE)); + mPathFinder.update(position, std::max(destTolerance, DEFAULT_TOLERANCE)); if (isDestReached || mPathFinder.checkPathCompleted()) // if path is finished { // turn to destination point - zTurn(actor, getZAngleToPoint(start, dest)); - smoothTurn(actor, getXAngleToPoint(start, dest), 0); + zTurn(actor, getZAngleToPoint(position, dest)); + smoothTurn(actor, getXAngleToPoint(position, dest), 0); return true; } @@ -198,8 +195,8 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& } // turn to next path point by X,Z axes - zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])); - smoothTurn(actor, mPathFinder.getXAngleToNext(pos.pos[0], pos.pos[1], pos.pos[2]), 0); + zTurn(actor, mPathFinder.getZAngleToNext(position.x(), position.y())); + smoothTurn(actor, mPathFinder.getXAngleToNext(position.x(), position.y(), position.z()), 0); mObstacleCheck.update(actor, duration); @@ -351,14 +348,13 @@ bool MWMechanics::AiPackage::isTargetMagicallyHidden(const MWWorld::Ptr& target) || (magicEffects.get(ESM::MagicEffect::Chameleon).getMagnitude() > 75); } -bool MWMechanics::AiPackage::isNearInactiveCell(const ESM::Position& actorPos) +bool MWMechanics::AiPackage::isNearInactiveCell(osg::Vec3f position) { const ESM::Cell* playerCell(getPlayer().getCell()->getCell()); if (playerCell->isExterior()) { // get actor's distance from origin of center cell - osg::Vec3f actorOffset(actorPos.asVec3()); - CoordinateConverter(playerCell).toLocal(actorOffset); + CoordinateConverter(playerCell).toLocal(position); // currently assumes 3 x 3 grid for exterior cells, with player at center cell. // ToDo: (Maybe) use "exterior cell load distance" setting to get count of actual active cells @@ -366,8 +362,8 @@ bool MWMechanics::AiPackage::isNearInactiveCell(const ESM::Position& actorPos) const float distanceFromEdge = 200.0; float minThreshold = (-1.0f * ESM::Land::REAL_SIZE) + distanceFromEdge; float maxThreshold = (2.0f * ESM::Land::REAL_SIZE) - distanceFromEdge; - return (actorOffset[0] < minThreshold) || (maxThreshold < actorOffset[0]) - || (actorOffset[1] < minThreshold) || (maxThreshold < actorOffset[1]); + return (position.x() < minThreshold) || (maxThreshold < position.x()) + || (position.y() < minThreshold) || (maxThreshold < position.y()); } else { diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index 20f47480e..b4188e481 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -150,7 +150,7 @@ namespace MWMechanics osg::Vec3f mShortcutFailPos; // position of last shortcut fail private: - bool isNearInactiveCell(const ESM::Position& actorPos); + bool isNearInactiveCell(osg::Vec3f position); }; } From ab090108cb44a768450e736ab1674df14e8580e4 Mon Sep 17 00:00:00 2001 From: elsid Date: Tue, 4 Sep 2018 00:23:25 +0300 Subject: [PATCH 079/130] Assign world to local variable once per function --- apps/openmw/mwmechanics/aipackage.cpp | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index c397901fb..68169bae9 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -102,11 +102,11 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& mTimer += duration; //Update timer const auto position = actor.getRefData().getPosition().asVec3(); //position of the actor + const auto world = MWBase::Environment::get().getWorld(); { - const auto halfExtents = MWBase::Environment::get().getWorld()->getHalfExtents(actor); - MWBase::Environment::get().getWorld()->updateActorPath(actor, mPathFinder.getPath(), halfExtents, - position, dest); + const auto halfExtents = world->getHalfExtents(actor); + world->updateActorPath(actor, mPathFinder.getPath(), halfExtents, position, dest); } /// Stops the actor when it gets too close to a unloaded cell @@ -131,10 +131,9 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& bool destInLOS = false; const MWWorld::Class& actorClass = actor.getClass(); - MWBase::World* world = MWBase::Environment::get().getWorld(); // check if actor can move along z-axis - bool actorCanMoveByZ = (actorClass.canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor)) + bool actorCanMoveByZ = (actorClass.canSwim(actor) && world->isSwimming(actor)) || world->isFlying(actor); // Prohibit shortcuts for AiWander, if the actor can not move in 3 dimensions. @@ -227,7 +226,8 @@ void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor) void MWMechanics::AiPackage::openDoors(const MWWorld::Ptr& actor) { - static float distance = MWBase::Environment::get().getWorld()->getMaxActivationDistance(); + const auto world = MWBase::Environment::get().getWorld(); + static float distance = world->getMaxActivationDistance(); const MWWorld::Ptr door = getNearbyDoor(actor, distance); if (door == MWWorld::Ptr()) @@ -238,7 +238,7 @@ void MWMechanics::AiPackage::openDoors(const MWWorld::Ptr& actor) { if ((door.getCellRef().getTrap().empty() && door.getCellRef().getLockLevel() <= 0 )) { - MWBase::Environment::get().getWorld()->activate(door, actor); + world->activate(door, actor); return; } @@ -250,7 +250,7 @@ void MWMechanics::AiPackage::openDoors(const MWWorld::Ptr& actor) MWWorld::Ptr keyPtr = invStore.search(keyId); if (!keyPtr.isEmpty()) - MWBase::Environment::get().getWorld()->activate(door, actor); + world->activate(door, actor); } } @@ -299,8 +299,9 @@ bool MWMechanics::AiPackage::shortcutPath(const osg::Vec3f& startPoint, const os bool MWMechanics::AiPackage::checkWayIsClearForActor(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::Ptr& actor) { - const bool actorCanMoveByZ = (actor.getClass().canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor)) - || MWBase::Environment::get().getWorld()->isFlying(actor); + const auto world = MWBase::Environment::get().getWorld(); + const bool actorCanMoveByZ = (actor.getClass().canSwim(actor) && world->isSwimming(actor)) + || world->isFlying(actor); if (actorCanMoveByZ) return true; From bbd82a743a93bfaa7372cd2edc658ef59b65bca4 Mon Sep 17 00:00:00 2001 From: elsid Date: Tue, 4 Sep 2018 00:31:03 +0300 Subject: [PATCH 080/130] Use different tolerance for path point and destination --- apps/openmw/mwmechanics/aipackage.cpp | 4 +++- apps/openmw/mwmechanics/pathfinding.cpp | 9 +++++++-- apps/openmw/mwmechanics/pathfinding.hpp | 2 +- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 68169bae9..82bb12966 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -176,7 +176,9 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& mTimer = 0; } - mPathFinder.update(position, std::max(destTolerance, DEFAULT_TOLERANCE)); + const auto pointTolerance = std::min(actor.getClass().getSpeed(actor), DEFAULT_TOLERANCE); + + mPathFinder.update(position, pointTolerance, destTolerance); if (isDestReached || mPathFinder.checkPathCompleted()) // if path is finished { diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index ee091de4c..3759335e5 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -253,9 +253,14 @@ namespace MWMechanics return getXAngleToDir(dir); } - void PathFinder::update(const osg::Vec3f& position, const float tolerance) + void PathFinder::update(const osg::Vec3f& position, const float pointTolerance, const float destinationTolerance) { - if (!mPath.empty() && sqrDistanceIgnoreZ(mPath.front(), position) < tolerance*tolerance) + if (mPath.empty()) + return; + + const auto tolerance = mPath.size() > 1 ? pointTolerance : destinationTolerance; + + if (sqrDistanceIgnoreZ(mPath.front(), position) < tolerance * tolerance) mPath.pop_front(); } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 543305ff6..1a35ef792 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -79,7 +79,7 @@ namespace MWMechanics const DetourNavigator::Flags flags); /// Remove front point if exist and within tolerance - void update(const osg::Vec3f& position, const float tolerance = DEFAULT_TOLERANCE); + void update(const osg::Vec3f& position, const float pointTolerance, const float destinationTolerance); bool checkPathCompleted() const { From 92b34e8bb4180b0e406f0ae14e328ec5349acbb9 Mon Sep 17 00:00:00 2001 From: elsid Date: Tue, 4 Sep 2018 00:43:30 +0300 Subject: [PATCH 081/130] Check whether can actor move along z-axis in separate function --- apps/openmw/mwmechanics/aipackage.cpp | 14 ++++++++------ apps/openmw/mwmechanics/aipackage.hpp | 2 ++ 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 82bb12966..42c18cc30 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -129,12 +129,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& const bool wasShortcutting = mIsShortcutting; bool destInLOS = false; - - const MWWorld::Class& actorClass = actor.getClass(); - - // check if actor can move along z-axis - bool actorCanMoveByZ = (actorClass.canSwim(actor) && world->isSwimming(actor)) - || world->isFlying(actor); + const bool actorCanMoveByZ = canActorMoveByZAxis(actor); // Prohibit shortcuts for AiWander, if the actor can not move in 3 dimensions. if (actorCanMoveByZ) @@ -418,3 +413,10 @@ DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld:: return result; } + +bool MWMechanics::AiPackage::canActorMoveByZAxis(const MWWorld::Ptr& actor) const +{ + const auto world = MWBase::Environment::get().getWorld(); + const auto& actorClass = actor.getClass(); + return (actorClass.canSwim(actor) && world->isSwimming(actor)) || world->isFlying(actor); +} diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp index b4188e481..5be858b0b 100644 --- a/apps/openmw/mwmechanics/aipackage.hpp +++ b/apps/openmw/mwmechanics/aipackage.hpp @@ -134,6 +134,8 @@ namespace MWMechanics DetourNavigator::Flags getNavigatorFlags(const MWWorld::Ptr& actor) const; + bool canActorMoveByZAxis(const MWWorld::Ptr& actor) const; + // TODO: all this does not belong here, move into temporary storage PathFinder mPathFinder; ObstacleCheck mObstacleCheck; From 7c5bedc35a220176ec03a156c81ff3d9b0b38aba Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 8 Sep 2018 14:30:03 +0300 Subject: [PATCH 082/130] Reset shorcutting if actor can't move by z-axis on reaction time If actor was shortcutting because it was swimming, then when it started walking it still be shortcutting, but there will be no new path, because shortcut path builds only for actor able moving by z-axis and pathfinder path only for not shortcutting actor. --- apps/openmw/mwmechanics/aipackage.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 42c18cc30..1532cce01 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -132,8 +132,8 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& const bool actorCanMoveByZ = canActorMoveByZAxis(actor); // Prohibit shortcuts for AiWander, if the actor can not move in 3 dimensions. - if (actorCanMoveByZ) - mIsShortcutting = shortcutPath(position, dest, actor, &destInLOS, actorCanMoveByZ); // try to shortcut first + mIsShortcutting = actorCanMoveByZ + && shortcutPath(position, dest, actor, &destInLOS, actorCanMoveByZ); // try to shortcut first if (!mIsShortcutting) { From 7c80bb94116aee03a25b1b509befee59f096a040 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 22 Sep 2018 17:49:57 +0300 Subject: [PATCH 083/130] Support multiple threads for async nav mesh updater --- apps/openmw/mwworld/worldimp.cpp | 1 + apps/openmw_test_suite/detournavigator/navigator.cpp | 1 + components/detournavigator/asyncnavmeshupdater.cpp | 6 ++++-- components/detournavigator/asyncnavmeshupdater.hpp | 2 +- components/detournavigator/settings.hpp | 1 + files/settings-default.cfg | 3 +++ 6 files changed, 11 insertions(+), 3 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 6cfba1e26..83a238280 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -215,6 +215,7 @@ namespace MWWorld navigatorSettings.mRegionMergeSize = Settings::Manager::getInt("region merge size", "Navigator"); navigatorSettings.mRegionMinSize = Settings::Manager::getInt("region min size", "Navigator"); navigatorSettings.mTileSize = Settings::Manager::getInt("tile size", "Navigator"); + navigatorSettings.mAsyncNavMeshUpdaterThreads = static_cast(Settings::Manager::getInt("async nav mesh updater threads", "Navigator")); navigatorSettings.mMaxPolygonPathSize = static_cast(Settings::Manager::getInt("max polygon path size", "Navigator")); navigatorSettings.mMaxSmoothPathSize = static_cast(Settings::Manager::getInt("max smooth path size", "Navigator")); navigatorSettings.mTrianglesPerChunk = static_cast(Settings::Manager::getInt("triangles per chunk", "Navigator")); diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 52e350572..7e188f8fd 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -55,6 +55,7 @@ namespace mSettings.mRegionMergeSize = 20; mSettings.mRegionMinSize = 8; mSettings.mTileSize = 64; + mSettings.mAsyncNavMeshUpdaterThreads = 1; mSettings.mMaxPolygonPathSize = 1024; mSettings.mMaxSmoothPathSize = 1024; mSettings.mTrianglesPerChunk = 256; diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 168ec8f41..ba3de3583 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -52,8 +52,9 @@ namespace DetourNavigator , mRecastMeshManager(recastMeshManager) , mOffMeshConnectionsManager(offMeshConnectionsManager) , mShouldStop() - , mThread([&] { process(); }) { + for (std::size_t i = 0; i < mSettings.get().mAsyncNavMeshUpdaterThreads; ++i) + mThreads.emplace_back([&] { process(); }); } AsyncNavMeshUpdater::~AsyncNavMeshUpdater() @@ -63,7 +64,8 @@ namespace DetourNavigator mJobs = decltype(mJobs)(); mHasJob.notify_all(); lock.unlock(); - mThread.join(); + for (auto& thread : mThreads) + thread.join(); } void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index d2d72a290..8d3184887 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -71,7 +71,7 @@ namespace DetourNavigator TilePosition mPlayerTile; std::mutex mFirstStartMutex; boost::optional mFirstStart; - std::thread mThread; + std::vector mThreads; void process() throw(); diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index ccfece3da..9f6ca97be 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -27,6 +27,7 @@ namespace DetourNavigator int mRegionMergeSize; int mRegionMinSize; int mTileSize; + std::size_t mAsyncNavMeshUpdaterThreads; std::size_t mMaxPolygonPathSize; std::size_t mMaxSmoothPathSize; std::size_t mTrianglesPerChunk; diff --git a/files/settings-default.cfg b/files/settings-default.cfg index c046a19b3..29333682e 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -585,6 +585,9 @@ region merge size = 20 # The minimum number of cells allowed to form isolated island areas. (value >= 0) region min size = 8 +# Number of background threads to update nav mesh (value >= 1) +async nav mesh updater threads = 1 + # Maximum size of path over polygons (value > 0) max polygon path size = 1024 From 1a274899047bf1f60f8701f29cd2dd5a14ca85ad Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 22 Sep 2018 18:36:57 +0300 Subject: [PATCH 084/130] Add special type for object id --- apps/openmw/mwworld/scene.cpp | 12 ++--- apps/openmw/mwworld/worldimp.cpp | 2 +- .../detournavigator/navigator.cpp | 26 +++++----- .../cachedrecastmeshmanager.cpp | 6 +-- .../cachedrecastmeshmanager.hpp | 6 +-- components/detournavigator/navigator.cpp | 26 +++++----- components/detournavigator/navigator.hpp | 24 ++++----- components/detournavigator/navmeshmanager.cpp | 10 ++-- components/detournavigator/navmeshmanager.hpp | 10 ++-- components/detournavigator/objectid.hpp | 50 +++++++++++++++++++ .../offmeshconnectionsmanager.hpp | 13 ++--- .../detournavigator/recastmeshmanager.cpp | 6 +-- .../detournavigator/recastmeshmanager.hpp | 9 ++-- .../tilecachedrecastmeshmanager.cpp | 6 +-- .../tilecachedrecastmeshmanager.hpp | 8 +-- 15 files changed, 133 insertions(+), 81 deletions(-) create mode 100644 components/detournavigator/objectid.hpp diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp index 18ceffba4..49a603d1d 100644 --- a/apps/openmw/mwworld/scene.cpp +++ b/apps/openmw/mwworld/scene.cpp @@ -151,7 +151,7 @@ namespace const auto connectionEnd = endPoint.mHit ? endPoint.mHitPos : end; navigator.addObject( - reinterpret_cast(object), + DetourNavigator::ObjectId(object), DetourNavigator::DoorShapes( *shape, object->getShapeInstance()->getAvoidCollisionShape(), @@ -164,7 +164,7 @@ namespace else { navigator.addObject( - reinterpret_cast(object), + DetourNavigator::ObjectId(object), DetourNavigator::ObjectShapes { *object->getShapeInstance()->getCollisionShape(), object->getShapeInstance()->getAvoidCollisionShape() @@ -343,7 +343,7 @@ namespace MWWorld for (const auto& ptr : visitor.mObjects) { if (const auto object = mPhysics->getObject(ptr)) - navigator->removeObject(reinterpret_cast(object)); + navigator->removeObject(DetourNavigator::ObjectId(object)); else if (const auto actor = mPhysics->getActor(ptr)) { navigator->removeAgent(ptr.getCell()->isExterior() ? playerHalfExtents : actor->getHalfExtents()); @@ -365,7 +365,7 @@ namespace MWWorld if (land && land->mDataTypes&ESM::Land::DATA_VHGT) { if (const auto heightField = mPhysics->getHeightField(cellX, cellY)) - navigator->removeObject(reinterpret_cast(heightField)); + navigator->removeObject(DetourNavigator::ObjectId(heightField)); mPhysics->removeHeightField(cellX, cellY); } } @@ -420,7 +420,7 @@ namespace MWWorld } if (const auto heightField = mPhysics->getHeightField(cellX, cellY)) - navigator->addObject(reinterpret_cast(heightField), *heightField->getShape(), + navigator->addObject(DetourNavigator::ObjectId(heightField), *heightField->getShape(), heightField->getCollisionObject()->getWorldTransform()); } @@ -808,7 +808,7 @@ namespace MWWorld const auto navigator = MWBase::Environment::get().getWorld()->getNavigator(); if (const auto object = mPhysics->getObject(ptr)) { - navigator->removeObject(reinterpret_cast(object)); + navigator->removeObject(DetourNavigator::ObjectId(object)); const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr(); navigator->update(player.getRefData().getPosition().asVec3()); } diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 83a238280..c45d06c41 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -1569,7 +1569,7 @@ namespace MWWorld *object->getShapeInstance()->getCollisionShape(), object->getShapeInstance()->getAvoidCollisionShape() }; - return mNavigator->updateObject(std::size_t(object), shapes, object->getCollisionObject()->getWorldTransform()); + return mNavigator->updateObject(DetourNavigator::ObjectId(object), shapes, object->getCollisionObject()->getWorldTransform()); } bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2, bool ignoreDoors) diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 7e188f8fd..1b42b6d05 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -102,7 +102,7 @@ namespace shape.setLocalScaling(btVector3(128, 128, 1)); mNavigator->addAgent(mAgentHalfExtents); - mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -152,7 +152,7 @@ namespace compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape); mNavigator->addAgent(mAgentHalfExtents); - mNavigator->addObject(1, heightfieldShape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -184,7 +184,7 @@ namespace osg::Vec3f(215, -215, 1.877177715301513671875), })) << mPath; - mNavigator->addObject(2, compoundShape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&compoundShape), compoundShape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -235,8 +235,8 @@ namespace compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape); mNavigator->addAgent(mAgentHalfExtents); - mNavigator->addObject(1, heightfieldShape, btTransform::getIdentity()); - mNavigator->addObject(2, compoundShape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&compoundShape), compoundShape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -270,7 +270,7 @@ namespace compoundShape.updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0))); - mNavigator->updateObject(2, compoundShape, btTransform::getIdentity()); + mNavigator->updateObject(ObjectId(&compoundShape), compoundShape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -327,8 +327,8 @@ namespace shape2.setLocalScaling(btVector3(128, 128, 1)); mNavigator->addAgent(mAgentHalfExtents); - mNavigator->addObject(1, shape, btTransform::getIdentity()); - mNavigator->addObject(2, shape2, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape2), shape2, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -384,7 +384,7 @@ namespace shapeAvoid.setLocalScaling(btVector3(128, 128, 1)); mNavigator->addAgent(mAgentHalfExtents); - mNavigator->addObject(1, ObjectShapes {shape, &shapeAvoid}, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), ObjectShapes {shape, &shapeAvoid}, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -432,7 +432,7 @@ namespace mNavigator->addAgent(mAgentHalfExtents); mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, 300, btTransform::getIdentity()); - mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -480,7 +480,7 @@ namespace mNavigator->addAgent(mAgentHalfExtents); mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity()); - mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -525,7 +525,7 @@ namespace shape.setLocalScaling(btVector3(128, 128, 1)); mNavigator->addAgent(mAgentHalfExtents); - mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); mNavigator->addWater(osg::Vec2i(0, 0), std::numeric_limits::max(), -25, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); @@ -572,7 +572,7 @@ namespace mNavigator->addAgent(mAgentHalfExtents); mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity()); - mNavigator->addObject(1, shape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); mNavigator->update(mPlayerPosition); mNavigator->wait(); diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index 8a9fbd4ee..5e145486b 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -7,7 +7,7 @@ namespace DetourNavigator : mImpl(settings, bounds) {} - bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, + bool CachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { if (!mImpl.addObject(id, shape, transform, areaType)) @@ -16,7 +16,7 @@ namespace DetourNavigator return true; } - bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const AreaType areaType) + bool CachedRecastMeshManager::updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType) { if (!mImpl.updateObject(id, transform, areaType)) return false; @@ -24,7 +24,7 @@ namespace DetourNavigator return true; } - boost::optional CachedRecastMeshManager::removeObject(std::size_t id) + boost::optional CachedRecastMeshManager::removeObject(const ObjectId id) { const auto object = mImpl.removeObject(id); if (object) diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 048d00270..528e8dabc 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -12,16 +12,16 @@ namespace DetourNavigator public: CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); + bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType); bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); boost::optional removeWater(const osg::Vec2i& cellPosition); - boost::optional removeObject(std::size_t id); + boost::optional removeObject(const ObjectId id); std::shared_ptr getMesh(); diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index 1c232a17c..d185ad02f 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -27,17 +27,17 @@ namespace DetourNavigator mNavMeshManager.reset(agentHalfExtents); } - bool Navigator::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + bool Navigator::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) { return mNavMeshManager.addObject(id, shape, transform, AreaType_ground); } - bool Navigator::addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform) + bool Navigator::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) { bool result = addObject(id, shapes.mShape, transform); if (shapes.mAvoid) { - const auto avoidId = reinterpret_cast(shapes.mAvoid); + const ObjectId avoidId(shapes.mAvoid); if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, AreaType_null)) { updateAvoidShapeId(id, avoidId); @@ -47,7 +47,7 @@ namespace DetourNavigator return result; } - bool Navigator::addObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform) + bool Navigator::addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) { if (addObject(id, static_cast(shapes), transform)) { @@ -61,17 +61,17 @@ namespace DetourNavigator return false; } - bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform) + bool Navigator::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform) { return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground); } - bool Navigator::updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform) + bool Navigator::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) { bool result = updateObject(id, shapes.mShape, transform); if (shapes.mAvoid) { - const auto avoidId = reinterpret_cast(shapes.mAvoid); + const ObjectId avoidId(shapes.mAvoid); if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, AreaType_null)) { updateAvoidShapeId(id, avoidId); @@ -81,12 +81,12 @@ namespace DetourNavigator return result; } - bool Navigator::updateObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform) + bool Navigator::updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) { return updateObject(id, static_cast(shapes), transform); } - bool Navigator::removeObject(std::size_t id) + bool Navigator::removeObject(const ObjectId id) { bool result = mNavMeshManager.removeObject(id); const auto avoid = mAvoidIds.find(id); @@ -132,23 +132,23 @@ namespace DetourNavigator return mSettings; } - void Navigator::updateAvoidShapeId(const std::size_t id, const std::size_t avoidId) + void Navigator::updateAvoidShapeId(const ObjectId id, const ObjectId avoidId) { updateId(id, avoidId, mWaterIds); } - void Navigator::updateWaterShapeId(const std::size_t id, const std::size_t waterId) + void Navigator::updateWaterShapeId(const ObjectId id, const ObjectId waterId) { updateId(id, waterId, mWaterIds); } - void Navigator::updateId(const std::size_t id, const std::size_t updateId, std::unordered_map& ids) + void Navigator::updateId(const ObjectId id, const ObjectId updateId, std::unordered_map& ids) { auto inserted = ids.insert(std::make_pair(id, updateId)); if (!inserted.second) { mNavMeshManager.removeObject(inserted.first->second); - inserted.second = updateId; + inserted.first->second = updateId; } } } diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index e33f7c4ab..78857ad3e 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -41,19 +41,19 @@ namespace DetourNavigator void removeAgent(const osg::Vec3f& agentHalfExtents); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform); - bool addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform); + bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform); - bool addObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform); + bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform); - bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform); + bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform); - bool updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform); + bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform); - bool updateObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform); + bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform); - bool removeObject(std::size_t id); + bool removeObject(const ObjectId id); bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level, const btTransform& transform); @@ -82,12 +82,12 @@ namespace DetourNavigator Settings mSettings; NavMeshManager mNavMeshManager; std::map mAgents; - std::unordered_map mAvoidIds; - std::unordered_map mWaterIds; + std::unordered_map mAvoidIds; + std::unordered_map mWaterIds; - void updateAvoidShapeId(const std::size_t id, const std::size_t avoidId); - void updateWaterShapeId(const std::size_t id, const std::size_t waterId); - void updateId(const std::size_t id, const std::size_t waterId, std::unordered_map& ids); + 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& ids); }; } diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 67514b8b7..559aedebb 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -32,7 +32,7 @@ namespace DetourNavigator , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager) {} - bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool NavMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { if (!mRecastMeshManager.addObject(id, shape, transform, areaType)) @@ -41,7 +41,7 @@ namespace DetourNavigator return true; } - bool NavMeshManager::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool NavMeshManager::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { if (!mRecastMeshManager.updateObject(id, transform, areaType)) @@ -50,7 +50,7 @@ namespace DetourNavigator return true; } - bool NavMeshManager::removeObject(std::size_t id) + bool NavMeshManager::removeObject(const ObjectId id) { const auto object = mRecastMeshManager.removeObject(id); if (!object) @@ -91,7 +91,7 @@ namespace DetourNavigator mCache.erase(agentHalfExtents); } - void NavMeshManager::addOffMeshConnection(std::size_t id, const osg::Vec3f& start, const osg::Vec3f& end) + void NavMeshManager::addOffMeshConnection(const ObjectId id, const osg::Vec3f& start, const osg::Vec3f& end) { if (!mOffMeshConnectionsManager.add(id, OffMeshConnection {start, end})) return; @@ -105,7 +105,7 @@ namespace DetourNavigator addChangedTile(endTilePosition, ChangeType::add); } - void NavMeshManager::removeOffMeshConnection(std::size_t id) + void NavMeshManager::removeOffMeshConnection(const ObjectId id) { if (const auto connection = mOffMeshConnectionsManager.remove(id)) { diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index cd8c55aa0..86d9ea5d4 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -22,13 +22,13 @@ namespace DetourNavigator public: NavMeshManager(const Settings& settings); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - bool removeObject(std::size_t id); + bool removeObject(const ObjectId id); void addAgent(const osg::Vec3f& agentHalfExtents); @@ -38,9 +38,9 @@ namespace DetourNavigator void reset(const osg::Vec3f& agentHalfExtents); - void addOffMeshConnection(std::size_t id, const osg::Vec3f& start, const osg::Vec3f& end); + void addOffMeshConnection(const ObjectId id, const osg::Vec3f& start, const osg::Vec3f& end); - void removeOffMeshConnection(std::size_t id); + void removeOffMeshConnection(const ObjectId id); void update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents); diff --git a/components/detournavigator/objectid.hpp b/components/detournavigator/objectid.hpp new file mode 100644 index 000000000..cbb933ba0 --- /dev/null +++ b/components/detournavigator/objectid.hpp @@ -0,0 +1,50 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OBJECTID_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OBJECTID_H + +#include +#include + +namespace DetourNavigator +{ + class ObjectId + { + public: + template + explicit ObjectId(const T* value) throw() + : mValue(reinterpret_cast(value)) + { + } + + std::size_t value() const throw() + { + return mValue; + } + + friend bool operator <(const ObjectId lhs, const ObjectId rhs) throw() + { + return lhs.mValue < rhs.mValue; + } + + friend bool operator ==(const ObjectId lhs, const ObjectId rhs) throw() + { + return lhs.mValue == rhs.mValue; + } + + private: + std::size_t mValue; + }; +} + +namespace std +{ + template <> + struct hash + { + std::size_t operator ()(const DetourNavigator::ObjectId value) const throw() + { + return value.value(); + } + }; +} + +#endif diff --git a/components/detournavigator/offmeshconnectionsmanager.hpp b/components/detournavigator/offmeshconnectionsmanager.hpp index 0b8f2010b..0450724cf 100644 --- a/components/detournavigator/offmeshconnectionsmanager.hpp +++ b/components/detournavigator/offmeshconnectionsmanager.hpp @@ -4,6 +4,7 @@ #include "settings.hpp" #include "settingsutils.hpp" #include "tileposition.hpp" +#include "objectid.hpp" #include @@ -30,7 +31,7 @@ namespace DetourNavigator : mSettings(settings) {} - bool add(const std::size_t id, const OffMeshConnection& value) + bool add(const ObjectId id, const OffMeshConnection& value) { const std::lock_guard lock(mMutex); @@ -48,7 +49,7 @@ namespace DetourNavigator return true; } - boost::optional remove(const std::size_t id) + boost::optional remove(const ObjectId id) { const std::lock_guard lock(mMutex); @@ -84,7 +85,7 @@ namespace DetourNavigator return result; std::for_each(itByTilePosition->second.begin(), itByTilePosition->second.end(), - [&] (const std::size_t v) + [&] (const ObjectId v) { const auto itById = mValuesById.find(v); if (itById != mValuesById.end()) @@ -97,10 +98,10 @@ namespace DetourNavigator private: const Settings& mSettings; std::mutex mMutex; - std::unordered_map mValuesById; - std::map> mValuesByTilePosition; + std::unordered_map mValuesById; + std::map> mValuesByTilePosition; - void removeByTilePosition(const TilePosition& tilePosition, const std::size_t id) + void removeByTilePosition(const TilePosition& tilePosition, const ObjectId id) { const auto it = mValuesByTilePosition.find(tilePosition); if (it != mValuesByTilePosition.end()) diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index cabde7fdf..f9f81de96 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -11,7 +11,7 @@ namespace DetourNavigator { } - bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool RecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { if (!mObjects.emplace(id, RecastMeshObject(shape, transform, areaType)).second) @@ -20,7 +20,7 @@ namespace DetourNavigator return mShouldRebuild; } - bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const AreaType areaType) + bool RecastMeshManager::updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType) { const auto object = mObjects.find(id); if (object == mObjects.end()) @@ -31,7 +31,7 @@ namespace DetourNavigator return mShouldRebuild; } - boost::optional RecastMeshManager::removeObject(std::size_t id) + boost::optional RecastMeshManager::removeObject(const ObjectId id) { const auto object = mObjects.find(id); if (object == mObjects.end()) diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index c4391b682..be0fc3581 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -3,6 +3,7 @@ #include "recastmeshbuilder.hpp" #include "recastmeshobject.hpp" +#include "objectid.hpp" #include @@ -34,16 +35,16 @@ namespace DetourNavigator RecastMeshManager(const Settings& settings, const TileBounds& bounds); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); + bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType); bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); boost::optional removeWater(const osg::Vec2i& cellPosition); - boost::optional removeObject(std::size_t id); + boost::optional removeObject(const ObjectId id); std::shared_ptr getMesh(); @@ -52,7 +53,7 @@ namespace DetourNavigator private: bool mShouldRebuild; RecastMeshBuilder mMeshBuilder; - std::unordered_map mObjects; + std::unordered_map mObjects; std::map mWater; void rebuild(); diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index 164253f85..67959e42c 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -9,7 +9,7 @@ namespace DetourNavigator : mSettings(settings) {} - bool TileCachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, + bool TileCachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { bool result = false; @@ -39,7 +39,7 @@ namespace DetourNavigator return result; } - bool TileCachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, + bool TileCachedRecastMeshManager::updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType) { const auto object = mObjectsTilesPositions.find(id); @@ -59,7 +59,7 @@ namespace DetourNavigator return result; } - boost::optional TileCachedRecastMeshManager::removeObject(std::size_t id) + boost::optional TileCachedRecastMeshManager::removeObject(const ObjectId id) { const auto object = mObjectsTilesPositions.find(id); if (object == mObjectsTilesPositions.end()) diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index f67d2c392..2b237fdde 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -14,12 +14,12 @@ namespace DetourNavigator public: TileCachedRecastMeshManager(const Settings& settings); - bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform, + bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType); - bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType); + bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType); - boost::optional removeObject(std::size_t id); + boost::optional removeObject(const ObjectId id); bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform); @@ -43,7 +43,7 @@ namespace DetourNavigator const Settings& mSettings; std::mutex mTilesMutex; std::map mTiles; - std::unordered_map> mObjectsTilesPositions; + std::unordered_map> mObjectsTilesPositions; std::map> mWaterTilesPositions; std::size_t mRevision = 0; }; From cf4066751c3ac3e999706bade95b22f08c1541af Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 29 Sep 2018 20:36:42 +0300 Subject: [PATCH 085/130] Add classes to encapsulate value guarded by mutex --- components/detournavigator/makenavmesh.hpp | 4 +- components/detournavigator/sharednavmesh.hpp | 42 +------------ components/misc/guarded.hpp | 65 ++++++++++++++++++++ 3 files changed, 69 insertions(+), 42 deletions(-) create mode 100644 components/misc/guarded.hpp diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index f9c304ee9..963e0daa8 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -6,6 +6,7 @@ #include "navmeshcacheitem.hpp" #include "tileposition.hpp" #include "tilebounds.hpp" +#include "sharednavmesh.hpp" #include @@ -16,11 +17,8 @@ class dtNavMesh; namespace DetourNavigator { class RecastMesh; - class SharedNavMesh; struct Settings; - using NavMeshPtr = std::shared_ptr; - enum class UpdateNavMeshStatus { ignore, diff --git a/components/detournavigator/sharednavmesh.hpp b/components/detournavigator/sharednavmesh.hpp index 657973c2f..8045434a1 100644 --- a/components/detournavigator/sharednavmesh.hpp +++ b/components/detournavigator/sharednavmesh.hpp @@ -1,6 +1,8 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H +#include + #include #include @@ -9,45 +11,7 @@ class dtNavMesh; namespace DetourNavigator { using NavMeshPtr = std::shared_ptr; - - class LockedSharedNavMesh - { - public: - LockedSharedNavMesh(std::mutex& mutex, const NavMeshPtr& value) - : mLock(new std::lock_guard(mutex)), mValue(value) - {} - - dtNavMesh* operator ->() const - { - return mValue.get(); - } - - dtNavMesh& operator *() const - { - return *mValue; - } - - private: - std::unique_ptr> mLock; - NavMeshPtr mValue; - }; - - class SharedNavMesh - { - public: - SharedNavMesh(const NavMeshPtr& value) - : mMutex(std::make_shared()), mValue(value) - {} - - LockedSharedNavMesh lock() const - { - return LockedSharedNavMesh(*mMutex, mValue); - } - - private: - std::shared_ptr mMutex; - NavMeshPtr mValue; - }; + using SharedNavMesh = Misc::SharedGuarded; } #endif diff --git a/components/misc/guarded.hpp b/components/misc/guarded.hpp new file mode 100644 index 000000000..f70f5e4c5 --- /dev/null +++ b/components/misc/guarded.hpp @@ -0,0 +1,65 @@ +#ifndef OPENMW_COMPONENTS_MISC_GUARDED_H +#define OPENMW_COMPONENTS_MISC_GUARDED_H + +#include +#include + +namespace Misc +{ + template + class Locked + { + public: + Locked(std::mutex& mutex, T& value) + : mLock(mutex), mValue(value) + {} + + T& get() const + { + return mValue.get(); + } + + T* operator ->() const + { + return std::addressof(get()); + } + + T& operator *() const + { + return get(); + } + + private: + std::unique_lock mLock; + std::reference_wrapper mValue; + }; + + template + class SharedGuarded + { + public: + SharedGuarded() + : mMutex(std::make_shared()) + {} + + SharedGuarded(std::shared_ptr value) + : mMutex(std::make_shared()), mValue(std::move(value)) + {} + + Locked lock() const + { + return Locked(*mMutex, *mValue); + } + + Locked lockConst() const + { + return Locked(*mMutex, *mValue); + } + + private: + std::shared_ptr mMutex; + std::shared_ptr mValue; + }; +} + +#endif From ae7285e9600031973f6f2b0425ee7b489f08ec4f Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 29 Sep 2018 22:57:41 +0300 Subject: [PATCH 086/130] Use ScopeGuarded instead of raw mutex --- .../detournavigator/asyncnavmeshupdater.cpp | 37 +++-------- .../detournavigator/asyncnavmeshupdater.hpp | 16 +---- components/detournavigator/debug.hpp | 19 +++--- .../offmeshconnectionsmanager.hpp | 49 ++++++++------- .../tilecachedrecastmeshmanager.cpp | 62 +++++++++---------- .../tilecachedrecastmeshmanager.hpp | 8 +-- components/misc/guarded.hpp | 29 +++++++++ 7 files changed, 110 insertions(+), 110 deletions(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index ba3de3583..a61412a2a 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -72,9 +72,7 @@ namespace DetourNavigator const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, const std::map& changedTiles) { - log("post jobs playerTile=", playerTile); - - setPlayerTile(playerTile); + *mPlayerTile.lock() = playerTile; if (changedTiles.empty()) return; @@ -124,10 +122,10 @@ namespace DetourNavigator const auto start = std::chrono::steady_clock::now(); - setFirstStart(start); + const auto firstStart = setFirstStart(start); const auto recastMesh = mRecastMeshManager.get().getMesh(job.mChangedTile); - const auto playerTile = getPlayerTile(); + const auto playerTile = *mPlayerTile.lockConst(); const auto offMeshConnections = mOffMeshConnectionsManager.get().get(job.mChangedTile); const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile, @@ -143,7 +141,7 @@ namespace DetourNavigator " generation=", job.mNavMeshCacheItem->mGeneration, " revision=", job.mNavMeshCacheItem->mNavMeshRevision, " time=", std::chrono::duration_cast(finish - start).count(), "ms", - " total_time=", std::chrono::duration_cast(finish - getFirstStart()).count(), "ms"); + " total_time=", std::chrono::duration_cast(finish - firstStart).count(), "ms"); } boost::optional AsyncNavMeshUpdater::getNextJob() @@ -188,28 +186,11 @@ namespace DetourNavigator writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } - std::chrono::steady_clock::time_point AsyncNavMeshUpdater::getFirstStart() - { - const std::lock_guard lock(mFirstStartMutex); - return *mFirstStart; - } - - void AsyncNavMeshUpdater::setFirstStart(const std::chrono::steady_clock::time_point& value) - { - const std::lock_guard lock(mFirstStartMutex); - if (!mFirstStart) - mFirstStart = value; - } - - TilePosition AsyncNavMeshUpdater::getPlayerTile() - { - const std::lock_guard lock(mPlayerTileMutex); - return mPlayerTile; - } - - void AsyncNavMeshUpdater::setPlayerTile(const TilePosition& value) + std::chrono::steady_clock::time_point AsyncNavMeshUpdater::setFirstStart(const std::chrono::steady_clock::time_point& value) { - const std::lock_guard lock(mPlayerTileMutex); - mPlayerTile = value; + const auto locked = mFirstStart.lock(); + if (!*locked) + *locked = value; + return *locked.get(); } } diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 8d3184887..28d1952a7 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -67,10 +67,8 @@ namespace DetourNavigator std::condition_variable mDone; Jobs mJobs; std::map> mPushed; - std::mutex mPlayerTileMutex; - TilePosition mPlayerTile; - std::mutex mFirstStartMutex; - boost::optional mFirstStart; + Misc::ScopeGuarded mPlayerTile; + Misc::ScopeGuarded> mFirstStart; std::vector mThreads; void process() throw(); @@ -79,17 +77,9 @@ namespace DetourNavigator boost::optional getNextJob(); - void notifyHasJob(); - void writeDebugFiles(const Job& job, const RecastMesh* recastMesh) const; - std::chrono::steady_clock::time_point getFirstStart(); - - void setFirstStart(const std::chrono::steady_clock::time_point& value); - - TilePosition getPlayerTile(); - - void setPlayerTile(const TilePosition& value); + std::chrono::steady_clock::time_point setFirstStart(const std::chrono::steady_clock::time_point& value); }; } diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index fb8d5bd21..460e22435 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -4,6 +4,7 @@ #include "tilebounds.hpp" #include +#include #include #include @@ -11,7 +12,6 @@ #include #include #include -#include #include #include #include @@ -77,21 +77,19 @@ namespace DetourNavigator public: void setSink(std::unique_ptr sink) { - const std::lock_guard guard(mMutex); - mSink = std::move(sink); + *mSink.lock() = std::move(sink); } - bool isEnabled() const + bool isEnabled() { - const std::lock_guard guard(mMutex); - return bool(mSink); + return bool(*mSink.lockConst()); } void write(const std::string& text) { - const std::lock_guard guard(mMutex); - if (mSink) - mSink->write(text); + const auto sink = mSink.lock(); + if (*sink) + sink.get()->write(text); } static Log& instance() @@ -101,8 +99,7 @@ namespace DetourNavigator } private: - mutable std::mutex mMutex; - std::unique_ptr mSink; + Misc::ScopeGuarded> mSink; }; inline void write(std::ostream& stream) diff --git a/components/detournavigator/offmeshconnectionsmanager.hpp b/components/detournavigator/offmeshconnectionsmanager.hpp index 0450724cf..212f821c9 100644 --- a/components/detournavigator/offmeshconnectionsmanager.hpp +++ b/components/detournavigator/offmeshconnectionsmanager.hpp @@ -6,6 +6,8 @@ #include "tileposition.hpp" #include "objectid.hpp" +#include + #include #include @@ -33,42 +35,42 @@ namespace DetourNavigator bool add(const ObjectId id, const OffMeshConnection& value) { - const std::lock_guard lock(mMutex); + const auto values = mValues.lock(); - if (!mValuesById.insert(std::make_pair(id, value)).second) + if (!values->mById.insert(std::make_pair(id, value)).second) return false; const auto startTilePosition = getTilePosition(mSettings, value.mStart); const auto endTilePosition = getTilePosition(mSettings, value.mEnd); - mValuesByTilePosition[startTilePosition].insert(id); + values->mByTilePosition[startTilePosition].insert(id); if (startTilePosition != endTilePosition) - mValuesByTilePosition[endTilePosition].insert(id); + values->mByTilePosition[endTilePosition].insert(id); return true; } boost::optional remove(const ObjectId id) { - const std::lock_guard lock(mMutex); + const auto values = mValues.lock(); - const auto itById = mValuesById.find(id); + const auto itById = values->mById.find(id); - if (itById == mValuesById.end()) + if (itById == values->mById.end()) return boost::none; const auto result = itById->second; - mValuesById.erase(itById); + values->mById.erase(itById); const auto startTilePosition = getTilePosition(mSettings, result.mStart); const auto endTilePosition = getTilePosition(mSettings, result.mEnd); - removeByTilePosition(startTilePosition, id); + removeByTilePosition(values->mByTilePosition, startTilePosition, id); if (startTilePosition != endTilePosition) - removeByTilePosition(endTilePosition, id); + removeByTilePosition(values->mByTilePosition, endTilePosition, id); return result; } @@ -77,18 +79,18 @@ namespace DetourNavigator { std::vector result; - const std::lock_guard lock(mMutex); + const auto values = mValues.lock(); - const auto itByTilePosition = mValuesByTilePosition.find(tilePosition); + const auto itByTilePosition = values->mByTilePosition.find(tilePosition); - if (itByTilePosition == mValuesByTilePosition.end()) + if (itByTilePosition == values->mByTilePosition.end()) return result; std::for_each(itByTilePosition->second.begin(), itByTilePosition->second.end(), [&] (const ObjectId v) { - const auto itById = mValuesById.find(v); - if (itById != mValuesById.end()) + const auto itById = values->mById.find(v); + if (itById != values->mById.end()) result.push_back(itById->second); }); @@ -96,15 +98,20 @@ namespace DetourNavigator } private: + struct Values + { + std::unordered_map mById; + std::map> mByTilePosition; + }; + const Settings& mSettings; - std::mutex mMutex; - std::unordered_map mValuesById; - std::map> mValuesByTilePosition; + Misc::ScopeGuarded mValues; - void removeByTilePosition(const TilePosition& tilePosition, const ObjectId id) + void removeByTilePosition(std::map>& valuesByTilePosition, + const TilePosition& tilePosition, const ObjectId id) { - const auto it = mValuesByTilePosition.find(tilePosition); - if (it != mValuesByTilePosition.end()) + const auto it = valuesByTilePosition.find(tilePosition); + if (it != valuesByTilePosition.end()) it->second.erase(id); } }; diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index 67959e42c..d624800e9 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -17,19 +17,18 @@ namespace DetourNavigator const auto border = getBorderSize(mSettings); getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& tilePosition) { - std::unique_lock lock(mTilesMutex); - auto tile = mTiles.find(tilePosition); - if (tile == mTiles.end()) + const auto tiles = mTiles.lock(); + auto tile = tiles->find(tilePosition); + if (tile == tiles->end()) { auto tileBounds = makeTileBounds(mSettings, tilePosition); tileBounds.mMin -= osg::Vec2f(border, border); tileBounds.mMax += osg::Vec2f(border, border); - tile = mTiles.insert(std::make_pair(tilePosition, + tile = tiles->insert(std::make_pair(tilePosition, CachedRecastMeshManager(mSettings, tileBounds))).first; } if (tile->second.addObject(id, shape, transform, areaType)) { - lock.unlock(); tilesPositions.push_back(tilePosition); result = true; } @@ -46,14 +45,15 @@ namespace DetourNavigator if (object == mObjectsTilesPositions.end()) return false; bool result = false; - std::unique_lock lock(mTilesMutex); - for (const auto& tilePosition : object->second) { - const auto tile = mTiles.find(tilePosition); - if (tile != mTiles.end()) - result = tile->second.updateObject(id, transform, areaType) || result; + const auto tiles = mTiles.lock(); + for (const auto& tilePosition : object->second) + { + const auto tile = tiles->find(tilePosition); + if (tile != tiles->end()) + result = tile->second.updateObject(id, transform, areaType) || result; + } } - lock.unlock(); if (result) ++mRevision; return result; @@ -67,14 +67,13 @@ namespace DetourNavigator boost::optional result; for (const auto& tilePosition : object->second) { - std::unique_lock lock(mTilesMutex); - const auto tile = mTiles.find(tilePosition); - if (tile == mTiles.end()) + const auto tiles = mTiles.lock(); + const auto tile = tiles->find(tilePosition); + if (tile == tiles->end()) continue; const auto tileResult = tile->second.removeObject(id); if (tile->second.isEmpty()) - mTiles.erase(tile); - lock.unlock(); + tiles->erase(tile); if (tileResult && !result) result = tileResult; } @@ -94,8 +93,8 @@ namespace DetourNavigator if (cellSize == std::numeric_limits::max()) { - const std::lock_guard lock(mTilesMutex); - for (auto& tile : mTiles) + const auto tiles = mTiles.lock(); + for (auto& tile : *tiles) { if (tile.second.addWater(cellPosition, cellSize, transform)) { @@ -108,19 +107,18 @@ namespace DetourNavigator { getTilesPositions(cellSize, transform, mSettings, [&] (const TilePosition& tilePosition) { - std::unique_lock lock(mTilesMutex); - auto tile = mTiles.find(tilePosition); - if (tile == mTiles.end()) + const auto tiles = mTiles.lock(); + auto tile = tiles->find(tilePosition); + if (tile == tiles->end()) { auto tileBounds = makeTileBounds(mSettings, tilePosition); tileBounds.mMin -= osg::Vec2f(border, border); tileBounds.mMax += osg::Vec2f(border, border); - tile = mTiles.insert(std::make_pair(tilePosition, + tile = tiles->insert(std::make_pair(tilePosition, CachedRecastMeshManager(mSettings, tileBounds))).first; } if (tile->second.addWater(cellPosition, cellSize, transform)) { - lock.unlock(); tilesPositions.push_back(tilePosition); result = true; } @@ -141,14 +139,13 @@ namespace DetourNavigator boost::optional result; for (const auto& tilePosition : object->second) { - std::unique_lock lock(mTilesMutex); - const auto tile = mTiles.find(tilePosition); - if (tile == mTiles.end()) + const auto tiles = mTiles.lock(); + const auto tile = tiles->find(tilePosition); + if (tile == tiles->end()) continue; const auto tileResult = tile->second.removeWater(cellPosition); if (tile->second.isEmpty()) - mTiles.erase(tile); - lock.unlock(); + tiles->erase(tile); if (tileResult && !result) result = tileResult; } @@ -159,17 +156,16 @@ namespace DetourNavigator std::shared_ptr TileCachedRecastMeshManager::getMesh(const TilePosition& tilePosition) { - const std::lock_guard lock(mTilesMutex); - const auto it = mTiles.find(tilePosition); - if (it == mTiles.end()) + const auto tiles = mTiles.lock(); + const auto it = tiles->find(tilePosition); + if (it == tiles->end()) return nullptr; return it->second.getMesh(); } bool TileCachedRecastMeshManager::hasTile(const TilePosition& tilePosition) { - const std::lock_guard lock(mTilesMutex); - return mTiles.count(tilePosition); + return mTiles.lockConst()->count(tilePosition); } std::size_t TileCachedRecastMeshManager::getRevision() const diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index 2b237fdde..f82ef85c5 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -4,6 +4,8 @@ #include "cachedrecastmeshmanager.hpp" #include "tileposition.hpp" +#include + #include #include @@ -32,8 +34,7 @@ namespace DetourNavigator template void forEachTilePosition(Function&& function) { - const std::lock_guard lock(mTilesMutex); - for (const auto& tile : mTiles) + for (const auto& tile : *mTiles.lock()) function(tile.first); } @@ -41,8 +42,7 @@ namespace DetourNavigator private: const Settings& mSettings; - std::mutex mTilesMutex; - std::map mTiles; + Misc::ScopeGuarded> mTiles; std::unordered_map> mObjectsTilesPositions; std::map> mWaterTilesPositions; std::size_t mRevision = 0; diff --git a/components/misc/guarded.hpp b/components/misc/guarded.hpp index f70f5e4c5..841b9b812 100644 --- a/components/misc/guarded.hpp +++ b/components/misc/guarded.hpp @@ -34,6 +34,35 @@ namespace Misc std::reference_wrapper mValue; }; + template + class ScopeGuarded + { + public: + ScopeGuarded() = default; + + ScopeGuarded(const T& value) + : mValue(value) + {} + + ScopeGuarded(T&& value) + : mValue(std::move(value)) + {} + + Locked lock() + { + return Locked(mMutex, mValue); + } + + Locked lockConst() + { + return Locked(mMutex, mValue); + } + + private: + std::mutex mMutex; + T mValue; + }; + template class SharedGuarded { From 69b5834c64d8523849c99785974a4e016fcca946 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 30 Sep 2018 01:20:42 +0300 Subject: [PATCH 087/130] Add doc for Navigator --- components/detournavigator/navigator.hpp | 111 +++++++++++++++++++++++ 1 file changed, 111 insertions(+) diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 78857ad3e..9d7723b47 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -32,48 +32,159 @@ namespace DetourNavigator {} }; + /** + * @brief Top level class of detournavigator componenet. 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 { 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); + /** + * @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); + /** + * @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); + /** + * @brief addObject is used to add object represented by single btCollisionShape 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 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); + /** + * @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes + * @param id is used to distinguish different objects + * @param shape members 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 added, false if there is already object with given id + */ bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform); + /** + * @brief addObject is used to add doors. + * @param id is used to distinguish different objects. + * @param shape members must live until object is updated by another shape or removed from Navigator. + * @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); + /** + * @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. + */ bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform); + /** + * @brief updateObject replace object geometry by given data. + * @param id is used to find object. + * @param shape members 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. + */ bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform); + /** + * @brief updateObject replace object geometry by given data. + * @param id is used to find object. + * @param shape members 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. + */ bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform); + /** + * @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); + /** + * @brief addWater is used to set water level at given world cell. + * @param cellPosition allows to distinguish cells if there is many in current world. + * @param cellSize set cell borders. std::numeric_limits::max() disables cell borders. + * @param level set z coordinate of water surface at the scene. + * @param transform set global shift of cell center. + * @return true if there was no water at given cell if cellSize != std::numeric_limits::max() or there is + * 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); + /** + * @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); + /** + * @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); + /** + * @brief wait locks thread until all tiles are updated from last update call. + */ void wait(); + /** + * @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through. + * @param agentHalfExtents allows to find navmesh for given actor. + * @param start path from given point. + * @param end path at given point. + * @param includeFlags setup allowed surfaces for actor to walk. + * @param out the beginning of the destination range. + * @return Output iterator to the element in the destination range, one past the last element of found path. + * Equal to out if no path is found. + * @throws InvalidArgument if there is no navmesh for given agentHalfExtents. + */ template OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const { + static_assert( + std::is_same< + typename std::iterator_traits::iterator_category, + std::output_iterator_tag + >::value, + "out is not an OutputIterator" + ); const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents); return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents), toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags, mSettings, out); } + /** + * @brief getNavMeshes returns all current navmeshes + * @return map of agent half extents to navmesh + */ std::map> getNavMeshes() const; const Settings& getSettings() const; From ed73d130f9bdee36ec0996ef61715d6a4ca0e5f8 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 1 Oct 2018 01:33:25 +0300 Subject: [PATCH 088/130] Cache navmesh tiles Use LRU modification to hold currently used items. Use RecastMesh binary data for item key. Store original pointer of btCollisionShape in user pointer to make available it as an identifier within all duplicates. Use pointer to heights data array for btHeightfieldTerrainShape. --- apps/openmw/mwrender/navmesh.cpp | 4 +- apps/openmw/mwrender/navmesh.hpp | 5 +- apps/openmw/mwrender/renderingmanager.cpp | 5 +- apps/openmw/mwworld/worldimp.cpp | 1 + apps/openmw_test_suite/CMakeLists.txt | 1 + .../detournavigator/navigator.cpp | 55 +++ .../detournavigator/navmeshtilescache.cpp | 312 ++++++++++++++++++ .../detournavigator/recastmeshbuilder.cpp | 1 + .../nifloader/testbulletnifloader.cpp | 3 +- components/CMakeLists.txt | 1 + .../detournavigator/asyncnavmeshupdater.cpp | 13 +- .../detournavigator/asyncnavmeshupdater.hpp | 6 +- components/detournavigator/makenavmesh.cpp | 120 ++++--- components/detournavigator/makenavmesh.hpp | 3 +- components/detournavigator/navigator.cpp | 2 +- components/detournavigator/navigator.hpp | 4 +- .../detournavigator/navmeshcacheitem.hpp | 63 +++- components/detournavigator/navmeshdata.hpp | 35 ++ components/detournavigator/navmeshmanager.cpp | 35 +- components/detournavigator/navmeshmanager.hpp | 10 +- .../detournavigator/navmeshtilescache.cpp | 158 +++++++++ .../detournavigator/navmeshtilescache.hpp | 127 +++++++ components/detournavigator/objectid.hpp | 2 +- .../detournavigator/offmeshconnection.hpp | 15 + .../offmeshconnectionsmanager.hpp | 7 +- components/detournavigator/recastmesh.cpp | 7 +- components/detournavigator/recastmesh.hpp | 7 +- .../detournavigator/recastmeshbuilder.cpp | 2 +- .../detournavigator/recastmeshbuilder.hpp | 5 +- .../detournavigator/recastmeshmanager.cpp | 28 +- .../detournavigator/recastmeshmanager.hpp | 7 +- .../detournavigator/recastmeshobject.cpp | 1 + components/detournavigator/settings.hpp | 1 + components/detournavigator/sharednavmesh.hpp | 4 - components/misc/guarded.hpp | 15 + components/nifbullet/bulletnifloader.cpp | 9 +- files/settings-default.cfg | 3 + 37 files changed, 942 insertions(+), 135 deletions(-) create mode 100644 apps/openmw_test_suite/detournavigator/navmeshtilescache.cpp create mode 100644 components/detournavigator/navmeshdata.hpp create mode 100644 components/detournavigator/navmeshtilescache.cpp create mode 100644 components/detournavigator/navmeshtilescache.hpp create mode 100644 components/detournavigator/offmeshconnection.hpp diff --git a/apps/openmw/mwrender/navmesh.cpp b/apps/openmw/mwrender/navmesh.cpp index 23f4a8d58..331f506ab 100644 --- a/apps/openmw/mwrender/navmesh.cpp +++ b/apps/openmw/mwrender/navmesh.cpp @@ -31,7 +31,7 @@ namespace MWRender return mEnabled; } - void NavMesh::update(const DetourNavigator::SharedNavMesh& sharedNavMesh, const std::size_t id, + void NavMesh::update(const dtNavMesh& navMesh, const std::size_t id, const std::size_t generation, const std::size_t revision, const DetourNavigator::Settings& settings) { if (!mEnabled || (mId == id && mGeneration >= generation && mRevision >= revision)) @@ -42,7 +42,7 @@ namespace MWRender mRevision = revision; if (mGroup) mRootNode->removeChild(mGroup); - mGroup = SceneUtil::createNavMeshGroup(*sharedNavMesh.lock(), settings); + mGroup = SceneUtil::createNavMeshGroup(navMesh, settings); if (mGroup) { mGroup->setNodeMask(Mask_Debug); diff --git a/apps/openmw/mwrender/navmesh.hpp b/apps/openmw/mwrender/navmesh.hpp index 34e71a70c..29205ca27 100644 --- a/apps/openmw/mwrender/navmesh.hpp +++ b/apps/openmw/mwrender/navmesh.hpp @@ -21,9 +21,8 @@ namespace MWRender bool toggle(); - void update(const DetourNavigator::SharedNavMesh& sharedNavMesh, - const std::size_t number, const std::size_t generation, const std::size_t revision, - const DetourNavigator::Settings& settings); + void update(const dtNavMesh& navMesh, const std::size_t number, const std::size_t generation, + const std::size_t revision, const DetourNavigator::Settings& settings); void reset(); diff --git a/apps/openmw/mwrender/renderingmanager.cpp b/apps/openmw/mwrender/renderingmanager.cpp index bc540d7e6..4d79fd3de 100644 --- a/apps/openmw/mwrender/renderingmanager.cpp +++ b/apps/openmw/mwrender/renderingmanager.cpp @@ -612,8 +612,9 @@ namespace MWRender { try { - mNavMesh->update(it->second->mValue, mNavMeshNumber, it->second->mGeneration, - it->second->mNavMeshRevision, mNavigator.getSettings()); + const auto locked = it->second.lockConst(); + mNavMesh->update(locked->getValue(), mNavMeshNumber, locked->getGeneration(), + locked->getNavMeshRevision(), mNavigator.getSettings()); } catch (const std::exception& e) { diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index c45d06c41..93babf120 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -216,6 +216,7 @@ namespace MWWorld navigatorSettings.mRegionMinSize = Settings::Manager::getInt("region min size", "Navigator"); navigatorSettings.mTileSize = Settings::Manager::getInt("tile size", "Navigator"); navigatorSettings.mAsyncNavMeshUpdaterThreads = static_cast(Settings::Manager::getInt("async nav mesh updater threads", "Navigator")); + navigatorSettings.mMaxNavMeshTilesCacheSize = static_cast(Settings::Manager::getInt("max nav mesh tiles cache size", "Navigator")); navigatorSettings.mMaxPolygonPathSize = static_cast(Settings::Manager::getInt("max polygon path size", "Navigator")); navigatorSettings.mMaxSmoothPathSize = static_cast(Settings::Manager::getInt("max smooth path size", "Navigator")); navigatorSettings.mTrianglesPerChunk = static_cast(Settings::Manager::getInt("triangles per chunk", "Navigator")); diff --git a/apps/openmw_test_suite/CMakeLists.txt b/apps/openmw_test_suite/CMakeLists.txt index b86f4b812..acb33e1fa 100644 --- a/apps/openmw_test_suite/CMakeLists.txt +++ b/apps/openmw_test_suite/CMakeLists.txt @@ -23,6 +23,7 @@ if (GTEST_FOUND AND GMOCK_FOUND) detournavigator/recastmeshbuilder.cpp detournavigator/gettilespositions.cpp detournavigator/recastmeshobject.cpp + detournavigator/navmeshtilescache.cpp ) source_group(apps\\openmw_test_suite FILES openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 1b42b6d05..7926e208d 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -56,6 +56,7 @@ namespace mSettings.mRegionMinSize = 8; mSettings.mTileSize = 64; mSettings.mAsyncNavMeshUpdaterThreads = 1; + mSettings.mMaxNavMeshTilesCacheSize = 1024 * 1024; mSettings.mMaxPolygonPathSize = 1024; mSettings.mMaxSmoothPathSize = 1024; mSettings.mTrianglesPerChunk = 256; @@ -602,4 +603,58 @@ namespace osg::Vec3f(0, -215, -94.753631591796875), })) << mPath; } + + TEST_F(DetourNavigatorNavigatorTest, update_remove_and_update_then_find_path_should_return_path) + { + const std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false); + shape.setLocalScaling(btVector3(128, 128, 1)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mNavigator->removeObject(ObjectId(&shape)); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mNavigator->addObject(ObjectId(&shape), shape, btTransform::getIdentity()); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut); + + EXPECT_EQ(mPath, std::deque({ + osg::Vec3f(-215, 215, 1.85963428020477294921875), + osg::Vec3f(-194.9653167724609375, 194.9653167724609375, -6.5760211944580078125), + osg::Vec3f(-174.930633544921875, 174.930633544921875, -15.01167774200439453125), + osg::Vec3f(-154.8959503173828125, 154.8959503173828125, -23.4473323822021484375), + osg::Vec3f(-134.86126708984375, 134.86126708984375, -31.8829898834228515625), + osg::Vec3f(-114.82657623291015625, 114.82657623291015625, -40.3186492919921875), + osg::Vec3f(-94.7918853759765625, 94.7918853759765625, -47.39907073974609375), + osg::Vec3f(-74.75719451904296875, 74.75719451904296875, -53.7258148193359375), + osg::Vec3f(-54.722499847412109375, 54.722499847412109375, -60.052555084228515625), + osg::Vec3f(-34.68780517578125, 34.68780517578125, -66.37929534912109375), + osg::Vec3f(-14.6531162261962890625, 14.6531162261962890625, -72.70604705810546875), + osg::Vec3f(5.3815765380859375, -5.3815765380859375, -75.35065460205078125), + osg::Vec3f(25.41626739501953125, -25.41626739501953125, -67.96945953369140625), + osg::Vec3f(45.450958251953125, -45.450958251953125, -60.58824920654296875), + osg::Vec3f(65.48564910888671875, -65.48564910888671875, -53.20705413818359375), + osg::Vec3f(85.5203399658203125, -85.5203399658203125, -45.825855255126953125), + osg::Vec3f(105.55503082275390625, -105.55503082275390625, -38.44464874267578125), + osg::Vec3f(125.5897216796875, -125.5897216796875, -31.063449859619140625), + osg::Vec3f(145.6244049072265625, -145.6244049072265625, -23.6822509765625), + osg::Vec3f(165.659088134765625, -165.659088134765625, -16.3010540008544921875), + osg::Vec3f(185.6937713623046875, -185.6937713623046875, -8.91985416412353515625), + osg::Vec3f(205.7284698486328125, -205.7284698486328125, -1.53864824771881103515625), + osg::Vec3f(215, -215, 1.877177715301513671875), + })) << mPath; + } } diff --git a/apps/openmw_test_suite/detournavigator/navmeshtilescache.cpp b/apps/openmw_test_suite/detournavigator/navmeshtilescache.cpp new file mode 100644 index 000000000..93fc5fbaf --- /dev/null +++ b/apps/openmw_test_suite/detournavigator/navmeshtilescache.cpp @@ -0,0 +1,312 @@ +#include "operators.hpp" + +#include +#include +#include + +#include + +#include + +namespace DetourNavigator +{ + static inline bool operator ==(const NavMeshDataRef& lhs, const NavMeshDataRef& rhs) + { + return std::make_pair(lhs.mValue, lhs.mSize) == std::make_pair(rhs.mValue, rhs.mSize); + } +} + +namespace +{ + using namespace testing; + using namespace DetourNavigator; + + struct DetourNavigatorNavMeshTilesCacheTest : Test + { + const osg::Vec3f mAgentHalfExtents {1, 2, 3}; + const TilePosition mTilePosition {0, 0}; + const std::vector mIndices {{0, 1, 2}}; + const std::vector mVertices {{0, 0, 0, 1, 0, 0, 1, 1, 0}}; + const std::vector mAreaTypes {1, AreaType_ground}; + const std::vector mWater {}; + const std::size_t mTrianglesPerChunk {1}; + const RecastMesh mRecastMesh {mIndices, mVertices, mAreaTypes, mWater, mTrianglesPerChunk}; + const std::vector mOffMeshConnections {}; + unsigned char* const mData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData mNavMeshData {mData, 1}; + }; + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, get_for_empty_cache_should_return_empty_value) + { + const std::size_t maxSize = 0; + NavMeshTilesCache cache(maxSize); + + EXPECT_FALSE(cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_for_not_enought_cache_size_should_return_empty_value) + { + const std::size_t maxSize = 0; + NavMeshTilesCache cache(maxSize); + + EXPECT_FALSE(cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, + std::move(mNavMeshData))); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_return_cached_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + const auto result = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, + std::move(mNavMeshData)); + EXPECT_EQ(result.get(), (NavMeshDataRef {mData, 1})); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_existing_element_should_throw_exception) + { + const std::size_t maxSize = 2; + NavMeshTilesCache cache(maxSize); + const auto anotherData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData anotherNavMeshData {anotherData, 1}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + EXPECT_THROW( + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(anotherNavMeshData)), + InvalidArgument + ); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, get_should_return_cached_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + const auto result = cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections); + ASSERT_TRUE(result); + EXPECT_EQ(result.get(), (NavMeshDataRef {mData, 1})); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, get_for_cache_miss_by_agent_half_extents_should_return_empty_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + const osg::Vec3f unexsistentAgentHalfExtents {1, 1, 1}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + EXPECT_FALSE(cache.get(unexsistentAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, get_for_cache_miss_by_tile_position_should_return_empty_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + const TilePosition unexistentTilePosition {1, 1}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + EXPECT_FALSE(cache.get(mAgentHalfExtents, unexistentTilePosition, mRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, get_for_cache_miss_by_recast_mesh_should_return_empty_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + const std::vector water {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh unexistentRecastMesh {mIndices, mVertices, mAreaTypes, water, mTrianglesPerChunk}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + EXPECT_FALSE(cache.get(mAgentHalfExtents, mTilePosition, unexistentRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_replace_unused_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + const std::vector water {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh anotherRecastMesh {mIndices, mVertices, mAreaTypes, water, mTrianglesPerChunk}; + const auto anotherData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData anotherNavMeshData {anotherData, 1}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + const auto result = cache.set(mAgentHalfExtents, mTilePosition, anotherRecastMesh, mOffMeshConnections, + std::move(anotherNavMeshData)); + ASSERT_TRUE(result); + EXPECT_EQ(result.get(), (NavMeshDataRef {anotherData, 1})); + EXPECT_FALSE(cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_not_replace_used_value) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + const std::vector water {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh anotherRecastMesh {mIndices, mVertices, mAreaTypes, water, mTrianglesPerChunk}; + const auto anotherData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData anotherNavMeshData {anotherData, 1}; + + const auto value = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, + std::move(mNavMeshData)); + EXPECT_FALSE(cache.set(mAgentHalfExtents, mTilePosition, anotherRecastMesh, mOffMeshConnections, + std::move(anotherNavMeshData))); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_replace_unused_least_recently_set_value) + { + const std::size_t maxSize = 2; + NavMeshTilesCache cache(maxSize); + + const std::vector leastRecentlySetWater {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh leastRecentlySetRecastMesh {mIndices, mVertices, mAreaTypes, leastRecentlySetWater, + mTrianglesPerChunk}; + const auto leastRecentlySetData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData leastRecentlySetNavMeshData {leastRecentlySetData, 1}; + + const std::vector mostRecentlySetWater {1, RecastMesh::Water {2, btTransform::getIdentity()}}; + const RecastMesh mostRecentlySetRecastMesh {mIndices, mVertices, mAreaTypes, mostRecentlySetWater, + mTrianglesPerChunk}; + const auto mostRecentlySetData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData mostRecentlySetNavMeshData {mostRecentlySetData, 1}; + + ASSERT_TRUE(cache.set(mAgentHalfExtents, mTilePosition, leastRecentlySetRecastMesh, mOffMeshConnections, + std::move(leastRecentlySetNavMeshData))); + ASSERT_TRUE(cache.set(mAgentHalfExtents, mTilePosition, mostRecentlySetRecastMesh, mOffMeshConnections, + std::move(mostRecentlySetNavMeshData))); + + const auto result = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, + std::move(mNavMeshData)); + EXPECT_EQ(result.get(), (NavMeshDataRef {mData, 1})); + + EXPECT_FALSE(cache.get(mAgentHalfExtents, mTilePosition, leastRecentlySetRecastMesh, mOffMeshConnections)); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, mostRecentlySetRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_replace_unused_least_recently_used_value) + { + const std::size_t maxSize = 2; + NavMeshTilesCache cache(maxSize); + + const std::vector leastRecentlyUsedWater {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh leastRecentlyUsedRecastMesh {mIndices, mVertices, mAreaTypes, leastRecentlyUsedWater, + mTrianglesPerChunk}; + const auto leastRecentlyUsedData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData leastRecentlyUsedNavMeshData {leastRecentlyUsedData, 1}; + + const std::vector mostRecentlyUsedWater {1, RecastMesh::Water {2, btTransform::getIdentity()}}; + const RecastMesh mostRecentlyUsedRecastMesh {mIndices, mVertices, mAreaTypes, mostRecentlyUsedWater, + mTrianglesPerChunk}; + const auto mostRecentlyUsedData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData mostRecentlyUsedNavMeshData {mostRecentlyUsedData, 1}; + + cache.set(mAgentHalfExtents, mTilePosition, leastRecentlyUsedRecastMesh, mOffMeshConnections, + std::move(leastRecentlyUsedNavMeshData)); + cache.set(mAgentHalfExtents, mTilePosition, mostRecentlyUsedRecastMesh, mOffMeshConnections, + std::move(mostRecentlyUsedNavMeshData)); + + { + const auto value = cache.get(mAgentHalfExtents, mTilePosition, leastRecentlyUsedRecastMesh, mOffMeshConnections); + ASSERT_TRUE(value); + ASSERT_EQ(value.get(), (NavMeshDataRef {leastRecentlyUsedData, 1})); + } + + { + const auto value = cache.get(mAgentHalfExtents, mTilePosition, mostRecentlyUsedRecastMesh, mOffMeshConnections); + ASSERT_TRUE(value); + ASSERT_EQ(value.get(), (NavMeshDataRef {mostRecentlyUsedData, 1})); + } + + const auto result = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, + std::move(mNavMeshData)); + EXPECT_EQ(result.get(), (NavMeshDataRef {mData, 1})); + + EXPECT_FALSE(cache.get(mAgentHalfExtents, mTilePosition, leastRecentlyUsedRecastMesh, mOffMeshConnections)); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, mostRecentlyUsedRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_not_replace_unused_least_recently_used_value_when_item_does_not_not_fit_cache_max_size) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + const std::vector water {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh tooLargeRecastMesh {mIndices, mVertices, mAreaTypes, water, mTrianglesPerChunk}; + const auto tooLargeData = reinterpret_cast(dtAlloc(2, DT_ALLOC_PERM)); + NavMeshData tooLargeNavMeshData {tooLargeData, 2}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + EXPECT_FALSE(cache.set(mAgentHalfExtents, mTilePosition, tooLargeRecastMesh, mOffMeshConnections, + std::move(tooLargeNavMeshData))); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, set_should_not_replace_unused_least_recently_used_value_when_item_does_not_not_fit_size_of_unused_items) + { + const std::size_t maxSize = 2; + NavMeshTilesCache cache(maxSize); + + const std::vector anotherWater {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh anotherRecastMesh {mIndices, mVertices, mAreaTypes, anotherWater, mTrianglesPerChunk}; + const auto anotherData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData anotherNavMeshData {anotherData, 1}; + + const std::vector tooLargeWater {1, RecastMesh::Water {2, btTransform::getIdentity()}}; + const RecastMesh tooLargeRecastMesh {mIndices, mVertices, mAreaTypes, tooLargeWater, mTrianglesPerChunk}; + const auto tooLargeData = reinterpret_cast(dtAlloc(2, DT_ALLOC_PERM)); + NavMeshData tooLargeNavMeshData {tooLargeData, 2}; + + const auto value = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, + std::move(mNavMeshData)); + ASSERT_TRUE(value); + ASSERT_TRUE(cache.set(mAgentHalfExtents, mTilePosition, anotherRecastMesh, mOffMeshConnections, + std::move(anotherNavMeshData))); + EXPECT_FALSE(cache.set(mAgentHalfExtents, mTilePosition, tooLargeRecastMesh, mOffMeshConnections, + std::move(tooLargeNavMeshData))); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, anotherRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, release_used_after_set_then_used_by_get_item_should_left_this_item_available) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + const std::vector water {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh anotherRecastMesh {mIndices, mVertices, mAreaTypes, water, mTrianglesPerChunk}; + const auto anotherData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData anotherNavMeshData {anotherData, 1}; + + const auto firstCopy = cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + ASSERT_TRUE(firstCopy); + { + const auto secondCopy = cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections); + ASSERT_TRUE(secondCopy); + } + EXPECT_FALSE(cache.set(mAgentHalfExtents, mTilePosition, anotherRecastMesh, mOffMeshConnections, + std::move(anotherNavMeshData))); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + } + + TEST_F(DetourNavigatorNavMeshTilesCacheTest, release_twice_used_item_should_left_this_item_available) + { + const std::size_t maxSize = 1; + NavMeshTilesCache cache(maxSize); + + const std::vector water {1, RecastMesh::Water {1, btTransform::getIdentity()}}; + const RecastMesh anotherRecastMesh {mIndices, mVertices, mAreaTypes, water, mTrianglesPerChunk}; + const auto anotherData = reinterpret_cast(dtAlloc(1, DT_ALLOC_PERM)); + NavMeshData anotherNavMeshData {anotherData, 1}; + + cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections, std::move(mNavMeshData)); + const auto firstCopy = cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections); + ASSERT_TRUE(firstCopy); + { + const auto secondCopy = cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections); + ASSERT_TRUE(secondCopy); + } + EXPECT_FALSE(cache.set(mAgentHalfExtents, mTilePosition, anotherRecastMesh, mOffMeshConnections, + std::move(anotherNavMeshData))); + EXPECT_TRUE(cache.get(mAgentHalfExtents, mTilePosition, mRecastMesh, mOffMeshConnections)); + } +} diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index ffef6114c..1bf1163c7 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -56,6 +56,7 @@ namespace btTriangleMesh mesh; mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0)); btBvhTriangleMeshShape shape(&mesh, true); + RecastMeshBuilder builder(mSettings, mBounds); builder.addObject(static_cast(shape), btTransform::getIdentity(), AreaType_ground); const auto recastMesh = builder.create(); diff --git a/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp b/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp index ceb035db8..de1a6a784 100644 --- a/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp +++ b/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp @@ -268,7 +268,8 @@ namespace value.target = Nif::ControlledPtr(nullptr); } - void copy(const btTransform& src, Nif::Transformation& dst) { + void copy(const btTransform& src, Nif::Transformation& dst) + { dst.pos = osg::Vec3f(src.getOrigin().x(), src.getOrigin().y(), src.getOrigin().z()); for (int row = 0; row < 3; ++row) for (int column = 0; column < 3; ++column) diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index cf45d3212..e70784f4b 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -170,6 +170,7 @@ add_component_dir(detournavigator recastmesh tilecachedrecastmeshmanager recastmeshobject + navmeshtilescache ) set (ESM_UI ${CMAKE_SOURCE_DIR}/files/ui/contentselector.ui diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index a61412a2a..c8930e6b9 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -52,6 +52,7 @@ namespace DetourNavigator , mRecastMeshManager(recastMeshManager) , mOffMeshConnectionsManager(offMeshConnectionsManager) , mShouldStop() + , mNavMeshTilesCache(settings.mMaxNavMeshTilesCacheSize) { for (std::size_t i = 0; i < mSettings.get().mAsyncNavMeshUpdaterThreads; ++i) mThreads.emplace_back([&] { process(); }); @@ -69,7 +70,7 @@ namespace DetourNavigator } void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, - const std::shared_ptr& navMeshCacheItem, const TilePosition& playerTile, + const SharedNavMeshCacheItem& navMeshCacheItem, const TilePosition& playerTile, const std::map& changedTiles) { *mPlayerTile.lock() = playerTile; @@ -129,7 +130,7 @@ namespace DetourNavigator const auto offMeshConnections = mOffMeshConnectionsManager.get().get(job.mChangedTile); const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile, - offMeshConnections, mSettings, *job.mNavMeshCacheItem); + offMeshConnections, mSettings, job.mNavMeshCacheItem, mNavMeshTilesCache); const auto finish = std::chrono::steady_clock::now(); @@ -137,9 +138,10 @@ namespace DetourNavigator using FloatMs = std::chrono::duration; + const auto locked = job.mNavMeshCacheItem.lockConst(); log("cache updated for agent=", job.mAgentHalfExtents, " status=", status, - " generation=", job.mNavMeshCacheItem->mGeneration, - " revision=", job.mNavMeshCacheItem->mNavMeshRevision, + " generation=", locked->getGeneration(), + " revision=", locked->getNavMeshRevision(), " time=", std::chrono::duration_cast(finish - start).count(), "ms", " total_time=", std::chrono::duration_cast(finish - firstStart).count(), "ms"); } @@ -151,6 +153,7 @@ namespace DetourNavigator mHasJob.wait_for(lock, std::chrono::milliseconds(10)); if (mJobs.empty()) { + mFirstStart.lock()->reset(); mDone.notify_all(); return boost::none; } @@ -183,7 +186,7 @@ namespace DetourNavigator writeToFile(*recastMesh, mSettings.get().mRecastMeshPathPrefix + std::to_string(job.mChangedTile.x()) + "_" + std::to_string(job.mChangedTile.y()) + "_", recastMeshRevision); if (mSettings.get().mEnableWriteNavMeshToFile) - writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); + writeToFile(job.mNavMeshCacheItem.lockConst()->getValue(), mSettings.get().mNavMeshPathPrefix, navMeshRevision); } std::chrono::steady_clock::time_point AsyncNavMeshUpdater::setFirstStart(const std::chrono::steady_clock::time_point& value) diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp index 28d1952a7..c9d7b1940 100644 --- a/components/detournavigator/asyncnavmeshupdater.hpp +++ b/components/detournavigator/asyncnavmeshupdater.hpp @@ -5,6 +5,7 @@ #include "offmeshconnectionsmanager.hpp" #include "tilecachedrecastmeshmanager.hpp" #include "tileposition.hpp" +#include "navmeshtilescache.hpp" #include @@ -37,7 +38,7 @@ namespace DetourNavigator OffMeshConnectionsManager& offMeshConnectionsManager); ~AsyncNavMeshUpdater(); - void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr& mNavMeshCacheItem, + void post(const osg::Vec3f& agentHalfExtents, const SharedNavMeshCacheItem& mNavMeshCacheItem, const TilePosition& playerTile, const std::map& changedTiles); void wait(); @@ -46,7 +47,7 @@ namespace DetourNavigator struct Job { osg::Vec3f mAgentHalfExtents; - std::shared_ptr mNavMeshCacheItem; + SharedNavMeshCacheItem mNavMeshCacheItem; TilePosition mChangedTile; std::tuple mPriority; @@ -69,6 +70,7 @@ namespace DetourNavigator std::map> mPushed; Misc::ScopeGuarded mPlayerTile; Misc::ScopeGuarded> mFirstStart; + NavMeshTilesCache mNavMeshTilesCache; std::vector mThreads; void process() throw(); diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 07f222504..cf6827b64 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -9,6 +9,7 @@ #include "sharednavmesh.hpp" #include "settingsutils.hpp" #include "flags.hpp" +#include "navmeshtilescache.hpp" #include #include @@ -23,6 +24,8 @@ namespace { using namespace DetourNavigator; + static const int doNotTransferOwnership = 0; + void initPolyMeshDetail(rcPolyMeshDetail& value) { value.meshes = nullptr; @@ -42,29 +45,6 @@ namespace using PolyMeshDetailStackPtr = std::unique_ptr; - struct NavMeshDataValueDeleter - { - void operator ()(unsigned char* value) const - { - dtFree(value); - } - }; - - using NavMeshDataValue = std::unique_ptr; - - struct NavMeshData - { - NavMeshDataValue mValue; - int mSize; - - NavMeshData() = default; - - NavMeshData(unsigned char* value, int size) - : mValue(value) - , mSize(size) - {} - }; - osg::Vec3f makeOsgVec3f(const btVector3& value) { return osg::Vec3f(value.x(), value.y(), value.z()); @@ -388,7 +368,7 @@ namespace DetourNavigator UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, const TilePosition& changedTile, const TilePosition& playerTile, const std::vector& offMeshConnections, const Settings& settings, - NavMeshCacheItem& navMeshCacheItem) + const SharedNavMeshCacheItem& navMeshCacheItem, NavMeshTilesCache& navMeshTilesCache) { log("update NavMesh with mutiple tiles:", " agentHeight=", std::setprecision(std::numeric_limits::max_exponent10), @@ -401,17 +381,19 @@ namespace DetourNavigator " playerTile=", playerTile, " changedTileDistance=", getDistance(changedTile, playerTile)); - auto& navMesh = navMeshCacheItem.mValue; - const auto& params = *navMesh.lock()->getParams(); + const auto params = *navMeshCacheItem.lockConst()->getValue().getParams(); const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]); const auto x = changedTile.x(); const auto y = changedTile.y(); const auto removeTile = [&] { - const auto locked = navMesh.lock(); - const auto removed = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr)); - navMeshCacheItem.mNavMeshRevision += removed; + const auto locked = navMeshCacheItem.lock(); + auto& navMesh = locked->getValue(); + const auto tileRef = navMesh.getTileRefAt(x, y, 0); + const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, nullptr, nullptr)); + if (removed) + locked->removeUsedTile(changedTile); return makeUpdateNavMeshStatus(removed, false); }; @@ -437,42 +419,82 @@ namespace DetourNavigator return removeTile(); } - const auto maxTiles = navMesh.lock()->getParams()->maxTiles; - if (!shouldAddTile(changedTile, playerTile, maxTiles)) + if (!shouldAddTile(changedTile, playerTile, params.maxTiles)) { log("ignore add tile: too far from player"); return removeTile(); } - const auto tileBounds = makeTileBounds(settings, changedTile); - const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); - const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); - - auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, offMeshConnections, x, y, - tileBorderMin, tileBorderMax, settings); + auto cachedNavMeshData = navMeshTilesCache.get(agentHalfExtents, changedTile, *recastMesh, offMeshConnections); - if (!navMeshData.mValue) + if (!cachedNavMeshData) { - log("ignore add tile: NavMeshData is null"); - return removeTile(); - } + const auto tileBounds = makeTileBounds(settings, changedTile); + const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); + const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); - dtStatus addStatus; - bool removed; - { - const auto locked = navMesh.lock(); - removed = dtStatusSucceed(locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr)); - addStatus = locked->addTile(navMeshData.mValue.get(), navMeshData.mSize, DT_TILE_FREE_DATA, 0, 0); + auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, offMeshConnections, x, y, + tileBorderMin, tileBorderMax, settings); + + if (!navMeshData.mValue) + { + log("ignore add tile: NavMeshData is null"); + return removeTile(); + } + + try + { + cachedNavMeshData = navMeshTilesCache.set(agentHalfExtents, changedTile, *recastMesh, + offMeshConnections, std::move(navMeshData)); + } + catch (const InvalidArgument&) + { + cachedNavMeshData = navMeshTilesCache.get(agentHalfExtents, changedTile, *recastMesh, + offMeshConnections); + } + + if (!cachedNavMeshData) + { + log("cache overflow"); + + const auto locked = navMeshCacheItem.lock(); + auto& navMesh = locked->getValue(); + const auto tileRef = navMesh.getTileRefAt(x, y, 0); + const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, nullptr, nullptr)); + const auto addStatus = navMesh.addTile(navMeshData.mValue.get(), navMeshData.mSize, + doNotTransferOwnership, 0, 0); + + if (dtStatusSucceed(addStatus)) + { + locked->setUsedTile(changedTile, std::move(navMeshData)); + return makeUpdateNavMeshStatus(removed, true); + } + else + { + if (removed) + locked->removeUsedTile(changedTile); + log("failed to add tile with status=", WriteDtStatus {addStatus}); + return makeUpdateNavMeshStatus(removed, false); + } + } } + const auto locked = navMeshCacheItem.lock(); + auto& navMesh = locked->getValue(); + const auto tileRef = navMesh.getTileRefAt(x, y, 0); + const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, nullptr, nullptr)); + const auto addStatus = navMesh.addTile(cachedNavMeshData.get().mValue, cachedNavMeshData.get().mSize, + doNotTransferOwnership, 0, 0); + if (dtStatusSucceed(addStatus)) { - ++navMeshCacheItem.mNavMeshRevision; - navMeshData.mValue.release(); + locked->setUsedTile(changedTile, std::move(cachedNavMeshData)); return makeUpdateNavMeshStatus(removed, true); } else { + if (removed) + locked->removeUsedTile(changedTile); log("failed to add tile with status=", WriteDtStatus {addStatus}); return makeUpdateNavMeshStatus(removed, false); } diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp index 963e0daa8..55d3e261c 100644 --- a/components/detournavigator/makenavmesh.hpp +++ b/components/detournavigator/makenavmesh.hpp @@ -7,6 +7,7 @@ #include "tileposition.hpp" #include "tilebounds.hpp" #include "sharednavmesh.hpp" +#include "navmeshtilescache.hpp" #include @@ -48,7 +49,7 @@ namespace DetourNavigator UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh, const TilePosition& changedTile, const TilePosition& playerTile, const std::vector& offMeshConnections, const Settings& settings, - NavMeshCacheItem& navMeshCacheItem); + const SharedNavMeshCacheItem& navMeshCacheItem, NavMeshTilesCache& navMeshTilesCache); } #endif diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp index d185ad02f..73537ff6f 100644 --- a/components/detournavigator/navigator.cpp +++ b/components/detournavigator/navigator.cpp @@ -122,7 +122,7 @@ namespace DetourNavigator mNavMeshManager.wait(); } - std::map> Navigator::getNavMeshes() const + std::map Navigator::getNavMeshes() const { return mNavMeshManager.getNavMeshes(); } diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp index 9d7723b47..351e0f9f8 100644 --- a/components/detournavigator/navigator.hpp +++ b/components/detournavigator/navigator.hpp @@ -176,7 +176,7 @@ namespace DetourNavigator "out is not an OutputIterator" ); const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents); - return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents), + return findSmoothPath(navMesh.lock()->getValue(), toNavMeshCoordinates(mSettings, agentHalfExtents), toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags, mSettings, out); } @@ -185,7 +185,7 @@ namespace DetourNavigator * @brief getNavMeshes returns all current navmeshes * @return map of agent half extents to navmesh */ - std::map> getNavMeshes() const; + std::map getNavMeshes() const; const Settings& getSettings() const; diff --git a/components/detournavigator/navmeshcacheitem.hpp b/components/detournavigator/navmeshcacheitem.hpp index 537f6df5d..e64b9d138 100644 --- a/components/detournavigator/navmeshcacheitem.hpp +++ b/components/detournavigator/navmeshcacheitem.hpp @@ -2,20 +2,69 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHCACHEITEM_H #include "sharednavmesh.hpp" +#include "tileposition.hpp" +#include "navmeshtilescache.hpp" -#include +#include + +#include namespace DetourNavigator { - struct NavMeshCacheItem + class NavMeshCacheItem { - SharedNavMesh mValue; - std::size_t mGeneration; - std::atomic_size_t mNavMeshRevision; - + public: NavMeshCacheItem(const NavMeshPtr& value, std::size_t generation) - : mValue(value), mGeneration(generation), mNavMeshRevision(0) {} + : mValue(value), mGeneration(generation), mNavMeshRevision(0) + { + } + + const dtNavMesh& getValue() const + { + return *mValue; + } + + dtNavMesh& getValue() + { + return *mValue; + } + + std::size_t getGeneration() const + { + return mGeneration; + } + + std::size_t getNavMeshRevision() const + { + return mNavMeshRevision; + } + + void setUsedTile(const TilePosition& tilePosition, NavMeshTilesCache::Value value) + { + mUsedTiles[tilePosition] = std::make_pair(std::move(value), NavMeshData()); + ++mNavMeshRevision; + } + + void setUsedTile(const TilePosition& tilePosition, NavMeshData value) + { + mUsedTiles[tilePosition] = std::make_pair(NavMeshTilesCache::Value(), std::move(value)); + ++mNavMeshRevision; + } + + void removeUsedTile(const TilePosition& tilePosition) + { + mUsedTiles.erase(tilePosition); + ++mNavMeshRevision; + } + + private: + NavMeshPtr mValue; + std::size_t mGeneration; + std::size_t mNavMeshRevision; + std::map> mUsedTiles; }; + + using SharedNavMeshCacheItem = Misc::SharedGuarded; } #endif diff --git a/components/detournavigator/navmeshdata.hpp b/components/detournavigator/navmeshdata.hpp new file mode 100644 index 000000000..8ce79614b --- /dev/null +++ b/components/detournavigator/navmeshdata.hpp @@ -0,0 +1,35 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHDATA_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHDATA_H + +#include + +#include +#include + +namespace DetourNavigator +{ + struct NavMeshDataValueDeleter + { + void operator ()(unsigned char* value) const + { + dtFree(value); + } + }; + + using NavMeshDataValue = std::unique_ptr; + + struct NavMeshData + { + NavMeshDataValue mValue; + int mSize; + + NavMeshData() = default; + + NavMeshData(unsigned char* value, int size) + : mValue(value) + , mSize(size) + {} + }; +} + +#endif diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp index 559aedebb..9afe105d9 100644 --- a/components/detournavigator/navmeshmanager.cpp +++ b/components/detournavigator/navmeshmanager.cpp @@ -136,11 +136,12 @@ namespace DetourNavigator const auto& cached = getCached(agentHalfExtents); const auto changedTiles = mChangedTiles.find(agentHalfExtents); { - const auto locked = cached->mValue.lock(); + const auto locked = cached.lock(); + const auto& navMesh = locked->getValue(); if (changedTiles != mChangedTiles.end()) { for (const auto& tile : changedTiles->second) - if (locked->getTileAt(tile.first.x(), tile.first.y(), 0)) + if (navMesh.getTileAt(tile.first.x(), tile.first.y(), 0)) { auto tileToPost = tilesToPost.find(tile.first); if (tileToPost == tilesToPost.end()) @@ -153,13 +154,13 @@ namespace DetourNavigator if (changedTiles->second.empty()) mChangedTiles.erase(changedTiles); } - const auto maxTiles = locked->getParams()->maxTiles; + const auto maxTiles = navMesh.getParams()->maxTiles; mRecastMeshManager.forEachTilePosition([&] (const TilePosition& tile) { if (tilesToPost.count(tile)) return; const auto shouldAdd = shouldAddTile(tile, playerTile, maxTiles); - const auto presentInNavMesh = bool(locked->getTileAt(tile.x(), tile.y(), 0)); + const auto presentInNavMesh = bool(navMesh.getTileAt(tile.x(), tile.y(), 0)); if (shouldAdd && !presentInNavMesh) tilesToPost.insert(std::make_pair(tile, ChangeType::add)); else if (!shouldAdd && presentInNavMesh) @@ -169,8 +170,7 @@ namespace DetourNavigator mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost); log("cache update posted for agent=", agentHalfExtents, " playerTile=", lastPlayerTile->second, - " recastMeshManagerRevision=", lastRevision, - " changedTiles=", changedTiles->second.size()); + " recastMeshManagerRevision=", lastRevision); } void NavMeshManager::wait() @@ -178,12 +178,12 @@ namespace DetourNavigator mAsyncNavMeshUpdater.wait(); } - SharedNavMesh NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const + SharedNavMeshCacheItem NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const { - return getCached(agentHalfExtents)->mValue; + return getCached(agentHalfExtents); } - std::map> NavMeshManager::getNavMeshes() const + std::map NavMeshManager::getNavMeshes() const { return mCache; } @@ -209,19 +209,16 @@ namespace DetourNavigator { for (const auto& cached : mCache) { - if (cached.second) - { - auto& tiles = mChangedTiles[cached.first]; - auto tile = tiles.find(tilePosition); - if (tile == tiles.end()) - tiles.insert(std::make_pair(tilePosition, changeType)); - else - tile->second = addChangeType(tile->second, changeType); - } + auto& tiles = mChangedTiles[cached.first]; + auto tile = tiles.find(tilePosition); + if (tile == tiles.end()) + tiles.insert(std::make_pair(tilePosition, changeType)); + else + tile->second = addChangeType(tile->second, changeType); } } - const std::shared_ptr& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const + const SharedNavMeshCacheItem& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const { const auto cached = mCache.find(agentHalfExtents); if (cached != mCache.end()) diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp index 86d9ea5d4..f44cdd251 100644 --- a/components/detournavigator/navmeshmanager.hpp +++ b/components/detournavigator/navmeshmanager.hpp @@ -46,17 +46,17 @@ namespace DetourNavigator void wait(); - SharedNavMesh getNavMesh(const osg::Vec3f& agentHalfExtents) const; + SharedNavMeshCacheItem getNavMesh(const osg::Vec3f& agentHalfExtents) const; - std::map> getNavMeshes() const; + std::map getNavMeshes() const; private: const Settings& mSettings; TileCachedRecastMeshManager mRecastMeshManager; OffMeshConnectionsManager mOffMeshConnectionsManager; - std::map> mCache; - std::map> mChangedTiles; AsyncNavMeshUpdater mAsyncNavMeshUpdater; + std::map mCache; + std::map> mChangedTiles; std::size_t mGenerationCounter = 0; std::map mPlayerTile; std::map mLastRecastMeshManagerRevision; @@ -67,7 +67,7 @@ namespace DetourNavigator void addChangedTile(const TilePosition& tilePosition, const ChangeType changeType); - const std::shared_ptr& getCached(const osg::Vec3f& agentHalfExtents) const; + const SharedNavMeshCacheItem& getCached(const osg::Vec3f& agentHalfExtents) const; }; } diff --git a/components/detournavigator/navmeshtilescache.cpp b/components/detournavigator/navmeshtilescache.cpp new file mode 100644 index 000000000..ff24b86f4 --- /dev/null +++ b/components/detournavigator/navmeshtilescache.cpp @@ -0,0 +1,158 @@ +#include "navmeshtilescache.hpp" +#include "exceptions.hpp" + +namespace DetourNavigator +{ + namespace + { + inline std::string makeNavMeshKey(const RecastMesh& recastMesh, + const std::vector& offMeshConnections) + { + std::string result; + result.reserve( + recastMesh.getIndices().size() * sizeof(int) + + recastMesh.getVertices().size() * sizeof(float) + + recastMesh.getAreaTypes().size() * sizeof(AreaType) + + recastMesh.getWater().size() * sizeof(RecastMesh::Water) + + offMeshConnections.size() * sizeof(OffMeshConnection) + ); + std::copy( + reinterpret_cast(recastMesh.getIndices().data()), + reinterpret_cast(recastMesh.getIndices().data() + recastMesh.getIndices().size()), + std::back_inserter(result) + ); + std::copy( + reinterpret_cast(recastMesh.getVertices().data()), + reinterpret_cast(recastMesh.getVertices().data() + recastMesh.getVertices().size()), + std::back_inserter(result) + ); + std::copy( + reinterpret_cast(recastMesh.getAreaTypes().data()), + reinterpret_cast(recastMesh.getAreaTypes().data() + recastMesh.getAreaTypes().size()), + std::back_inserter(result) + ); + std::copy( + reinterpret_cast(recastMesh.getWater().data()), + reinterpret_cast(recastMesh.getWater().data() + recastMesh.getWater().size()), + std::back_inserter(result) + ); + std::copy( + reinterpret_cast(offMeshConnections.data()), + reinterpret_cast(offMeshConnections.data() + offMeshConnections.size()), + std::back_inserter(result) + ); + return result; + } + } + + NavMeshTilesCache::NavMeshTilesCache(const std::size_t maxNavMeshDataSize) + : mMaxNavMeshDataSize(maxNavMeshDataSize), mUsedNavMeshDataSize(0), mFreeNavMeshDataSize(0) {} + + NavMeshTilesCache::Value NavMeshTilesCache::get(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, + const RecastMesh& recastMesh, const std::vector& offMeshConnections) + { + const std::lock_guard lock(mMutex); + + const auto agentValues = mValues.find(agentHalfExtents); + if (agentValues == mValues.end()) + return Value(); + + const auto tileValues = agentValues->second.find(changedTile); + if (tileValues == agentValues->second.end()) + return Value(); + + const auto tile = tileValues->second.find(makeNavMeshKey(recastMesh, offMeshConnections)); + if (tile == tileValues->second.end()) + return Value(); + + acquireItemUnsafe(tile->second); + + return Value(*this, tile->second); + } + + NavMeshTilesCache::Value NavMeshTilesCache::set(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, + const RecastMesh& recastMesh, const std::vector& offMeshConnections, + NavMeshData value) + { + const auto navMeshSize = static_cast(value.mSize); + + const std::lock_guard lock(mMutex); + + if (navMeshSize > mMaxNavMeshDataSize) + return Value(); + + if (navMeshSize > mFreeNavMeshDataSize + (mMaxNavMeshDataSize - mUsedNavMeshDataSize)) + return Value(); + + while (!mFreeItems.empty() && mUsedNavMeshDataSize + navMeshSize > mMaxNavMeshDataSize) + removeLeastRecentlyUsed(); + + const auto navMeshKey = makeNavMeshKey(recastMesh, offMeshConnections); + const auto iterator = mFreeItems.emplace(mFreeItems.end(), agentHalfExtents, changedTile, navMeshKey); + const auto emplaced = mValues[agentHalfExtents][changedTile].emplace(navMeshKey, iterator); + + if (!emplaced.second) + { + mFreeItems.erase(iterator); + throw InvalidArgument("Set existing cache value"); + } + + iterator->mNavMeshData = std::move(value); + mUsedNavMeshDataSize += navMeshSize; + mFreeNavMeshDataSize += navMeshSize; + + acquireItemUnsafe(iterator); + + return Value(*this, iterator); + } + + void NavMeshTilesCache::removeLeastRecentlyUsed() + { + const auto& item = mFreeItems.back(); + + const auto agentValues = mValues.find(item.mAgentHalfExtents); + if (agentValues == mValues.end()) + return; + + const auto tileValues = agentValues->second.find(item.mChangedTile); + if (tileValues == agentValues->second.end()) + return; + + const auto value = tileValues->second.find(item.mNavMeshKey); + if (value == tileValues->second.end()) + return; + + mUsedNavMeshDataSize -= static_cast(item.mNavMeshData.mSize); + mFreeItems.pop_back(); + + tileValues->second.erase(value); + if (!tileValues->second.empty()) + return; + + agentValues->second.erase(tileValues); + if (!agentValues->second.empty()) + return; + + mValues.erase(agentValues); + } + + void NavMeshTilesCache::acquireItemUnsafe(ItemIterator iterator) + { + if (++iterator->mUseCount > 1) + return; + + mBusyItems.splice(mBusyItems.end(), mFreeItems, iterator); + mFreeNavMeshDataSize -= static_cast(iterator->mNavMeshData.mSize); + } + + void NavMeshTilesCache::releaseItem(ItemIterator iterator) + { + if (--iterator->mUseCount > 0) + return; + + const std::lock_guard lock(mMutex); + + mFreeItems.splice(mFreeItems.begin(), mBusyItems, iterator); + mFreeNavMeshDataSize += static_cast(iterator->mNavMeshData.mSize); + } +} diff --git a/components/detournavigator/navmeshtilescache.hpp b/components/detournavigator/navmeshtilescache.hpp new file mode 100644 index 000000000..2ecd37bf4 --- /dev/null +++ b/components/detournavigator/navmeshtilescache.hpp @@ -0,0 +1,127 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHTILESCACHE_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHTILESCACHE_H + +#include "offmeshconnection.hpp" +#include "navmeshdata.hpp" +#include "recastmesh.hpp" +#include "tileposition.hpp" + +#include +#include +#include +#include + +namespace DetourNavigator +{ + struct NavMeshDataRef + { + unsigned char* mValue; + int mSize; + }; + + class NavMeshTilesCache + { + public: + struct Item + { + std::atomic mUseCount; + osg::Vec3f mAgentHalfExtents; + TilePosition mChangedTile; + std::string mNavMeshKey; + NavMeshData mNavMeshData; + + Item(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, std::string navMeshKey) + : mUseCount(0) + , mAgentHalfExtents(agentHalfExtents) + , mChangedTile(changedTile) + , mNavMeshKey(std::move(navMeshKey)) + {} + }; + + using ItemIterator = std::list::iterator; + + class Value + { + public: + Value() + : mOwner(nullptr), mIterator() {} + + Value(NavMeshTilesCache& owner, ItemIterator iterator) + : mOwner(&owner), mIterator(iterator) + { + } + + Value(const Value& other) = delete; + + Value(Value&& other) + : mOwner(other.mOwner), mIterator(other.mIterator) + { + other.mIterator = ItemIterator(); + } + + ~Value() + { + if (mIterator != ItemIterator()) + mOwner->releaseItem(mIterator); + } + + Value& operator =(const Value& other) = delete; + + Value& operator =(Value&& other) + { + if (mIterator == other.mIterator) + return *this; + + if (mIterator != ItemIterator()) + mOwner->releaseItem(mIterator); + + mOwner = other.mOwner; + mIterator = other.mIterator; + + other.mIterator = ItemIterator(); + + return *this; + } + + NavMeshDataRef get() const + { + return NavMeshDataRef {mIterator->mNavMeshData.mValue.get(), mIterator->mNavMeshData.mSize}; + } + + operator bool() const + { + return mIterator != ItemIterator(); + } + + private: + NavMeshTilesCache* mOwner; + ItemIterator mIterator; + }; + + NavMeshTilesCache(const std::size_t maxNavMeshDataSize); + + Value get(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, + const RecastMesh& recastMesh, const std::vector& offMeshConnections); + + Value set(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, + const RecastMesh& recastMesh, const std::vector& offMeshConnections, + NavMeshData value); + + private: + std::mutex mMutex; + std::size_t mMaxNavMeshDataSize; + std::size_t mUsedNavMeshDataSize; + std::size_t mFreeNavMeshDataSize; + std::list mBusyItems; + std::list mFreeItems; + std::map>> mValues; + + void removeLeastRecentlyUsed(); + + void acquireItemUnsafe(ItemIterator iterator); + + void releaseItem(ItemIterator iterator); + }; +} + +#endif diff --git a/components/detournavigator/objectid.hpp b/components/detournavigator/objectid.hpp index cbb933ba0..3b56924b1 100644 --- a/components/detournavigator/objectid.hpp +++ b/components/detournavigator/objectid.hpp @@ -10,7 +10,7 @@ namespace DetourNavigator { public: template - explicit ObjectId(const T* value) throw() + explicit ObjectId(const T value) throw() : mValue(reinterpret_cast(value)) { } diff --git a/components/detournavigator/offmeshconnection.hpp b/components/detournavigator/offmeshconnection.hpp new file mode 100644 index 000000000..60e8ecbbb --- /dev/null +++ b/components/detournavigator/offmeshconnection.hpp @@ -0,0 +1,15 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OFFMESHCONNECTION_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OFFMESHCONNECTION_H + +#include + +namespace DetourNavigator +{ + struct OffMeshConnection + { + osg::Vec3f mStart; + osg::Vec3f mEnd; + }; +} + +#endif diff --git a/components/detournavigator/offmeshconnectionsmanager.hpp b/components/detournavigator/offmeshconnectionsmanager.hpp index 212f821c9..30d7976ae 100644 --- a/components/detournavigator/offmeshconnectionsmanager.hpp +++ b/components/detournavigator/offmeshconnectionsmanager.hpp @@ -5,6 +5,7 @@ #include "settingsutils.hpp" #include "tileposition.hpp" #include "objectid.hpp" +#include "offmeshconnection.hpp" #include @@ -20,12 +21,6 @@ namespace DetourNavigator { - struct OffMeshConnection - { - osg::Vec3f mStart; - osg::Vec3f mEnd; - }; - class OffMeshConnectionsManager { public: diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index b4897d14a..50a3493f7 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -1,18 +1,17 @@ #include "recastmesh.hpp" -#include "settings.hpp" #include "exceptions.hpp" #include namespace DetourNavigator { - RecastMesh::RecastMesh(std::vector indices, std::vector vertices, - std::vector areaTypes, std::vector water, const Settings& settings) + RecastMesh::RecastMesh(std::vector indices, std::vector vertices, std::vector areaTypes, + std::vector water, const std::size_t trianglesPerChunk) : mIndices(std::move(indices)) , mVertices(std::move(vertices)) , mAreaTypes(std::move(areaTypes)) , mWater(std::move(water)) - , mChunkyTriMesh(mVertices, mIndices, mAreaTypes, settings.mTrianglesPerChunk) + , mChunkyTriMesh(mVertices, mIndices, mAreaTypes, trianglesPerChunk) { if (getTrianglesCount() != mAreaTypes.size()) throw InvalidArgument("number of flags doesn't match number of triangles: triangles=" diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp index 12dc73e48..b3e158aff 100644 --- a/components/detournavigator/recastmesh.hpp +++ b/components/detournavigator/recastmesh.hpp @@ -5,6 +5,7 @@ #include "chunkytrimesh.hpp" #include +#include #include #include @@ -13,8 +14,6 @@ namespace DetourNavigator { - struct Settings; - class RecastMesh { public: @@ -24,8 +23,8 @@ namespace DetourNavigator btTransform mTransform; }; - RecastMesh(std::vector indices, std::vector vertices, - std::vector areaTypes, std::vector water, const Settings& settings); + RecastMesh(std::vector indices, std::vector vertices, std::vector areaTypes, + std::vector water, const std::size_t trianglesPerChunk); const std::vector& getIndices() const { diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index 3e87aa34b..8ba3309ce 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -119,7 +119,7 @@ namespace DetourNavigator std::shared_ptr RecastMeshBuilder::create() const { - return std::make_shared(mIndices, mVertices, mAreaTypes, mWater, mSettings); + return std::make_shared(mIndices, mVertices, mAreaTypes, mWater, mSettings.get().mTrianglesPerChunk); } void RecastMeshBuilder::reset() diff --git a/components/detournavigator/recastmeshbuilder.hpp b/components/detournavigator/recastmeshbuilder.hpp index af0565cab..2f9d0373d 100644 --- a/components/detournavigator/recastmeshbuilder.hpp +++ b/components/detournavigator/recastmeshbuilder.hpp @@ -6,9 +6,6 @@ #include -#include -#include - class btBoxShape; class btCollisionShape; class btCompoundShape; @@ -18,6 +15,8 @@ class btTriangleCallback; namespace DetourNavigator { + struct Settings; + class RecastMeshBuilder { public: diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index f9f81de96..1c3a72b59 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -14,8 +14,12 @@ namespace DetourNavigator bool RecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { - if (!mObjects.emplace(id, RecastMeshObject(shape, transform, areaType)).second) + const auto iterator = mObjectsOrder.emplace(mObjectsOrder.end(), RecastMeshObject(shape, transform, areaType)); + if (!mObjects.emplace(id, iterator).second) + { + mObjectsOrder.erase(iterator); return false; + } mShouldRebuild = true; return mShouldRebuild; } @@ -25,7 +29,7 @@ namespace DetourNavigator const auto object = mObjects.find(id); if (object == mObjects.end()) return false; - if (!object->second.update(transform, areaType)) + if (!object->second->update(transform, areaType)) return false; mShouldRebuild = true; return mShouldRebuild; @@ -36,7 +40,8 @@ namespace DetourNavigator const auto object = mObjects.find(id); if (object == mObjects.end()) return boost::none; - const RemovedRecastMeshObject result {object->second.getShape(), object->second.getTransform()}; + const RemovedRecastMeshObject result {object->second->getShape(), object->second->getTransform()}; + mObjectsOrder.erase(object->second); mObjects.erase(object); mShouldRebuild = true; return result; @@ -45,8 +50,12 @@ namespace DetourNavigator bool RecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, const btTransform& transform) { - if (!mWater.insert(std::make_pair(cellPosition, Water {cellSize, transform})).second) + const auto iterator = mWaterOrder.emplace(mWaterOrder.end(), Water {cellSize, transform}); + if (!mWater.emplace(cellPosition, iterator).second) + { + mWaterOrder.erase(iterator); return false; + } mShouldRebuild = true; return true; } @@ -57,7 +66,8 @@ namespace DetourNavigator if (water == mWater.end()) return boost::none; mShouldRebuild = true; - const auto result = water->second; + const auto result = *water->second; + mWaterOrder.erase(water->second); mWater.erase(water); return result; } @@ -78,10 +88,10 @@ namespace DetourNavigator if (!mShouldRebuild) return; mMeshBuilder.reset(); - for (const auto& v : mWater) - mMeshBuilder.addWater(v.second.mCellSize, v.second.mTransform); - for (const auto& v : mObjects) - mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getAreaType()); + for (const auto& v : mWaterOrder) + mMeshBuilder.addWater(v.mCellSize, v.mTransform); + for (const auto& v : mObjectsOrder) + mMeshBuilder.addObject(v.getShape(), v.getTransform(), v.getAreaType()); mShouldRebuild = false; } } diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index be0fc3581..f8602e514 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -13,6 +13,7 @@ #include #include +#include class btCollisionShape; @@ -53,8 +54,10 @@ namespace DetourNavigator private: bool mShouldRebuild; RecastMeshBuilder mMeshBuilder; - std::unordered_map mObjects; - std::map mWater; + std::list mObjectsOrder; + std::unordered_map::iterator> mObjects; + std::list mWaterOrder; + std::map::iterator> mWater; void rebuild(); }; diff --git a/components/detournavigator/recastmeshobject.cpp b/components/detournavigator/recastmeshobject.cpp index 1aac9fd81..acaf398c1 100644 --- a/components/detournavigator/recastmeshobject.cpp +++ b/components/detournavigator/recastmeshobject.cpp @@ -4,6 +4,7 @@ #include +#include #include namespace DetourNavigator diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index 9f6ca97be..f2eb2be24 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -28,6 +28,7 @@ namespace DetourNavigator int mRegionMinSize; int mTileSize; std::size_t mAsyncNavMeshUpdaterThreads; + std::size_t mMaxNavMeshTilesCacheSize; std::size_t mMaxPolygonPathSize; std::size_t mMaxSmoothPathSize; std::size_t mTrianglesPerChunk; diff --git a/components/detournavigator/sharednavmesh.hpp b/components/detournavigator/sharednavmesh.hpp index 8045434a1..beb0a3c41 100644 --- a/components/detournavigator/sharednavmesh.hpp +++ b/components/detournavigator/sharednavmesh.hpp @@ -1,9 +1,6 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H -#include - -#include #include class dtNavMesh; @@ -11,7 +8,6 @@ class dtNavMesh; namespace DetourNavigator { using NavMeshPtr = std::shared_ptr; - using SharedNavMesh = Misc::SharedGuarded; } #endif diff --git a/components/misc/guarded.hpp b/components/misc/guarded.hpp index 841b9b812..db619569a 100644 --- a/components/misc/guarded.hpp +++ b/components/misc/guarded.hpp @@ -48,6 +48,21 @@ namespace Misc : mValue(std::move(value)) {} + template + ScopeGuarded(Args&& ... args) + : mValue(std::forward(args) ...) + {} + + ScopeGuarded(const ScopeGuarded& other) + : mMutex() + , mValue(other.lock().get()) + {} + + ScopeGuarded(ScopeGuarded&& other) + : mMutex() + , mValue(std::move(other.lock().get())) + {} + Locked lock() { return Locked(mMutex, mValue); diff --git a/components/nifbullet/bulletnifloader.cpp b/components/nifbullet/bulletnifloader.cpp index 991e9fff5..9c1c92695 100644 --- a/components/nifbullet/bulletnifloader.cpp +++ b/components/nifbullet/bulletnifloader.cpp @@ -127,7 +127,9 @@ osg::ref_ptr BulletNifLoader::load(const Nif::File& nif) { btTransform trans; trans.setIdentity(); - mCompoundShape->addChildShape(trans, new Resource::TriangleMeshShape(mStaticMesh.get(), true)); + std::unique_ptr child(new Resource::TriangleMeshShape(mStaticMesh.get(), true)); + mCompoundShape->addChildShape(trans, child.get()); + child.release(); mStaticMesh.release(); } mShape->mCollisionShape = mCompoundShape.release(); @@ -139,7 +141,10 @@ osg::ref_ptr BulletNifLoader::load(const Nif::File& nif) } if (mAvoidStaticMesh) - mShape->mAvoidCollisionShape = new Resource::TriangleMeshShape(mAvoidStaticMesh.release(), false); + { + mShape->mAvoidCollisionShape = new Resource::TriangleMeshShape(mAvoidStaticMesh.get(), false); + mAvoidStaticMesh.release(); + } return mShape; } diff --git a/files/settings-default.cfg b/files/settings-default.cfg index 29333682e..a76eaf1d6 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -588,6 +588,9 @@ region min size = 8 # Number of background threads to update nav mesh (value >= 1) async nav mesh updater threads = 1 +# Maximum total cached size of all nav mesh tiles in bytes (value >= 0) +max nav mesh tiles cache size = 268435456 + # Maximum size of path over polygons (value > 0) max polygon path size = 1024 From fb655cb04f07c53a7b0240135b37cb8e09d4b16a Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 13 Oct 2018 17:30:47 +0300 Subject: [PATCH 089/130] Remove macroses to check recastnavigation functions result --- components/detournavigator/dtstatus.hpp | 28 ----- components/detournavigator/findsmoothpath.hpp | 108 +++++++++++----- components/detournavigator/makenavmesh.cpp | 118 +++++++++++++++--- components/detournavigator/recastmesh.cpp | 2 +- 4 files changed, 179 insertions(+), 77 deletions(-) diff --git a/components/detournavigator/dtstatus.hpp b/components/detournavigator/dtstatus.hpp index 5360b5ce3..a73d33be1 100644 --- a/components/detournavigator/dtstatus.hpp +++ b/components/detournavigator/dtstatus.hpp @@ -1,8 +1,6 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_DTSTATUS_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_DTSTATUS_H -#include "exceptions.hpp" - #include #include @@ -35,32 +33,6 @@ namespace DetourNavigator stream << status.second << " "; return stream; } - - inline void checkDtStatus(dtStatus status, const char* call, int line) - { - if (!dtStatusSucceed(status)) - { - std::ostringstream message; - message << call << " failed with status=" << WriteDtStatus {status} << " at " __FILE__ ":" << line; - throw NavigatorException(message.str()); - } - } - - inline void checkDtResult(bool result, const char* call, int line) - { - if (!result) - { - std::ostringstream message; - message << call << " failed at " __FILE__ ":" << line; - throw NavigatorException(message.str()); - } - } } -#define OPENMW_CHECK_DT_STATUS(call) \ - do { DetourNavigator::checkDtStatus((call), #call, __LINE__); } while (false) - -#define OPENMW_CHECK_DT_RESULT(call) \ - do { DetourNavigator::checkDtResult((call), #call, __LINE__); } while (false) - #endif diff --git a/components/detournavigator/findsmoothpath.hpp b/components/detournavigator/findsmoothpath.hpp index 08bfa14da..81b732b74 100644 --- a/components/detournavigator/findsmoothpath.hpp +++ b/components/detournavigator/findsmoothpath.hpp @@ -6,6 +6,7 @@ #include "flags.hpp" #include "settings.hpp" #include "settingsutils.hpp" +#include "debug.hpp" #include #include @@ -97,6 +98,73 @@ namespace DetourNavigator const Settings& mSettings; }; + inline void initNavMeshQuery(dtNavMeshQuery& value, const dtNavMesh& navMesh, const int maxNodes) + { + const auto status = value.init(&navMesh, maxNodes); + if (!dtStatusSucceed(status)) + throw NavigatorException("Failed to init navmesh query"); + } + + struct MoveAlongSurfaceResult + { + osg::Vec3f mResultPos; + std::vector mVisited; + }; + + inline MoveAlongSurfaceResult moveAlongSurface(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef, + const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& filter, + const std::size_t maxVisitedSize) + { + MoveAlongSurfaceResult result; + result.mVisited.resize(maxVisitedSize); + int visitedNumber = 0; + const auto status = navMeshQuery.moveAlongSurface(startRef, startPos.ptr(), endPos.ptr(), + &filter, result.mResultPos.ptr(), result.mVisited.data(), &visitedNumber, static_cast(maxVisitedSize)); + if (!dtStatusSucceed(status)) + { + std::ostringstream message; + message << "Failed to move along surface from " << startPos << " to " << endPos; + throw NavigatorException(message.str()); + } + assert(visitedNumber >= 0); + assert(visitedNumber <= static_cast(maxVisitedSize)); + result.mVisited.resize(static_cast(visitedNumber)); + return result; + } + + inline std::vector findPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef, + const dtPolyRef endRef, const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& queryFilter, + const std::size_t maxSize) + { + int pathLen = 0; + std::vector result(maxSize); + const auto status = navMeshQuery.findPath(startRef, endRef, startPos.ptr(), endPos.ptr(), &queryFilter, + result.data(), &pathLen, static_cast(maxSize)); + if (!dtStatusSucceed(status)) + { + std::ostringstream message; + message << "Failed to find path over polygons from " << startRef << " to " << endRef; + throw NavigatorException(message.str()); + } + assert(pathLen >= 0); + assert(static_cast(pathLen) <= maxSize); + result.resize(static_cast(pathLen)); + return result; + } + + inline float getPolyHeight(const dtNavMeshQuery& navMeshQuery, const dtPolyRef ref, const osg::Vec3f& pos) + { + float result = 0.0f; + const auto status = navMeshQuery.getPolyHeight(ref, pos.ptr(), &result); + if (!dtStatusSucceed(status)) + { + std::ostringstream message; + message << "Failed to get polygon height ref=" << ref << " pos=" << pos; + throw NavigatorException(message.str()); + } + return result; + } + template OutputIterator makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end, @@ -139,25 +207,15 @@ namespace DetourNavigator len = STEP_SIZE / len; const osg::Vec3f moveTgt = iterPos + delta * len; + const auto result = moveAlongSurface(navMeshQuery, polygonPath.front(), iterPos, moveTgt, filter, 16); - // Move - osg::Vec3f result; - std::vector visited(16); - int nvisited = 0; - OPENMW_CHECK_DT_STATUS(navMeshQuery.moveAlongSurface(polygonPath.front(), iterPos.ptr(), moveTgt.ptr(), - &filter, result.ptr(), visited.data(), &nvisited, int(visited.size()))); - - assert(nvisited >= 0); - assert(nvisited <= int(visited.size())); - visited.resize(static_cast(nvisited)); - - polygonPath = fixupCorridor(polygonPath, visited); + polygonPath = fixupCorridor(polygonPath, result.mVisited); polygonPath = fixupShortcuts(polygonPath, navMeshQuery); float h = 0; - navMeshQuery.getPolyHeight(polygonPath.front(), result.ptr(), &h); - result.y() = h; - iterPos = result; + navMeshQuery.getPolyHeight(polygonPath.front(), result.mResultPos.ptr(), &h); + iterPos = result.mResultPos; + iterPos.y() = h; // Handle end of path and off-mesh links when close enough. if (endOfPath && inRange(iterPos, steerTarget->steerPos, SLOP, 1.0f)) @@ -203,9 +261,7 @@ namespace DetourNavigator // Move position at the other side of the off-mesh link. iterPos = endPos; - float eh = 0.0f; - OPENMW_CHECK_DT_STATUS(navMeshQuery.getPolyHeight(polygonPath.front(), iterPos.ptr(), &eh)); - iterPos.y() = eh; + iterPos.y() = getPolyHeight(navMeshQuery, polygonPath.front(), iterPos); } } @@ -223,7 +279,7 @@ namespace DetourNavigator const Settings& settings, OutputIterator out) { dtNavMeshQuery navMeshQuery; - OPENMW_CHECK_DT_STATUS(navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes)); + initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes); dtQueryFilter queryFilter; queryFilter.setIncludeFlags(includeFlags); @@ -239,7 +295,7 @@ namespace DetourNavigator } if (startRef == 0) - throw NavigatorException("start polygon is not found at " __FILE__ ":" + std::to_string(__LINE__)); + throw NavigatorException("Navmesh polygon for start point is not found"); dtPolyRef endRef = 0; osg::Vec3f endPolygonPosition; @@ -252,16 +308,10 @@ namespace DetourNavigator } if (endRef == 0) - throw NavigatorException("end polygon is not found at " __FILE__ ":" + std::to_string(__LINE__)); - - std::vector polygonPath(settings.mMaxPolygonPathSize); - int pathLen = 0; - OPENMW_CHECK_DT_STATUS(navMeshQuery.findPath(startRef, endRef, start.ptr(), end.ptr(), &queryFilter, - polygonPath.data(), &pathLen, static_cast(polygonPath.size()))); - - assert(pathLen >= 0); + throw NavigatorException("Navmesh polygon for end polygon is not found"); - polygonPath.resize(static_cast(pathLen)); + const auto polygonPath = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter, + settings.mMaxPolygonPathSize); if (polygonPath.empty() || polygonPath.back() != endRef) return out; diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index cf6827b64..31ea64f18 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -102,6 +102,77 @@ namespace return result; } + void createHeightfield(rcContext& context, rcHeightfield& solid, int width, int height, const float* bmin, + const float* bmax, const float cs, const float ch) + { + const auto result = rcCreateHeightfield(&context, solid, width, height, bmin, bmax, cs, ch); + + if (!result) + throw NavigatorException("Failed to create heightfield for navmesh"); + } + + void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb, + rcHeightfield& solid, rcCompactHeightfield& compact) + { + const auto result = rcBuildCompactHeightfield(&context, walkableHeight, + walkableClimb, solid, compact); + + if (!result) + throw NavigatorException("Failed to build compact heightfield for navmesh"); + } + + void erodeWalkableArea(rcContext& context, int walkableRadius, rcCompactHeightfield& compact) + { + const auto result = rcErodeWalkableArea(&context, walkableRadius, compact); + + if (!result) + throw NavigatorException("Failed to erode walkable area for navmesh"); + } + + void buildDistanceField(rcContext& context, rcCompactHeightfield& compact) + { + const auto result = rcBuildDistanceField(&context, compact); + + if (!result) + throw NavigatorException("Failed to build distance field for navmesh"); + } + + void buildRegions(rcContext& context, rcCompactHeightfield& compact, const int borderSize, + const int minRegionArea, const int mergeRegionArea) + { + const auto result = rcBuildRegions(&context, compact, borderSize, minRegionArea, mergeRegionArea); + + if (!result) + throw NavigatorException("Failed to build distance field for navmesh"); + } + + void buildContours(rcContext& context, rcCompactHeightfield& compact, const float maxError, const int maxEdgeLen, + rcContourSet& contourSet, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES) + { + const auto result = rcBuildContours(&context, compact, maxError, maxEdgeLen, contourSet, buildFlags); + + if (!result) + throw NavigatorException("Failed to build contours for navmesh"); + } + + void buildPolyMesh(rcContext& context, rcContourSet& contourSet, const int maxVertsPerPoly, rcPolyMesh& polyMesh) + { + const auto result = rcBuildPolyMesh(&context, contourSet, maxVertsPerPoly, polyMesh); + + if (!result) + throw NavigatorException("Failed to build poly mesh for navmesh"); + } + + void buildPolyMeshDetail(rcContext& context, const rcPolyMesh& polyMesh, const rcCompactHeightfield& compact, + const float sampleDist, const float sampleMaxError, rcPolyMeshDetail& polyMeshDetail) + { + const auto result = rcBuildPolyMeshDetail(&context, polyMesh, compact, sampleDist, sampleMaxError, + polyMeshDetail); + + if (!result) + throw NavigatorException("Failed to build detail poly mesh for navmesh"); + } + NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, const std::vector& offMeshConnections, const int tileX, const int tileY, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings) @@ -133,8 +204,7 @@ namespace config.bmax[2] += getBorderSize(settings); rcHeightfield solid; - OPENMW_CHECK_DT_RESULT(rcCreateHeightfield(nullptr, solid, config.width, config.height, - config.bmin, config.bmax, config.cs, config.ch)); + createHeightfield(context, solid, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch); { const auto& chunkyMesh = recastMesh.getChunkyTriMesh(); @@ -181,7 +251,7 @@ namespace areas.data() ); - OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles( + const auto trianglesRasterized = rcRasterizeTriangles( &context, recastMesh.getVertices().data(), static_cast(recastMesh.getVerticesCount()), @@ -190,7 +260,10 @@ namespace static_cast(chunk.mSize), solid, config.walkableClimb - )); + ); + + if (!trianglesRasterized) + throw NavigatorException("Failed to create rasterize triangles from recast mesh for navmesh"); } } @@ -231,7 +304,7 @@ namespace 0, 2, 3, }}; - OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles( + const auto trianglesRasterized = rcRasterizeTriangles( &context, convertedVertices.data(), static_cast(convertedVertices.size() / 3), @@ -240,7 +313,10 @@ namespace static_cast(areas.size()), solid, config.walkableClimb - )); + ); + + if (!trianglesRasterized) + throw NavigatorException("Failed to create rasterize water triangles for navmesh"); } } @@ -254,24 +330,22 @@ namespace const PolyMeshDetailStackPtr polyMeshDetailPtr(&polyMeshDetail); { rcCompactHeightfield compact; + buildCompactHeightfield(context, config.walkableHeight, config.walkableClimb, solid, compact); - OPENMW_CHECK_DT_RESULT(rcBuildCompactHeightfield(&context, config.walkableHeight, config.walkableClimb, - solid, compact)); - OPENMW_CHECK_DT_RESULT(rcErodeWalkableArea(&context, config.walkableRadius, compact)); - OPENMW_CHECK_DT_RESULT(rcBuildDistanceField(&context, compact)); - OPENMW_CHECK_DT_RESULT(rcBuildRegions(&context, compact, config.borderSize, config.minRegionArea, - config.mergeRegionArea)); + erodeWalkableArea(context, config.walkableRadius, compact); + buildDistanceField(context, compact); + buildRegions(context, compact, config.borderSize, config.minRegionArea, config.mergeRegionArea); rcContourSet contourSet; - OPENMW_CHECK_DT_RESULT(rcBuildContours(&context, compact, config.maxSimplificationError, config.maxEdgeLen, - contourSet)); + buildContours(context, compact, config.maxSimplificationError, config.maxEdgeLen, contourSet); if (contourSet.nconts == 0) return NavMeshData(); - OPENMW_CHECK_DT_RESULT(rcBuildPolyMesh(&context, contourSet, config.maxVertsPerPoly, polyMesh)); - OPENMW_CHECK_DT_RESULT(rcBuildPolyMeshDetail(&context, polyMesh, compact, config.detailSampleDist, - config.detailSampleMaxError, polyMeshDetail)); + buildPolyMesh(context, contourSet, config.maxVertsPerPoly, polyMesh); + + buildPolyMeshDetail(context, polyMesh, compact, config.detailSampleDist, config.detailSampleMaxError, + polyMeshDetail); } for (int i = 0; i < polyMesh.npolys; ++i) @@ -323,7 +397,10 @@ namespace unsigned char* navMeshData; int navMeshDataSize; - OPENMW_CHECK_DT_RESULT(dtCreateNavMeshData(¶ms, &navMeshData, &navMeshDataSize)); + const auto navMeshDataCreated = dtCreateNavMeshData(¶ms, &navMeshData, &navMeshDataSize); + + if (!navMeshDataCreated) + throw NavigatorException("Failed to create navmesh tile data"); return NavMeshData(navMeshData, navMeshDataSize); } @@ -360,7 +437,10 @@ namespace DetourNavigator params.maxPolys = maxPolysPerTile; NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh); - OPENMW_CHECK_DT_STATUS(navMesh->init(¶ms)); + const auto status = navMesh->init(¶ms); + + if (!dtStatusSucceed(status)) + throw NavigatorException("Failed to init navmesh"); return navMesh; } diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index 50a3493f7..f5c455977 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -14,7 +14,7 @@ namespace DetourNavigator , mChunkyTriMesh(mVertices, mIndices, mAreaTypes, trianglesPerChunk) { if (getTrianglesCount() != mAreaTypes.size()) - throw InvalidArgument("number of flags doesn't match number of triangles: triangles=" + throw InvalidArgument("Number of flags doesn't match number of triangles: triangles=" + std::to_string(getTrianglesCount()) + ", areaTypes=" + std::to_string(mAreaTypes.size())); if (getVerticesCount()) rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); From 0f6a64ad54cb43472404c156d00a30d4eb5b7070 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 13 Oct 2018 20:59:00 +0300 Subject: [PATCH 090/130] Split makeNavMeshTileData --- components/detournavigator/bounds.hpp | 20 ++ components/detournavigator/makenavmesh.cpp | 391 +++++++++++---------- components/detournavigator/recastmesh.cpp | 2 +- components/detournavigator/recastmesh.hpp | 13 +- 4 files changed, 240 insertions(+), 186 deletions(-) create mode 100644 components/detournavigator/bounds.hpp diff --git a/components/detournavigator/bounds.hpp b/components/detournavigator/bounds.hpp new file mode 100644 index 000000000..a31e410cb --- /dev/null +++ b/components/detournavigator/bounds.hpp @@ -0,0 +1,20 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_BOUNDS_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_BOUNDS_H + +#include + +namespace DetourNavigator +{ + struct Bounds + { + osg::Vec3f mMin; + osg::Vec3f mMax; + }; + + inline bool isEmpty(const Bounds& value) + { + return value.mMin == value.mMax; + } +} + +#endif diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 31ea64f18..7f8a7b9d3 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -102,6 +102,37 @@ namespace return result; } + rcConfig makeConfig(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, + const Settings& settings) + { + rcConfig config; + + config.cs = settings.mCellSize; + config.ch = settings.mCellHeight; + config.walkableSlopeAngle = settings.mMaxSlope; + config.walkableHeight = static_cast(std::ceil(getHeight(settings, agentHalfExtents) / config.ch)); + config.walkableClimb = static_cast(std::floor(getMaxClimb(settings) / config.ch)); + config.walkableRadius = static_cast(std::ceil(getRadius(settings, agentHalfExtents) / config.cs)); + config.maxEdgeLen = static_cast(std::round(settings.mMaxEdgeLen / config.cs)); + config.maxSimplificationError = settings.mMaxSimplificationError; + config.minRegionArea = settings.mRegionMinSize * settings.mRegionMinSize; + config.mergeRegionArea = settings.mRegionMergeSize * settings.mRegionMergeSize; + config.maxVertsPerPoly = settings.mMaxVertsPerPoly; + config.detailSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : config.cs * settings.mDetailSampleDist; + config.detailSampleMaxError = config.ch * settings.mDetailSampleMaxError; + config.borderSize = settings.mBorderSize; + config.width = settings.mTileSize + config.borderSize * 2; + config.height = settings.mTileSize + config.borderSize * 2; + rcVcopy(config.bmin, boundsMin.ptr()); + rcVcopy(config.bmax, boundsMax.ptr()); + config.bmin[0] -= getBorderSize(settings); + config.bmin[2] -= getBorderSize(settings); + config.bmax[0] += getBorderSize(settings); + config.bmax[2] += getBorderSize(settings); + + return config; + } + void createHeightfield(rcContext& context, rcHeightfield& solid, int width, int height, const float* bmin, const float* bmax, const float cs, const float ch) { @@ -111,6 +142,137 @@ namespace throw NavigatorException("Failed to create heightfield for navmesh"); } + bool rasterizeSolidObjectsTriangles(rcContext& context, const RecastMesh& recastMesh, const rcConfig& config, + rcHeightfield& solid) + { + const auto& chunkyMesh = recastMesh.getChunkyTriMesh(); + std::vector areas(chunkyMesh.getMaxTrisPerChunk(), AreaType_null); + const osg::Vec2f tileBoundsMin(config.bmin[0], config.bmin[2]); + const osg::Vec2f tileBoundsMax(config.bmax[0], config.bmax[2]); + std::vector cids; + chunkyMesh.getChunksOverlappingRect(Rect {tileBoundsMin, tileBoundsMax}, std::back_inserter(cids)); + + if (cids.empty()) + return false; + + for (const auto cid : cids) + { + const auto chunk = chunkyMesh.getChunk(cid); + + std::fill( + areas.begin(), + std::min(areas.begin() + static_cast(chunk.mSize), + areas.end()), + AreaType_null + ); + + rcMarkWalkableTriangles( + &context, + config.walkableSlopeAngle, + recastMesh.getVertices().data(), + static_cast(recastMesh.getVerticesCount()), + chunk.mIndices, + static_cast(chunk.mSize), + areas.data() + ); + + for (std::size_t i = 0; i < chunk.mSize; ++i) + areas[i] = chunk.mAreaTypes[i]; + + rcClearUnwalkableTriangles( + &context, + config.walkableSlopeAngle, + recastMesh.getVertices().data(), + static_cast(recastMesh.getVerticesCount()), + chunk.mIndices, + static_cast(chunk.mSize), + areas.data() + ); + + const auto trianglesRasterized = rcRasterizeTriangles( + &context, + recastMesh.getVertices().data(), + static_cast(recastMesh.getVerticesCount()), + chunk.mIndices, + areas.data(), + static_cast(chunk.mSize), + solid, + config.walkableClimb + ); + + if (!trianglesRasterized) + throw NavigatorException("Failed to create rasterize triangles from recast mesh for navmesh"); + } + + return true; + } + + void rasterizeWaterTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const Settings& settings, const rcConfig& config, rcHeightfield& solid) + { + const std::array areas {{AreaType_water, AreaType_water}}; + + for (const auto& water : recastMesh.getWater()) + { + const auto bounds = getWaterBounds(water, settings, agentHalfExtents); + + const osg::Vec2f tileBoundsMin( + std::min(config.bmax[0], std::max(config.bmin[0], bounds.mMin.x())), + std::min(config.bmax[2], std::max(config.bmin[2], bounds.mMin.z())) + ); + const osg::Vec2f tileBoundsMax( + std::min(config.bmax[0], std::max(config.bmin[0], bounds.mMax.x())), + std::min(config.bmax[2], std::max(config.bmin[2], bounds.mMax.z())) + ); + + if (tileBoundsMax == tileBoundsMin) + continue; + + const std::array vertices {{ + osg::Vec3f(tileBoundsMin.x(), bounds.mMin.y(), tileBoundsMin.y()), + osg::Vec3f(tileBoundsMin.x(), bounds.mMin.y(), tileBoundsMax.y()), + osg::Vec3f(tileBoundsMax.x(), bounds.mMin.y(), tileBoundsMax.y()), + osg::Vec3f(tileBoundsMax.x(), bounds.mMin.y(), tileBoundsMin.y()), + }}; + + std::array convertedVertices; + auto convertedVerticesIt = convertedVertices.begin(); + + for (const auto& vertex : vertices) + convertedVerticesIt = std::copy(vertex.ptr(), vertex.ptr() + 3, convertedVerticesIt); + + const std::array indices {{ + 0, 1, 2, + 0, 2, 3, + }}; + + const auto trianglesRasterized = rcRasterizeTriangles( + &context, + convertedVertices.data(), + static_cast(convertedVertices.size() / 3), + indices.data(), + areas.data(), + static_cast(areas.size()), + solid, + config.walkableClimb + ); + + if (!trianglesRasterized) + throw NavigatorException("Failed to create rasterize water triangles for navmesh"); + } + } + + bool rasterizeTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const rcConfig& config, const Settings& settings, rcHeightfield& solid) + { + if (!rasterizeSolidObjectsTriangles(context, recastMesh, config, solid)) + return false; + + rasterizeWaterTriangles(context, agentHalfExtents, recastMesh, settings, config, solid); + + return true; + } + void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb, rcHeightfield& solid, rcCompactHeightfield& compact) { @@ -173,152 +335,55 @@ namespace throw NavigatorException("Failed to build detail poly mesh for navmesh"); } - NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, - const std::vector& offMeshConnections, const int tileX, const int tileY, - const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings) + void setPolyMeshFlags(rcPolyMesh& polyMesh) { - rcContext context; - rcConfig config; + for (int i = 0; i < polyMesh.npolys; ++i) + { + if (polyMesh.areas[i] == AreaType_ground) + polyMesh.flags[i] = Flag_walk; + else if (polyMesh.areas[i] == AreaType_water) + polyMesh.flags[i] = Flag_swim; + } + } - config.cs = settings.mCellSize; - config.ch = settings.mCellHeight; - config.walkableSlopeAngle = settings.mMaxSlope; - config.walkableHeight = static_cast(std::ceil(getHeight(settings, agentHalfExtents) / config.ch)); - config.walkableClimb = static_cast(std::floor(getMaxClimb(settings) / config.ch)); - config.walkableRadius = static_cast(std::ceil(getRadius(settings, agentHalfExtents) / config.cs)); - config.maxEdgeLen = static_cast(std::round(settings.mMaxEdgeLen / config.cs)); - config.maxSimplificationError = settings.mMaxSimplificationError; - config.minRegionArea = settings.mRegionMinSize * settings.mRegionMinSize; - config.mergeRegionArea = settings.mRegionMergeSize * settings.mRegionMergeSize; - config.maxVertsPerPoly = settings.mMaxVertsPerPoly; - config.detailSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : config.cs * settings.mDetailSampleDist; - config.detailSampleMaxError = config.ch * settings.mDetailSampleMaxError; - config.borderSize = settings.mBorderSize; - config.width = settings.mTileSize + config.borderSize * 2; - config.height = settings.mTileSize + config.borderSize * 2; - rcVcopy(config.bmin, boundsMin.ptr()); - rcVcopy(config.bmax, boundsMax.ptr()); - config.bmin[0] -= getBorderSize(settings); - config.bmin[2] -= getBorderSize(settings); - config.bmax[0] += getBorderSize(settings); - config.bmax[2] += getBorderSize(settings); + bool fillPolyMesh(rcContext& context, const rcConfig& config, rcHeightfield& solid, rcPolyMesh& polyMesh, + rcPolyMeshDetail& polyMeshDetail) + { + rcCompactHeightfield compact; + buildCompactHeightfield(context, config.walkableHeight, config.walkableClimb, solid, compact); - rcHeightfield solid; - createHeightfield(context, solid, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch); + erodeWalkableArea(context, config.walkableRadius, compact); + buildDistanceField(context, compact); + buildRegions(context, compact, config.borderSize, config.minRegionArea, config.mergeRegionArea); - { - const auto& chunkyMesh = recastMesh.getChunkyTriMesh(); - std::vector areas(chunkyMesh.getMaxTrisPerChunk(), AreaType_null); - const osg::Vec2f tileBoundsMin(config.bmin[0], config.bmin[2]); - const osg::Vec2f tileBoundsMax(config.bmax[0], config.bmax[2]); - std::vector cids; - chunkyMesh.getChunksOverlappingRect(Rect {tileBoundsMin, tileBoundsMax}, std::back_inserter(cids)); + rcContourSet contourSet; + buildContours(context, compact, config.maxSimplificationError, config.maxEdgeLen, contourSet); - if (cids.empty()) - return NavMeshData(); + if (contourSet.nconts == 0) + return false; - for (const auto cid : cids) - { - const auto chunk = chunkyMesh.getChunk(cid); - - std::fill( - areas.begin(), - std::min(areas.begin() + static_cast(chunk.mSize), - areas.end()), - AreaType_null - ); - - rcMarkWalkableTriangles( - &context, - config.walkableSlopeAngle, - recastMesh.getVertices().data(), - static_cast(recastMesh.getVerticesCount()), - chunk.mIndices, - static_cast(chunk.mSize), - areas.data() - ); - - for (std::size_t i = 0; i < chunk.mSize; ++i) - areas[i] = chunk.mAreaTypes[i]; - - rcClearUnwalkableTriangles( - &context, - config.walkableSlopeAngle, - recastMesh.getVertices().data(), - static_cast(recastMesh.getVerticesCount()), - chunk.mIndices, - static_cast(chunk.mSize), - areas.data() - ); - - const auto trianglesRasterized = rcRasterizeTriangles( - &context, - recastMesh.getVertices().data(), - static_cast(recastMesh.getVerticesCount()), - chunk.mIndices, - areas.data(), - static_cast(chunk.mSize), - solid, - config.walkableClimb - ); - - if (!trianglesRasterized) - throw NavigatorException("Failed to create rasterize triangles from recast mesh for navmesh"); - } - } + buildPolyMesh(context, contourSet, config.maxVertsPerPoly, polyMesh); - { - const std::array areas {{AreaType_water, AreaType_water}}; + buildPolyMeshDetail(context, polyMesh, compact, config.detailSampleDist, config.detailSampleMaxError, + polyMeshDetail); - for (const auto& water : recastMesh.getWater()) - { - const auto bounds = getWaterBounds(water, settings, agentHalfExtents); - - const osg::Vec2f tileBoundsMin( - std::min(config.bmax[0], std::max(config.bmin[0], bounds.mMin.x())), - std::min(config.bmax[2], std::max(config.bmin[2], bounds.mMin.z())) - ); - const osg::Vec2f tileBoundsMax( - std::min(config.bmax[0], std::max(config.bmin[0], bounds.mMax.x())), - std::min(config.bmax[2], std::max(config.bmin[2], bounds.mMax.z())) - ); - - if (tileBoundsMax == tileBoundsMin) - continue; - - const std::array vertices {{ - osg::Vec3f(tileBoundsMin.x(), bounds.mMin.y(), tileBoundsMin.y()), - osg::Vec3f(tileBoundsMin.x(), bounds.mMin.y(), tileBoundsMax.y()), - osg::Vec3f(tileBoundsMax.x(), bounds.mMin.y(), tileBoundsMax.y()), - osg::Vec3f(tileBoundsMax.x(), bounds.mMin.y(), tileBoundsMin.y()), - }}; - - std::array convertedVertices; - auto convertedVerticesIt = convertedVertices.begin(); - - for (const auto& vertex : vertices) - convertedVerticesIt = std::copy(vertex.ptr(), vertex.ptr() + 3, convertedVerticesIt); - - const std::array indices {{ - 0, 1, 2, - 0, 2, 3, - }}; - - const auto trianglesRasterized = rcRasterizeTriangles( - &context, - convertedVertices.data(), - static_cast(convertedVertices.size() / 3), - indices.data(), - areas.data(), - static_cast(areas.size()), - solid, - config.walkableClimb - ); - - if (!trianglesRasterized) - throw NavigatorException("Failed to create rasterize water triangles for navmesh"); - } - } + setPolyMeshFlags(polyMesh); + + return true; + } + + NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh, + const std::vector& offMeshConnections, const TilePosition& tile, + const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings) + { + rcContext context; + const auto config = makeConfig(agentHalfExtents, boundsMin, boundsMax, settings); + + rcHeightfield solid; + createHeightfield(context, solid, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch); + + if (!rasterizeTriangles(context, agentHalfExtents, recastMesh, config, settings, solid)) + return NavMeshData(); rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, solid); rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, solid); @@ -328,33 +393,8 @@ namespace rcPolyMeshDetail polyMeshDetail; initPolyMeshDetail(polyMeshDetail); const PolyMeshDetailStackPtr polyMeshDetailPtr(&polyMeshDetail); - { - rcCompactHeightfield compact; - buildCompactHeightfield(context, config.walkableHeight, config.walkableClimb, solid, compact); - - erodeWalkableArea(context, config.walkableRadius, compact); - buildDistanceField(context, compact); - buildRegions(context, compact, config.borderSize, config.minRegionArea, config.mergeRegionArea); - - rcContourSet contourSet; - buildContours(context, compact, config.maxSimplificationError, config.maxEdgeLen, contourSet); - - if (contourSet.nconts == 0) - return NavMeshData(); - - buildPolyMesh(context, contourSet, config.maxVertsPerPoly, polyMesh); - - buildPolyMeshDetail(context, polyMesh, compact, config.detailSampleDist, config.detailSampleMaxError, - polyMeshDetail); - } - - for (int i = 0; i < polyMesh.npolys; ++i) - { - if (polyMesh.areas[i] == AreaType_ground) - polyMesh.flags[i] = Flag_walk; - else if (polyMesh.areas[i] == AreaType_water) - polyMesh.flags[i] = Flag_swim; - } + if (!fillPolyMesh(context, config, solid, polyMesh, polyMeshDetail)) + return NavMeshData(); const auto offMeshConVerts = getOffMeshVerts(offMeshConnections); const std::vector offMeshConRad(offMeshConnections.size(), getRadius(settings, agentHalfExtents)); @@ -391,8 +431,8 @@ namespace params.ch = config.ch; params.buildBvTree = true; params.userId = 0; - params.tileX = tileX; - params.tileY = tileY; + params.tileX = tile.x(); + params.tileY = tile.y(); params.tileLayer = 0; unsigned char* navMeshData; @@ -483,17 +523,16 @@ namespace DetourNavigator return removeTile(); } - auto boundsMin = recastMesh->getBoundsMin(); - auto boundsMax = recastMesh->getBoundsMax(); + auto recastMeshBounds = recastMesh->getBounds(); for (const auto& water : recastMesh->getWater()) { - const auto bounds = getWaterBounds(water, settings, agentHalfExtents); - boundsMin.y() = std::min(boundsMin.y(), bounds.mMin.y()); - boundsMax.y() = std::max(boundsMax.y(), bounds.mMax.y()); + const auto waterBounds = getWaterBounds(water, settings, agentHalfExtents); + recastMeshBounds.mMin.y() = std::min(recastMeshBounds.mMin.y(), waterBounds.mMin.y()); + recastMeshBounds.mMax.y() = std::max(recastMeshBounds.mMax.y(), waterBounds.mMax.y()); } - if (boundsMin == boundsMax) + if (isEmpty(recastMeshBounds)) { log("ignore add tile: recastMesh is empty"); return removeTile(); @@ -510,10 +549,10 @@ namespace DetourNavigator if (!cachedNavMeshData) { const auto tileBounds = makeTileBounds(settings, changedTile); - const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y()); - const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y()); + const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), recastMeshBounds.mMin.y() - 1, tileBounds.mMin.y()); + const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), recastMeshBounds.mMax.y() + 1, tileBounds.mMax.y()); - auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, offMeshConnections, x, y, + auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, offMeshConnections, changedTile, tileBorderMin, tileBorderMax, settings); if (!navMeshData.mValue) diff --git a/components/detournavigator/recastmesh.cpp b/components/detournavigator/recastmesh.cpp index f5c455977..476799c1f 100644 --- a/components/detournavigator/recastmesh.cpp +++ b/components/detournavigator/recastmesh.cpp @@ -17,6 +17,6 @@ namespace DetourNavigator throw InvalidArgument("Number of flags doesn't match number of triangles: triangles=" + std::to_string(getTrianglesCount()) + ", areaTypes=" + std::to_string(mAreaTypes.size())); if (getVerticesCount()) - rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr()); + rcCalcBounds(mVertices.data(), static_cast(getVerticesCount()), mBounds.mMin.ptr(), mBounds.mMax.ptr()); } } diff --git a/components/detournavigator/recastmesh.hpp b/components/detournavigator/recastmesh.hpp index b3e158aff..47d5f7963 100644 --- a/components/detournavigator/recastmesh.hpp +++ b/components/detournavigator/recastmesh.hpp @@ -3,6 +3,7 @@ #include "areatype.hpp" #include "chunkytrimesh.hpp" +#include "bounds.hpp" #include #include @@ -61,14 +62,9 @@ namespace DetourNavigator return mChunkyTriMesh; } - const osg::Vec3f& getBoundsMin() const + const Bounds& getBounds() const { - return mBoundsMin; - } - - const osg::Vec3f& getBoundsMax() const - { - return mBoundsMax; + return mBounds; } private: @@ -77,8 +73,7 @@ namespace DetourNavigator std::vector mAreaTypes; std::vector mWater; ChunkyTriMesh mChunkyTriMesh; - osg::Vec3f mBoundsMin; - osg::Vec3f mBoundsMax; + Bounds mBounds; }; } From e57504ae7c3ceca08bfbc9f9881c8e301ba176f2 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 13 Oct 2018 22:01:37 +0300 Subject: [PATCH 091/130] Lower log level --- apps/openmw/mwmechanics/pathfinding.cpp | 2 +- components/detournavigator/asyncnavmeshupdater.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index 3759335e5..cfa51c226 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -302,7 +302,7 @@ namespace MWMechanics catch (const DetourNavigator::NavigatorException& exception) { DetourNavigator::log("PathFinder::buildPathByNavigator navigator exception: ", exception.what()); - Log(Debug::Error) << "Build path by navigator exception: " << exception.what(); + Log(Debug::Warning) << "Build path by navigator exception: " << exception.what(); } } } diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index c8930e6b9..505a579b2 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -111,7 +111,7 @@ namespace DetourNavigator catch (const std::exception& e) { DetourNavigator::log("AsyncNavMeshUpdater::process exception: ", e.what()); - ::Log(Debug::Error) << "Exception while process navmesh updated job: " << e.what(); + ::Log(Debug::Warning) << "Exception while process navmesh updated job: " << e.what(); } } log("stop process jobs"); From dc2eb2e16b4a9abf219e183d6e02fb59b021c8f0 Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 15 Oct 2018 22:47:07 +0300 Subject: [PATCH 092/130] Do not write to global log async navmesh updater exceptions --- components/detournavigator/asyncnavmeshupdater.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index 505a579b2..f4efc744b 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -111,7 +111,6 @@ namespace DetourNavigator catch (const std::exception& e) { DetourNavigator::log("AsyncNavMeshUpdater::process exception: ", e.what()); - ::Log(Debug::Warning) << "Exception while process navmesh updated job: " << e.what(); } } log("stop process jobs"); From 03d4ce5e49040fc8a4bf07e716a39e272a82694d Mon Sep 17 00:00:00 2001 From: elsid Date: Mon, 15 Oct 2018 23:07:52 +0300 Subject: [PATCH 093/130] Log find path exception with level verbose, add more info to message --- apps/openmw/mwmechanics/aipackage.cpp | 2 +- apps/openmw/mwmechanics/aiwander.cpp | 6 ++-- apps/openmw/mwmechanics/pathfinding.cpp | 14 +++++--- apps/openmw/mwmechanics/pathfinding.hpp | 7 ++-- components/detournavigator/flags.hpp | 45 +++++++++++++++++++++++++ 5 files changed, 62 insertions(+), 12 deletions(-) diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp index 1532cce01..ac7206826 100644 --- a/apps/openmw/mwmechanics/aipackage.cpp +++ b/apps/openmw/mwmechanics/aipackage.cpp @@ -140,7 +140,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f& if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell())) // if need to rebuild path { const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); - mPathFinder.buildPath(position, dest, actor.getCell(), getPathGridGraph(actor.getCell()), + mPathFinder.buildPath(actor, position, dest, actor.getCell(), getPathGridGraph(actor.getCell()), playerHalfExtents, getNavigatorFlags(actor)); mRotateOnTheRunChecks = 3; diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp index e0822e806..ad11f6d4e 100644 --- a/apps/openmw/mwmechanics/aiwander.cpp +++ b/apps/openmw/mwmechanics/aiwander.cpp @@ -161,8 +161,8 @@ namespace MWMechanics { const auto world = MWBase::Environment::get().getWorld(); const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); - mPathFinder.buildPath(pos.asVec3(), mDestination, actor.getCell(), getPathGridGraph(actor.getCell()), - playerHalfExtents, getNavigatorFlags(actor)); + mPathFinder.buildPath(actor, pos.asVec3(), mDestination, actor.getCell(), + getPathGridGraph(actor.getCell()), playerHalfExtents, getNavigatorFlags(actor)); } if (mPathFinder.isPathConstructed()) @@ -323,7 +323,7 @@ namespace MWMechanics { const auto world = MWBase::Environment::get().getWorld();; const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr()); - mPathFinder.buildPath(currentPosition, destinationPosition, actor.getCell(), + mPathFinder.buildPath(actor, currentPosition, destinationPosition, actor.getCell(), getPathGridGraph(actor.getCell()), playerHalfExtents, getNavigatorFlags(actor)); mPathFinder.addPointToPath(destinationPosition); diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp index cfa51c226..01c417b53 100644 --- a/apps/openmw/mwmechanics/pathfinding.cpp +++ b/apps/openmw/mwmechanics/pathfinding.cpp @@ -12,6 +12,7 @@ #include "../mwbase/environment.hpp" #include "../mwworld/cellstore.hpp" +#include "../mwworld/class.hpp" #include "pathgrid.hpp" #include "coordinateconverter.hpp" @@ -275,14 +276,14 @@ namespace MWMechanics mConstructed = true; } - void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + void PathFinder::buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags) { mPath.clear(); mCell = cell; - buildPathByNavigatorImpl(startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath)); + buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath)); if (mPath.empty()) buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath)); @@ -290,8 +291,8 @@ namespace MWMechanics mConstructed = true; } - void PathFinder::buildPathByNavigatorImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags, + void PathFinder::buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, + const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags, std::back_insert_iterator> out) { try @@ -302,7 +303,10 @@ namespace MWMechanics catch (const DetourNavigator::NavigatorException& exception) { DetourNavigator::log("PathFinder::buildPathByNavigator navigator exception: ", exception.what()); - Log(Debug::Warning) << "Build path by navigator exception: " << exception.what(); + Log(Debug::Verbose) << "Build path by navigator exception: \"" << exception.what() + << "\" for \"" << actor.getClass().getName(actor) << "\" (" << actor.getBase() + << ") from " << startPoint << " to " << endPoint << " with flags (" + << DetourNavigator::WriteFlags {flags} << ")"; } } } diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp index 1a35ef792..567056fa5 100644 --- a/apps/openmw/mwmechanics/pathfinding.hpp +++ b/apps/openmw/mwmechanics/pathfinding.hpp @@ -12,6 +12,7 @@ namespace MWWorld { class CellStore; + class ConstPtr; } namespace MWMechanics @@ -74,7 +75,7 @@ namespace MWMechanics void buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph); - void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, + void buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags); @@ -180,8 +181,8 @@ namespace MWMechanics void buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, const PathgridGraph& pathgridGraph, std::back_insert_iterator> out); - void buildPathByNavigatorImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint, - const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags, + void buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, + const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags, std::back_insert_iterator> out); }; } diff --git a/components/detournavigator/flags.hpp b/components/detournavigator/flags.hpp index f52c0faf5..df22209bb 100644 --- a/components/detournavigator/flags.hpp +++ b/components/detournavigator/flags.hpp @@ -1,6 +1,8 @@ #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_FLAGS_H #define OPENMW_COMPONENTS_DETOURNAVIGATOR_FLAGS_H +#include + namespace DetourNavigator { using Flags = unsigned short; @@ -12,6 +14,49 @@ namespace DetourNavigator Flag_swim = 1 << 1, Flag_openDoor = 1 << 2, }; + + inline std::ostream& operator <<(std::ostream& stream, const Flag value) + { + switch (value) { + case Flag_none: + return stream << "none"; + case Flag_walk: + return stream << "walk"; + case Flag_swim: + return stream << "swim"; + case Flag_openDoor: + return stream << "openDoor"; + } + } + + struct WriteFlags + { + Flags mValue; + + friend inline std::ostream& operator <<(std::ostream& stream, const WriteFlags& value) + { + if (value.mValue == Flag_none) + { + return stream << Flag_none; + } + else + { + bool first = true; + for (const auto flag : {Flag_walk, Flag_swim, Flag_openDoor}) + { + if (value.mValue & flag) + { + if (!first) + stream << " | "; + first = false; + stream << flag; + } + } + + return stream; + } + } + }; } #endif From abc51a8a17922850a086c48d077b8f17e7c5d8d7 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 28 Oct 2018 14:59:12 +0300 Subject: [PATCH 094/130] Add settings option to set max number of polygons per navmesh tile --- apps/openmw/mwworld/worldimp.cpp | 1 + .../detournavigator/navigator.cpp | 1 + components/detournavigator/makenavmesh.cpp | 24 ++++++++++++++----- components/detournavigator/settings.hpp | 1 + files/settings-default.cfg | 5 ++++ 5 files changed, 26 insertions(+), 6 deletions(-) diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp index 93babf120..60c0395a0 100644 --- a/apps/openmw/mwworld/worldimp.cpp +++ b/apps/openmw/mwworld/worldimp.cpp @@ -211,6 +211,7 @@ namespace MWWorld navigatorSettings.mSwimHeightScale = mSwimHeightScale; navigatorSettings.mMaxEdgeLen = Settings::Manager::getInt("max edge len", "Navigator"); navigatorSettings.mMaxNavMeshQueryNodes = Settings::Manager::getInt("max nav mesh query nodes", "Navigator"); + navigatorSettings.mMaxPolys = Settings::Manager::getInt("max polygons per tile", "Navigator"); navigatorSettings.mMaxVertsPerPoly = Settings::Manager::getInt("max verts per poly", "Navigator"); navigatorSettings.mRegionMergeSize = Settings::Manager::getInt("region merge size", "Navigator"); navigatorSettings.mRegionMinSize = Settings::Manager::getInt("region min size", "Navigator"); diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index 7926e208d..febbc0387 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -60,6 +60,7 @@ namespace mSettings.mMaxPolygonPathSize = 1024; mSettings.mMaxSmoothPathSize = 1024; mSettings.mTrianglesPerChunk = 256; + mSettings.mMaxPolys = 4096; mNavigator.reset(new Navigator(mSettings)); } }; diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp index 7f8a7b9d3..7072f2a23 100644 --- a/components/detournavigator/makenavmesh.cpp +++ b/components/detournavigator/makenavmesh.cpp @@ -456,6 +456,15 @@ namespace else return UpdateNavMeshStatus::ignore; } + + template + unsigned long getMinValuableBitsNumber(const T value) + { + unsigned long power = 0; + while (power < sizeof(T) * 8 && (static_cast(1) << power) < value) + ++power; + return power; + } } namespace DetourNavigator @@ -464,17 +473,20 @@ namespace DetourNavigator { // Max tiles and max polys affect how the tile IDs are caculated. // There are 22 bits available for identifying a tile and a polygon. - const auto tileBits = 10; - const auto polyBits = 22 - tileBits; - const auto maxTiles = 1 << tileBits; - const auto maxPolysPerTile = 1 << polyBits; + const int polysAndTilesBits = 22; + const auto polysBits = getMinValuableBitsNumber(settings.mMaxPolys); + + if (polysBits >= polysAndTilesBits) + throw InvalidArgument("Too many polygons per tile"); + + const auto tilesBits = polysAndTilesBits - polysBits; dtNavMeshParams params; std::fill_n(params.orig, 3, 0.0f); params.tileWidth = settings.mTileSize * settings.mCellSize; params.tileHeight = settings.mTileSize * settings.mCellSize; - params.maxTiles = maxTiles; - params.maxPolys = maxPolysPerTile; + params.maxTiles = 1 << tilesBits; + params.maxPolys = 1 << polysBits; NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh); const auto status = navMesh->init(¶ms); diff --git a/components/detournavigator/settings.hpp b/components/detournavigator/settings.hpp index f2eb2be24..3e537c2fb 100644 --- a/components/detournavigator/settings.hpp +++ b/components/detournavigator/settings.hpp @@ -23,6 +23,7 @@ namespace DetourNavigator int mBorderSize; int mMaxEdgeLen; int mMaxNavMeshQueryNodes; + int mMaxPolys; int mMaxVertsPerPoly; int mRegionMergeSize; int mRegionMinSize; diff --git a/files/settings-default.cfg b/files/settings-default.cfg index a76eaf1d6..d8f5faaa9 100644 --- a/files/settings-default.cfg +++ b/files/settings-default.cfg @@ -576,6 +576,11 @@ max edge len = 12 # Maximum number of search nodes. (0 < value <= 65535) max nav mesh query nodes = 2048 +# Maximum number of polygons per navmesh tile (value = 2^n, 0 < n < 22). Maximum number of navmesh tiles depends on +# this value. 22 bits is a limit to store both tile identifier and polygon identifier (tiles = 2^(22 - log2(polygons))). +# See recastnavigation for more details. +max polygons per tile = 4096 + # The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process. (value >= 3) max verts per poly = 6 From af2f4e8424e09a49ab4af7eba405c189995fea79 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 28 Oct 2018 16:54:06 +0300 Subject: [PATCH 095/130] Allow to use zero cache size --- components/detournavigator/navmeshtilescache.cpp | 2 +- components/detournavigator/navmeshtilescache.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/components/detournavigator/navmeshtilescache.cpp b/components/detournavigator/navmeshtilescache.cpp index ff24b86f4..8c5fc6381 100644 --- a/components/detournavigator/navmeshtilescache.cpp +++ b/components/detournavigator/navmeshtilescache.cpp @@ -72,7 +72,7 @@ namespace DetourNavigator NavMeshTilesCache::Value NavMeshTilesCache::set(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, const RecastMesh& recastMesh, const std::vector& offMeshConnections, - NavMeshData value) + NavMeshData&& value) { const auto navMeshSize = static_cast(value.mSize); diff --git a/components/detournavigator/navmeshtilescache.hpp b/components/detournavigator/navmeshtilescache.hpp index 2ecd37bf4..1d0ecb5dc 100644 --- a/components/detournavigator/navmeshtilescache.hpp +++ b/components/detournavigator/navmeshtilescache.hpp @@ -105,7 +105,7 @@ namespace DetourNavigator Value set(const osg::Vec3f& agentHalfExtents, const TilePosition& changedTile, const RecastMesh& recastMesh, const std::vector& offMeshConnections, - NavMeshData value); + NavMeshData&& value); private: std::mutex mMutex; From 50b6ae3e103a3e5c38a12adda873adcf6829ddc2 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 28 Oct 2018 16:54:47 +0300 Subject: [PATCH 096/130] Fix calculation for shape local AABB --- .../detournavigator/recastmeshbuilder.cpp | 2 +- .../detournavigator/recastmeshbuilder.cpp | 43 ++++++++++++------- 2 files changed, 28 insertions(+), 17 deletions(-) diff --git a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp index 1bf1163c7..38b1ab361 100644 --- a/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp +++ b/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp @@ -297,7 +297,7 @@ namespace TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds) { mBounds.mMin = osg::Vec2f(-5, -5); - mBounds.mMax = osg::Vec2f(5, -3); + mBounds.mMax = osg::Vec2f(5, -2); btTriangleMesh mesh; mesh.addTriangle(btVector3(0, -1, -1), btVector3(0, -1, -1), btVector3(0, 1, -1)); mesh.addTriangle(btVector3(0, -3, -3), btVector3(0, -3, -2), btVector3(0, -2, -3)); diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp index 8ba3309ce..e325b7eaf 100644 --- a/components/detournavigator/recastmeshbuilder.cpp +++ b/components/detournavigator/recastmeshbuilder.cpp @@ -135,24 +135,35 @@ namespace DetourNavigator { btVector3 aabbMin; btVector3 aabbMax; + shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax); - const btVector3 boundsMinMin(mBounds.mMin.x(), mBounds.mMin.y(), 0); - const btVector3 boundsMinMax(mBounds.mMin.x(), mBounds.mMax.y(), 0); - const btVector3 boundsMaxMin(mBounds.mMax.x(), mBounds.mMin.y(), 0); - const btVector3 boundsMaxMax(mBounds.mMax.x(), mBounds.mMax.y(), 0); + + aabbMin = transform(aabbMin); + aabbMax = transform(aabbMax); + + aabbMin.setX(std::max(mBounds.mMin.x(), aabbMin.x())); + aabbMin.setX(std::min(mBounds.mMax.x(), aabbMin.x())); + aabbMin.setY(std::max(mBounds.mMin.y(), aabbMin.y())); + aabbMin.setY(std::min(mBounds.mMax.y(), aabbMin.y())); + + aabbMax.setX(std::max(mBounds.mMin.x(), aabbMax.x())); + aabbMax.setX(std::min(mBounds.mMax.x(), aabbMax.x())); + aabbMax.setY(std::max(mBounds.mMin.y(), aabbMax.y())); + aabbMax.setY(std::min(mBounds.mMax.y(), aabbMax.y())); + const auto inversedTransform = transform.inverse(); - const auto localBoundsMinMin = inversedTransform(boundsMinMin); - const auto localBoundsMinMax = inversedTransform(boundsMinMax); - const auto localBoundsMaxMin = inversedTransform(boundsMaxMin); - const auto localBoundsMaxMax = inversedTransform(boundsMaxMax); - aabbMin.setX(std::min({localBoundsMinMin.x(), localBoundsMinMax.x(), - localBoundsMaxMin.x(), localBoundsMaxMax.x()})); - aabbMin.setY(std::min({localBoundsMinMin.y(), localBoundsMinMax.y(), - localBoundsMaxMin.y(), localBoundsMaxMax.y()})); - aabbMax.setX(std::max({localBoundsMinMin.x(), localBoundsMinMax.x(), - localBoundsMaxMin.x(), localBoundsMaxMax.x()})); - aabbMax.setY(std::max({localBoundsMinMin.y(), localBoundsMinMax.y(), - localBoundsMaxMin.y(), localBoundsMaxMax.y()})); + + aabbMin = inversedTransform(aabbMin); + aabbMax = inversedTransform(aabbMax); + + aabbMin.setX(std::min(aabbMin.x(), aabbMax.x())); + aabbMin.setY(std::min(aabbMin.y(), aabbMax.y())); + aabbMin.setZ(std::min(aabbMin.z(), aabbMax.z())); + + aabbMax.setX(std::max(aabbMin.x(), aabbMax.x())); + aabbMax.setY(std::max(aabbMin.y(), aabbMax.y())); + aabbMax.setZ(std::max(aabbMin.z(), aabbMax.z())); + shape.processAllTriangles(&callback, aabbMin, aabbMax); } From 988914725ab81700e87b39ce84b88bffa969c231 Mon Sep 17 00:00:00 2001 From: Bret Curtis Date: Thu, 25 Oct 2018 21:46:14 +0200 Subject: [PATCH 097/130] wip 1 wip2 add more Level_UP and QA text the rest of the questions --- files/openmw.cfg | 516 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 516 insertions(+) diff --git a/files/openmw.cfg b/files/openmw.cfg index 7a87bdc11..354fdb4a1 100644 --- a/files/openmw.cfg +++ b/files/openmw.cfg @@ -11,3 +11,519 @@ script-blacklist=doortestwarp script-blacklist=WereChange2Script script-blacklist=wereDreamScript2 script-blacklist=wereDreamScript3 + +# Sane defaults + +# sound +no-sound=0 + +# archives +fallback-archive=OpenMW-Example-Suite.zip +fallback-archive=OpenMW-Template.zip + +# lighting +fallback=LightAttenuation_UseConstant,0 +fallback=LightAttenuation_ConstantValue,0.0 +fallback=LightAttenuation_UseLinear,1 +fallback=LightAttenuation_LinearMethod,1 +fallback=LightAttenuation_LinearValue,3.0 +fallback=LightAttenuation_LinearRadiusMult,1.0 +fallback=LightAttenuation_UseQuadratic,0 +fallback=LightAttenuation_QuadraticMethod,2 +fallback=LightAttenuation_QuadraticValue,16.0 +fallback=LightAttenuation_QuadraticRadiusMult,1.0 +fallback=LightAttenuation_OutQuadInLin,0 + +# inventory +fallback=Inventory_DirectionalDiffuseR,1.0 +fallback=Inventory_DirectionalDiffuseG,1.0 +fallback=Inventory_DirectionalDiffuseB,1.0 +fallback=Inventory_DirectionalAmbientR,0.0 +fallback=Inventory_DirectionalAmbientG,0.0 +fallback=Inventory_DirectionalAmbientB,0.0 +fallback=Inventory_DirectionalRotationX,110 +fallback=Inventory_DirectionalRotationY,90 +fallback=Inventory_UniformScaling,0 + +# fast travel +fallback=Map_Travel_Beast_Red,238 +fallback=Map_Travel_Beast_Green,230 +fallback=Map_Travel_Beast_Blue,30 +fallback=Map_Travel_Boat_Red,30 +fallback=Map_Travel_Boat_Green,30 +fallback=Map_Travel_Boat_Blue,230 +fallback=Map_Travel_Magic_Red,230 +fallback=Map_Travel_Magic_Green,30 +fallback=Map_Travel_Magic_Blue,30 +fallback=Map_Show_Travel_Lines,0 + +# water effects +fallback=Water_Map_Alpha,0.4 +fallback=Water_World_Alpha,0.75 +fallback=Water_SurfaceTextureSize,128 +fallback=Water_SurfaceTileCount,10 +fallback=Water_SurfaceFPS,12 +fallback=Water_SurfaceTexture,water +fallback=Water_SurfaceFrameCount,32 +fallback=Water_TileTextureDivisor,4.75 +fallback=Water_RippleTexture,ripple +fallback=Water_RippleFrameCount,4 +fallback=Water_RippleLifetime,3.0 +fallback=Water_MaxNumberRipples,75 +fallback=Water_RippleScale,0.15, 6.5 +fallback=Water_RippleRotSpeed,0.5 +fallback=Water_RippleAlphas,0.7, 0.1, 0.01 +fallback=Water_PSWaterReflectTerrain,1 +fallback=Water_PSWaterReflectUpdate,20.0 +fallback=Water_NearWaterRadius,1000 +fallback=Water_NearWaterPoints,8 +fallback=Water_NearWaterUnderwaterFreq,0.3 +fallback=Water_NearWaterUnderwaterVolume,0.9 +fallback=Water_NearWaterIndoorTolerance,512.0 +fallback=Water_NearWaterOutdoorTolerance,1024.0 +fallback=Water_NearWaterIndoorID,Water Layer +fallback=Water_NearWaterOutdoorID,Water Layer +fallback=Water_UnderwaterSunriseFog,3 +fallback=Water_UnderwaterDayFog,2.5 +fallback=Water_UnderwaterSunsetFog,3 +fallback=Water_UnderwaterNightFog,4 +fallback=Water_UnderwaterIndoorFog,3 +fallback=Water_UnderwaterColor,012,030,037 +fallback=Water_UnderwaterColorWeight,0.85 +fallback=PixelWater_SurfaceFPS,25 +fallback=PixelWater_TileCount,4 +fallback=PixelWater_Resolution,256 + +# fonts +fallback=Fonts_Font_0,magic_cards_regular +fallback=Fonts_Font_1,century_gothic_font_regular +fallback=Fonts_Font_2,daedric_font +fallback=FontColor_color_normal,202,165,96 +fallback=FontColor_color_normal_over,223,201,159 +fallback=FontColor_color_normal_pressed,243,237,221 +fallback=FontColor_color_active,96,112,202 +fallback=FontColor_color_active_over,159,169,223 +fallback=FontColor_color_active_pressed,223,226,244 +fallback=FontColor_color_disabled,179,168,135 +fallback=FontColor_color_disabled_over,223,201,159 +fallback=FontColor_color_disabled_pressed,243,237,221 +fallback=FontColor_color_link,112,126,207 +fallback=FontColor_color_link_over,143,155,218 +fallback=FontColor_color_link_pressed,175,184,228 +fallback=FontColor_color_journal_link,37,49,112 +fallback=FontColor_color_journal_link_over,58,77,175 +fallback=FontColor_color_journal_link_pressed,112,126,207 +fallback=FontColor_color_journal_topic,0,0,0 +fallback=FontColor_color_journal_topic_over,58,77,175 +fallback=FontColor_color_journal_topic_pressed,112,126,207 +fallback=FontColor_color_answer,150,50,30 +fallback=FontColor_color_answer_over,223,201,159 +fallback=FontColor_color_answer_pressed,243,237,221 +fallback=FontColor_color_header,223,201,159 +fallback=FontColor_color_notify,223,201,159 +fallback=FontColor_color_big_normal,202,165,96 +fallback=FontColor_color_big_normal_over,223,201,159 +fallback=FontColor_color_big_normal_pressed,243,237,221 +fallback=FontColor_color_big_link,112,126,207 +fallback=FontColor_color_big_link_over,143,155,218 +fallback=FontColor_color_big_link_pressed,175,184,228 +fallback=FontColor_color_big_answer,150,50,30 +fallback=FontColor_color_big_answer_over,223,201,159 +fallback=FontColor_color_big_answer_pressed,243,237,22 +fallback=FontColor_color_big_header,223,201,159 +fallback=FontColor_color_big_notify,223,201,159 +fallback=FontColor_color_background,0,0,0 +fallback=FontColor_color_focus,80,80,80 +fallback=FontColor_color_health,200,60,30 +fallback=FontColor_color_magic,53,69,159 +fallback=FontColor_color_fatigue,0,150,60 +fallback=FontColor_color_misc,0,205,205 +fallback=FontColor_color_weapon_fill,200,60,30 +fallback=FontColor_color_magic_fill,200,60,30 +fallback=FontColor_color_positive,223,201,159 +fallback=FontColor_color_negative,200,60,30 +fallback=FontColor_color_count,223,201,159 + +# leveling +fallback=Level_Up_Level2,You've just realized that there is more to the life than you thought, the last few days have opened your eyes. An uncertain future awaits you. +fallback=Level_Up_Level3,Hard work and determination have served you well, keep this up and you'll be bound for great things. +fallback=Level_Up_Level4,It's as clear as day to you now, all that time you pissed away in your youth. This... this is life and all the experience you've gained giving you the tools you need to succeed in life. +fallback=Level_Up_Level5,Things seem to be working out for you, the world is opening up as you become more capable. +fallback=Level_Up_Level6,There is so much more to learn but with every push you gain more knowledge, only increasing your thirst for it. +fallback=Level_Up_Level7,You've dug deep within yourself, thinking you'll finally be who you thought you would be... but there is more and you keep digging. +fallback=Level_Up_Level8,Success doesn't come easily, but you make it appear that way to others. +fallback=Level_Up_Level9,Everything is becoming second nature to you but also just a bit more dangerous. +fallback=Level_Up_Level10,Nothing in life is easy or it wouldn't be worth the blood, sweat and tears. +fallback=Level_Up_Level11,Working smarter, not harder is something even a barbarian could benefit from. +fallback=Level_Up_Level12,Some would call you crazy for keeping at it, but you know better. It'll all pay off, it already has. +fallback=Level_Up_Level13,One nights sleep was all the difference between between something being difficult and then it being easy. +fallback=Level_Up_Level14,Waking up today was the best day ever for you, you await more days like these in your future. +fallback=Level_Up_Level15,Ouch! You lean back feeling your whole body for what seems the first time. You'll be more mindful in the future, you only have by one life. +fallback=Level_Up_Level16,Trusting your instincts have gotten you this far, but you'll need to be smarter to keep from being dead. +fallback=Level_Up_Level17,You're forging your spirit in the crucible that is experience. Be ever vigilant. +fallback=Level_Up_Level18,The frustrations of the day before melt away as you wake up, today is a new day. +fallback=Level_Up_Level19,Today isn't yesterday, you feel it deep inside but you know that there is still more to this life. +fallback=Level_Up_Level20,Luck has never been a factor in your success, just look at the scars on your body and the trails you've endured. +fallback=Level_Up_Default,Through sheer force of will, you push onwards and upwards. The toil of your persistence has paid off. + +# character creation +fallback=Question_1_Question,Before you lies some kind of creation you never seen before, it's hind leg caught in a hunter's trap. You can tell that its leg is broken. +fallback=Question_1_AnswerOne,Pull out you knife for a short and merciful kill. +fallback=Question_1_AnswerTwo,Reach into your herbal pouch to find something to ease its suffering before putting it to sleep. +fallback=Question_1_AnswerThree,Leave it alone but take the time to observe and learn from this new creation +fallback=Question_1_Sound,Voice\CharGen\QA1.mp3 +fallback=Question_2_Question,Your mother has given everyone a list of choice, pick one. +fallback=Question_2_AnswerOne,The fence posts need replacing, help your father? +fallback=Question_2_AnswerTwo,Tonight's supper needs a few herbs, head out into the forest to collect them? +fallback=Question_2_AnswerThree,Fish aren't going find their way into the kitchen without your help. Go fishing? +fallback=Question_2_Sound,Voice\CharGen\QA2.mp3 +fallback=Question_3_Question,One of your brother teases you mercilessly in front of everyone about embarrassing details you would rather be forgotten. +fallback=Question_3_AnswerOne,Give him a black-eye and dare him to keep it up? +fallback=Question_3_AnswerTwo,Beat him to the punch and play it up, if you can control the negative then he can't embarrass you? +fallback=Question_3_AnswerThree,Wait until he sleeps, put his hand in a bowl of water and call everyone around the next day to see the results? +fallback=Question_3_Sound,Voice\CharGen\QA3.mp3 +fallback=Question_4_Question,Rumor has it that the King's security console has a new tool at their disposal for sniffing out the truth, people able to read minds. +fallback=Question_4_AnswerOne,You recoil at the thought of someone being able to read your thoughts. It's not that you think something that you'll ever act on it? +fallback=Question_4_AnswerTwo,For those who have done nothing, there is nothing to fear. This is just yet another tool for sniffing out thieves, murderers and plots against the crown? +fallback=Question_4_AnswerThree,While you loath the idea of someone reading your mind, you accept that it does have its uses if tempered by law and common sense. You wouldn't believe the mind of a madman for example? +fallback=Question_4_Sound,Voice\CharGen\QA4.mp3 +fallback=Question_5_Question,You're off to market for supplies. You notice that one of the merchants had given you too much back in change. +fallback=Question_5_AnswerOne,How dreadful, what if it was you. You head back to the merchant? +fallback=Question_5_AnswerTwo,Happy days indeed, you put that extra money towards the needs of your family? +fallback=Question_5_AnswerThree,You win some and you lose some. In this case you won and they lost, the oversight is the merchant's problem, not yours? +fallback=Question_5_Sound,Voice\CharGen\QA5.mp3 +fallback=Question_6_Question,While at market, a noble yells out to the city watch about a theft. As you turn around a man bumps into you and drops a sack, startled he darts into the crowd. +fallback=Question_6_AnswerOne,You pick up the sack and head over to the noble to return his property? +fallback=Question_6_AnswerTwo,Just walk away, the last thing you need is someone thinking you had anything to do with it? +fallback=Question_6_AnswerThree,Finders, keepers... you whistle as you walk away? +fallback=Question_6_Sound,Voice\CharGen\QA6.mp3 +fallback=Question_7_Question,If it's one thing you hate, it's cleaning out the stalls. It has to be done before sunset before the critters return. On your way there an old friend greets you and offers to help if you promise to help them in the future. +fallback=Question_7_AnswerOne,You thank him for the offer but would rather get it over with and not make promises you can't keep? +fallback=Question_7_AnswerTwo,You reason that two pairs of hands are better than one regardless of the task? +fallback=Question_7_AnswerThree,Sounds great, anything is better than cleaning the stalls. +fallback=Question_7_Sound,Voice\CharGen\QA7.mp3 +fallback=Question_8_Question,You just climbed down ladder from working on the roof. You're mother thanks you for the hard work but just at the moment you notice the hammer about to fall down on her head. +fallback=Question_8_AnswerOne,You lunge at your mother, pushing her out the way while the hammer falls on top of you? +fallback=Question_8_AnswerTwo,Use the ladder to intercept the hammer before it lands on her? +fallback=Question_8_AnswerThree,Warn her to take a step back? +fallback=Question_8_Sound,Voice\CharGen\QA8.mp3 +fallback=Question_9_Question,It's the end of the week and you just got your wages for your hard work. You decide to take the quick way back home, darting into a alley only to be confronted by ruffians who demand that you empty your pockets. +fallback=Question_9_AnswerOne,You tell them to go pack sand, planting your feet and raising your fists? +fallback=Question_9_AnswerTwo,Acting dejected, you turn your wages over. You know that you can count on your friends to help you track these brigands down and recover what's yours? +fallback=Question_9_AnswerThree,Tossing the sack into the air, you charge the leader who's attention is squarely focused on the coins in flight? +fallback=Question_9_Sound,Voice\CharGen\QA9.mp3 +fallback=Question_10_Question,Upon coming to town, you see a clown running at you with an angry mob following after him. +fallback=Question_10_AnswerOne,Stand your ground, you hate clowns? +fallback=Question_10_AnswerTwo,Move out of the way, letting fate decide the clown's fate? +fallback=Question_10_AnswerThree,Come to the clown's aid, clowns are people too? +fallback=Question_10_Sound,Voice\CharGen\QA10.mp3 + +# blood splatters +fallback=Blood_Model_0,BloodSplat.nif +fallback=Blood_Model_1,BloodSplat2.nif +fallback=Blood_Model_2,BloodSplat3.nif +fallback=Blood_Texture_0,Tx_Blood.dds +fallback=Blood_Texture_1,Tx_Blood_White.dds +fallback=Blood_Texture_2,Tx_Blood_Gold.dds +fallback=Blood_Texture_Name_0,Default (Red) +fallback=Blood_Texture_Name_1,Skeleton (White) +fallback=Blood_Texture_Name_2,Metal Sparks (Gold) + +# movies +fallback=Movies_Project_Logo,openmw_project_logo.webm +fallback=Movies_Game_Logo,openmw_example_suite_logo.webm +fallback=Movies_New_Game,new_game.webm +fallback=Movies_Loading,loading.webm +fallback=Movies_Options_Menu,options_menu.webm + +# weather +fallback=Weather_Thunderstorm_Thunder_Sound_ID_0,Thunder0 +fallback=Weather_Thunderstorm_Thunder_Sound_ID_1,Thunder1 +fallback=Weather_Thunderstorm_Thunder_Sound_ID_2,Thunder2 +fallback=Weather_Thunderstorm_Thunder_Sound_ID_3,Thunder3 +fallback=Weather_Sunrise_Time,6 +fallback=Weather_Sunset_Time,18 +fallback=Weather_Sunrise_Duration,2 +fallback=Weather_Sunset_Duration,2 +fallback=Weather_Hours_Between_Weather_Changes,20 +fallback=Weather_Thunderstorm_Thunder_Frequency,.4 +fallback=Weather_Thunderstorm_Thunder_Threshold,0.6 +fallback=Weather_EnvReduceColor,255,255,255,255 +fallback=Weather_LerpCloseColor,037,046,048,255 +fallback=Weather_BumpFadeColor,230,239,255,255 +fallback=Weather_AlphaReduce,0.35 +fallback=Weather_Minimum_Time_Between_Environmental_Sounds,1.0 +fallback=Weather_Maximum_Time_Between_Environmental_Sounds,5.0 +fallback=Weather_Sun_Glare_Fader_Max,0.5 +fallback=Weather_Sun_Glare_Fader_Angle_Max,30.0 +fallback=Weather_Sun_Glare_Fader_Color,222,095,039 +fallback=Weather_Timescale_Clouds,0 +fallback=Weather_Precip_Gravity,575 +fallback=Weather_Rain_Ripples,1 +fallback=Weather_Rain_Ripple_Radius,1024 +fallback=Weather_Rain_Ripples_Per_Drop,1 +fallback=Weather_Rain_Ripple_Scale,0.3 +fallback=Weather_Rain_Ripple_Speed,1.0 +fallback=Weather_Fog_Depth_Change_Speed,3 +fallback=Weather_Sky_Pre-Sunrise_Time,.5 +fallback=Weather_Sky_Post-Sunrise_Time,1 +fallback=Weather_Sky_Pre-Sunset_Time,1.5 +fallback=Weather_Sky_Post-Sunset_Time,.5 +fallback=Weather_Ambient_Pre-Sunrise_Time,.5 +fallback=Weather_Ambient_Post-Sunrise_Time,2 +fallback=Weather_Ambient_Pre-Sunset_Time,1 +fallback=Weather_Ambient_Post-Sunset_Time,1.25 +fallback=Weather_Fog_Pre-Sunrise_Time,.5 +fallback=Weather_Fog_Post-Sunrise_Time,1 +fallback=Weather_Fog_Pre-Sunset_Time,2 +fallback=Weather_Fog_Post-Sunset_Time,1 +fallback=Weather_Sun_Pre-Sunrise_Time,0 +fallback=Weather_Sun_Post-Sunrise_Time,0 +fallback=Weather_Sun_Pre-Sunset_Time,1 +fallback=Weather_Sun_Post-Sunset_Time,1.25 +fallback=Weather_Stars_Post-Sunset_Start,1 +fallback=Weather_Stars_Pre-Sunrise_Finish,2 +fallback=Weather_Stars_Fading_Duration,2 +fallback=Weather_Snow_Ripples,0 +fallback=Weather_Snow_Ripple_Radius,1024 +fallback=Weather_Snow_Ripples_Per_Flake,1 +fallback=Weather_Snow_Ripple_Scale,0.3 +fallback=Weather_Snow_Ripple_Speed,1.0 +fallback=Weather_Snow_Gravity_Scale,0.1 +fallback=Weather_Snow_High_Kill,700 +fallback=Weather_Snow_Low_Kill,150 +fallback=Weather_Clear_Cloud_Texture,Tx_Sky_Clear.dds +fallback=Weather_Clear_Clouds_Maximum_Percent,1.0 +fallback=Weather_Clear_Transition_Delta,.015 +fallback=Weather_Clear_Sky_Sunrise_Color,117,141,164 +fallback=Weather_Clear_Sky_Day_Color,095,135,203 +fallback=Weather_Clear_Sky_Sunset_Color,056,089,129 +fallback=Weather_Clear_Sky_Night_Color,009,010,011 +fallback=Weather_Clear_Fog_Sunrise_Color,255,189,157 +fallback=Weather_Clear_Fog_Day_Color,206,227,255 +fallback=Weather_Clear_Fog_Sunset_Color,255,189,157 +fallback=Weather_Clear_Fog_Night_Color,009,010,011 +fallback=Weather_Clear_Ambient_Sunrise_Color,047,066,096 +fallback=Weather_Clear_Ambient_Day_Color,137,140,160 +fallback=Weather_Clear_Ambient_Sunset_Color,068,075,096 +fallback=Weather_Clear_Ambient_Night_Color,032,035,042 +fallback=Weather_Clear_Sun_Sunrise_Color,242,159,119 +fallback=Weather_Clear_Sun_Day_Color,255,252,238 +fallback=Weather_Clear_Sun_Sunset_Color,255,114,079 +fallback=Weather_Clear_Sun_Night_Color,059,097,176 +fallback=Weather_Clear_Sun_Disc_Sunset_Color,255,189,157 +fallback=Weather_Clear_Land_Fog_Day_Depth,.69 +fallback=Weather_Clear_Land_Fog_Night_Depth,.69 +fallback=Weather_Clear_Wind_Speed,.1 +fallback=Weather_Clear_Cloud_Speed,1.25 +fallback=Weather_Clear_Glare_View,1 +fallback=Weather_Clear_Ambient_Loop_Sound_ID,None +fallback=Weather_Cloudy_Cloud_Texture,Tx_Sky_Cloudy.dds +fallback=Weather_Cloudy_Clouds_Maximum_Percent,1.0 +fallback=Weather_Cloudy_Transition_Delta,.015 +fallback=Weather_Cloudy_Sky_Sunrise_Color,126,158,173 +fallback=Weather_Cloudy_Sky_Day_Color,117,160,215 +fallback=Weather_Cloudy_Sky_Sunset_Color,111,114,159 +fallback=Weather_Cloudy_Sky_Night_Color,009,010,011 +fallback=Weather_Cloudy_Fog_Sunrise_Color,255,207,149 +fallback=Weather_Cloudy_Fog_Day_Color,245,235,224 +fallback=Weather_Cloudy_Fog_Sunset_Color,255,155,106 +fallback=Weather_Cloudy_Fog_Night_Color,009,010,011 +fallback=Weather_Cloudy_Ambient_Sunrise_Color,066,074,087 +fallback=Weather_Cloudy_Ambient_Day_Color,137,145,160 +fallback=Weather_Cloudy_Ambient_Sunset_Color,071,080,092 +fallback=Weather_Cloudy_Ambient_Night_Color,032,039,054 +fallback=Weather_Cloudy_Sun_Sunrise_Color,241,177,099 +fallback=Weather_Cloudy_Sun_Day_Color,255,236,221 +fallback=Weather_Cloudy_Sun_Sunset_Color,255,089,000 +fallback=Weather_Cloudy_Sun_Night_Color,077,091,124 +fallback=Weather_Cloudy_Sun_Disc_Sunset_Color,255,202,179 +fallback=Weather_Cloudy_Land_Fog_Day_Depth,.72 +fallback=Weather_Cloudy_Land_Fog_Night_Depth,.72 +fallback=Weather_Cloudy_Wind_Speed,.2 +fallback=Weather_Cloudy_Cloud_Speed,2 +fallback=Weather_Cloudy_Glare_View,1 +fallback=Weather_Cloudy_Ambient_Loop_Sound_ID,None +fallback=Weather_Foggy_Cloud_Texture,Tx_Sky_Foggy.dds +fallback=Weather_Foggy_Clouds_Maximum_Percent,1.0 +fallback=Weather_Foggy_Transition_Delta,.015 +fallback=Weather_Foggy_Sky_Sunrise_Color,197,190,180 +fallback=Weather_Foggy_Sky_Day_Color,184,211,228 +fallback=Weather_Foggy_Sky_Sunset_Color,142,159,176 +fallback=Weather_Foggy_Sky_Night_Color,018,023,028 +fallback=Weather_Foggy_Fog_Sunrise_Color,173,164,148 +fallback=Weather_Foggy_Fog_Day_Color,150,187,209 +fallback=Weather_Foggy_Fog_Sunset_Color,113,135,157 +fallback=Weather_Foggy_Fog_Night_Color,019,024,029 +fallback=Weather_Foggy_Ambient_Sunrise_Color,048,043,037 +fallback=Weather_Foggy_Ambient_Day_Color,092,109,120 +fallback=Weather_Foggy_Ambient_Sunset_Color,029,053,076 +fallback=Weather_Foggy_Ambient_Night_Color,028,033,039 +fallback=Weather_Foggy_Sun_Sunrise_Color,177,162,137 +fallback=Weather_Foggy_Sun_Day_Color,111,131,151 +fallback=Weather_Foggy_Sun_Sunset_Color,125,157,189 +fallback=Weather_Foggy_Sun_Night_Color,081,100,119 +fallback=Weather_Foggy_Sun_Disc_Sunset_Color,223,223,223 +fallback=Weather_Foggy_Land_Fog_Day_Depth,1.0 +fallback=Weather_Foggy_Land_Fog_Night_Depth,1.9 +fallback=Weather_Foggy_Wind_Speed,0 +fallback=Weather_Foggy_Cloud_Speed,1.25 +fallback=Weather_Foggy_Glare_View,0.25 +fallback=Weather_Foggy_Ambient_Loop_Sound_ID,None +fallback=Weather_Thunderstorm_Cloud_Texture,Tx_Sky_Thunder.dds +fallback=Weather_Thunderstorm_Clouds_Maximum_Percent,0.66 +fallback=Weather_Thunderstorm_Transition_Delta,.030 +fallback=Weather_Thunderstorm_Sky_Sunrise_Color,035,036,039 +fallback=Weather_Thunderstorm_Sky_Day_Color,097,104,115 +fallback=Weather_Thunderstorm_Sky_Sunset_Color,035,036,039 +fallback=Weather_Thunderstorm_Sky_Night_Color,019,020,022 +fallback=Weather_Thunderstorm_Fog_Sunrise_Color,070,074,085 +fallback=Weather_Thunderstorm_Fog_Day_Color,097,104,115 +fallback=Weather_Thunderstorm_Fog_Sunset_Color,070,074,085 +fallback=Weather_Thunderstorm_Fog_Night_Color,019,020,022 +fallback=Weather_Thunderstorm_Ambient_Sunrise_Color,054,054,054 +fallback=Weather_Thunderstorm_Ambient_Day_Color,090,090,090 +fallback=Weather_Thunderstorm_Ambient_Sunset_Color,054,054,054 +fallback=Weather_Thunderstorm_Ambient_Night_Color,049,051,054 +fallback=Weather_Thunderstorm_Sun_Sunrise_Color,091,099,122 +fallback=Weather_Thunderstorm_Sun_Day_Color,138,144,155 +fallback=Weather_Thunderstorm_Sun_Sunset_Color,096,101,117 +fallback=Weather_Thunderstorm_Sun_Night_Color,055,076,110 +fallback=Weather_Thunderstorm_Sun_Disc_Sunset_Color,128,128,128 +fallback=Weather_Thunderstorm_Land_Fog_Day_Depth,1 +fallback=Weather_Thunderstorm_Land_Fog_Night_Depth,1.15 +fallback=Weather_Thunderstorm_Wind_Speed,.5 +fallback=Weather_Thunderstorm_Cloud_Speed,3 +fallback=Weather_Thunderstorm_Glare_View,0 +fallback=Weather_Thunderstorm_Rain_Loop_Sound_ID,rain heavy +fallback=Weather_Thunderstorm_Using_Precip,1 +fallback=Weather_Thunderstorm_Rain_Diameter,600 +fallback=Weather_Thunderstorm_Rain_Height_Min,200 +fallback=Weather_Thunderstorm_Rain_Height_Max,700 +fallback=Weather_Thunderstorm_Rain_Threshold,0.6 +fallback=Weather_Thunderstorm_Max_Raindrops,650 +fallback=Weather_Thunderstorm_Rain_Entrance_Speed,5 +fallback=Weather_Thunderstorm_Ambient_Loop_Sound_ID,None +fallback=Weather_Thunderstorm_Flash_Decrement,4 +fallback=Weather_Rain_Cloud_Texture,Tx_Sky_Rainy.dds +fallback=Weather_Rain_Clouds_Maximum_Percent,0.66 +fallback=Weather_Rain_Transition_Delta,.015 +fallback=Weather_Rain_Sky_Sunrise_Color,071,074,075 +fallback=Weather_Rain_Sky_Day_Color,116,120,122 +fallback=Weather_Rain_Sky_Sunset_Color,073,073,073 +fallback=Weather_Rain_Sky_Night_Color,024,025,026 +fallback=Weather_Rain_Fog_Sunrise_Color,071,074,075 +fallback=Weather_Rain_Fog_Day_Color,116,120,122 +fallback=Weather_Rain_Fog_Sunset_Color,073,073,073 +fallback=Weather_Rain_Fog_Night_Color,024,025,026 +fallback=Weather_Rain_Ambient_Sunrise_Color,097,090,088 +fallback=Weather_Rain_Ambient_Day_Color,105,110,113 +fallback=Weather_Rain_Ambient_Sunset_Color,088,097,097 +fallback=Weather_Rain_Ambient_Night_Color,050,055,067 +fallback=Weather_Rain_Sun_Sunrise_Color,131,122,120 +fallback=Weather_Rain_Sun_Day_Color,149,157,170 +fallback=Weather_Rain_Sun_Sunset_Color,120,126,131 +fallback=Weather_Rain_Sun_Night_Color,050,062,101 +fallback=Weather_Rain_Sun_Disc_Sunset_Color,128,128,128 +fallback=Weather_Rain_Land_Fog_Day_Depth,.8 +fallback=Weather_Rain_Land_Fog_Night_Depth,.8 +fallback=Weather_Rain_Wind_Speed,.3 +fallback=Weather_Rain_Cloud_Speed,2 +fallback=Weather_Rain_Glare_View,0 +fallback=Weather_Rain_Rain_Loop_Sound_ID,Rain +fallback=Weather_Rain_Using_Precip,1 +fallback=Weather_Rain_Rain_Diameter,600 +fallback=Weather_Rain_Rain_Height_Min,200 +fallback=Weather_Rain_Rain_Height_Max,700 +fallback=Weather_Rain_Rain_Threshold,0.6 +fallback=Weather_Rain_Rain_Entrance_Speed,7 +fallback=Weather_Rain_Ambient_Loop_Sound_ID,None +fallback=Weather_Rain_Max_Raindrops,450 +fallback=Weather_Overcast_Cloud_Texture,Tx_Sky_Overcast.dds +fallback=Weather_Overcast_Clouds_Maximum_Percent,1.0 +fallback=Weather_Overcast_Transition_Delta,.015 +fallback=Weather_Overcast_Sky_Sunrise_Color,091,099,106 +fallback=Weather_Overcast_Sky_Day_Color,143,146,149 +fallback=Weather_Overcast_Sky_Sunset_Color,108,115,121 +fallback=Weather_Overcast_Sky_Night_Color,019,022,025 +fallback=Weather_Overcast_Fog_Sunrise_Color,091,099,106 +fallback=Weather_Overcast_Fog_Day_Color,143,146,149 +fallback=Weather_Overcast_Fog_Sunset_Color,108,115,121 +fallback=Weather_Overcast_Fog_Night_Color,019,022,025 +fallback=Weather_Overcast_Ambient_Sunrise_Color,084,088,092 +fallback=Weather_Overcast_Ambient_Day_Color,093,096,105 +fallback=Weather_Overcast_Ambient_Sunset_Color,083,077,075 +fallback=Weather_Overcast_Ambient_Night_Color,057,060,066 +fallback=Weather_Overcast_Sun_Sunrise_Color,087,125,163 +fallback=Weather_Overcast_Sun_Day_Color,163,169,183 +fallback=Weather_Overcast_Sun_Sunset_Color,085,103,157 +fallback=Weather_Overcast_Sun_Night_Color,032,054,100 +fallback=Weather_Overcast_Sun_Disc_Sunset_Color,128,128,128 +fallback=Weather_Overcast_Land_Fog_Day_Depth,.70 +fallback=Weather_Overcast_Land_Fog_Night_Depth,.70 +fallback=Weather_Overcast_Wind_Speed,.2 +fallback=Weather_Overcast_Cloud_Speed,1.5 +fallback=Weather_Overcast_Glare_View,0 +fallback=Weather_Overcast_Ambient_Loop_Sound_ID,None +fallback=Weather_Snow_Cloud_Texture,Tx_Sky_Snow.dds +fallback=Weather_Snow_Clouds_Maximum_Percent,1.0 +fallback=Weather_Snow_Transition_Delta,.015 +fallback=Weather_Snow_Sky_Sunrise_Color,106,091,091 +fallback=Weather_Snow_Sky_Day_Color,153,158,166 +fallback=Weather_Snow_Sky_Sunset_Color,096,115,134 +fallback=Weather_Snow_Sky_Night_Color,031,035,039 +fallback=Weather_Snow_Fog_Sunrise_Color,106,091,091 +fallback=Weather_Snow_Fog_Day_Color,153,158,166 +fallback=Weather_Snow_Fog_Sunset_Color,096,115,134 +fallback=Weather_Snow_Fog_Night_Color,031,035,039 +fallback=Weather_Snow_Ambient_Sunrise_Color,092,084,084 +fallback=Weather_Snow_Ambient_Day_Color,093,096,105 +fallback=Weather_Snow_Ambient_Sunset_Color,070,079,087 +fallback=Weather_Snow_Ambient_Night_Color,049,058,068 +fallback=Weather_Snow_Sun_Sunrise_Color,141,109,109 +fallback=Weather_Snow_Sun_Day_Color,163,169,183 +fallback=Weather_Snow_Sun_Sunset_Color,101,121,141 +fallback=Weather_Snow_Sun_Night_Color,055,066,077 +fallback=Weather_Snow_Sun_Disc_Sunset_Color,128,128,128 +fallback=Weather_Snow_Land_Fog_Day_Depth,1.0 +fallback=Weather_Snow_Land_Fog_Night_Depth,1.2 +fallback=Weather_Snow_Wind_Speed,0 +fallback=Weather_Snow_Cloud_Speed,1.5 +fallback=Weather_Snow_Glare_View,0 +fallback=Weather_Snow_Snow_Diameter,800 +fallback=Weather_Snow_Snow_Height_Min,400 +fallback=Weather_Snow_Snow_Height_Max,700 +fallback=Weather_Snow_Snow_Entrance_Speed,6 +fallback=Weather_Snow_Max_Snowflakes,750 +fallback=Weather_Snow_Ambient_Loop_Sound_ID,None +fallback=Weather_Snow_Snow_Threshold,0.5 +fallback=Weather_Blizzard_Cloud_Texture,Tx_Sky_Blizzard.dds +fallback=Weather_Blizzard_Clouds_Maximum_Percent,1.0 +fallback=Weather_Blizzard_Transition_Delta,.030 +fallback=Weather_Blizzard_Sky_Sunrise_Color,091,099,106 +fallback=Weather_Blizzard_Sky_Day_Color,121,133,145 +fallback=Weather_Blizzard_Sky_Sunset_Color,108,115,121 +fallback=Weather_Blizzard_Sky_Night_Color,027,029,031 +fallback=Weather_Blizzard_Fog_Sunrise_Color,091,099,106 +fallback=Weather_Blizzard_Fog_Day_Color,121,133,145 +fallback=Weather_Blizzard_Fog_Sunset_Color,108,115,121 +fallback=Weather_Blizzard_Fog_Night_Color,021,024,028 +fallback=Weather_Blizzard_Ambient_Sunrise_Color,084,088,092 +fallback=Weather_Blizzard_Ambient_Day_Color,093,096,105 +fallback=Weather_Blizzard_Ambient_Sunset_Color,083,077,075 +fallback=Weather_Blizzard_Ambient_Night_Color,053,062,070 +fallback=Weather_Blizzard_Sun_Sunrise_Color,114,128,146 +fallback=Weather_Blizzard_Sun_Day_Color,163,169,183 +fallback=Weather_Blizzard_Sun_Sunset_Color,106,114,136 +fallback=Weather_Blizzard_Sun_Night_Color,057,066,074 +fallback=Weather_Blizzard_Sun_Disc_Sunset_Color,128,128,128 +fallback=Weather_Blizzard_Land_Fog_Day_Depth,2.8 +fallback=Weather_Blizzard_Land_Fog_Night_Depth,3.0 +fallback=Weather_Blizzard_Wind_Speed,.9 +fallback=Weather_Blizzard_Cloud_Speed,7.5 +fallback=Weather_Blizzard_Glare_View,0 +fallback=Weather_Blizzard_Ambient_Loop_Sound_ID, Blizzard +fallback=Weather_Blizzard_Storm_Threshold,.50 + +# Misc +encoding=win1252 From 9b83a2345b7a86974ed2173c386f5e27a93cefac Mon Sep 17 00:00:00 2001 From: Bret Curtis Date: Mon, 29 Oct 2018 20:54:21 +0100 Subject: [PATCH 098/130] remove unnecessary fallbacks --- files/openmw.cfg | 23 ++--------------------- 1 file changed, 2 insertions(+), 21 deletions(-) diff --git a/files/openmw.cfg b/files/openmw.cfg index 354fdb4a1..11ea1ac15 100644 --- a/files/openmw.cfg +++ b/files/openmw.cfg @@ -18,12 +18,10 @@ script-blacklist=wereDreamScript3 no-sound=0 # archives -fallback-archive=OpenMW-Example-Suite.zip -fallback-archive=OpenMW-Template.zip +# fallback-archive=OpenMW-Example-Suite.zip +# fallback-archive=OpenMW-Template.zip # lighting -fallback=LightAttenuation_UseConstant,0 -fallback=LightAttenuation_ConstantValue,0.0 fallback=LightAttenuation_UseLinear,1 fallback=LightAttenuation_LinearMethod,1 fallback=LightAttenuation_LinearValue,3.0 @@ -45,18 +43,6 @@ fallback=Inventory_DirectionalRotationX,110 fallback=Inventory_DirectionalRotationY,90 fallback=Inventory_UniformScaling,0 -# fast travel -fallback=Map_Travel_Beast_Red,238 -fallback=Map_Travel_Beast_Green,230 -fallback=Map_Travel_Beast_Blue,30 -fallback=Map_Travel_Boat_Red,30 -fallback=Map_Travel_Boat_Green,30 -fallback=Map_Travel_Boat_Blue,230 -fallback=Map_Travel_Magic_Red,230 -fallback=Map_Travel_Magic_Green,30 -fallback=Map_Travel_Magic_Blue,30 -fallback=Map_Show_Travel_Lines,0 - # water effects fallback=Water_Map_Alpha,0.4 fallback=Water_World_Alpha,0.75 @@ -73,8 +59,6 @@ fallback=Water_MaxNumberRipples,75 fallback=Water_RippleScale,0.15, 6.5 fallback=Water_RippleRotSpeed,0.5 fallback=Water_RippleAlphas,0.7, 0.1, 0.01 -fallback=Water_PSWaterReflectTerrain,1 -fallback=Water_PSWaterReflectUpdate,20.0 fallback=Water_NearWaterRadius,1000 fallback=Water_NearWaterPoints,8 fallback=Water_NearWaterUnderwaterFreq,0.3 @@ -90,9 +74,6 @@ fallback=Water_UnderwaterNightFog,4 fallback=Water_UnderwaterIndoorFog,3 fallback=Water_UnderwaterColor,012,030,037 fallback=Water_UnderwaterColorWeight,0.85 -fallback=PixelWater_SurfaceFPS,25 -fallback=PixelWater_TileCount,4 -fallback=PixelWater_Resolution,256 # fonts fallback=Fonts_Font_0,magic_cards_regular From cbbe69f3f28960e5ed60938fb56d881c27d6e073 Mon Sep 17 00:00:00 2001 From: Bret Curtis Date: Tue, 30 Oct 2018 12:17:10 +0100 Subject: [PATCH 099/130] additional cleanups for non-essential fallbacks --- files/openmw.cfg | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/files/openmw.cfg b/files/openmw.cfg index 11ea1ac15..9c51df389 100644 --- a/files/openmw.cfg +++ b/files/openmw.cfg @@ -12,15 +12,6 @@ script-blacklist=WereChange2Script script-blacklist=wereDreamScript2 script-blacklist=wereDreamScript3 -# Sane defaults - -# sound -no-sound=0 - -# archives -# fallback-archive=OpenMW-Example-Suite.zip -# fallback-archive=OpenMW-Template.zip - # lighting fallback=LightAttenuation_UseLinear,1 fallback=LightAttenuation_LinearMethod,1 @@ -505,6 +496,3 @@ fallback=Weather_Blizzard_Cloud_Speed,7.5 fallback=Weather_Blizzard_Glare_View,0 fallback=Weather_Blizzard_Ambient_Loop_Sound_ID, Blizzard fallback=Weather_Blizzard_Storm_Threshold,.50 - -# Misc -encoding=win1252 From d1eb7a52a08666f621e8633023f9c0ce30845ef6 Mon Sep 17 00:00:00 2001 From: Bret Curtis Date: Tue, 30 Oct 2018 20:49:59 +0000 Subject: [PATCH 100/130] Update CHANGELOG.md --- CHANGELOG.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 96baa5365..524ce2cc2 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,10 @@ +0.46.0 +------ + + Feature #2229: Improve pathfinding AI + Feature #3442: Default values for fallbacks from ini file + + 0.45.0 ------ From 90986df81c9e0b9cd037bd51ad3f9b1e2d1d83b3 Mon Sep 17 00:00:00 2001 From: AnyOldName3 Date: Tue, 30 Oct 2018 22:15:32 +0000 Subject: [PATCH 101/130] Allow OSG objects to be sent to the debug log. --- components/debug/debuglog.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/components/debug/debuglog.hpp b/components/debug/debuglog.hpp index f5cdffeda..0676f7689 100644 --- a/components/debug/debuglog.hpp +++ b/components/debug/debuglog.hpp @@ -4,6 +4,8 @@ #include #include +#include + namespace Debug { enum Level From f1eb70285174081f7cc52820ed20d483a0d6bab0 Mon Sep 17 00:00:00 2001 From: Andrei Kortunov Date: Wed, 31 Oct 2018 10:09:32 +0400 Subject: [PATCH 102/130] Mark virtual methods in the mechanicsmanagerimp.hpp as overrides --- .../mwmechanics/mechanicsmanagerimp.hpp | 149 +++++++++--------- 1 file changed, 71 insertions(+), 78 deletions(-) diff --git a/apps/openmw/mwmechanics/mechanicsmanagerimp.hpp b/apps/openmw/mwmechanics/mechanicsmanagerimp.hpp index 26eaa968d..7b6bbc636 100644 --- a/apps/openmw/mwmechanics/mechanicsmanagerimp.hpp +++ b/apps/openmw/mwmechanics/mechanicsmanagerimp.hpp @@ -54,71 +54,71 @@ namespace MWMechanics MechanicsManager(); - virtual void add (const MWWorld::Ptr& ptr); + virtual void add (const MWWorld::Ptr& ptr) override; ///< Register an object for management - virtual void remove (const MWWorld::Ptr& ptr); + virtual void remove (const MWWorld::Ptr& ptr) override; ///< Deregister an object for management - virtual void updateCell(const MWWorld::Ptr &old, const MWWorld::Ptr &ptr); + virtual void updateCell(const MWWorld::Ptr &old, const MWWorld::Ptr &ptr) override; ///< Moves an object to a new cell - virtual void drop(const MWWorld::CellStore *cellStore); + virtual void drop(const MWWorld::CellStore *cellStore) override; ///< Deregister all objects in the given cell. - virtual void watchActor(const MWWorld::Ptr& ptr); + virtual void watchActor(const MWWorld::Ptr& ptr) override; ///< On each update look for changes in a previously registered actor and update the /// GUI accordingly. - virtual void update (float duration, bool paused); + virtual void update (float duration, bool paused) override; ///< Update objects /// /// \param paused In game type does not currently advance (this usually means some GUI /// component is up). - virtual void advanceTime (float duration); + virtual void advanceTime (float duration) override; - virtual void setPlayerName (const std::string& name); + virtual void setPlayerName (const std::string& name) override; ///< Set player name. - virtual void setPlayerRace (const std::string& id, bool male, const std::string &head, const std::string &hair); + virtual void setPlayerRace (const std::string& id, bool male, const std::string &head, const std::string &hair) override; ///< Set player race. - virtual void setPlayerBirthsign (const std::string& id); + virtual void setPlayerBirthsign (const std::string& id) override; ///< Set player birthsign. - virtual void setPlayerClass (const std::string& id); + virtual void setPlayerClass (const std::string& id) override; ///< Set player class to stock class. - virtual void setPlayerClass (const ESM::Class& class_); + virtual void setPlayerClass (const ESM::Class& class_) override; ///< Set player class to custom class. - virtual void restoreDynamicStats(MWWorld::Ptr actor, bool sleep); + virtual void restoreDynamicStats(MWWorld::Ptr actor, bool sleep) override; - virtual void rest(bool sleep); + virtual void rest(bool sleep) override; ///< If the player is sleeping or waiting, this should be called every hour. /// @param sleep is the player sleeping or waiting? - virtual int getHoursToRest() const; + virtual int getHoursToRest() const override; ///< Calculate how many hours the player needs to rest in order to be fully healed - virtual int getBarterOffer(const MWWorld::Ptr& ptr,int basePrice, bool buying); + virtual int getBarterOffer(const MWWorld::Ptr& ptr,int basePrice, bool buying) override; ///< This is used by every service to determine the price of objects given the trading skills of the player and NPC. - virtual int getDerivedDisposition(const MWWorld::Ptr& ptr, bool addTemporaryDispositionChange = true); + virtual int getDerivedDisposition(const MWWorld::Ptr& ptr, bool addTemporaryDispositionChange = true) override; ///< Calculate the diposition of an NPC toward the player. - virtual int countDeaths (const std::string& id) const; + virtual int countDeaths (const std::string& id) const override; ///< Return the number of deaths for actors with the given ID. - virtual void getPersuasionDispositionChange (const MWWorld::Ptr& npc, PersuasionType type, bool& success, float& tempChange, float& permChange); + virtual void getPersuasionDispositionChange (const MWWorld::Ptr& npc, PersuasionType type, bool& success, float& tempChange, float& permChange) override; ///< Perform a persuasion action on NPC /// Check if \a observer is potentially aware of \a ptr. Does not do a line of sight check! - virtual bool awarenessCheck (const MWWorld::Ptr& ptr, const MWWorld::Ptr& observer); + virtual bool awarenessCheck (const MWWorld::Ptr& ptr, const MWWorld::Ptr& observer) override; /// Makes \a ptr fight \a target. Also shouts a combat taunt. - virtual void startCombat (const MWWorld::Ptr& ptr, const MWWorld::Ptr& target); + virtual void startCombat (const MWWorld::Ptr& ptr, const MWWorld::Ptr& target) override; /** * @note victim may be empty @@ -128,126 +128,119 @@ namespace MWMechanics * @return was the crime seen? */ virtual bool commitCrime (const MWWorld::Ptr& ptr, const MWWorld::Ptr& victim, - OffenseType type, int arg=0, bool victimAware=false); + OffenseType type, int arg=0, bool victimAware=false) override; /// @return false if the attack was considered a "friendly hit" and forgiven - virtual bool actorAttacked (const MWWorld::Ptr& victim, const MWWorld::Ptr& attacker); + virtual bool actorAttacked (const MWWorld::Ptr& victim, const MWWorld::Ptr& attacker) override; /// Notify that actor was killed, add a murder bounty if applicable /// @note No-op for non-player attackers - virtual void actorKilled (const MWWorld::Ptr& victim, const MWWorld::Ptr& attacker); - - /// Checks if commiting a crime is currently valid - /// @param victim The actor being attacked - /// @param attacker The actor commiting the crime - /// @return true if the victim is a valid target for crime - virtual bool canCommitCrimeAgainst(const MWWorld::Ptr& victim, const MWWorld::Ptr& attacker); + virtual void actorKilled (const MWWorld::Ptr& victim, const MWWorld::Ptr& attacker) override; /// Utility to check if taking this item is illegal and calling commitCrime if so /// @param container The container the item is in; may be empty for an item in the world virtual void itemTaken (const MWWorld::Ptr& ptr, const MWWorld::Ptr& item, const MWWorld::Ptr& container, - int count, bool alarm = true); + int count, bool alarm = true) override; /// Utility to check if opening (i.e. unlocking) this object is illegal and calling commitCrime if so - virtual void objectOpened (const MWWorld::Ptr& ptr, const MWWorld::Ptr& item); + virtual void objectOpened (const MWWorld::Ptr& ptr, const MWWorld::Ptr& item) override; /// Attempt sleeping in a bed. If this is illegal, call commitCrime. /// @return was it illegal, and someone saw you doing it? Also returns fail when enemies are nearby - virtual bool sleepInBed (const MWWorld::Ptr& ptr, const MWWorld::Ptr& bed); + virtual bool sleepInBed (const MWWorld::Ptr& ptr, const MWWorld::Ptr& bed) override; - virtual void forceStateUpdate(const MWWorld::Ptr &ptr); + virtual void forceStateUpdate(const MWWorld::Ptr &ptr) override; /// Attempt to play an animation group /// @return Success or error - virtual bool playAnimationGroup(const MWWorld::Ptr& ptr, const std::string& groupName, int mode, int number, bool persist=false); - virtual void skipAnimation(const MWWorld::Ptr& ptr); - virtual bool checkAnimationPlaying(const MWWorld::Ptr& ptr, const std::string &groupName); - virtual void persistAnimationStates(); + virtual bool playAnimationGroup(const MWWorld::Ptr& ptr, const std::string& groupName, int mode, int number, bool persist=false) override; + virtual void skipAnimation(const MWWorld::Ptr& ptr) override; + virtual bool checkAnimationPlaying(const MWWorld::Ptr& ptr, const std::string &groupName) override; + virtual void persistAnimationStates() override; /// Update magic effects for an actor. Usually done automatically once per frame, but if we're currently /// paused we may want to do it manually (after equipping permanent enchantment) - virtual void updateMagicEffects (const MWWorld::Ptr& ptr); + virtual void updateMagicEffects (const MWWorld::Ptr& ptr) override; - virtual void getObjectsInRange (const osg::Vec3f& position, float radius, std::vector& objects); - virtual void getActorsInRange(const osg::Vec3f &position, float radius, std::vector &objects); + virtual void getObjectsInRange (const osg::Vec3f& position, float radius, std::vector& objects) override; + virtual void getActorsInRange(const osg::Vec3f &position, float radius, std::vector &objects) override; /// Check if there are actors in selected range - virtual bool isAnyActorInRange(const osg::Vec3f &position, float radius); + virtual bool isAnyActorInRange(const osg::Vec3f &position, float radius) override; - virtual std::list getActorsSidingWith(const MWWorld::Ptr& actor); - virtual std::list getActorsFollowing(const MWWorld::Ptr& actor); - virtual std::list getActorsFollowingIndices(const MWWorld::Ptr& actor); + virtual std::list getActorsSidingWith(const MWWorld::Ptr& actor) override; + virtual std::list getActorsFollowing(const MWWorld::Ptr& actor) override; + virtual std::list getActorsFollowingIndices(const MWWorld::Ptr& actor) override; - virtual std::list getActorsFighting(const MWWorld::Ptr& actor); - virtual std::list getEnemiesNearby(const MWWorld::Ptr& actor); + virtual std::list getActorsFighting(const MWWorld::Ptr& actor) override; + virtual std::list getEnemiesNearby(const MWWorld::Ptr& actor) override; /// Recursive version of getActorsFollowing - virtual void getActorsFollowing(const MWWorld::Ptr& actor, std::set& out); + virtual void getActorsFollowing(const MWWorld::Ptr& actor, std::set& out) override; /// Recursive version of getActorsSidingWith - virtual void getActorsSidingWith(const MWWorld::Ptr& actor, std::set& out); + virtual void getActorsSidingWith(const MWWorld::Ptr& actor, std::set& out) override; - virtual bool toggleAI(); - virtual bool isAIActive(); + virtual bool toggleAI() override; + virtual bool isAIActive() override; - virtual void playerLoaded(); + virtual void playerLoaded() override; - virtual int countSavedGameRecords() const; + virtual int countSavedGameRecords() const override; - virtual void write (ESM::ESMWriter& writer, Loading::Listener& listener) const; + virtual void write (ESM::ESMWriter& writer, Loading::Listener& listener) const override; - virtual void readRecord (ESM::ESMReader& reader, uint32_t type); + virtual void readRecord (ESM::ESMReader& reader, uint32_t type) override; - virtual void clear(); + virtual void clear() override; - virtual bool isAggressive (const MWWorld::Ptr& ptr, const MWWorld::Ptr& target); + virtual bool isAggressive (const MWWorld::Ptr& ptr, const MWWorld::Ptr& target) override; - virtual void keepPlayerAlive(); + virtual void keepPlayerAlive() override; - virtual bool isCastingSpell (const MWWorld::Ptr& ptr) const; + virtual bool isCastingSpell (const MWWorld::Ptr& ptr) const override; - virtual bool isReadyToBlock (const MWWorld::Ptr& ptr) const; + virtual bool isReadyToBlock (const MWWorld::Ptr& ptr) const override; /// Is \a ptr casting spell or using weapon now? - virtual bool isAttackingOrSpell(const MWWorld::Ptr &ptr) const; + virtual bool isAttackingOrSpell(const MWWorld::Ptr &ptr) const override; - virtual void castSpell(const MWWorld::Ptr& ptr, const std::string spellId, bool manualSpell=false); + virtual void castSpell(const MWWorld::Ptr& ptr, const std::string spellId, bool manualSpell=false) override; void processChangedSettings(const Settings::CategorySettingVector& settings) override; - virtual float getActorsProcessingRange() const; + virtual float getActorsProcessingRange() const override; /// Check if the target actor was detected by an observer /// If the observer is a non-NPC, check all actors in AI processing distance as observers - virtual bool isActorDetected(const MWWorld::Ptr& actor, const MWWorld::Ptr& observer); + virtual bool isActorDetected(const MWWorld::Ptr& actor, const MWWorld::Ptr& observer) override; - virtual void confiscateStolenItems (const MWWorld::Ptr& player, const MWWorld::Ptr& targetContainer); + virtual void confiscateStolenItems (const MWWorld::Ptr& player, const MWWorld::Ptr& targetContainer) override; /// List the owners that the player has stolen this item from (the owner can be an NPC or a faction). /// - virtual std::vector > getStolenItemOwners(const std::string& itemid); + virtual std::vector > getStolenItemOwners(const std::string& itemid) override; /// Has the player stolen this item from the given owner? - virtual bool isItemStolenFrom(const std::string& itemid, const MWWorld::Ptr& ptr); + virtual bool isItemStolenFrom(const std::string& itemid, const MWWorld::Ptr& ptr) override; - virtual bool isBoundItem(const MWWorld::Ptr& item); + virtual bool isBoundItem(const MWWorld::Ptr& item) override; /// @return is \a ptr allowed to take/use \a target or is it a crime? - virtual bool isAllowedToUse (const MWWorld::Ptr& ptr, const MWWorld::Ptr& target, MWWorld::Ptr& victim); + virtual bool isAllowedToUse (const MWWorld::Ptr& ptr, const MWWorld::Ptr& target, MWWorld::Ptr& victim) override; - virtual void setWerewolf(const MWWorld::Ptr& actor, bool werewolf); - virtual void applyWerewolfAcrobatics(const MWWorld::Ptr& actor); + virtual void setWerewolf(const MWWorld::Ptr& actor, bool werewolf) override; + virtual void applyWerewolfAcrobatics(const MWWorld::Ptr& actor) override; - virtual void cleanupSummonedCreature(const MWWorld::Ptr& caster, int creatureActorId); + virtual void cleanupSummonedCreature(const MWWorld::Ptr& caster, int creatureActorId) override; - virtual void confiscateStolenItemToOwner(const MWWorld::Ptr &player, const MWWorld::Ptr &item, const MWWorld::Ptr& victim, int count); + virtual void confiscateStolenItemToOwner(const MWWorld::Ptr &player, const MWWorld::Ptr &item, const MWWorld::Ptr& victim, int count) override; - virtual bool isAttackPreparing(const MWWorld::Ptr& ptr); - virtual bool isRunning(const MWWorld::Ptr& ptr); - virtual bool isSneaking(const MWWorld::Ptr& ptr); + virtual bool isAttackPreparing(const MWWorld::Ptr& ptr) override; + virtual bool isRunning(const MWWorld::Ptr& ptr) override; + virtual bool isSneaking(const MWWorld::Ptr& ptr) override; private: + bool canCommitCrimeAgainst(const MWWorld::Ptr& victim, const MWWorld::Ptr& attacker); bool canReportCrime(const MWWorld::Ptr &actor, const MWWorld::Ptr &victim, std::set &playerFollowers); bool reportCrime (const MWWorld::Ptr& ptr, const MWWorld::Ptr& victim, OffenseType type, int arg=0); - - }; } From a615076c614cf1b648f6ea58bc3487ee6c4305ca Mon Sep 17 00:00:00 2001 From: Andrei Kortunov Date: Wed, 31 Oct 2018 10:18:29 +0400 Subject: [PATCH 103/130] Add default return value --- components/detournavigator/flags.hpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/components/detournavigator/flags.hpp b/components/detournavigator/flags.hpp index df22209bb..684d4fbba 100644 --- a/components/detournavigator/flags.hpp +++ b/components/detournavigator/flags.hpp @@ -17,7 +17,8 @@ namespace DetourNavigator inline std::ostream& operator <<(std::ostream& stream, const Flag value) { - switch (value) { + switch (value) + { case Flag_none: return stream << "none"; case Flag_walk: @@ -27,6 +28,8 @@ namespace DetourNavigator case Flag_openDoor: return stream << "openDoor"; } + + return stream; } struct WriteFlags From 4489f23005b6eff9727a41c3fad84a084b3d9d22 Mon Sep 17 00:00:00 2001 From: AnyOldName3 Date: Wed, 31 Oct 2018 15:15:01 +0000 Subject: [PATCH 104/130] Remove recastnavigation conflicts --- components/detournavigator/debug.hpp | 3 ++- components/osghelpers/operators.hpp | 35 ---------------------------- 2 files changed, 2 insertions(+), 36 deletions(-) delete mode 100644 components/osghelpers/operators.hpp diff --git a/components/detournavigator/debug.hpp b/components/detournavigator/debug.hpp index 460e22435..05d212e2f 100644 --- a/components/detournavigator/debug.hpp +++ b/components/detournavigator/debug.hpp @@ -3,9 +3,10 @@ #include "tilebounds.hpp" +#include + #include #include -#include #include #include diff --git a/components/osghelpers/operators.hpp b/components/osghelpers/operators.hpp deleted file mode 100644 index fdb0227ea..000000000 --- a/components/osghelpers/operators.hpp +++ /dev/null @@ -1,35 +0,0 @@ -#ifndef OPENMW_COMPONENTS_OSGHELPERS_OPERATORS_H -#define OPENMW_COMPONENTS_OSGHELPERS_OPERATORS_H - -#include -#include -#include - -#include -#include -#include - -namespace osg -{ - inline std::ostream& operator <<(std::ostream& stream, const Vec2i& value) - { - return stream << "osg::Vec2i(" << value.x() << ", " << value.y() << ")"; - } - - inline std::ostream& operator <<(std::ostream& stream, const Vec2f& value) - { - return stream << "osg::Vec2f(" << std::setprecision(std::numeric_limits::max_exponent10) << value.x() - << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.y() - << ')'; - } - - inline std::ostream& operator <<(std::ostream& stream, const Vec3f& value) - { - return stream << "osg::Vec3f(" << std::setprecision(std::numeric_limits::max_exponent10) << value.x() - << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.y() - << ", " << std::setprecision(std::numeric_limits::max_exponent10) << value.z() - << ')'; - } -} - -#endif From 93843d024c01633dbec773fad3ed15fda6c3e9d0 Mon Sep 17 00:00:00 2001 From: AnyOldName3 Date: Wed, 31 Oct 2018 16:26:53 +0000 Subject: [PATCH 105/130] Remove another duplicate operator<< --- .../nifloader/testbulletnifloader.cpp | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp b/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp index 5866b7646..29f60b1f5 100644 --- a/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp +++ b/apps/openmw_test_suite/nifloader/testbulletnifloader.cpp @@ -115,17 +115,6 @@ static std::ostream& operator <<(std::ostream& stream, const btCollisionShape* v return value ? stream << "&" << *value : stream << "nullptr"; } -namespace osg -{ - static std::ostream& operator <<(std::ostream& stream, const Vec3f& value) - { - return stream << "osg::Vec3f {" - << value.x() << ", " - << value.y() << ", " - << value.z() << "}"; - } -} - namespace std { static std::ostream& operator <<(std::ostream& stream, const map& value) @@ -153,7 +142,7 @@ namespace Resource return stream << "Resource::BulletShape {" << value.mCollisionShape << ", " << value.mAvoidCollisionShape << ", " - << value.mCollisionBoxHalfExtents << ", " + << "osg::Vec3f {" << value.mCollisionBoxHalfExtents << "}" << ", " << value.mAnimatedShapes << "}"; } From 6bbc1cb3080b784c5f2e00763e365509e0eb1795 Mon Sep 17 00:00:00 2001 From: AnyOldName3 Date: Wed, 31 Oct 2018 19:32:52 +0000 Subject: [PATCH 106/130] Remove outdated include --- apps/openmw_test_suite/detournavigator/operators.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/apps/openmw_test_suite/detournavigator/operators.hpp b/apps/openmw_test_suite/detournavigator/operators.hpp index 8e6b97af6..16d8f38f5 100644 --- a/apps/openmw_test_suite/detournavigator/operators.hpp +++ b/apps/openmw_test_suite/detournavigator/operators.hpp @@ -3,7 +3,6 @@ #include #include -#include #include #include From afd700dab98a7fc3e0d9a151b143e53f0438ce50 Mon Sep 17 00:00:00 2001 From: AnyOldName3 Date: Wed, 31 Oct 2018 23:38:10 +0000 Subject: [PATCH 107/130] Ensure different Boost versions get different names --- CI/before_script.msvc.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CI/before_script.msvc.sh b/CI/before_script.msvc.sh index add6f0ace..dbfd44369 100644 --- a/CI/before_script.msvc.sh +++ b/CI/before_script.msvc.sh @@ -328,7 +328,7 @@ if [ -z $SKIP_DOWNLOAD ]; then if [ -z $APPVEYOR ]; then download "Boost 1.67.0" \ "https://sourceforge.net/projects/boost/files/boost-binaries/1.67.0/boost_1_67_0-msvc-${MSVC_VER}-${BITS}.exe" \ - "boost-1.67.0-msvc${MSVC_YEAR}-win${BITS}.exe" + "boost-1.67.0-msvc${MSVC_VER}-win${BITS}.exe" fi # Bullet @@ -434,7 +434,7 @@ fi rm -rf Boost CI_EXTRA_INNO_OPTIONS="" [ -n "$CI" ] && CI_EXTRA_INNO_OPTIONS="//SUPPRESSMSGBOXES //LOG='boost_install.log'" - "${DEPS}/boost-1.67.0-msvc${MSVC_YEAR}-win${BITS}.exe" //DIR="${CWD_DRIVE_ROOT}" //VERYSILENT //NORESTART ${CI_EXTRA_INNO_OPTIONS} + "${DEPS}/boost-1.67.0-msvc${MSVC_VER}-win${BITS}.exe" //DIR="${CWD_DRIVE_ROOT}" //VERYSILENT //NORESTART ${CI_EXTRA_INNO_OPTIONS} mv "${CWD_DRIVE_ROOT_BASH}" "${BOOST_SDK}" fi add_cmake_opts -DBOOST_ROOT="$BOOST_SDK" \ From 792a0585c0cb2af09e9ba16031f2ef94b9e872a4 Mon Sep 17 00:00:00 2001 From: elsid Date: Thu, 1 Nov 2018 00:20:10 +0300 Subject: [PATCH 108/130] Add recastnavigation as subdirectory --- CI/before_script.linux.sh | 4 - CI/before_script.msvc.sh | 7 - CI/before_script.osx.sh | 4 - CI/build_recastnavigation.sh | 17 - CMakeLists.txt | 5 +- apps/openmw/CMakeLists.txt | 4 - apps/openmw_test_suite/CMakeLists.txt | 4 - appveyor.yml | 3 +- components/CMakeLists.txt | 8 +- extern/recastnavigation/.editorconfig | 12 + extern/recastnavigation/.gitignore | 49 + extern/recastnavigation/.travis.yml | 36 + extern/recastnavigation/CMakeLists.txt | 27 + extern/recastnavigation/CONTRIBUTING.md | 185 + .../DebugUtils/CMakeLists.txt | 35 + .../DebugUtils/Include/DebugDraw.h | 223 + .../DebugUtils/Include/DetourDebugDraw.h | 48 + .../DebugUtils/Include/RecastDebugDraw.h | 42 + .../DebugUtils/Include/RecastDump.h | 43 + .../DebugUtils/Source/DebugDraw.cpp | 612 + .../DebugUtils/Source/DetourDebugDraw.cpp | 862 ++ .../DebugUtils/Source/RecastDebugDraw.cpp | 1064 ++ .../DebugUtils/Source/RecastDump.cpp | 451 + extern/recastnavigation/Detour/CMakeLists.txt | 29 + .../Detour/Include/DetourAlloc.h | 61 + .../Detour/Include/DetourAssert.h | 56 + .../Detour/Include/DetourCommon.h | 550 + .../Detour/Include/DetourMath.h | 20 + .../Detour/Include/DetourNavMesh.h | 765 + .../Detour/Include/DetourNavMeshBuilder.h | 149 + .../Detour/Include/DetourNavMeshQuery.h | 575 + .../Detour/Include/DetourNode.h | 168 + .../Detour/Include/DetourStatus.h | 65 + .../Detour/Source/DetourAlloc.cpp | 50 + .../Detour/Source/DetourAssert.cpp | 35 + .../Detour/Source/DetourCommon.cpp | 388 + .../Detour/Source/DetourNavMesh.cpp | 1522 ++ .../Detour/Source/DetourNavMeshBuilder.cpp | 802 ++ .../Detour/Source/DetourNavMeshQuery.cpp | 3664 +++++ .../Detour/Source/DetourNode.cpp | 200 + .../DetourCrowd/CMakeLists.txt | 33 + .../DetourCrowd/Include/DetourCrowd.h | 460 + .../DetourCrowd/Include/DetourLocalBoundary.h | 66 + .../Include/DetourObstacleAvoidance.h | 159 + .../DetourCrowd/Include/DetourPathCorridor.h | 151 + .../DetourCrowd/Include/DetourPathQueue.h | 79 + .../DetourCrowd/Include/DetourProximityGrid.h | 74 + .../DetourCrowd/Source/DetourCrowd.cpp | 1448 ++ .../Source/DetourLocalBoundary.cpp | 137 + .../Source/DetourObstacleAvoidance.cpp | 619 + .../DetourCrowd/Source/DetourPathCorridor.cpp | 597 + .../DetourCrowd/Source/DetourPathQueue.cpp | 200 + .../Source/DetourProximityGrid.cpp | 194 + .../DetourTileCache/CMakeLists.txt | 34 + .../DetourTileCache/Include/DetourTileCache.h | 262 + .../Include/DetourTileCacheBuilder.h | 156 + .../Source/DetourTileCache.cpp | 820 ++ .../Source/DetourTileCacheBuilder.cpp | 2250 +++ .../Docs/Conceptual/license_c.txt | 27 + .../Docs/Conceptual/mainpage_c.txt | 109 + .../recastnavigation/Docs/DoxygenLayout.xml | 194 + .../Docs/Extern/Recast_api.txt | 587 + .../Docs/Images/recast_intro.png | Bin 0 -> 378480 bytes extern/recastnavigation/Docs/Readme.txt | 64 + extern/recastnavigation/Docs/footer.html | 21 + extern/recastnavigation/Docs/header.html | 55 + extern/recastnavigation/Doxyfile | 2427 ++++ extern/recastnavigation/License.txt | 18 + extern/recastnavigation/README.md | 89 + extern/recastnavigation/Recast/CMakeLists.txt | 29 + .../recastnavigation/Recast/Include/Recast.h | 1208 ++ .../Recast/Include/RecastAlloc.h | 341 + .../Recast/Include/RecastAssert.h | 56 + .../recastnavigation/Recast/Source/Recast.cpp | 575 + .../Recast/Source/RecastAlloc.cpp | 60 + .../Recast/Source/RecastArea.cpp | 591 + .../Recast/Source/RecastAssert.cpp | 35 + .../Recast/Source/RecastContour.cpp | 1105 ++ .../Recast/Source/RecastFilter.cpp | 202 + .../Recast/Source/RecastLayers.cpp | 644 + .../Recast/Source/RecastMesh.cpp | 1552 ++ .../Recast/Source/RecastMeshDetail.cpp | 1463 ++ .../Recast/Source/RecastRasterization.cpp | 454 + .../Recast/Source/RecastRegion.cpp | 1812 +++ .../RecastDemo/Bin/.gitignore | 1 + .../RecastDemo/Bin/DroidSans.ttf | Bin 0 -> 108796 bytes .../Bin/TestCases/movement_test.txt | 15 + .../Bin/TestCases/nav_mesh_test.txt | 23 + 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.../RecastDemo/Source/Sample_TileMesh.cpp | 1173 ++ .../RecastDemo/Source/TestCase.cpp | 464 + .../RecastDemo/Source/ValueHistory.cpp | 115 + .../RecastDemo/Source/imgui.cpp | 676 + .../RecastDemo/Source/imguiRenderGL.cpp | 500 + .../RecastDemo/Source/main.cpp | 927 ++ .../RecastDemo/cmake/FindSDL2.cmake | 249 + .../recastnavigation/RecastDemo/premake5.lua | 260 + .../RecastDemo/screenshot.png | Bin 0 -> 461310 bytes extern/recastnavigation/Tests/CMakeLists.txt | 12 + .../Tests/Detour/Tests_Detour.cpp | 33 + .../Tests/Recast/Tests_Recast.cpp | 1245 ++ extern/recastnavigation/Tests/catch.hpp | 11689 ++++++++++++++++ extern/recastnavigation/Tests/main.cpp | 2 + extern/recastnavigation/appveyor.yml | 51 + 145 files changed, 65496 insertions(+), 47 deletions(-) delete mode 100755 CI/build_recastnavigation.sh create mode 100644 extern/recastnavigation/.editorconfig create mode 100644 extern/recastnavigation/.gitignore create mode 100644 extern/recastnavigation/.travis.yml create mode 100644 extern/recastnavigation/CMakeLists.txt create mode 100644 extern/recastnavigation/CONTRIBUTING.md create mode 100644 extern/recastnavigation/DebugUtils/CMakeLists.txt create mode 100644 extern/recastnavigation/DebugUtils/Include/DebugDraw.h create mode 100755 extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h create mode 100644 extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h create mode 100644 extern/recastnavigation/DebugUtils/Include/RecastDump.h create mode 100644 extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp create mode 100644 extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp create mode 100644 extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp create mode 100644 extern/recastnavigation/DebugUtils/Source/RecastDump.cpp create mode 100644 extern/recastnavigation/Detour/CMakeLists.txt create mode 100644 extern/recastnavigation/Detour/Include/DetourAlloc.h create mode 100644 extern/recastnavigation/Detour/Include/DetourAssert.h create mode 100644 extern/recastnavigation/Detour/Include/DetourCommon.h create mode 100644 extern/recastnavigation/Detour/Include/DetourMath.h create mode 100644 extern/recastnavigation/Detour/Include/DetourNavMesh.h create mode 100644 extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h create mode 100644 extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h create mode 100644 extern/recastnavigation/Detour/Include/DetourNode.h create mode 100644 extern/recastnavigation/Detour/Include/DetourStatus.h create mode 100644 extern/recastnavigation/Detour/Source/DetourAlloc.cpp create mode 100644 extern/recastnavigation/Detour/Source/DetourAssert.cpp create mode 100644 extern/recastnavigation/Detour/Source/DetourCommon.cpp create mode 100644 extern/recastnavigation/Detour/Source/DetourNavMesh.cpp create mode 100644 extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp create mode 100644 extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp create mode 100644 extern/recastnavigation/Detour/Source/DetourNode.cpp create mode 100644 extern/recastnavigation/DetourCrowd/CMakeLists.txt create mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h create mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourLocalBoundary.h create mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourObstacleAvoidance.h create mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourPathCorridor.h create mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourPathQueue.h create mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourProximityGrid.h create mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourCrowd.cpp create mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourLocalBoundary.cpp create mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourObstacleAvoidance.cpp create mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourPathCorridor.cpp create mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourPathQueue.cpp create mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourProximityGrid.cpp create mode 100644 extern/recastnavigation/DetourTileCache/CMakeLists.txt create mode 100644 extern/recastnavigation/DetourTileCache/Include/DetourTileCache.h create mode 100644 extern/recastnavigation/DetourTileCache/Include/DetourTileCacheBuilder.h create mode 100644 extern/recastnavigation/DetourTileCache/Source/DetourTileCache.cpp create mode 100644 extern/recastnavigation/DetourTileCache/Source/DetourTileCacheBuilder.cpp create mode 100644 extern/recastnavigation/Docs/Conceptual/license_c.txt create mode 100644 extern/recastnavigation/Docs/Conceptual/mainpage_c.txt create mode 100644 extern/recastnavigation/Docs/DoxygenLayout.xml create mode 100644 extern/recastnavigation/Docs/Extern/Recast_api.txt create mode 100644 extern/recastnavigation/Docs/Images/recast_intro.png create mode 100644 extern/recastnavigation/Docs/Readme.txt create mode 100644 extern/recastnavigation/Docs/footer.html create mode 100644 extern/recastnavigation/Docs/header.html create mode 100644 extern/recastnavigation/Doxyfile create mode 100644 extern/recastnavigation/License.txt create mode 100644 extern/recastnavigation/README.md create mode 100644 extern/recastnavigation/Recast/CMakeLists.txt create mode 100644 extern/recastnavigation/Recast/Include/Recast.h create mode 100644 extern/recastnavigation/Recast/Include/RecastAlloc.h create mode 100644 extern/recastnavigation/Recast/Include/RecastAssert.h create mode 100644 extern/recastnavigation/Recast/Source/Recast.cpp create mode 100644 extern/recastnavigation/Recast/Source/RecastAlloc.cpp create mode 100644 extern/recastnavigation/Recast/Source/RecastArea.cpp create mode 100644 extern/recastnavigation/Recast/Source/RecastAssert.cpp create mode 100644 extern/recastnavigation/Recast/Source/RecastContour.cpp create mode 100644 extern/recastnavigation/Recast/Source/RecastFilter.cpp create mode 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mode 100644 extern/recastnavigation/RecastDemo/Contrib/fastlz/fastlz.h create mode 100644 extern/recastnavigation/RecastDemo/Contrib/readme-sdl.txt create mode 100644 extern/recastnavigation/RecastDemo/Contrib/stb_truetype.h create mode 100644 extern/recastnavigation/RecastDemo/Include/ChunkyTriMesh.h create mode 100644 extern/recastnavigation/RecastDemo/Include/ConvexVolumeTool.h create mode 100644 extern/recastnavigation/RecastDemo/Include/CrowdTool.h create mode 100644 extern/recastnavigation/RecastDemo/Include/Filelist.h create mode 100644 extern/recastnavigation/RecastDemo/Include/InputGeom.h create mode 100644 extern/recastnavigation/RecastDemo/Include/MeshLoaderObj.h create mode 100644 extern/recastnavigation/RecastDemo/Include/NavMeshPruneTool.h create mode 100644 extern/recastnavigation/RecastDemo/Include/NavMeshTesterTool.h create mode 100644 extern/recastnavigation/RecastDemo/Include/OffMeshConnectionTool.h create mode 100644 extern/recastnavigation/RecastDemo/Include/PerfTimer.h create mode 100644 extern/recastnavigation/RecastDemo/Include/Sample.h create mode 100644 extern/recastnavigation/RecastDemo/Include/SampleInterfaces.h create mode 100644 extern/recastnavigation/RecastDemo/Include/Sample_Debug.h create mode 100644 extern/recastnavigation/RecastDemo/Include/Sample_SoloMesh.h create mode 100644 extern/recastnavigation/RecastDemo/Include/Sample_TempObstacles.h create mode 100644 extern/recastnavigation/RecastDemo/Include/Sample_TileMesh.h create mode 100644 extern/recastnavigation/RecastDemo/Include/TestCase.h create mode 100644 extern/recastnavigation/RecastDemo/Include/ValueHistory.h create mode 100644 extern/recastnavigation/RecastDemo/Include/imgui.h create mode 100644 extern/recastnavigation/RecastDemo/Include/imguiRenderGL.h create mode 100644 extern/recastnavigation/RecastDemo/Source/ChunkyTriMesh.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/ConvexVolumeTool.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/CrowdTool.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/Filelist.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/InputGeom.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/MeshLoaderObj.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/NavMeshPruneTool.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/NavMeshTesterTool.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/OffMeshConnectionTool.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/PerfTimer.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/Sample.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/SampleInterfaces.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/Sample_Debug.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/Sample_SoloMesh.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/Sample_TempObstacles.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/Sample_TileMesh.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/TestCase.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/ValueHistory.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/imgui.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/imguiRenderGL.cpp create mode 100644 extern/recastnavigation/RecastDemo/Source/main.cpp create mode 100644 extern/recastnavigation/RecastDemo/cmake/FindSDL2.cmake create mode 100644 extern/recastnavigation/RecastDemo/premake5.lua create mode 100644 extern/recastnavigation/RecastDemo/screenshot.png create mode 100644 extern/recastnavigation/Tests/CMakeLists.txt create mode 100644 extern/recastnavigation/Tests/Detour/Tests_Detour.cpp create mode 100644 extern/recastnavigation/Tests/Recast/Tests_Recast.cpp create mode 100644 extern/recastnavigation/Tests/catch.hpp create mode 100644 extern/recastnavigation/Tests/main.cpp create mode 100644 extern/recastnavigation/appveyor.yml diff --git a/CI/before_script.linux.sh b/CI/before_script.linux.sh index ff6f2218a..dd879989a 100755 --- a/CI/before_script.linux.sh +++ b/CI/before_script.linux.sh @@ -5,9 +5,6 @@ free -m env GENERATOR='Unix Makefiles' CONFIGURATION=Release CI/build_googletest.sh GOOGLETEST_DIR="$(pwd)/googletest/build" -env GENERATOR='Unix Makefiles' CONFIGURATION=Release CI/build_recastnavigation.sh -RECASTNAVIGATION_DIR="$(pwd)/recastnavigation/build" - mkdir build cd build export CODE_COVERAGE=1 @@ -21,5 +18,4 @@ ${ANALYZE}cmake \ -DUSE_SYSTEM_TINYXML=TRUE \ -DGTEST_ROOT="${GOOGLETEST_DIR}" \ -DGMOCK_ROOT="${GOOGLETEST_DIR}" \ - -DRecastNavigation_ROOT="${RECASTNAVIGATION_DIR}" \ .. diff --git a/CI/before_script.msvc.sh b/CI/before_script.msvc.sh index dbfd44369..c328dd882 100644 --- a/CI/before_script.msvc.sh +++ b/CI/before_script.msvc.sh @@ -648,13 +648,6 @@ printf "SDL 2.0.7... " echo Done. } echo -# recastnavigation -printf 'recastnavigation...' -{ - env GENERATOR="${GENERATOR}" CONFIGURATION="${CONFIGURATION}" ${DEPS_INSTALL}/../../CI/build_recastnavigation.sh - add_cmake_opts -DRecastNavigation_ROOT="$(pwd)/recastnavigation/build" -} -echo cd $DEPS_INSTALL/.. echo echo "Setting up OpenMW build..." diff --git a/CI/before_script.osx.sh b/CI/before_script.osx.sh index 772a06ad4..16f461639 100755 --- a/CI/before_script.osx.sh +++ b/CI/before_script.osx.sh @@ -3,9 +3,6 @@ export CXX=clang++ export CC=clang -env GENERATOR='Unix Makefiles' CONFIGURATION=Release CI/build_recastnavigation.sh -RECASTNAVIGATION_DIR="$(pwd)/recastnavigation/build" - DEPENDENCIES_ROOT="/private/tmp/openmw-deps/openmw-deps" QT_PATH=`brew --prefix qt` mkdir build @@ -20,6 +17,5 @@ cmake \ -D DESIRED_QT_VERSION=5 \ -D BUILD_ESMTOOL=FALSE \ -D BUILD_MYGUI_PLUGIN=FALSE \ --D RecastNavigation_ROOT="${RECASTNAVIGATION_DIR}" \ -G"Unix Makefiles" \ .. diff --git a/CI/build_recastnavigation.sh b/CI/build_recastnavigation.sh deleted file mode 100755 index 46f3c7480..000000000 --- a/CI/build_recastnavigation.sh +++ /dev/null @@ -1,17 +0,0 @@ -#!/bin/sh -e - -git clone https://github.com/recastnavigation/recastnavigation.git -cd recastnavigation -mkdir build -cd build -cmake \ - -DCMAKE_BUILD_TYPE="${CONFIGURATION}" \ - -DRECASTNAVIGATION_DEMO=OFF \ - -DRECASTNAVIGATION_TESTS=OFF \ - -DRECASTNAVIGATION_EXAMPLES=OFF \ - -DRECASTNAVIGATION_STATIC=ON \ - -DCMAKE_INSTALL_PREFIX=. \ - -G "${GENERATOR}" \ - .. -cmake --build . --config "${CONFIGURATION}" -cmake --build . --target install --config "${CONFIGURATION}" diff --git a/CMakeLists.txt b/CMakeLists.txt index 34e1a8f4b..35e0b60dc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -469,7 +469,7 @@ if(WIN32) INSTALL(DIRECTORY "${OpenMW_BINARY_DIR}/Debug/resources" DESTINATION "." CONFIGURATIONS Debug) INSTALL(DIRECTORY "${OpenMW_BINARY_DIR}/Release/resources" DESTINATION "." CONFIGURATIONS Release;RelWithDebInfo;MinSizeRel) - + FILE(GLOB plugin_dir_debug "${OpenMW_BINARY_DIR}/Debug/osgPlugins-*") FILE(GLOB plugin_dir_release "${OpenMW_BINARY_DIR}/Release/osgPlugins-*") INSTALL(DIRECTORY ${plugin_dir_debug} DESTINATION "." CONFIGURATIONS Debug) @@ -536,6 +536,9 @@ if(WIN32) endif(WIN32) # Extern +set(RECASTNAVIGATION_DEMO OFF CACHE BOOL "Do not build RecastDemo") + +add_subdirectory (extern/recastnavigation) add_subdirectory (extern/osg-ffmpeg-videoplayer) add_subdirectory (extern/oics) if (BUILD_OPENCS) diff --git a/apps/openmw/CMakeLists.txt b/apps/openmw/CMakeLists.txt index ad8853753..04584a342 100644 --- a/apps/openmw/CMakeLists.txt +++ b/apps/openmw/CMakeLists.txt @@ -117,10 +117,6 @@ include_directories( ${FFmpeg_INCLUDE_DIRS} ) -find_package(RecastNavigation COMPONENTS DebugUtils Detour Recast REQUIRED) - -include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) - target_link_libraries(openmw ${OSG_LIBRARIES} ${OPENTHREADS_LIBRARIES} diff --git a/apps/openmw_test_suite/CMakeLists.txt b/apps/openmw_test_suite/CMakeLists.txt index acb33e1fa..7f10ab2fb 100644 --- a/apps/openmw_test_suite/CMakeLists.txt +++ b/apps/openmw_test_suite/CMakeLists.txt @@ -28,10 +28,6 @@ if (GTEST_FOUND AND GMOCK_FOUND) source_group(apps\\openmw_test_suite FILES openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) - find_package(RecastNavigation COMPONENTS DebugUtils Detour Recast REQUIRED) - - include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) - openmw_add_executable(openmw_test_suite openmw_test_suite.cpp ${UNITTEST_SRC_FILES}) target_link_libraries(openmw_test_suite ${GMOCK_LIBRARIES} components) diff --git a/appveyor.yml b/appveyor.yml index 5c3522535..5f5657285 100644 --- a/appveyor.yml +++ b/appveyor.yml @@ -14,7 +14,7 @@ environment: APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017 matrix: allow_failures: - - msvc: 2015 + - msvc: 2015 platform: # - Win32 @@ -52,6 +52,7 @@ install: - set PATH=C:\Program Files\Git\mingw64\bin;%PATH% before_build: + - cmd: git submodule update --init --recursive - cmd: sh %APPVEYOR_BUILD_FOLDER%\CI\before_script.msvc.sh -c %configuration% -p %PLATFORM% -v %msvc% -V build_script: diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index e70784f4b..7a88dc18e 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -213,10 +213,6 @@ include_directories(${Bullet_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}) add_library(components STATIC ${COMPONENT_FILES} ${MOC_SRCS} ${ESM_UI_HDR}) -find_package(RecastNavigation COMPONENTS DebugUtils Detour Recast REQUIRED) - -include_directories(SYSTEM ${RecastNavigation_INCLUDE_DIRS}) - target_link_libraries(components ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} @@ -235,7 +231,9 @@ target_link_libraries(components ${SDL2_LIBRARIES} ${OPENGL_gl_LIBRARY} ${MyGUI_LIBRARIES} - ${RecastNavigation_LIBRARIES} + RecastNavigation::DebugUtils + RecastNavigation::Detour + RecastNavigation::Recast ) if (WIN32) diff --git a/extern/recastnavigation/.editorconfig b/extern/recastnavigation/.editorconfig new file mode 100644 index 000000000..08f28f441 --- /dev/null +++ b/extern/recastnavigation/.editorconfig @@ -0,0 +1,12 @@ +# editorconfig.org + +# top-most EditorConfig file +root = true + +[*] +indent_size = 4 +indent_style = tab + +[*.yml] +indent_size = 2 +indent_style = space diff --git a/extern/recastnavigation/.gitignore b/extern/recastnavigation/.gitignore new file mode 100644 index 000000000..98f17e4b7 --- /dev/null +++ b/extern/recastnavigation/.gitignore @@ -0,0 +1,49 @@ +## Compiled source # +*.com +*.class +*.dll +*.exe +*.ilk +*.o +*.pdb +*.so +*.idb + +## Linux exes have no extension +RecastDemo/Bin/RecastDemo +RecastDemo/Bin/Tests + +# Build directory +RecastDemo/Build + +# Ignore meshes +RecastDemo/Bin/Meshes/* + +## Logs and databases # +*.log +*.sql +*.sqlite + +## OS generated files # +.DS_Store +.DS_Store? +._* +.Spotlight-V100 +.Trashes +ehthumbs.db +Thumbs.db +*.swp +*.swo + +## xcode specific +*xcuserdata* + +## SDL contrib +RecastDemo/Contrib/SDL/* + +## Generated doc files +Docs/html + +## IDE files +.idea/ +cmake-build-*/ diff --git a/extern/recastnavigation/.travis.yml b/extern/recastnavigation/.travis.yml new file mode 100644 index 000000000..6044cd6b5 --- /dev/null +++ b/extern/recastnavigation/.travis.yml @@ -0,0 +1,36 @@ +sudo: false + +language: cpp + +# Build with gcc and clang. +compiler: + - gcc + - clang + +# Build both debug and release configurations, through use of an environment variable in the build matrix. +env: + - BUILD_TYPE=debug CMAKE_BUILD_TYPE=Debug + - BUILD_TYPE=release CMAKE_BUILD_TYPE=Release + +addons: + apt: + packages: + - libsdl2-dev + +install: + - wget https://github.com/premake/premake-core/releases/download/v5.0.0-alpha12/premake-5.0.0-alpha12-linux.tar.gz -O premake.tar.gz + - tar -xf premake.tar.gz + - rm premake.tar.gz + +# Run premake to generate makefiles. +# Have to cd into directory and back out since premake5 doesn't appear to accept a directory argument. +before_script: + - cd RecastDemo && ../premake5 gmake && cd .. + - mkdir build && cd build && cmake -D CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} .. && cd .. + +# Run make in the directory containing generated makefiles, on the configuration specified by the environment variable. +script: + - make -C RecastDemo/Build/gmake -j$(nproc) config=${BUILD_TYPE} + - RecastDemo/Bin/Tests + - make -C build -j$(nproc) + - cd build && ctest diff --git a/extern/recastnavigation/CMakeLists.txt b/extern/recastnavigation/CMakeLists.txt new file mode 100644 index 000000000..d23859dfc --- /dev/null +++ b/extern/recastnavigation/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.0) + +project(RecastNavigation) + +# lib versions +SET(SOVERSION 1) +SET(VERSION 1.0.0) + +option(RECASTNAVIGATION_DEMO "Build demo" ON) +option(RECASTNAVIGATION_TESTS "Build tests" ON) +option(RECASTNAVIGATION_EXAMPLES "Build examples" ON) +option(RECASTNAVIGATION_STATIC "Build static libraries" ON) + +add_subdirectory(DebugUtils) +add_subdirectory(Detour) +add_subdirectory(DetourCrowd) +add_subdirectory(DetourTileCache) +add_subdirectory(Recast) + +if (RECASTNAVIGATION_DEMO) + add_subdirectory(RecastDemo) +endif () + +if (RECASTNAVIGATION_TESTS) + enable_testing() + add_subdirectory(Tests) +endif () diff --git a/extern/recastnavigation/CONTRIBUTING.md b/extern/recastnavigation/CONTRIBUTING.md new file mode 100644 index 000000000..3cfdc2160 --- /dev/null +++ b/extern/recastnavigation/CONTRIBUTING.md @@ -0,0 +1,185 @@ +# Contributing to Recast and Detour + +We'd love for you to contribute to our source code and to make Recast and Detour even better than they are +today! Here are the guidelines we'd like you to follow: + + - [Code of Conduct](#coc) + - [Question or Problem?](#question) + - [Issues and Bugs](#issue) + - [Feature Requests](#feature) + - [Submission Guidelines](#submission-guidelines) + - [Git Commit Guidelines](#git-commit-guidelines) + +## Code of Conduct +This project adheres to the [Open Code of Conduct][code-of-conduct]. +By participating, you are expected to honor this code. + +## Got a Question or Problem? + +If you have questions about how to use Recast or Detour, please direct these to the [Google Group][groups] +discussion list. We are also available on [Gitter][gitter]. + +## Found an Issue? +If you find a bug in the source code or a mistake in the documentation, you can help us by +submitting an issue to our [GitHub Repository][github]. Even better you can submit a Pull Request +with a fix. + +**Please see the Submission Guidelines below**. + +## Want a Feature? +You can request a new feature by submitting an issue to our [GitHub Repository][github]. If you +would like to implement a new feature then consider what kind of change it is: + +* **Major Changes** that you wish to contribute to the project should be discussed first on our +[Google Group][groups] or in [GitHub Issues][github-issues] so that we can better coordinate our efforts, prevent +duplication of work, and help you to craft the change so that it is successfully accepted into the +project. +* **Small Changes** can be crafted and submitted to the [GitHub Repository][github] as a Pull Request. + +## Submission Guidelines + +### Submitting an Issue +Before you submit your issue search the [GitHub Issues][github-issues] archive, +maybe your question was already answered. + +If your issue appears to be a bug, and hasn't been reported, open a new issue. +Help us to maximize the effort we can spend fixing issues and adding new +features, by not reporting duplicate issues. Providing the following information will increase the +chances of your issue being dealt with quickly: + +* **Overview of the Issue** - what type of issue is it, and why is it an issue for you? +* **Callstack** - if it's a crash or other runtime error, a callstack will help diagnosis +* **Screenshots** - for navmesh generation problems, a picture really is worth a thousand words. + Implement `duDebugDraw` and call some methods from DetourDebugDraw.h. Seriously, just do it, we'll definitely ask you to if you haven't! +* **Logs** - stdout and stderr from the console, or log files if there are any. + If integrating into your own codebase, be sure to implement the log callbacks in `rcContext`. +* **Reproduction steps** - a minimal, unambigious set of steps including input, that causes the error for you. + e.g. input geometry and settings you can use to input into RecastDemo to get it to fail. + Note: These can be saved by pressing the 9 key in RecastDemo, and the resulting .gset file can be shared (with the .obj if it is not one of the default ones). +* **Recast version(s) and/or git commit hash** - particularly if you can find the point at which the error first started happening +* **Environment** - operating system, compiler etc. +* **Related issues** - has a similar issue been reported before? +* **Suggest a Fix** - if you can't fix the bug yourself, perhaps you can point to what might be + causing the problem (line of code or commit) + +Here is a great example of a well defined issue: https://github.com/recastnavigation/recastnavigation/issues/12 + +**If you get help, help others. Good karma rulez!** + +### Submitting a Pull Request +Before you submit your pull request consider the following guidelines: + +* Search [GitHub Pull Requests][github-pulls] for an open or closed Pull Request + that relates to your submission. You don't want to duplicate effort. +* Make your changes in a new git branch: + + ```shell + git checkout -b my-fix-branch master + ``` + +* Implement your changes, **including appropriate tests if appropriate/possible**. +* Commit your changes using a descriptive commit message that follows our + [commit message conventions](#commit-message-format). + + ```shell + git commit -a + ``` + Note: the optional commit `-a` command line option will automatically "add" and "rm" edited files. + +* Squash any work-in-progress commits (by rebasing) to form a series of commits that make sense individually. + Ideally the pull request will be small and focused enough that it fits sensibly in one commit. + + ```shell + git rebase -i origin/master + ``` + +* Push your branch to GitHub: + + ```shell + git push origin my-fix-branch + ``` + +* In GitHub, send a pull request to `recastnavigation:master`. +* If we suggest changes then: + * Make the required updates. + * Commit your changes to your branch (e.g. `my-fix-branch`). + * Squash the changes, overwriting history in your fix branch - we don't want history to include incomplete work. + * Push the changes to your GitHub repository (this will update your Pull Request). + +If you have rebased to squash commits together, you will need to force push to update the PR: + + ```shell + git rebase master -i + git push origin my-fix-branch -f + ``` + +That's it! Thank you for your contribution! + +#### After your pull request is merged + +After your pull request is merged, you can safely delete your branch and pull the changes +from the main (upstream) repository: + +* Delete the remote branch on GitHub either through the GitHub web UI or your local shell as follows: + + ```shell + git push origin --delete my-fix-branch + ``` + +* Check out the master branch: + + ```shell + git checkout master -f + ``` + +* Delete the local branch: + + ```shell + git branch -D my-fix-branch + ``` + +* Update your master with the latest upstream version: + + ```shell + git pull --ff upstream master + ``` + +## Git Commit Guidelines + +### Commit content + +Do your best to factor commits appropriately, i.e not too large with unrelated +things in the same commit, and not too small with the same small change applied N +times in N different commits. If there was some accidental reformatting or whitespace +changes during the course of your commits, please rebase them away before submitting +the PR. + +### Commit Message Format +Please format commit messages as follows (based on this [excellent post](http://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html)): + +``` +Summarize change in 50 characters or less + +Provide more detail after the first line. Leave one blank line below the +summary and wrap all lines at 72 characters or less. + +If the change fixes an issue, leave another blank line after the final +paragraph and indicate which issue is fixed in the specific format +below. + +Fix #42 +``` + +Important things you should try to include in commit messages include: +* Motivation for the change +* Difference from previous behaviour +* Whether the change alters the public API, or affects existing behaviour significantly + + + +[code-of-conduct]: http://todogroup.org/opencodeofconduct/#Recastnavigation/b.hymers@gmail.com +[github]: https://github.com/recastnavigation/recastnavigation +[github-issues]: https://github.com/recastnavigation/recastnavigation/issues +[github-pulls]: https://github.com/recastnavigation/recastnavigation/pulls +[gitter]: https://gitter.im/recastnavigation/chat +[groups]: https://groups.google.com/forum/?fromgroups#!forum/recastnavigation diff --git a/extern/recastnavigation/DebugUtils/CMakeLists.txt b/extern/recastnavigation/DebugUtils/CMakeLists.txt new file mode 100644 index 000000000..8b6a3fcf6 --- /dev/null +++ b/extern/recastnavigation/DebugUtils/CMakeLists.txt @@ -0,0 +1,35 @@ +file(GLOB SOURCES Source/*.cpp) + +if (RECASTNAVIGATION_STATIC) + add_library(DebugUtils STATIC ${SOURCES}) +else() + add_library(DebugUtils SHARED ${SOURCES}) +endif() + +add_library(RecastNavigation::DebugUtils ALIAS DebugUtils) + +set(DebugUtils_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include") + +target_include_directories(DebugUtils PUBLIC + "$" +) + +target_link_libraries(DebugUtils + Recast + Detour + DetourTileCache +) + +set_target_properties(DebugUtils PROPERTIES + SOVERSION ${SOVERSION} + VERSION ${VERSION} + ) + +install(TARGETS DebugUtils + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + COMPONENT library + ) + +file(GLOB INCLUDES Include/*.h) +install(FILES ${INCLUDES} DESTINATION include) diff --git a/extern/recastnavigation/DebugUtils/Include/DebugDraw.h b/extern/recastnavigation/DebugUtils/Include/DebugDraw.h new file mode 100644 index 000000000..00b544d1c --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Include/DebugDraw.h @@ -0,0 +1,223 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DEBUGDRAW_H +#define DEBUGDRAW_H + +// Some math headers don't have PI defined. +static const float DU_PI = 3.14159265f; + +enum duDebugDrawPrimitives +{ + DU_DRAW_POINTS, + DU_DRAW_LINES, + DU_DRAW_TRIS, + DU_DRAW_QUADS, +}; + +/// Abstract debug draw interface. +struct duDebugDraw +{ + virtual ~duDebugDraw() = 0; + + virtual void depthMask(bool state) = 0; + + virtual void texture(bool state) = 0; + + /// Begin drawing primitives. + /// @param prim [in] primitive type to draw, one of rcDebugDrawPrimitives. + /// @param size [in] size of a primitive, applies to point size and line width only. + virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f) = 0; + + /// Submit a vertex + /// @param pos [in] position of the verts. + /// @param color [in] color of the verts. + virtual void vertex(const float* pos, unsigned int color) = 0; + + /// Submit a vertex + /// @param x,y,z [in] position of the verts. + /// @param color [in] color of the verts. + virtual void vertex(const float x, const float y, const float z, unsigned int color) = 0; + + /// Submit a vertex + /// @param pos [in] position of the verts. + /// @param color [in] color of the verts. + virtual void vertex(const float* pos, unsigned int color, const float* uv) = 0; + + /// Submit a vertex + /// @param x,y,z [in] position of the verts. + /// @param color [in] color of the verts. + virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v) = 0; + + /// End drawing primitives. + virtual void end() = 0; + + /// Compute a color for given area. + virtual unsigned int areaToCol(unsigned int area); +}; + +inline unsigned int duRGBA(int r, int g, int b, int a) +{ + return ((unsigned int)r) | ((unsigned int)g << 8) | ((unsigned int)b << 16) | ((unsigned int)a << 24); +} + +inline unsigned int duRGBAf(float fr, float fg, float fb, float fa) +{ + unsigned char r = (unsigned char)(fr*255.0f); + unsigned char g = (unsigned char)(fg*255.0f); + unsigned char b = (unsigned char)(fb*255.0f); + unsigned char a = (unsigned char)(fa*255.0f); + return duRGBA(r,g,b,a); +} + +unsigned int duIntToCol(int i, int a); +void duIntToCol(int i, float* col); + +inline unsigned int duMultCol(const unsigned int col, const unsigned int d) +{ + const unsigned int r = col & 0xff; + const unsigned int g = (col >> 8) & 0xff; + const unsigned int b = (col >> 16) & 0xff; + const unsigned int a = (col >> 24) & 0xff; + return duRGBA((r*d) >> 8, (g*d) >> 8, (b*d) >> 8, a); +} + +inline unsigned int duDarkenCol(unsigned int col) +{ + return ((col >> 1) & 0x007f7f7f) | (col & 0xff000000); +} + +inline unsigned int duLerpCol(unsigned int ca, unsigned int cb, unsigned int u) +{ + const unsigned int ra = ca & 0xff; + const unsigned int ga = (ca >> 8) & 0xff; + const unsigned int ba = (ca >> 16) & 0xff; + const unsigned int aa = (ca >> 24) & 0xff; + const unsigned int rb = cb & 0xff; + const unsigned int gb = (cb >> 8) & 0xff; + const unsigned int bb = (cb >> 16) & 0xff; + const unsigned int ab = (cb >> 24) & 0xff; + + unsigned int r = (ra*(255-u) + rb*u)/255; + unsigned int g = (ga*(255-u) + gb*u)/255; + unsigned int b = (ba*(255-u) + bb*u)/255; + unsigned int a = (aa*(255-u) + ab*u)/255; + return duRGBA(r,g,b,a); +} + +inline unsigned int duTransCol(unsigned int c, unsigned int a) +{ + return (a<<24) | (c & 0x00ffffff); +} + + +void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide); + +void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col, const float lineWidth); + +void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col, const float lineWidth); + +void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, const float h, + const float as0, const float as1, unsigned int col, const float lineWidth); + +void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, + const float as0, const float as1, unsigned int col, const float lineWidth); + +void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z, + const float r, unsigned int col, const float lineWidth); + +void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z, + const float size, unsigned int col, const float lineWidth); + +void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, const unsigned int* fcol); + +void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col); + +void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz, + const int w, const int h, const float size, + const unsigned int col, const float lineWidth); + + +// Versions without begin/end, can be used to draw multiple primitives. +void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col); + +void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col); + +void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col); + +void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, const float h, + const float as0, const float as1, unsigned int col); + +void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, + const float as0, const float as1, unsigned int col); + +void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z, + const float r, unsigned int col); + +void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z, + const float size, unsigned int col); + +void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, const unsigned int* fcol); + +void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col); + + +class duDisplayList : public duDebugDraw +{ + float* m_pos; + unsigned int* m_color; + int m_size; + int m_cap; + + bool m_depthMask; + duDebugDrawPrimitives m_prim; + float m_primSize; + + void resize(int cap); + +public: + duDisplayList(int cap = 512); + ~duDisplayList(); + virtual void depthMask(bool state); + virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f); + virtual void vertex(const float x, const float y, const float z, unsigned int color); + virtual void vertex(const float* pos, unsigned int color); + virtual void end(); + void clear(); + void draw(struct duDebugDraw* dd); +private: + // Explicitly disabled copy constructor and copy assignment operator. + duDisplayList(const duDisplayList&); + duDisplayList& operator=(const duDisplayList&); +}; + + +#endif // DEBUGDRAW_H diff --git a/extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h b/extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h new file mode 100755 index 000000000..ff2ca2f9d --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h @@ -0,0 +1,48 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURDEBUGDRAW_H +#define DETOURDEBUGDRAW_H + +#include "DetourNavMesh.h" +#include "DetourNavMeshQuery.h" +#include "DetourTileCacheBuilder.h" + +enum DrawNavMeshFlags +{ + DU_DRAWNAVMESH_OFFMESHCONS = 0x01, + DU_DRAWNAVMESH_CLOSEDLIST = 0x02, + DU_DRAWNAVMESH_COLOR_TILES = 0x04, +}; + +void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags); +void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags); +void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query); +void duDebugDrawNavMeshBVTree(struct duDebugDraw* dd, const dtNavMesh& mesh); +void duDebugDrawNavMeshPortals(struct duDebugDraw* dd, const dtNavMesh& mesh); +void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh, const unsigned short polyFlags, const unsigned int col); +void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col); + +void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch); +void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch); +void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset, + const float* orig, const float cs, const float ch); +void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh, + const float* orig, const float cs, const float ch); + +#endif // DETOURDEBUGDRAW_H diff --git a/extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h b/extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h new file mode 100644 index 000000000..6a55fa647 --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h @@ -0,0 +1,42 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECAST_DEBUGDRAW_H +#define RECAST_DEBUGDRAW_H + +void duDebugDrawTriMesh(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const unsigned char* flags, const float texScale); +void duDebugDrawTriMeshSlope(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const float walkableSlopeAngle, const float texScale); + +void duDebugDrawHeightfieldSolid(struct duDebugDraw* dd, const struct rcHeightfield& hf); +void duDebugDrawHeightfieldWalkable(struct duDebugDraw* dd, const struct rcHeightfield& hf); + +void duDebugDrawCompactHeightfieldSolid(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); +void duDebugDrawCompactHeightfieldRegions(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); +void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); + +void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx); +void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset); +void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset); + +void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); +void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); +void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); +void duDebugDrawPolyMesh(struct duDebugDraw* dd, const struct rcPolyMesh& mesh); +void duDebugDrawPolyMeshDetail(struct duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh); + +#endif // RECAST_DEBUGDRAW_H diff --git a/extern/recastnavigation/DebugUtils/Include/RecastDump.h b/extern/recastnavigation/DebugUtils/Include/RecastDump.h new file mode 100644 index 000000000..6a722fdae --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Include/RecastDump.h @@ -0,0 +1,43 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECAST_DUMP_H +#define RECAST_DUMP_H + +struct duFileIO +{ + virtual ~duFileIO() = 0; + virtual bool isWriting() const = 0; + virtual bool isReading() const = 0; + virtual bool write(const void* ptr, const size_t size) = 0; + virtual bool read(void* ptr, const size_t size) = 0; +}; + +bool duDumpPolyMeshToObj(struct rcPolyMesh& pmesh, duFileIO* io); +bool duDumpPolyMeshDetailToObj(struct rcPolyMeshDetail& dmesh, duFileIO* io); + +bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io); +bool duReadContourSet(struct rcContourSet& cset, duFileIO* io); + +bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io); +bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io); + +void duLogBuildTimes(rcContext& ctx, const int totalTileUsec); + + +#endif // RECAST_DUMP_H diff --git a/extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp b/extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp new file mode 100644 index 000000000..d0179bca2 --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp @@ -0,0 +1,612 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include "DebugDraw.h" +#include "DetourMath.h" +#include "DetourNavMesh.h" + + +duDebugDraw::~duDebugDraw() +{ + // Empty +} + +unsigned int duDebugDraw::areaToCol(unsigned int area) +{ + if (area == 0) + { + // Treat zero area type as default. + return duRGBA(0, 192, 255, 255); + } + else + { + return duIntToCol(area, 255); + } +} + +inline int bit(int a, int b) +{ + return (a & (1 << b)) >> b; +} + +unsigned int duIntToCol(int i, int a) +{ + int r = bit(i, 1) + bit(i, 3) * 2 + 1; + int g = bit(i, 2) + bit(i, 4) * 2 + 1; + int b = bit(i, 0) + bit(i, 5) * 2 + 1; + return duRGBA(r*63,g*63,b*63,a); +} + +void duIntToCol(int i, float* col) +{ + int r = bit(i, 0) + bit(i, 3) * 2 + 1; + int g = bit(i, 1) + bit(i, 4) * 2 + 1; + int b = bit(i, 2) + bit(i, 5) * 2 + 1; + col[0] = 1 - r*63.0f/255.0f; + col[1] = 1 - g*63.0f/255.0f; + col[2] = 1 - b*63.0f/255.0f; +} + +void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide) +{ + if (!colors) return; + + colors[0] = duMultCol(colTop, 250); + colors[1] = duMultCol(colSide, 140); + colors[2] = duMultCol(colSide, 165); + colors[3] = duMultCol(colSide, 217); + colors[4] = duMultCol(colSide, 165); + colors[5] = duMultCol(colSide, 217); +} + +void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + duAppendCylinderWire(dd, minx,miny,minz, maxx,maxy,maxz, col); + dd->end(); +} + +void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + duAppendBoxWire(dd, minx,miny,minz, maxx,maxy,maxz, col); + dd->end(); +} + +void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, const float h, + const float as0, const float as1, unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, as0, as1, col); + dd->end(); +} + +void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, + const float as0, const float as1, unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + duAppendArrow(dd, x0,y0,z0, x1,y1,z1, as0, as1, col); + dd->end(); +} + +void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z, + const float r, unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + duAppendCircle(dd, x,y,z, r, col); + dd->end(); +} + +void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z, + const float size, unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + duAppendCross(dd, x,y,z, size, col); + dd->end(); +} + +void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, const unsigned int* fcol) +{ + if (!dd) return; + + dd->begin(DU_DRAW_QUADS); + duAppendBox(dd, minx,miny,minz, maxx,maxy,maxz, fcol); + dd->end(); +} + +void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col) +{ + if (!dd) return; + + dd->begin(DU_DRAW_TRIS); + duAppendCylinder(dd, minx,miny,minz, maxx,maxy,maxz, col); + dd->end(); +} + +void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz, + const int w, const int h, const float size, + const unsigned int col, const float lineWidth) +{ + if (!dd) return; + + dd->begin(DU_DRAW_LINES, lineWidth); + for (int i = 0; i <= h; ++i) + { + dd->vertex(ox,oy,oz+i*size, col); + dd->vertex(ox+w*size,oy,oz+i*size, col); + } + for (int i = 0; i <= w; ++i) + { + dd->vertex(ox+i*size,oy,oz, col); + dd->vertex(ox+i*size,oy,oz+h*size, col); + } + dd->end(); +} + + +void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col) +{ + if (!dd) return; + + static const int NUM_SEG = 16; + static float dir[NUM_SEG*2]; + static bool init = false; + if (!init) + { + init = true; + for (int i = 0; i < NUM_SEG; ++i) + { + const float a = (float)i/(float)NUM_SEG*DU_PI*2; + dir[i*2] = dtMathCosf(a); + dir[i*2+1] = dtMathSinf(a); + } + } + + const float cx = (maxx + minx)/2; + const float cz = (maxz + minz)/2; + const float rx = (maxx - minx)/2; + const float rz = (maxz - minz)/2; + + for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) + { + dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col); + dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col); + dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); + dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); + } + for (int i = 0; i < NUM_SEG; i += NUM_SEG/4) + { + dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col); + dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); + } +} + +void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col) +{ + if (!dd) return; + // Top + dd->vertex(minx, miny, minz, col); + dd->vertex(maxx, miny, minz, col); + dd->vertex(maxx, miny, minz, col); + dd->vertex(maxx, miny, maxz, col); + dd->vertex(maxx, miny, maxz, col); + dd->vertex(minx, miny, maxz, col); + dd->vertex(minx, miny, maxz, col); + dd->vertex(minx, miny, minz, col); + + // bottom + dd->vertex(minx, maxy, minz, col); + dd->vertex(maxx, maxy, minz, col); + dd->vertex(maxx, maxy, minz, col); + dd->vertex(maxx, maxy, maxz, col); + dd->vertex(maxx, maxy, maxz, col); + dd->vertex(minx, maxy, maxz, col); + dd->vertex(minx, maxy, maxz, col); + dd->vertex(minx, maxy, minz, col); + + // Sides + dd->vertex(minx, miny, minz, col); + dd->vertex(minx, maxy, minz, col); + dd->vertex(maxx, miny, minz, col); + dd->vertex(maxx, maxy, minz, col); + dd->vertex(maxx, miny, maxz, col); + dd->vertex(maxx, maxy, maxz, col); + dd->vertex(minx, miny, maxz, col); + dd->vertex(minx, maxy, maxz, col); +} + +void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col) +{ + if (!dd) return; + // Top + dd->vertex(minx, miny, minz, col); + dd->vertex(maxx, miny, minz, col); + dd->vertex(maxx, miny, minz, col); + dd->vertex(maxx, miny, maxz, col); + dd->vertex(maxx, miny, maxz, col); + dd->vertex(minx, miny, maxz, col); + dd->vertex(minx, miny, maxz, col); + dd->vertex(minx, miny, minz, col); + + // bottom + dd->vertex(minx, maxy, minz, col); + dd->vertex(maxx, maxy, minz, col); + dd->vertex(maxx, maxy, minz, col); + dd->vertex(maxx, maxy, maxz, col); + dd->vertex(maxx, maxy, maxz, col); + dd->vertex(minx, maxy, maxz, col); + dd->vertex(minx, maxy, maxz, col); + dd->vertex(minx, maxy, minz, col); +} + +void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, const unsigned int* fcol) +{ + if (!dd) return; + const float verts[8*3] = + { + minx, miny, minz, + maxx, miny, minz, + maxx, miny, maxz, + minx, miny, maxz, + minx, maxy, minz, + maxx, maxy, minz, + maxx, maxy, maxz, + minx, maxy, maxz, + }; + static const unsigned char inds[6*4] = + { + 7, 6, 5, 4, + 0, 1, 2, 3, + 1, 5, 6, 2, + 3, 7, 4, 0, + 2, 6, 7, 3, + 0, 4, 5, 1, + }; + + const unsigned char* in = inds; + for (int i = 0; i < 6; ++i) + { + dd->vertex(&verts[*in*3], fcol[i]); in++; + dd->vertex(&verts[*in*3], fcol[i]); in++; + dd->vertex(&verts[*in*3], fcol[i]); in++; + dd->vertex(&verts[*in*3], fcol[i]); in++; + } +} + +void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, + float maxx, float maxy, float maxz, unsigned int col) +{ + if (!dd) return; + + static const int NUM_SEG = 16; + static float dir[NUM_SEG*2]; + static bool init = false; + if (!init) + { + init = true; + for (int i = 0; i < NUM_SEG; ++i) + { + const float a = (float)i/(float)NUM_SEG*DU_PI*2; + dir[i*2] = cosf(a); + dir[i*2+1] = sinf(a); + } + } + + unsigned int col2 = duMultCol(col, 160); + + const float cx = (maxx + minx)/2; + const float cz = (maxz + minz)/2; + const float rx = (maxx - minx)/2; + const float rz = (maxz - minz)/2; + + for (int i = 2; i < NUM_SEG; ++i) + { + const int a = 0, b = i-1, c = i; + dd->vertex(cx+dir[a*2+0]*rx, miny, cz+dir[a*2+1]*rz, col2); + dd->vertex(cx+dir[b*2+0]*rx, miny, cz+dir[b*2+1]*rz, col2); + dd->vertex(cx+dir[c*2+0]*rx, miny, cz+dir[c*2+1]*rz, col2); + } + for (int i = 2; i < NUM_SEG; ++i) + { + const int a = 0, b = i, c = i-1; + dd->vertex(cx+dir[a*2+0]*rx, maxy, cz+dir[a*2+1]*rz, col); + dd->vertex(cx+dir[b*2+0]*rx, maxy, cz+dir[b*2+1]*rz, col); + dd->vertex(cx+dir[c*2+0]*rx, maxy, cz+dir[c*2+1]*rz, col); + } + for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) + { + dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2); + dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col2); + dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); + + dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2); + dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); + dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); + } +} + + +inline void evalArc(const float x0, const float y0, const float z0, + const float dx, const float dy, const float dz, + const float h, const float u, float* res) +{ + res[0] = x0 + dx * u; + res[1] = y0 + dy * u + h * (1-(u*2-1)*(u*2-1)); + res[2] = z0 + dz * u; +} + + +inline void vcross(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; + dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; + dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; +} + +inline void vnormalize(float* v) +{ + float d = 1.0f / sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]); + v[0] *= d; + v[1] *= d; + v[2] *= d; +} + +inline void vsub(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]-v2[0]; + dest[1] = v1[1]-v2[1]; + dest[2] = v1[2]-v2[2]; +} + +inline float vdistSqr(const float* v1, const float* v2) +{ + const float x = v1[0]-v2[0]; + const float y = v1[1]-v2[1]; + const float z = v1[2]-v2[2]; + return x*x + y*y + z*z; +} + + +void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q, + const float s, unsigned int col) +{ + const float eps = 0.001f; + if (!dd) return; + if (vdistSqr(p,q) < eps*eps) return; + float ax[3], ay[3] = {0,1,0}, az[3]; + vsub(az, q, p); + vnormalize(az); + vcross(ax, ay, az); + vcross(ay, az, ax); + vnormalize(ay); + + dd->vertex(p, col); +// dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col); + dd->vertex(p[0]+az[0]*s+ax[0]*s/3, p[1]+az[1]*s+ax[1]*s/3, p[2]+az[2]*s+ax[2]*s/3, col); + + dd->vertex(p, col); +// dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col); + dd->vertex(p[0]+az[0]*s-ax[0]*s/3, p[1]+az[1]*s-ax[1]*s/3, p[2]+az[2]*s-ax[2]*s/3, col); + +} + +void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, const float h, + const float as0, const float as1, unsigned int col) +{ + if (!dd) return; + static const int NUM_ARC_PTS = 8; + static const float PAD = 0.05f; + static const float ARC_PTS_SCALE = (1.0f-PAD*2) / (float)NUM_ARC_PTS; + const float dx = x1 - x0; + const float dy = y1 - y0; + const float dz = z1 - z0; + const float len = sqrtf(dx*dx + dy*dy + dz*dz); + float prev[3]; + evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, prev); + for (int i = 1; i <= NUM_ARC_PTS; ++i) + { + const float u = PAD + i * ARC_PTS_SCALE; + float pt[3]; + evalArc(x0,y0,z0, dx,dy,dz, len*h, u, pt); + dd->vertex(prev[0],prev[1],prev[2], col); + dd->vertex(pt[0],pt[1],pt[2], col); + prev[0] = pt[0]; prev[1] = pt[1]; prev[2] = pt[2]; + } + + // End arrows + if (as0 > 0.001f) + { + float p[3], q[3]; + evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, p); + evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD+0.05f, q); + appendArrowHead(dd, p, q, as0, col); + } + + if (as1 > 0.001f) + { + float p[3], q[3]; + evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-PAD, p); + evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-(PAD+0.05f), q); + appendArrowHead(dd, p, q, as1, col); + } +} + +void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, + const float x1, const float y1, const float z1, + const float as0, const float as1, unsigned int col) +{ + if (!dd) return; + + dd->vertex(x0,y0,z0, col); + dd->vertex(x1,y1,z1, col); + + // End arrows + const float p[3] = {x0,y0,z0}, q[3] = {x1,y1,z1}; + if (as0 > 0.001f) + appendArrowHead(dd, p, q, as0, col); + if (as1 > 0.001f) + appendArrowHead(dd, q, p, as1, col); +} + +void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z, + const float r, unsigned int col) +{ + if (!dd) return; + static const int NUM_SEG = 40; + static float dir[40*2]; + static bool init = false; + if (!init) + { + init = true; + for (int i = 0; i < NUM_SEG; ++i) + { + const float a = (float)i/(float)NUM_SEG*DU_PI*2; + dir[i*2] = cosf(a); + dir[i*2+1] = sinf(a); + } + } + + for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) + { + dd->vertex(x+dir[j*2+0]*r, y, z+dir[j*2+1]*r, col); + dd->vertex(x+dir[i*2+0]*r, y, z+dir[i*2+1]*r, col); + } +} + +void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z, + const float s, unsigned int col) +{ + if (!dd) return; + dd->vertex(x-s,y,z, col); + dd->vertex(x+s,y,z, col); + dd->vertex(x,y-s,z, col); + dd->vertex(x,y+s,z, col); + dd->vertex(x,y,z-s, col); + dd->vertex(x,y,z+s, col); +} + +duDisplayList::duDisplayList(int cap) : + m_pos(0), + m_color(0), + m_size(0), + m_cap(0), + m_depthMask(true), + m_prim(DU_DRAW_LINES), + m_primSize(1.0f) +{ + if (cap < 8) + cap = 8; + resize(cap); +} + +duDisplayList::~duDisplayList() +{ + delete [] m_pos; + delete [] m_color; +} + +void duDisplayList::resize(int cap) +{ + float* newPos = new float[cap*3]; + if (m_size) + memcpy(newPos, m_pos, sizeof(float)*3*m_size); + delete [] m_pos; + m_pos = newPos; + + unsigned int* newColor = new unsigned int[cap]; + if (m_size) + memcpy(newColor, m_color, sizeof(unsigned int)*m_size); + delete [] m_color; + m_color = newColor; + + m_cap = cap; +} + +void duDisplayList::clear() +{ + m_size = 0; +} + +void duDisplayList::depthMask(bool state) +{ + m_depthMask = state; +} + +void duDisplayList::begin(duDebugDrawPrimitives prim, float size) +{ + clear(); + m_prim = prim; + m_primSize = size; +} + +void duDisplayList::vertex(const float x, const float y, const float z, unsigned int color) +{ + if (m_size+1 >= m_cap) + resize(m_cap*2); + float* p = &m_pos[m_size*3]; + p[0] = x; + p[1] = y; + p[2] = z; + m_color[m_size] = color; + m_size++; +} + +void duDisplayList::vertex(const float* pos, unsigned int color) +{ + vertex(pos[0],pos[1],pos[2],color); +} + +void duDisplayList::end() +{ +} + +void duDisplayList::draw(struct duDebugDraw* dd) +{ + if (!dd) return; + if (!m_size) return; + dd->depthMask(m_depthMask); + dd->begin(m_prim, m_primSize); + for (int i = 0; i < m_size; ++i) + dd->vertex(&m_pos[i*3], m_color[i]); + dd->end(); +} diff --git a/extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp b/extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp new file mode 100644 index 000000000..dd4bad3fd --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp @@ -0,0 +1,862 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "DebugDraw.h" +#include "DetourDebugDraw.h" +#include "DetourNavMesh.h" +#include "DetourCommon.h" +#include "DetourNode.h" + + +static float distancePtLine2d(const float* pt, const float* p, const float* q) +{ + float pqx = q[0] - p[0]; + float pqz = q[2] - p[2]; + float dx = pt[0] - p[0]; + float dz = pt[2] - p[2]; + float d = pqx*pqx + pqz*pqz; + float t = pqx*dx + pqz*dz; + if (d != 0) t /= d; + dx = p[0] + t*pqx - pt[0]; + dz = p[2] + t*pqz - pt[2]; + return dx*dx + dz*dz; +} + +static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshTile* tile, + const unsigned int col, const float linew, + bool inner) +{ + static const float thr = 0.01f*0.01f; + + dd->begin(DU_DRAW_LINES, linew); + + for (int i = 0; i < tile->header->polyCount; ++i) + { + const dtPoly* p = &tile->polys[i]; + + if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) continue; + + const dtPolyDetail* pd = &tile->detailMeshes[i]; + + for (int j = 0, nj = (int)p->vertCount; j < nj; ++j) + { + unsigned int c = col; + if (inner) + { + if (p->neis[j] == 0) continue; + if (p->neis[j] & DT_EXT_LINK) + { + bool con = false; + for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) + { + if (tile->links[k].edge == j) + { + con = true; + break; + } + } + if (con) + c = duRGBA(255,255,255,48); + else + c = duRGBA(0,0,0,48); + } + else + c = duRGBA(0,48,64,32); + } + else + { + if (p->neis[j] != 0) continue; + } + + const float* v0 = &tile->verts[p->verts[j]*3]; + const float* v1 = &tile->verts[p->verts[(j+1) % nj]*3]; + + // Draw detail mesh edges which align with the actual poly edge. + // This is really slow. + for (int k = 0; k < pd->triCount; ++k) + { + const unsigned char* t = &tile->detailTris[(pd->triBase+k)*4]; + const float* tv[3]; + for (int m = 0; m < 3; ++m) + { + if (t[m] < p->vertCount) + tv[m] = &tile->verts[p->verts[t[m]]*3]; + else + tv[m] = &tile->detailVerts[(pd->vertBase+(t[m]-p->vertCount))*3]; + } + for (int m = 0, n = 2; m < 3; n=m++) + { + if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner detail edges. + if (distancePtLine2d(tv[n],v0,v1) < thr && + distancePtLine2d(tv[m],v0,v1) < thr) + { + dd->vertex(tv[n], c); + dd->vertex(tv[m], c); + } + } + } + } + } + dd->end(); +} + +static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery* query, + const dtMeshTile* tile, unsigned char flags) +{ + dtPolyRef base = mesh.getPolyRefBase(tile); + + int tileNum = mesh.decodePolyIdTile(base); + const unsigned int tileColor = duIntToCol(tileNum, 128); + + dd->depthMask(false); + + dd->begin(DU_DRAW_TRIS); + for (int i = 0; i < tile->header->polyCount; ++i) + { + const dtPoly* p = &tile->polys[i]; + if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) // Skip off-mesh links. + continue; + + const dtPolyDetail* pd = &tile->detailMeshes[i]; + + unsigned int col; + if (query && query->isInClosedList(base | (dtPolyRef)i)) + col = duRGBA(255,196,0,64); + else + { + if (flags & DU_DRAWNAVMESH_COLOR_TILES) + col = tileColor; + else + col = duTransCol(dd->areaToCol(p->getArea()), 64); + } + + for (int j = 0; j < pd->triCount; ++j) + { + const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; + for (int k = 0; k < 3; ++k) + { + if (t[k] < p->vertCount) + dd->vertex(&tile->verts[p->verts[t[k]]*3], col); + else + dd->vertex(&tile->detailVerts[(pd->vertBase+t[k]-p->vertCount)*3], col); + } + } + } + dd->end(); + + // Draw inter poly boundaries + drawPolyBoundaries(dd, tile, duRGBA(0,48,64,32), 1.5f, true); + + // Draw outer poly boundaries + drawPolyBoundaries(dd, tile, duRGBA(0,48,64,220), 2.5f, false); + + if (flags & DU_DRAWNAVMESH_OFFMESHCONS) + { + dd->begin(DU_DRAW_LINES, 2.0f); + for (int i = 0; i < tile->header->polyCount; ++i) + { + const dtPoly* p = &tile->polys[i]; + if (p->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) // Skip regular polys. + continue; + + unsigned int col, col2; + if (query && query->isInClosedList(base | (dtPolyRef)i)) + col = duRGBA(255,196,0,220); + else + col = duDarkenCol(duTransCol(dd->areaToCol(p->getArea()), 220)); + + const dtOffMeshConnection* con = &tile->offMeshCons[i - tile->header->offMeshBase]; + const float* va = &tile->verts[p->verts[0]*3]; + const float* vb = &tile->verts[p->verts[1]*3]; + + // Check to see if start and end end-points have links. + bool startSet = false; + bool endSet = false; + for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) + { + if (tile->links[k].edge == 0) + startSet = true; + if (tile->links[k].edge == 1) + endSet = true; + } + + // End points and their on-mesh locations. + dd->vertex(va[0],va[1],va[2], col); + dd->vertex(con->pos[0],con->pos[1],con->pos[2], col); + col2 = startSet ? col : duRGBA(220,32,16,196); + duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, col2); + + dd->vertex(vb[0],vb[1],vb[2], col); + dd->vertex(con->pos[3],con->pos[4],con->pos[5], col); + col2 = endSet ? col : duRGBA(220,32,16,196); + duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, col2); + + // End point vertices. + dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196)); + dd->vertex(con->pos[0],con->pos[1]+0.2f,con->pos[2], duRGBA(0,48,64,196)); + + dd->vertex(con->pos[3],con->pos[4],con->pos[5], duRGBA(0,48,64,196)); + dd->vertex(con->pos[3],con->pos[4]+0.2f,con->pos[5], duRGBA(0,48,64,196)); + + // Connection arc. + duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f, + (con->flags & 1) ? 0.6f : 0, 0.6f, col); + } + dd->end(); + } + + const unsigned int vcol = duRGBA(0,0,0,196); + dd->begin(DU_DRAW_POINTS, 3.0f); + for (int i = 0; i < tile->header->vertCount; ++i) + { + const float* v = &tile->verts[i*3]; + dd->vertex(v[0], v[1], v[2], vcol); + } + dd->end(); + + dd->depthMask(true); +} + +void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags) +{ + if (!dd) return; + + for (int i = 0; i < mesh.getMaxTiles(); ++i) + { + const dtMeshTile* tile = mesh.getTile(i); + if (!tile->header) continue; + drawMeshTile(dd, mesh, 0, tile, flags); + } +} + +void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags) +{ + if (!dd) return; + + const dtNavMeshQuery* q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) ? &query : 0; + + for (int i = 0; i < mesh.getMaxTiles(); ++i) + { + const dtMeshTile* tile = mesh.getTile(i); + if (!tile->header) continue; + drawMeshTile(dd, mesh, q, tile, flags); + } +} + +void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query) +{ + if (!dd) return; + + const dtNodePool* pool = query.getNodePool(); + if (pool) + { + const float off = 0.5f; + dd->begin(DU_DRAW_POINTS, 4.0f); + for (int i = 0; i < pool->getHashSize(); ++i) + { + for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j)) + { + const dtNode* node = pool->getNodeAtIdx(j+1); + if (!node) continue; + dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,255)); + } + } + dd->end(); + + dd->begin(DU_DRAW_LINES, 2.0f); + for (int i = 0; i < pool->getHashSize(); ++i) + { + for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j)) + { + const dtNode* node = pool->getNodeAtIdx(j+1); + if (!node) continue; + if (!node->pidx) continue; + const dtNode* parent = pool->getNodeAtIdx(node->pidx); + if (!parent) continue; + dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,128)); + dd->vertex(parent->pos[0],parent->pos[1]+off,parent->pos[2], duRGBA(255,192,0,128)); + } + } + dd->end(); + } +} + + +static void drawMeshTileBVTree(duDebugDraw* dd, const dtMeshTile* tile) +{ + // Draw BV nodes. + const float cs = 1.0f / tile->header->bvQuantFactor; + dd->begin(DU_DRAW_LINES, 1.0f); + for (int i = 0; i < tile->header->bvNodeCount; ++i) + { + const dtBVNode* n = &tile->bvTree[i]; + if (n->i < 0) // Leaf indices are positive. + continue; + duAppendBoxWire(dd, tile->header->bmin[0] + n->bmin[0]*cs, + tile->header->bmin[1] + n->bmin[1]*cs, + tile->header->bmin[2] + n->bmin[2]*cs, + tile->header->bmin[0] + n->bmax[0]*cs, + tile->header->bmin[1] + n->bmax[1]*cs, + tile->header->bmin[2] + n->bmax[2]*cs, + duRGBA(255,255,255,128)); + } + dd->end(); +} + +void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh) +{ + if (!dd) return; + + for (int i = 0; i < mesh.getMaxTiles(); ++i) + { + const dtMeshTile* tile = mesh.getTile(i); + if (!tile->header) continue; + drawMeshTileBVTree(dd, tile); + } +} + +static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile) +{ + // Draw portals + const float padx = 0.04f; + const float pady = tile->header->walkableClimb; + + dd->begin(DU_DRAW_LINES, 2.0f); + + for (int side = 0; side < 8; ++side) + { + unsigned short m = DT_EXT_LINK | (unsigned short)side; + + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* poly = &tile->polys[i]; + + // Create new links. + const int nv = poly->vertCount; + for (int j = 0; j < nv; ++j) + { + // Skip edges which do not point to the right side. + if (poly->neis[j] != m) + continue; + + // Create new links + const float* va = &tile->verts[poly->verts[j]*3]; + const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; + + if (side == 0 || side == 4) + { + unsigned int col = side == 0 ? duRGBA(128,0,0,128) : duRGBA(128,0,128,128); + + const float x = va[0] + ((side == 0) ? -padx : padx); + + dd->vertex(x,va[1]-pady,va[2], col); + dd->vertex(x,va[1]+pady,va[2], col); + + dd->vertex(x,va[1]+pady,va[2], col); + dd->vertex(x,vb[1]+pady,vb[2], col); + + dd->vertex(x,vb[1]+pady,vb[2], col); + dd->vertex(x,vb[1]-pady,vb[2], col); + + dd->vertex(x,vb[1]-pady,vb[2], col); + dd->vertex(x,va[1]-pady,va[2], col); + } + else if (side == 2 || side == 6) + { + unsigned int col = side == 2 ? duRGBA(0,128,0,128) : duRGBA(0,128,128,128); + + const float z = va[2] + ((side == 2) ? -padx : padx); + + dd->vertex(va[0],va[1]-pady,z, col); + dd->vertex(va[0],va[1]+pady,z, col); + + dd->vertex(va[0],va[1]+pady,z, col); + dd->vertex(vb[0],vb[1]+pady,z, col); + + dd->vertex(vb[0],vb[1]+pady,z, col); + dd->vertex(vb[0],vb[1]-pady,z, col); + + dd->vertex(vb[0],vb[1]-pady,z, col); + dd->vertex(va[0],va[1]-pady,z, col); + } + + } + } + } + + dd->end(); +} + +void duDebugDrawNavMeshPortals(duDebugDraw* dd, const dtNavMesh& mesh) +{ + if (!dd) return; + + for (int i = 0; i < mesh.getMaxTiles(); ++i) + { + const dtMeshTile* tile = mesh.getTile(i); + if (!tile->header) continue; + drawMeshTilePortal(dd, tile); + } +} + +void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh, + const unsigned short polyFlags, const unsigned int col) +{ + if (!dd) return; + + for (int i = 0; i < mesh.getMaxTiles(); ++i) + { + const dtMeshTile* tile = mesh.getTile(i); + if (!tile->header) continue; + dtPolyRef base = mesh.getPolyRefBase(tile); + + for (int j = 0; j < tile->header->polyCount; ++j) + { + const dtPoly* p = &tile->polys[j]; + if ((p->flags & polyFlags) == 0) continue; + duDebugDrawNavMeshPoly(dd, mesh, base|(dtPolyRef)j, col); + } + } +} + +void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col) +{ + if (!dd) return; + + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + if (dtStatusFailed(mesh.getTileAndPolyByRef(ref, &tile, &poly))) + return; + + dd->depthMask(false); + + const unsigned int c = duTransCol(col, 64); + const unsigned int ip = (unsigned int)(poly - tile->polys); + + if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + { + dtOffMeshConnection* con = &tile->offMeshCons[ip - tile->header->offMeshBase]; + + dd->begin(DU_DRAW_LINES, 2.0f); + + // Connection arc. + duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f, + (con->flags & 1) ? 0.6f : 0.0f, 0.6f, c); + + dd->end(); + } + else + { + const dtPolyDetail* pd = &tile->detailMeshes[ip]; + + dd->begin(DU_DRAW_TRIS); + for (int i = 0; i < pd->triCount; ++i) + { + const unsigned char* t = &tile->detailTris[(pd->triBase+i)*4]; + for (int j = 0; j < 3; ++j) + { + if (t[j] < poly->vertCount) + dd->vertex(&tile->verts[poly->verts[t[j]]*3], c); + else + dd->vertex(&tile->detailVerts[(pd->vertBase+t[j]-poly->vertCount)*3], c); + } + } + dd->end(); + } + + dd->depthMask(true); + +} + +static void debugDrawTileCachePortals(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) +{ + const int w = (int)layer.header->width; + const int h = (int)layer.header->height; + const float* bmin = layer.header->bmin; + + // Portals + unsigned int pcol = duRGBA(255,255,255,255); + + const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0}; + + // Layer portals + dd->begin(DU_DRAW_LINES, 2.0f); + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const int idx = x+y*w; + const int lh = (int)layer.heights[idx]; + if (lh == 0xff) continue; + + for (int dir = 0; dir < 4; ++dir) + { + if (layer.cons[idx] & (1<<(dir+4))) + { + const int* seg = &segs[dir*4]; + const float ax = bmin[0] + (x+seg[0])*cs; + const float ay = bmin[1] + (lh+2)*ch; + const float az = bmin[2] + (y+seg[1])*cs; + const float bx = bmin[0] + (x+seg[2])*cs; + const float by = bmin[1] + (lh+2)*ch; + const float bz = bmin[2] + (y+seg[3])*cs; + dd->vertex(ax, ay, az, pcol); + dd->vertex(bx, by, bz, pcol); + } + } + } + } + dd->end(); +} + +void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) +{ + const int w = (int)layer.header->width; + const int h = (int)layer.header->height; + const float* bmin = layer.header->bmin; + const float* bmax = layer.header->bmax; + const int idx = layer.header->tlayer; + + unsigned int color = duIntToCol(idx+1, 255); + + // Layer bounds + float lbmin[3], lbmax[3]; + lbmin[0] = bmin[0] + layer.header->minx*cs; + lbmin[1] = bmin[1]; + lbmin[2] = bmin[2] + layer.header->miny*cs; + lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs; + lbmax[1] = bmax[1]; + lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs; + duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f); + + // Layer height + dd->begin(DU_DRAW_QUADS); + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const int lidx = x+y*w; + const int lh = (int)layer.heights[lidx]; + if (lh == 0xff) continue; + + const unsigned char area = layer.areas[lidx]; + unsigned int col; + if (area == 63) + col = duLerpCol(color, duRGBA(0,192,255,64), 32); + else if (area == 0) + col = duLerpCol(color, duRGBA(0,0,0,64), 32); + else + col = duLerpCol(color, dd->areaToCol(area), 32); + + const float fx = bmin[0] + x*cs; + const float fy = bmin[1] + (lh+1)*ch; + const float fz = bmin[2] + y*cs; + + dd->vertex(fx, fy, fz, col); + dd->vertex(fx, fy, fz+cs, col); + dd->vertex(fx+cs, fy, fz+cs, col); + dd->vertex(fx+cs, fy, fz, col); + } + } + dd->end(); + + debugDrawTileCachePortals(dd, layer, cs, ch); +} + +void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) +{ + const int w = (int)layer.header->width; + const int h = (int)layer.header->height; + const float* bmin = layer.header->bmin; + const float* bmax = layer.header->bmax; + const int idx = layer.header->tlayer; + + unsigned int color = duIntToCol(idx+1, 255); + + // Layer bounds + float lbmin[3], lbmax[3]; + lbmin[0] = bmin[0] + layer.header->minx*cs; + lbmin[1] = bmin[1]; + lbmin[2] = bmin[2] + layer.header->miny*cs; + lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs; + lbmax[1] = bmax[1]; + lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs; + duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f); + + // Layer height + dd->begin(DU_DRAW_QUADS); + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const int lidx = x+y*w; + const int lh = (int)layer.heights[lidx]; + if (lh == 0xff) continue; + const unsigned char reg = layer.regs[lidx]; + + unsigned int col = duLerpCol(color, duIntToCol(reg, 255), 192); + + const float fx = bmin[0] + x*cs; + const float fy = bmin[1] + (lh+1)*ch; + const float fz = bmin[2] + y*cs; + + dd->vertex(fx, fy, fz, col); + dd->vertex(fx, fy, fz+cs, col); + dd->vertex(fx+cs, fy, fz+cs, col); + dd->vertex(fx+cs, fy, fz, col); + } + } + dd->end(); + + debugDrawTileCachePortals(dd, layer, cs, ch); +} + + + + +/*struct dtTileCacheContour +{ + int nverts; + unsigned char* verts; + unsigned char reg; + unsigned char area; +}; + +struct dtTileCacheContourSet +{ + int nconts; + dtTileCacheContour* conts; +};*/ + +void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset, + const float* orig, const float cs, const float ch) +{ + if (!dd) return; + + const unsigned char a = 255;// (unsigned char)(alpha*255.0f); + + const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; + + dd->begin(DU_DRAW_LINES, 2.0f); + + for (int i = 0; i < lcset.nconts; ++i) + { + const dtTileCacheContour& c = lcset.conts[i]; + unsigned int color = 0; + + color = duIntToCol(i, a); + + for (int j = 0; j < c.nverts; ++j) + { + const int k = (j+1) % c.nverts; + const unsigned char* va = &c.verts[j*4]; + const unsigned char* vb = &c.verts[k*4]; + const float ax = orig[0] + va[0]*cs; + const float ay = orig[1] + (va[1]+1+(i&1))*ch; + const float az = orig[2] + va[2]*cs; + const float bx = orig[0] + vb[0]*cs; + const float by = orig[1] + (vb[1]+1+(i&1))*ch; + const float bz = orig[2] + vb[2]*cs; + unsigned int col = color; + if ((va[3] & 0xf) != 0xf) + { + // Portal segment + col = duRGBA(255,255,255,128); + int d = va[3] & 0xf; + + const float cx = (ax+bx)*0.5f; + const float cy = (ay+by)*0.5f; + const float cz = (az+bz)*0.5f; + + const float dx = cx + offs[d*2+0]*2*cs; + const float dy = cy; + const float dz = cz + offs[d*2+1]*2*cs; + + dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); + dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); + } + + duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col); + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 4.0f); + + for (int i = 0; i < lcset.nconts; ++i) + { + const dtTileCacheContour& c = lcset.conts[i]; + unsigned int color = 0; + + for (int j = 0; j < c.nverts; ++j) + { + const unsigned char* va = &c.verts[j*4]; + + color = duDarkenCol(duIntToCol(i, a)); + if (va[3] & 0x80) + { + // Border vertex + color = duRGBA(255,0,0,255); + } + + float fx = orig[0] + va[0]*cs; + float fy = orig[1] + (va[1]+1+(i&1))*ch; + float fz = orig[2] + va[2]*cs; + dd->vertex(fx,fy,fz, color); + } + } + dd->end(); +} + +void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh, + const float* orig, const float cs, const float ch) +{ + if (!dd) return; + + const int nvp = lmesh.nvp; + + const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; + + dd->begin(DU_DRAW_TRIS); + + for (int i = 0; i < lmesh.npolys; ++i) + { + const unsigned short* p = &lmesh.polys[i*nvp*2]; + const unsigned char area = lmesh.areas[i]; + + unsigned int color; + if (area == DT_TILECACHE_WALKABLE_AREA) + color = duRGBA(0,192,255,64); + else if (area == DT_TILECACHE_NULL_AREA) + color = duRGBA(0,0,0,64); + else + color = dd->areaToCol(area); + + unsigned short vi[3]; + for (int j = 2; j < nvp; ++j) + { + if (p[j] == DT_TILECACHE_NULL_IDX) break; + vi[0] = p[0]; + vi[1] = p[j-1]; + vi[2] = p[j]; + for (int k = 0; k < 3; ++k) + { + const unsigned short* v = &lmesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch; + const float z = orig[2] + v[2]*cs; + dd->vertex(x,y,z, color); + } + } + } + dd->end(); + + // Draw neighbours edges + const unsigned int coln = duRGBA(0,48,64,32); + dd->begin(DU_DRAW_LINES, 1.5f); + for (int i = 0; i < lmesh.npolys; ++i) + { + const unsigned short* p = &lmesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == DT_TILECACHE_NULL_IDX) break; + if (p[nvp+j] & 0x8000) continue; + const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; + int vi[2] = {p[j], p[nj]}; + + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &lmesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x, y, z, coln); + } + } + } + dd->end(); + + // Draw boundary edges + const unsigned int colb = duRGBA(0,48,64,220); + dd->begin(DU_DRAW_LINES, 2.5f); + for (int i = 0; i < lmesh.npolys; ++i) + { + const unsigned short* p = &lmesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == DT_TILECACHE_NULL_IDX) break; + if ((p[nvp+j] & 0x8000) == 0) continue; + const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; + int vi[2] = {p[j], p[nj]}; + + unsigned int col = colb; + if ((p[nvp+j] & 0xf) != 0xf) + { + const unsigned short* va = &lmesh.verts[vi[0]*3]; + const unsigned short* vb = &lmesh.verts[vi[1]*3]; + + const float ax = orig[0] + va[0]*cs; + const float ay = orig[1] + (va[1]+1+(i&1))*ch; + const float az = orig[2] + va[2]*cs; + const float bx = orig[0] + vb[0]*cs; + const float by = orig[1] + (vb[1]+1+(i&1))*ch; + const float bz = orig[2] + vb[2]*cs; + + const float cx = (ax+bx)*0.5f; + const float cy = (ay+by)*0.5f; + const float cz = (az+bz)*0.5f; + + int d = p[nvp+j] & 0xf; + + const float dx = cx + offs[d*2+0]*2*cs; + const float dy = cy; + const float dz = cz + offs[d*2+1]*2*cs; + + dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); + dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); + + col = duRGBA(255,255,255,128); + } + + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &lmesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x, y, z, col); + } + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 3.0f); + const unsigned int colv = duRGBA(0,0,0,220); + for (int i = 0; i < lmesh.nverts; ++i) + { + const unsigned short* v = &lmesh.verts[i*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x,y,z, colv); + } + dd->end(); +} + + + diff --git a/extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp b/extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp new file mode 100644 index 000000000..c1a73a168 --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp @@ -0,0 +1,1064 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include "DebugDraw.h" +#include "RecastDebugDraw.h" +#include "Recast.h" + +void duDebugDrawTriMesh(duDebugDraw* dd, const float* verts, int /*nverts*/, + const int* tris, const float* normals, int ntris, + const unsigned char* flags, const float texScale) +{ + if (!dd) return; + if (!verts) return; + if (!tris) return; + if (!normals) return; + + float uva[2]; + float uvb[2]; + float uvc[2]; + + const unsigned int unwalkable = duRGBA(192,128,0,255); + + dd->texture(true); + + dd->begin(DU_DRAW_TRIS); + for (int i = 0; i < ntris*3; i += 3) + { + const float* norm = &normals[i]; + unsigned int color; + unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4); + if (flags && !flags[i/3]) + color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64); + else + color = duRGBA(a,a,a,255); + + const float* va = &verts[tris[i+0]*3]; + const float* vb = &verts[tris[i+1]*3]; + const float* vc = &verts[tris[i+2]*3]; + + int ax = 0, ay = 0; + if (rcAbs(norm[1]) > rcAbs(norm[ax])) + ax = 1; + if (rcAbs(norm[2]) > rcAbs(norm[ax])) + ax = 2; + ax = (1<vertex(va, color, uva); + dd->vertex(vb, color, uvb); + dd->vertex(vc, color, uvc); + } + dd->end(); + dd->texture(false); +} + +void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/, + const int* tris, const float* normals, int ntris, + const float walkableSlopeAngle, const float texScale) +{ + if (!dd) return; + if (!verts) return; + if (!tris) return; + if (!normals) return; + + const float walkableThr = cosf(walkableSlopeAngle/180.0f*DU_PI); + + float uva[2]; + float uvb[2]; + float uvc[2]; + + dd->texture(true); + + const unsigned int unwalkable = duRGBA(192,128,0,255); + + dd->begin(DU_DRAW_TRIS); + for (int i = 0; i < ntris*3; i += 3) + { + const float* norm = &normals[i]; + unsigned int color; + unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4); + if (norm[1] < walkableThr) + color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64); + else + color = duRGBA(a,a,a,255); + + const float* va = &verts[tris[i+0]*3]; + const float* vb = &verts[tris[i+1]*3]; + const float* vc = &verts[tris[i+2]*3]; + + int ax = 0, ay = 0; + if (rcAbs(norm[1]) > rcAbs(norm[ax])) + ax = 1; + if (rcAbs(norm[2]) > rcAbs(norm[ax])) + ax = 2; + ax = (1<vertex(va, color, uva); + dd->vertex(vb, color, uvb); + dd->vertex(vc, color, uvc); + } + dd->end(); + + dd->texture(false); +} + +void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf) +{ + if (!dd) return; + + const float* orig = hf.bmin; + const float cs = hf.cs; + const float ch = hf.ch; + + const int w = hf.width; + const int h = hf.height; + + unsigned int fcol[6]; + duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(255,255,255,255)); + + dd->begin(DU_DRAW_QUADS); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + float fx = orig[0] + x*cs; + float fz = orig[2] + y*cs; + const rcSpan* s = hf.spans[x + y*w]; + while (s) + { + duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol); + s = s->next; + } + } + } + dd->end(); +} + +void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf) +{ + if (!dd) return; + + const float* orig = hf.bmin; + const float cs = hf.cs; + const float ch = hf.ch; + + const int w = hf.width; + const int h = hf.height; + + unsigned int fcol[6]; + duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(217,217,217,255)); + + dd->begin(DU_DRAW_QUADS); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + float fx = orig[0] + x*cs; + float fz = orig[2] + y*cs; + const rcSpan* s = hf.spans[x + y*w]; + while (s) + { + if (s->area == RC_WALKABLE_AREA) + fcol[0] = duRGBA(64,128,160,255); + else if (s->area == RC_NULL_AREA) + fcol[0] = duRGBA(64,64,64,255); + else + fcol[0] = duMultCol(dd->areaToCol(s->area), 200); + + duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol); + s = s->next; + } + } + } + + dd->end(); +} + +void duDebugDrawCompactHeightfieldSolid(duDebugDraw* dd, const rcCompactHeightfield& chf) +{ + if (!dd) return; + + const float cs = chf.cs; + const float ch = chf.ch; + + dd->begin(DU_DRAW_QUADS); + + for (int y = 0; y < chf.height; ++y) + { + for (int x = 0; x < chf.width; ++x) + { + const float fx = chf.bmin[0] + x*cs; + const float fz = chf.bmin[2] + y*cs; + const rcCompactCell& c = chf.cells[x+y*chf.width]; + + for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + + const unsigned char area = chf.areas[i]; + unsigned int color; + if (area == RC_WALKABLE_AREA) + color = duRGBA(0,192,255,64); + else if (area == RC_NULL_AREA) + color = duRGBA(0,0,0,64); + else + color = dd->areaToCol(area); + + const float fy = chf.bmin[1] + (s.y+1)*ch; + dd->vertex(fx, fy, fz, color); + dd->vertex(fx, fy, fz+cs, color); + dd->vertex(fx+cs, fy, fz+cs, color); + dd->vertex(fx+cs, fy, fz, color); + } + } + } + dd->end(); +} + +void duDebugDrawCompactHeightfieldRegions(duDebugDraw* dd, const rcCompactHeightfield& chf) +{ + if (!dd) return; + + const float cs = chf.cs; + const float ch = chf.ch; + + dd->begin(DU_DRAW_QUADS); + + for (int y = 0; y < chf.height; ++y) + { + for (int x = 0; x < chf.width; ++x) + { + const float fx = chf.bmin[0] + x*cs; + const float fz = chf.bmin[2] + y*cs; + const rcCompactCell& c = chf.cells[x+y*chf.width]; + + for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + const float fy = chf.bmin[1] + (s.y)*ch; + unsigned int color; + if (s.reg) + color = duIntToCol(s.reg, 192); + else + color = duRGBA(0,0,0,64); + + dd->vertex(fx, fy, fz, color); + dd->vertex(fx, fy, fz+cs, color); + dd->vertex(fx+cs, fy, fz+cs, color); + dd->vertex(fx+cs, fy, fz, color); + } + } + } + + dd->end(); +} + + +void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeightfield& chf) +{ + if (!dd) return; + if (!chf.dist) return; + + const float cs = chf.cs; + const float ch = chf.ch; + + float maxd = chf.maxDistance; + if (maxd < 1.0f) maxd = 1; + const float dscale = 255.0f / maxd; + + dd->begin(DU_DRAW_QUADS); + + for (int y = 0; y < chf.height; ++y) + { + for (int x = 0; x < chf.width; ++x) + { + const float fx = chf.bmin[0] + x*cs; + const float fz = chf.bmin[2] + y*cs; + const rcCompactCell& c = chf.cells[x+y*chf.width]; + + for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + const float fy = chf.bmin[1] + (s.y+1)*ch; + const unsigned char cd = (unsigned char)(chf.dist[i] * dscale); + const unsigned int color = duRGBA(cd,cd,cd,255); + dd->vertex(fx, fy, fz, color); + dd->vertex(fx, fy, fz+cs, color); + dd->vertex(fx+cs, fy, fz+cs, color); + dd->vertex(fx+cs, fy, fz, color); + } + } + } + dd->end(); +} + +static void drawLayerPortals(duDebugDraw* dd, const rcHeightfieldLayer* layer) +{ + const float cs = layer->cs; + const float ch = layer->ch; + const int w = layer->width; + const int h = layer->height; + + unsigned int pcol = duRGBA(255,255,255,255); + + const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0}; + + // Layer portals + dd->begin(DU_DRAW_LINES, 2.0f); + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const int idx = x+y*w; + const int lh = (int)layer->heights[idx]; + if (lh == 255) continue; + + for (int dir = 0; dir < 4; ++dir) + { + if (layer->cons[idx] & (1<<(dir+4))) + { + const int* seg = &segs[dir*4]; + const float ax = layer->bmin[0] + (x+seg[0])*cs; + const float ay = layer->bmin[1] + (lh+2)*ch; + const float az = layer->bmin[2] + (y+seg[1])*cs; + const float bx = layer->bmin[0] + (x+seg[2])*cs; + const float by = layer->bmin[1] + (lh+2)*ch; + const float bz = layer->bmin[2] + (y+seg[3])*cs; + dd->vertex(ax, ay, az, pcol); + dd->vertex(bx, by, bz, pcol); + } + } + } + } + dd->end(); +} + +void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx) +{ + const float cs = layer.cs; + const float ch = layer.ch; + const int w = layer.width; + const int h = layer.height; + + unsigned int color = duIntToCol(idx+1, 255); + + // Layer bounds + float bmin[3], bmax[3]; + bmin[0] = layer.bmin[0] + layer.minx*cs; + bmin[1] = layer.bmin[1]; + bmin[2] = layer.bmin[2] + layer.miny*cs; + bmax[0] = layer.bmin[0] + (layer.maxx+1)*cs; + bmax[1] = layer.bmax[1]; + bmax[2] = layer.bmin[2] + (layer.maxy+1)*cs; + duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f); + + // Layer height + dd->begin(DU_DRAW_QUADS); + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const int lidx = x+y*w; + const int lh = (int)layer.heights[lidx]; + if (h == 0xff) continue; + const unsigned char area = layer.areas[lidx]; + + unsigned int col; + if (area == RC_WALKABLE_AREA) + col = duLerpCol(color, duRGBA(0,192,255,64), 32); + else if (area == RC_NULL_AREA) + col = duLerpCol(color, duRGBA(0,0,0,64), 32); + else + col = duLerpCol(color, dd->areaToCol(area), 32); + + const float fx = layer.bmin[0] + x*cs; + const float fy = layer.bmin[1] + (lh+1)*ch; + const float fz = layer.bmin[2] + y*cs; + + dd->vertex(fx, fy, fz, col); + dd->vertex(fx, fy, fz+cs, col); + dd->vertex(fx+cs, fy, fz+cs, col); + dd->vertex(fx+cs, fy, fz, col); + } + } + dd->end(); + + // Portals + drawLayerPortals(dd, &layer); +} + +void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset) +{ + if (!dd) return; + for (int i = 0; i < lset.nlayers; ++i) + duDebugDrawHeightfieldLayer(dd, lset.layers[i], i); +} + +/* +void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& lcset) +{ + if (!dd) return; + + const float* orig = lcset.bmin; + const float cs = lcset.cs; + const float ch = lcset.ch; + + const unsigned char a = 255;// (unsigned char)(alpha*255.0f); + + const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; + + dd->begin(DU_DRAW_LINES, 2.0f); + + for (int i = 0; i < lcset.nconts; ++i) + { + const rcLayerContour& c = lcset.conts[i]; + unsigned int color = 0; + + color = duIntToCol(i, a); + + for (int j = 0; j < c.nverts; ++j) + { + const int k = (j+1) % c.nverts; + const unsigned char* va = &c.verts[j*4]; + const unsigned char* vb = &c.verts[k*4]; + const float ax = orig[0] + va[0]*cs; + const float ay = orig[1] + (va[1]+1+(i&1))*ch; + const float az = orig[2] + va[2]*cs; + const float bx = orig[0] + vb[0]*cs; + const float by = orig[1] + (vb[1]+1+(i&1))*ch; + const float bz = orig[2] + vb[2]*cs; + unsigned int col = color; + if ((va[3] & 0xf) != 0xf) + { + col = duRGBA(255,255,255,128); + int d = va[3] & 0xf; + + const float cx = (ax+bx)*0.5f; + const float cy = (ay+by)*0.5f; + const float cz = (az+bz)*0.5f; + + const float dx = cx + offs[d*2+0]*2*cs; + const float dy = cy; + const float dz = cz + offs[d*2+1]*2*cs; + + dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); + dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); + } + + duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col); + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 4.0f); + + for (int i = 0; i < lcset.nconts; ++i) + { + const rcLayerContour& c = lcset.conts[i]; + unsigned int color = 0; + + for (int j = 0; j < c.nverts; ++j) + { + const unsigned char* va = &c.verts[j*4]; + + color = duDarkenCol(duIntToCol(i, a)); + if (va[3] & 0x80) + color = duRGBA(255,0,0,255); + + float fx = orig[0] + va[0]*cs; + float fy = orig[1] + (va[1]+1+(i&1))*ch; + float fz = orig[2] + va[2]*cs; + dd->vertex(fx,fy,fz, color); + } + } + dd->end(); +} + +void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lmesh) +{ + if (!dd) return; + + const int nvp = lmesh.nvp; + const float cs = lmesh.cs; + const float ch = lmesh.ch; + const float* orig = lmesh.bmin; + + const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; + + dd->begin(DU_DRAW_TRIS); + + for (int i = 0; i < lmesh.npolys; ++i) + { + const unsigned short* p = &lmesh.polys[i*nvp*2]; + + unsigned int color; + if (lmesh.areas[i] == RC_WALKABLE_AREA) + color = duRGBA(0,192,255,64); + else if (lmesh.areas[i] == RC_NULL_AREA) + color = duRGBA(0,0,0,64); + else + color = duIntToCol(lmesh.areas[i], 255); + + unsigned short vi[3]; + for (int j = 2; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + vi[0] = p[0]; + vi[1] = p[j-1]; + vi[2] = p[j]; + for (int k = 0; k < 3; ++k) + { + const unsigned short* v = &lmesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch; + const float z = orig[2] + v[2]*cs; + dd->vertex(x,y,z, color); + } + } + } + dd->end(); + + // Draw neighbours edges + const unsigned int coln = duRGBA(0,48,64,32); + dd->begin(DU_DRAW_LINES, 1.5f); + for (int i = 0; i < lmesh.npolys; ++i) + { + const unsigned short* p = &lmesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + if (p[nvp+j] & 0x8000) continue; + const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; + int vi[2] = {p[j], p[nj]}; + + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &lmesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x, y, z, coln); + } + } + } + dd->end(); + + // Draw boundary edges + const unsigned int colb = duRGBA(0,48,64,220); + dd->begin(DU_DRAW_LINES, 2.5f); + for (int i = 0; i < lmesh.npolys; ++i) + { + const unsigned short* p = &lmesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + if ((p[nvp+j] & 0x8000) == 0) continue; + const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; + int vi[2] = {p[j], p[nj]}; + + unsigned int col = colb; + if ((p[nvp+j] & 0xf) != 0xf) + { + const unsigned short* va = &lmesh.verts[vi[0]*3]; + const unsigned short* vb = &lmesh.verts[vi[1]*3]; + + const float ax = orig[0] + va[0]*cs; + const float ay = orig[1] + (va[1]+1+(i&1))*ch; + const float az = orig[2] + va[2]*cs; + const float bx = orig[0] + vb[0]*cs; + const float by = orig[1] + (vb[1]+1+(i&1))*ch; + const float bz = orig[2] + vb[2]*cs; + + const float cx = (ax+bx)*0.5f; + const float cy = (ay+by)*0.5f; + const float cz = (az+bz)*0.5f; + + int d = p[nvp+j] & 0xf; + + const float dx = cx + offs[d*2+0]*2*cs; + const float dy = cy; + const float dz = cz + offs[d*2+1]*2*cs; + + dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); + dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); + + col = duRGBA(255,255,255,128); + } + + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &lmesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x, y, z, col); + } + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 3.0f); + const unsigned int colv = duRGBA(0,0,0,220); + for (int i = 0; i < lmesh.nverts; ++i) + { + const unsigned short* v = &lmesh.verts[i*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x,y,z, colv); + } + dd->end(); +} +*/ + +static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center) +{ + center[0] = 0; + center[1] = 0; + center[2] = 0; + if (!cont->nverts) + return; + for (int i = 0; i < cont->nverts; ++i) + { + const int* v = &cont->verts[i*4]; + center[0] += (float)v[0]; + center[1] += (float)v[1]; + center[2] += (float)v[2]; + } + const float s = 1.0f / cont->nverts; + center[0] *= s * cs; + center[1] *= s * ch; + center[2] *= s * cs; + center[0] += orig[0]; + center[1] += orig[1] + 4*ch; + center[2] += orig[2]; +} + +static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned short reg) +{ + for (int i = 0; i < cset.nconts; ++i) + { + if (cset.conts[i].reg == reg) + return &cset.conts[i]; + } + return 0; +} + +void duDebugDrawRegionConnections(duDebugDraw* dd, const rcContourSet& cset, const float alpha) +{ + if (!dd) return; + + const float* orig = cset.bmin; + const float cs = cset.cs; + const float ch = cset.ch; + + // Draw centers + float pos[3], pos2[3]; + + unsigned int color = duRGBA(0,0,0,196); + + dd->begin(DU_DRAW_LINES, 2.0f); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour* cont = &cset.conts[i]; + getContourCenter(cont, orig, cs, ch, pos); + for (int j = 0; j < cont->nverts; ++j) + { + const int* v = &cont->verts[j*4]; + if (v[3] == 0 || (unsigned short)v[3] < cont->reg) continue; + const rcContour* cont2 = findContourFromSet(cset, (unsigned short)v[3]); + if (cont2) + { + getContourCenter(cont2, orig, cs, ch, pos2); + duAppendArc(dd, pos[0],pos[1],pos[2], pos2[0],pos2[1],pos2[2], 0.25f, 0.6f, 0.6f, color); + } + } + } + + dd->end(); + + unsigned char a = (unsigned char)(alpha * 255.0f); + + dd->begin(DU_DRAW_POINTS, 7.0f); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour* cont = &cset.conts[i]; + unsigned int col = duDarkenCol(duIntToCol(cont->reg,a)); + getContourCenter(cont, orig, cs, ch, pos); + dd->vertex(pos, col); + } + dd->end(); +} + +void duDebugDrawRawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha) +{ + if (!dd) return; + + const float* orig = cset.bmin; + const float cs = cset.cs; + const float ch = cset.ch; + + const unsigned char a = (unsigned char)(alpha*255.0f); + + dd->begin(DU_DRAW_LINES, 2.0f); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& c = cset.conts[i]; + unsigned int color = duIntToCol(c.reg, a); + + for (int j = 0; j < c.nrverts; ++j) + { + const int* v = &c.rverts[j*4]; + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch; + float fz = orig[2] + v[2]*cs; + dd->vertex(fx,fy,fz,color); + if (j > 0) + dd->vertex(fx,fy,fz,color); + } + // Loop last segment. + const int* v = &c.rverts[0]; + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch; + float fz = orig[2] + v[2]*cs; + dd->vertex(fx,fy,fz,color); + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 2.0f); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& c = cset.conts[i]; + unsigned int color = duDarkenCol(duIntToCol(c.reg, a)); + + for (int j = 0; j < c.nrverts; ++j) + { + const int* v = &c.rverts[j*4]; + float off = 0; + unsigned int colv = color; + if (v[3] & RC_BORDER_VERTEX) + { + colv = duRGBA(255,255,255,a); + off = ch*2; + } + + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch + off; + float fz = orig[2] + v[2]*cs; + dd->vertex(fx,fy,fz, colv); + } + } + dd->end(); +} + +void duDebugDrawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha) +{ + if (!dd) return; + + const float* orig = cset.bmin; + const float cs = cset.cs; + const float ch = cset.ch; + + const unsigned char a = (unsigned char)(alpha*255.0f); + + dd->begin(DU_DRAW_LINES, 2.5f); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& c = cset.conts[i]; + if (!c.nverts) + continue; + const unsigned int color = duIntToCol(c.reg, a); + const unsigned int bcolor = duLerpCol(color,duRGBA(255,255,255,a),128); + for (int j = 0, k = c.nverts-1; j < c.nverts; k=j++) + { + const int* va = &c.verts[k*4]; + const int* vb = &c.verts[j*4]; + unsigned int col = (va[3] & RC_AREA_BORDER) ? bcolor : color; + float fx,fy,fz; + fx = orig[0] + va[0]*cs; + fy = orig[1] + (va[1]+1+(i&1))*ch; + fz = orig[2] + va[2]*cs; + dd->vertex(fx,fy,fz, col); + fx = orig[0] + vb[0]*cs; + fy = orig[1] + (vb[1]+1+(i&1))*ch; + fz = orig[2] + vb[2]*cs; + dd->vertex(fx,fy,fz, col); + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 3.0f); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& c = cset.conts[i]; + unsigned int color = duDarkenCol(duIntToCol(c.reg, a)); + for (int j = 0; j < c.nverts; ++j) + { + const int* v = &c.verts[j*4]; + float off = 0; + unsigned int colv = color; + if (v[3] & RC_BORDER_VERTEX) + { + colv = duRGBA(255,255,255,a); + off = ch*2; + } + + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch + off; + float fz = orig[2] + v[2]*cs; + dd->vertex(fx,fy,fz, colv); + } + } + dd->end(); +} + +void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh) +{ + if (!dd) return; + + const int nvp = mesh.nvp; + const float cs = mesh.cs; + const float ch = mesh.ch; + const float* orig = mesh.bmin; + + dd->begin(DU_DRAW_TRIS); + + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* p = &mesh.polys[i*nvp*2]; + const unsigned char area = mesh.areas[i]; + + unsigned int color; + if (area == RC_WALKABLE_AREA) + color = duRGBA(0,192,255,64); + else if (area == RC_NULL_AREA) + color = duRGBA(0,0,0,64); + else + color = dd->areaToCol(area); + + unsigned short vi[3]; + for (int j = 2; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + vi[0] = p[0]; + vi[1] = p[j-1]; + vi[2] = p[j]; + for (int k = 0; k < 3; ++k) + { + const unsigned short* v = &mesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch; + const float z = orig[2] + v[2]*cs; + dd->vertex(x,y,z, color); + } + } + } + dd->end(); + + // Draw neighbours edges + const unsigned int coln = duRGBA(0,48,64,32); + dd->begin(DU_DRAW_LINES, 1.5f); + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* p = &mesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + if (p[nvp+j] & 0x8000) continue; + const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; + const int vi[2] = {p[j], p[nj]}; + + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &mesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x, y, z, coln); + } + } + } + dd->end(); + + // Draw boundary edges + const unsigned int colb = duRGBA(0,48,64,220); + dd->begin(DU_DRAW_LINES, 2.5f); + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* p = &mesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + if ((p[nvp+j] & 0x8000) == 0) continue; + const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; + const int vi[2] = {p[j], p[nj]}; + + unsigned int col = colb; + if ((p[nvp+j] & 0xf) != 0xf) + col = duRGBA(255,255,255,128); + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &mesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x, y, z, col); + } + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 3.0f); + const unsigned int colv = duRGBA(0,0,0,220); + for (int i = 0; i < mesh.nverts; ++i) + { + const unsigned short* v = &mesh.verts[i*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + dd->vertex(x,y,z, colv); + } + dd->end(); +} + +void duDebugDrawPolyMeshDetail(duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh) +{ + if (!dd) return; + + dd->begin(DU_DRAW_TRIS); + + for (int i = 0; i < dmesh.nmeshes; ++i) + { + const unsigned int* m = &dmesh.meshes[i*4]; + const unsigned int bverts = m[0]; + const unsigned int btris = m[2]; + const int ntris = (int)m[3]; + const float* verts = &dmesh.verts[bverts*3]; + const unsigned char* tris = &dmesh.tris[btris*4]; + + unsigned int color = duIntToCol(i, 192); + + for (int j = 0; j < ntris; ++j) + { + dd->vertex(&verts[tris[j*4+0]*3], color); + dd->vertex(&verts[tris[j*4+1]*3], color); + dd->vertex(&verts[tris[j*4+2]*3], color); + } + } + dd->end(); + + // Internal edges. + dd->begin(DU_DRAW_LINES, 1.0f); + const unsigned int coli = duRGBA(0,0,0,64); + for (int i = 0; i < dmesh.nmeshes; ++i) + { + const unsigned int* m = &dmesh.meshes[i*4]; + const unsigned int bverts = m[0]; + const unsigned int btris = m[2]; + const int ntris = (int)m[3]; + const float* verts = &dmesh.verts[bverts*3]; + const unsigned char* tris = &dmesh.tris[btris*4]; + + for (int j = 0; j < ntris; ++j) + { + const unsigned char* t = &tris[j*4]; + for (int k = 0, kp = 2; k < 3; kp=k++) + { + unsigned char ef = (t[3] >> (kp*2)) & 0x3; + if (ef == 0) + { + // Internal edge + if (t[kp] < t[k]) + { + dd->vertex(&verts[t[kp]*3], coli); + dd->vertex(&verts[t[k]*3], coli); + } + } + } + } + } + dd->end(); + + // External edges. + dd->begin(DU_DRAW_LINES, 2.0f); + const unsigned int cole = duRGBA(0,0,0,64); + for (int i = 0; i < dmesh.nmeshes; ++i) + { + const unsigned int* m = &dmesh.meshes[i*4]; + const unsigned int bverts = m[0]; + const unsigned int btris = m[2]; + const int ntris = (int)m[3]; + const float* verts = &dmesh.verts[bverts*3]; + const unsigned char* tris = &dmesh.tris[btris*4]; + + for (int j = 0; j < ntris; ++j) + { + const unsigned char* t = &tris[j*4]; + for (int k = 0, kp = 2; k < 3; kp=k++) + { + unsigned char ef = (t[3] >> (kp*2)) & 0x3; + if (ef != 0) + { + // Ext edge + dd->vertex(&verts[t[kp]*3], cole); + dd->vertex(&verts[t[k]*3], cole); + } + } + } + } + dd->end(); + + dd->begin(DU_DRAW_POINTS, 3.0f); + const unsigned int colv = duRGBA(0,0,0,64); + for (int i = 0; i < dmesh.nmeshes; ++i) + { + const unsigned int* m = &dmesh.meshes[i*4]; + const unsigned int bverts = m[0]; + const int nverts = (int)m[1]; + const float* verts = &dmesh.verts[bverts*3]; + for (int j = 0; j < nverts; ++j) + dd->vertex(&verts[j*3], colv); + } + dd->end(); +} diff --git a/extern/recastnavigation/DebugUtils/Source/RecastDump.cpp b/extern/recastnavigation/DebugUtils/Source/RecastDump.cpp new file mode 100644 index 000000000..209382515 --- /dev/null +++ b/extern/recastnavigation/DebugUtils/Source/RecastDump.cpp @@ -0,0 +1,451 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include +#include +#include +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastDump.h" + + +duFileIO::~duFileIO() +{ + // Empty +} + +static void ioprintf(duFileIO* io, const char* format, ...) +{ + char line[256]; + va_list ap; + va_start(ap, format); + const int n = vsnprintf(line, sizeof(line), format, ap); + va_end(ap); + if (n > 0) + io->write(line, sizeof(char)*n); +} + +bool duDumpPolyMeshToObj(rcPolyMesh& pmesh, duFileIO* io) +{ + if (!io) + { + printf("duDumpPolyMeshToObj: input IO is null.\n"); + return false; + } + if (!io->isWriting()) + { + printf("duDumpPolyMeshToObj: input IO not writing.\n"); + return false; + } + + const int nvp = pmesh.nvp; + const float cs = pmesh.cs; + const float ch = pmesh.ch; + const float* orig = pmesh.bmin; + + ioprintf(io, "# Recast Navmesh\n"); + ioprintf(io, "o NavMesh\n"); + + ioprintf(io, "\n"); + + for (int i = 0; i < pmesh.nverts; ++i) + { + const unsigned short* v = &pmesh.verts[i*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+1)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + ioprintf(io, "v %f %f %f\n", x,y,z); + } + + ioprintf(io, "\n"); + + for (int i = 0; i < pmesh.npolys; ++i) + { + const unsigned short* p = &pmesh.polys[i*nvp*2]; + for (int j = 2; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + ioprintf(io, "f %d %d %d\n", p[0]+1, p[j-1]+1, p[j]+1); + } + } + + return true; +} + +bool duDumpPolyMeshDetailToObj(rcPolyMeshDetail& dmesh, duFileIO* io) +{ + if (!io) + { + printf("duDumpPolyMeshDetailToObj: input IO is null.\n"); + return false; + } + if (!io->isWriting()) + { + printf("duDumpPolyMeshDetailToObj: input IO not writing.\n"); + return false; + } + + ioprintf(io, "# Recast Navmesh\n"); + ioprintf(io, "o NavMesh\n"); + + ioprintf(io, "\n"); + + for (int i = 0; i < dmesh.nverts; ++i) + { + const float* v = &dmesh.verts[i*3]; + ioprintf(io, "v %f %f %f\n", v[0],v[1],v[2]); + } + + ioprintf(io, "\n"); + + for (int i = 0; i < dmesh.nmeshes; ++i) + { + const unsigned int* m = &dmesh.meshes[i*4]; + const unsigned int bverts = m[0]; + const unsigned int btris = m[2]; + const unsigned int ntris = m[3]; + const unsigned char* tris = &dmesh.tris[btris*4]; + for (unsigned int j = 0; j < ntris; ++j) + { + ioprintf(io, "f %d %d %d\n", + (int)(bverts+tris[j*4+0])+1, + (int)(bverts+tris[j*4+1])+1, + (int)(bverts+tris[j*4+2])+1); + } + } + + return true; +} + +static const int CSET_MAGIC = ('c' << 24) | ('s' << 16) | ('e' << 8) | 't'; +static const int CSET_VERSION = 2; + +bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io) +{ + if (!io) + { + printf("duDumpContourSet: input IO is null.\n"); + return false; + } + if (!io->isWriting()) + { + printf("duDumpContourSet: input IO not writing.\n"); + return false; + } + + io->write(&CSET_MAGIC, sizeof(CSET_MAGIC)); + io->write(&CSET_VERSION, sizeof(CSET_VERSION)); + + io->write(&cset.nconts, sizeof(cset.nconts)); + + io->write(cset.bmin, sizeof(cset.bmin)); + io->write(cset.bmax, sizeof(cset.bmax)); + + io->write(&cset.cs, sizeof(cset.cs)); + io->write(&cset.ch, sizeof(cset.ch)); + + io->write(&cset.width, sizeof(cset.width)); + io->write(&cset.height, sizeof(cset.height)); + io->write(&cset.borderSize, sizeof(cset.borderSize)); + + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& cont = cset.conts[i]; + io->write(&cont.nverts, sizeof(cont.nverts)); + io->write(&cont.nrverts, sizeof(cont.nrverts)); + io->write(&cont.reg, sizeof(cont.reg)); + io->write(&cont.area, sizeof(cont.area)); + io->write(cont.verts, sizeof(int)*4*cont.nverts); + io->write(cont.rverts, sizeof(int)*4*cont.nrverts); + } + + return true; +} + +bool duReadContourSet(struct rcContourSet& cset, duFileIO* io) +{ + if (!io) + { + printf("duReadContourSet: input IO is null.\n"); + return false; + } + if (!io->isReading()) + { + printf("duReadContourSet: input IO not reading.\n"); + return false; + } + + int magic = 0; + int version = 0; + + io->read(&magic, sizeof(magic)); + io->read(&version, sizeof(version)); + + if (magic != CSET_MAGIC) + { + printf("duReadContourSet: Bad voodoo.\n"); + return false; + } + if (version != CSET_VERSION) + { + printf("duReadContourSet: Bad version.\n"); + return false; + } + + io->read(&cset.nconts, sizeof(cset.nconts)); + + cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*cset.nconts, RC_ALLOC_PERM); + if (!cset.conts) + { + printf("duReadContourSet: Could not alloc contours (%d)\n", cset.nconts); + return false; + } + memset(cset.conts, 0, sizeof(rcContour)*cset.nconts); + + io->read(cset.bmin, sizeof(cset.bmin)); + io->read(cset.bmax, sizeof(cset.bmax)); + + io->read(&cset.cs, sizeof(cset.cs)); + io->read(&cset.ch, sizeof(cset.ch)); + + io->read(&cset.width, sizeof(cset.width)); + io->read(&cset.height, sizeof(cset.height)); + io->read(&cset.borderSize, sizeof(cset.borderSize)); + + for (int i = 0; i < cset.nconts; ++i) + { + rcContour& cont = cset.conts[i]; + io->read(&cont.nverts, sizeof(cont.nverts)); + io->read(&cont.nrverts, sizeof(cont.nrverts)); + io->read(&cont.reg, sizeof(cont.reg)); + io->read(&cont.area, sizeof(cont.area)); + + cont.verts = (int*)rcAlloc(sizeof(int)*4*cont.nverts, RC_ALLOC_PERM); + if (!cont.verts) + { + printf("duReadContourSet: Could not alloc contour verts (%d)\n", cont.nverts); + return false; + } + cont.rverts = (int*)rcAlloc(sizeof(int)*4*cont.nrverts, RC_ALLOC_PERM); + if (!cont.rverts) + { + printf("duReadContourSet: Could not alloc contour rverts (%d)\n", cont.nrverts); + return false; + } + + io->read(cont.verts, sizeof(int)*4*cont.nverts); + io->read(cont.rverts, sizeof(int)*4*cont.nrverts); + } + + return true; +} + + +static const int CHF_MAGIC = ('r' << 24) | ('c' << 16) | ('h' << 8) | 'f'; +static const int CHF_VERSION = 3; + +bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io) +{ + if (!io) + { + printf("duDumpCompactHeightfield: input IO is null.\n"); + return false; + } + if (!io->isWriting()) + { + printf("duDumpCompactHeightfield: input IO not writing.\n"); + return false; + } + + io->write(&CHF_MAGIC, sizeof(CHF_MAGIC)); + io->write(&CHF_VERSION, sizeof(CHF_VERSION)); + + io->write(&chf.width, sizeof(chf.width)); + io->write(&chf.height, sizeof(chf.height)); + io->write(&chf.spanCount, sizeof(chf.spanCount)); + + io->write(&chf.walkableHeight, sizeof(chf.walkableHeight)); + io->write(&chf.walkableClimb, sizeof(chf.walkableClimb)); + io->write(&chf.borderSize, sizeof(chf.borderSize)); + + io->write(&chf.maxDistance, sizeof(chf.maxDistance)); + io->write(&chf.maxRegions, sizeof(chf.maxRegions)); + + io->write(chf.bmin, sizeof(chf.bmin)); + io->write(chf.bmax, sizeof(chf.bmax)); + + io->write(&chf.cs, sizeof(chf.cs)); + io->write(&chf.ch, sizeof(chf.ch)); + + int tmp = 0; + if (chf.cells) tmp |= 1; + if (chf.spans) tmp |= 2; + if (chf.dist) tmp |= 4; + if (chf.areas) tmp |= 8; + + io->write(&tmp, sizeof(tmp)); + + if (chf.cells) + io->write(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height); + if (chf.spans) + io->write(chf.spans, sizeof(rcCompactSpan)*chf.spanCount); + if (chf.dist) + io->write(chf.dist, sizeof(unsigned short)*chf.spanCount); + if (chf.areas) + io->write(chf.areas, sizeof(unsigned char)*chf.spanCount); + + return true; +} + +bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io) +{ + if (!io) + { + printf("duReadCompactHeightfield: input IO is null.\n"); + return false; + } + if (!io->isReading()) + { + printf("duReadCompactHeightfield: input IO not reading.\n"); + return false; + } + + int magic = 0; + int version = 0; + + io->read(&magic, sizeof(magic)); + io->read(&version, sizeof(version)); + + if (magic != CHF_MAGIC) + { + printf("duReadCompactHeightfield: Bad voodoo.\n"); + return false; + } + if (version != CHF_VERSION) + { + printf("duReadCompactHeightfield: Bad version.\n"); + return false; + } + + io->read(&chf.width, sizeof(chf.width)); + io->read(&chf.height, sizeof(chf.height)); + io->read(&chf.spanCount, sizeof(chf.spanCount)); + + io->read(&chf.walkableHeight, sizeof(chf.walkableHeight)); + io->read(&chf.walkableClimb, sizeof(chf.walkableClimb)); + io->read(&chf.borderSize, sizeof(chf.borderSize)); + + io->read(&chf.maxDistance, sizeof(chf.maxDistance)); + io->read(&chf.maxRegions, sizeof(chf.maxRegions)); + + io->read(chf.bmin, sizeof(chf.bmin)); + io->read(chf.bmax, sizeof(chf.bmax)); + + io->read(&chf.cs, sizeof(chf.cs)); + io->read(&chf.ch, sizeof(chf.ch)); + + int tmp = 0; + io->read(&tmp, sizeof(tmp)); + + if (tmp & 1) + { + chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*chf.width*chf.height, RC_ALLOC_PERM); + if (!chf.cells) + { + printf("duReadCompactHeightfield: Could not alloc cells (%d)\n", chf.width*chf.height); + return false; + } + io->read(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height); + } + if (tmp & 2) + { + chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*chf.spanCount, RC_ALLOC_PERM); + if (!chf.spans) + { + printf("duReadCompactHeightfield: Could not alloc spans (%d)\n", chf.spanCount); + return false; + } + io->read(chf.spans, sizeof(rcCompactSpan)*chf.spanCount); + } + if (tmp & 4) + { + chf.dist = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_PERM); + if (!chf.dist) + { + printf("duReadCompactHeightfield: Could not alloc dist (%d)\n", chf.spanCount); + return false; + } + io->read(chf.dist, sizeof(unsigned short)*chf.spanCount); + } + if (tmp & 8) + { + chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_PERM); + if (!chf.areas) + { + printf("duReadCompactHeightfield: Could not alloc areas (%d)\n", chf.spanCount); + return false; + } + io->read(chf.areas, sizeof(unsigned char)*chf.spanCount); + } + + return true; +} + + +static void logLine(rcContext& ctx, rcTimerLabel label, const char* name, const float pc) +{ + const int t = ctx.getAccumulatedTime(label); + if (t < 0) return; + ctx.log(RC_LOG_PROGRESS, "%s:\t%.2fms\t(%.1f%%)", name, t/1000.0f, t*pc); +} + +void duLogBuildTimes(rcContext& ctx, const int totalTimeUsec) +{ + const float pc = 100.0f / totalTimeUsec; + + ctx.log(RC_LOG_PROGRESS, "Build Times"); + logLine(ctx, RC_TIMER_RASTERIZE_TRIANGLES, "- Rasterize", pc); + logLine(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD, "- Build Compact", pc); + logLine(ctx, RC_TIMER_FILTER_BORDER, "- Filter Border", pc); + logLine(ctx, RC_TIMER_FILTER_WALKABLE, "- Filter Walkable", pc); + logLine(ctx, RC_TIMER_ERODE_AREA, "- Erode Area", pc); + logLine(ctx, RC_TIMER_MEDIAN_AREA, "- Median Area", pc); + logLine(ctx, RC_TIMER_MARK_BOX_AREA, "- Mark Box Area", pc); + logLine(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA, "- Mark Convex Area", pc); + logLine(ctx, RC_TIMER_MARK_CYLINDER_AREA, "- Mark Cylinder Area", pc); + logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD, "- Build Distance Field", pc); + logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST, " - Distance", pc); + logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR, " - Blur", pc); + logLine(ctx, RC_TIMER_BUILD_REGIONS, "- Build Regions", pc); + logLine(ctx, RC_TIMER_BUILD_REGIONS_WATERSHED, " - Watershed", pc); + logLine(ctx, RC_TIMER_BUILD_REGIONS_EXPAND, " - Expand", pc); + logLine(ctx, RC_TIMER_BUILD_REGIONS_FLOOD, " - Find Basins", pc); + logLine(ctx, RC_TIMER_BUILD_REGIONS_FILTER, " - Filter", pc); + logLine(ctx, RC_TIMER_BUILD_LAYERS, "- Build Layers", pc); + logLine(ctx, RC_TIMER_BUILD_CONTOURS, "- Build Contours", pc); + logLine(ctx, RC_TIMER_BUILD_CONTOURS_TRACE, " - Trace", pc); + logLine(ctx, RC_TIMER_BUILD_CONTOURS_SIMPLIFY, " - Simplify", pc); + logLine(ctx, RC_TIMER_BUILD_POLYMESH, "- Build Polymesh", pc); + logLine(ctx, RC_TIMER_BUILD_POLYMESHDETAIL, "- Build Polymesh Detail", pc); + logLine(ctx, RC_TIMER_MERGE_POLYMESH, "- Merge Polymeshes", pc); + logLine(ctx, RC_TIMER_MERGE_POLYMESHDETAIL, "- Merge Polymesh Details", pc); + ctx.log(RC_LOG_PROGRESS, "=== TOTAL:\t%.2fms", totalTimeUsec/1000.0f); +} + diff --git a/extern/recastnavigation/Detour/CMakeLists.txt b/extern/recastnavigation/Detour/CMakeLists.txt new file mode 100644 index 000000000..de88111d5 --- /dev/null +++ b/extern/recastnavigation/Detour/CMakeLists.txt @@ -0,0 +1,29 @@ +file(GLOB SOURCES Source/*.cpp) + +if(RECASTNAVIGATION_STATIC) + add_library(Detour STATIC ${SOURCES}) +else() + add_library(Detour SHARED ${SOURCES}) +endif() + +add_library(RecastNavigation::Detour ALIAS Detour) + +set(Detour_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include") + +target_include_directories(Detour PUBLIC + "$" +) + +set_target_properties(Detour PROPERTIES + SOVERSION ${SOVERSION} + VERSION ${VERSION} + ) + +install(TARGETS Detour + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + COMPONENT library + ) + +file(GLOB INCLUDES Include/*.h) +install(FILES ${INCLUDES} DESTINATION include) diff --git a/extern/recastnavigation/Detour/Include/DetourAlloc.h b/extern/recastnavigation/Detour/Include/DetourAlloc.h new file mode 100644 index 000000000..f87b454ac --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourAlloc.h @@ -0,0 +1,61 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURALLOCATOR_H +#define DETOURALLOCATOR_H + +#include + +/// Provides hint values to the memory allocator on how long the +/// memory is expected to be used. +enum dtAllocHint +{ + DT_ALLOC_PERM, ///< Memory persist after a function call. + DT_ALLOC_TEMP ///< Memory used temporarily within a function. +}; + +/// A memory allocation function. +// @param[in] size The size, in bytes of memory, to allocate. +// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use. +// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see dtAllocSetCustom +typedef void* (dtAllocFunc)(size_t size, dtAllocHint hint); + +/// A memory deallocation function. +/// @param[in] ptr A pointer to a memory block previously allocated using #dtAllocFunc. +/// @see dtAllocSetCustom +typedef void (dtFreeFunc)(void* ptr); + +/// Sets the base custom allocation functions to be used by Detour. +/// @param[in] allocFunc The memory allocation function to be used by #dtAlloc +/// @param[in] freeFunc The memory de-allocation function to be used by #dtFree +void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc); + +/// Allocates a memory block. +/// @param[in] size The size, in bytes of memory, to allocate. +/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use. +/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see dtFree +void* dtAlloc(size_t size, dtAllocHint hint); + +/// Deallocates a memory block. +/// @param[in] ptr A pointer to a memory block previously allocated using #dtAlloc. +/// @see dtAlloc +void dtFree(void* ptr); + +#endif diff --git a/extern/recastnavigation/Detour/Include/DetourAssert.h b/extern/recastnavigation/Detour/Include/DetourAssert.h new file mode 100644 index 000000000..e05fd66fa --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourAssert.h @@ -0,0 +1,56 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURASSERT_H +#define DETOURASSERT_H + +// Note: This header file's only purpose is to include define assert. +// Feel free to change the file and include your own implementation instead. + +#ifdef NDEBUG + +// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ +# define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) + +#else + +/// An assertion failure function. +// @param[in] expression asserted expression. +// @param[in] file Filename of the failed assertion. +// @param[in] line Line number of the failed assertion. +/// @see dtAssertFailSetCustom +typedef void (dtAssertFailFunc)(const char* expression, const char* file, int line); + +/// Sets the base custom assertion failure function to be used by Detour. +/// @param[in] assertFailFunc The function to be invoked in case of failure of #dtAssert +void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc); + +/// Gets the base custom assertion failure function to be used by Detour. +dtAssertFailFunc* dtAssertFailGetCustom(); + +# include +# define dtAssert(expression) \ + { \ + dtAssertFailFunc* failFunc = dtAssertFailGetCustom(); \ + if(failFunc == NULL) { assert(expression); } \ + else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \ + } + +#endif + +#endif // DETOURASSERT_H diff --git a/extern/recastnavigation/Detour/Include/DetourCommon.h b/extern/recastnavigation/Detour/Include/DetourCommon.h new file mode 100644 index 000000000..739858cd9 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourCommon.h @@ -0,0 +1,550 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURCOMMON_H +#define DETOURCOMMON_H + +#include "DetourMath.h" +#include + +/** +@defgroup detour Detour + +Members in this module are used to create, manipulate, and query navigation +meshes. + +@note This is a summary list of members. Use the index or search +feature to find minor members. +*/ + +/// @name General helper functions +/// @{ + +/// Used to ignore a function parameter. VS complains about unused parameters +/// and this silences the warning. +/// @param [in] _ Unused parameter +template void dtIgnoreUnused(const T&) { } + +/// Swaps the values of the two parameters. +/// @param[in,out] a Value A +/// @param[in,out] b Value B +template inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; } + +/// Returns the minimum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The minimum of the two values. +template inline T dtMin(T a, T b) { return a < b ? a : b; } + +/// Returns the maximum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The maximum of the two values. +template inline T dtMax(T a, T b) { return a > b ? a : b; } + +/// Returns the absolute value. +/// @param[in] a The value. +/// @return The absolute value of the specified value. +template inline T dtAbs(T a) { return a < 0 ? -a : a; } + +/// Returns the square of the value. +/// @param[in] a The value. +/// @return The square of the value. +template inline T dtSqr(T a) { return a*a; } + +/// Clamps the value to the specified range. +/// @param[in] v The value to clamp. +/// @param[in] mn The minimum permitted return value. +/// @param[in] mx The maximum permitted return value. +/// @return The value, clamped to the specified range. +template inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } + +/// @} +/// @name Vector helper functions. +/// @{ + +/// Derives the cross product of two vectors. (@p v1 x @p v2) +/// @param[out] dest The cross product. [(x, y, z)] +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] +inline void dtVcross(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; + dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; + dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; +} + +/// Derives the dot product of two vectors. (@p v1 . @p v2) +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] +/// @return The dot product. +inline float dtVdot(const float* v1, const float* v2) +{ + return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; +} + +/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s)) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] +/// @param[in] s The amount to scale @p v2 by before adding to @p v1. +inline void dtVmad(float* dest, const float* v1, const float* v2, const float s) +{ + dest[0] = v1[0]+v2[0]*s; + dest[1] = v1[1]+v2[1]*s; + dest[2] = v1[2]+v2[2]*s; +} + +/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2) +/// @param[out] dest The result vector. [(x, y, x)] +/// @param[in] v1 The starting vector. +/// @param[in] v2 The destination vector. +/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0] +inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t) +{ + dest[0] = v1[0]+(v2[0]-v1[0])*t; + dest[1] = v1[1]+(v2[1]-v1[1])*t; + dest[2] = v1[2]+(v2[2]-v1[2])*t; +} + +/// Performs a vector addition. (@p v1 + @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] +inline void dtVadd(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]+v2[0]; + dest[1] = v1[1]+v2[1]; + dest[2] = v1[2]+v2[2]; +} + +/// Performs a vector subtraction. (@p v1 - @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] +inline void dtVsub(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]-v2[0]; + dest[1] = v1[1]-v2[1]; + dest[2] = v1[2]-v2[2]; +} + +/// Scales the vector by the specified value. (@p v * @p t) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v The vector to scale. [(x, y, z)] +/// @param[in] t The scaling factor. +inline void dtVscale(float* dest, const float* v, const float t) +{ + dest[0] = v[0]*t; + dest[1] = v[1]*t; + dest[2] = v[2]*t; +} + +/// Selects the minimum value of each element from the specified vectors. +/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] +inline void dtVmin(float* mn, const float* v) +{ + mn[0] = dtMin(mn[0], v[0]); + mn[1] = dtMin(mn[1], v[1]); + mn[2] = dtMin(mn[2], v[2]); +} + +/// Selects the maximum value of each element from the specified vectors. +/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] +inline void dtVmax(float* mx, const float* v) +{ + mx[0] = dtMax(mx[0], v[0]); + mx[1] = dtMax(mx[1], v[1]); + mx[2] = dtMax(mx[2], v[2]); +} + +/// Sets the vector elements to the specified values. +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] x The x-value of the vector. +/// @param[in] y The y-value of the vector. +/// @param[in] z The z-value of the vector. +inline void dtVset(float* dest, const float x, const float y, const float z) +{ + dest[0] = x; dest[1] = y; dest[2] = z; +} + +/// Performs a vector copy. +/// @param[out] dest The result. [(x, y, z)] +/// @param[in] a The vector to copy. [(x, y, z)] +inline void dtVcopy(float* dest, const float* a) +{ + dest[0] = a[0]; + dest[1] = a[1]; + dest[2] = a[2]; +} + +/// Derives the scalar length of the vector. +/// @param[in] v The vector. [(x, y, z)] +/// @return The scalar length of the vector. +inline float dtVlen(const float* v) +{ + return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); +} + +/// Derives the square of the scalar length of the vector. (len * len) +/// @param[in] v The vector. [(x, y, z)] +/// @return The square of the scalar length of the vector. +inline float dtVlenSqr(const float* v) +{ + return v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; +} + +/// Returns the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The distance between the two points. +inline float dtVdist(const float* v1, const float* v2) +{ + const float dx = v2[0] - v1[0]; + const float dy = v2[1] - v1[1]; + const float dz = v2[2] - v1[2]; + return dtMathSqrtf(dx*dx + dy*dy + dz*dz); +} + +/// Returns the square of the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The square of the distance between the two points. +inline float dtVdistSqr(const float* v1, const float* v2) +{ + const float dx = v2[0] - v1[0]; + const float dy = v2[1] - v1[1]; + const float dz = v2[2] - v1[2]; + return dx*dx + dy*dy + dz*dz; +} + +/// Derives the distance between the specified points on the xz-plane. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The distance between the point on the xz-plane. +/// +/// The vectors are projected onto the xz-plane, so the y-values are ignored. +inline float dtVdist2D(const float* v1, const float* v2) +{ + const float dx = v2[0] - v1[0]; + const float dz = v2[2] - v1[2]; + return dtMathSqrtf(dx*dx + dz*dz); +} + +/// Derives the square of the distance between the specified points on the xz-plane. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The square of the distance between the point on the xz-plane. +inline float dtVdist2DSqr(const float* v1, const float* v2) +{ + const float dx = v2[0] - v1[0]; + const float dz = v2[2] - v1[2]; + return dx*dx + dz*dz; +} + +/// Normalizes the vector. +/// @param[in,out] v The vector to normalize. [(x, y, z)] +inline void dtVnormalize(float* v) +{ + float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2])); + v[0] *= d; + v[1] *= d; + v[2] *= d; +} + +/// Performs a 'sloppy' colocation check of the specified points. +/// @param[in] p0 A point. [(x, y, z)] +/// @param[in] p1 A point. [(x, y, z)] +/// @return True if the points are considered to be at the same location. +/// +/// Basically, this function will return true if the specified points are +/// close enough to eachother to be considered colocated. +inline bool dtVequal(const float* p0, const float* p1) +{ + static const float thr = dtSqr(1.0f/16384.0f); + const float d = dtVdistSqr(p0, p1); + return d < thr; +} + +/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v) +/// @param[in] u A vector [(x, y, z)] +/// @param[in] v A vector [(x, y, z)] +/// @return The dot product on the xz-plane. +/// +/// The vectors are projected onto the xz-plane, so the y-values are ignored. +inline float dtVdot2D(const float* u, const float* v) +{ + return u[0]*v[0] + u[2]*v[2]; +} + +/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz) +/// @param[in] u The LHV vector [(x, y, z)] +/// @param[in] v The RHV vector [(x, y, z)] +/// @return The dot product on the xz-plane. +/// +/// The vectors are projected onto the xz-plane, so the y-values are ignored. +inline float dtVperp2D(const float* u, const float* v) +{ + return u[2]*v[0] - u[0]*v[2]; +} + +/// @} +/// @name Computational geometry helper functions. +/// @{ + +/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C. +/// @param[in] a Vertex A. [(x, y, z)] +/// @param[in] b Vertex B. [(x, y, z)] +/// @param[in] c Vertex C. [(x, y, z)] +/// @return The signed xz-plane area of the triangle. +inline float dtTriArea2D(const float* a, const float* b, const float* c) +{ + const float abx = b[0] - a[0]; + const float abz = b[2] - a[2]; + const float acx = c[0] - a[0]; + const float acz = c[2] - a[2]; + return acx*abz - abx*acz; +} + +/// Determines if two axis-aligned bounding boxes overlap. +/// @param[in] amin Minimum bounds of box A. [(x, y, z)] +/// @param[in] amax Maximum bounds of box A. [(x, y, z)] +/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] +/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] +/// @return True if the two AABB's overlap. +/// @see dtOverlapBounds +inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3], + const unsigned short bmin[3], const unsigned short bmax[3]) +{ + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; +} + +/// Determines if two axis-aligned bounding boxes overlap. +/// @param[in] amin Minimum bounds of box A. [(x, y, z)] +/// @param[in] amax Maximum bounds of box A. [(x, y, z)] +/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] +/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] +/// @return True if the two AABB's overlap. +/// @see dtOverlapQuantBounds +inline bool dtOverlapBounds(const float* amin, const float* amax, + const float* bmin, const float* bmax) +{ + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; +} + +/// Derives the closest point on a triangle from the specified reference point. +/// @param[out] closest The closest point on the triangle. +/// @param[in] p The reference point from which to test. [(x, y, z)] +/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] +/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] +/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] +void dtClosestPtPointTriangle(float* closest, const float* p, + const float* a, const float* b, const float* c); + +/// Derives the y-axis height of the closest point on the triangle from the specified reference point. +/// @param[in] p The reference point from which to test. [(x, y, z)] +/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] +/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] +/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] +/// @param[out] h The resulting height. +bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h); + +bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, + const float* verts, int nverts, + float& tmin, float& tmax, + int& segMin, int& segMax); + +bool dtIntersectSegSeg2D(const float* ap, const float* aq, + const float* bp, const float* bq, + float& s, float& t); + +/// Determines if the specified point is inside the convex polygon on the xz-plane. +/// @param[in] pt The point to check. [(x, y, z)] +/// @param[in] verts The polygon vertices. [(x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices. [Limit: >= 3] +/// @return True if the point is inside the polygon. +bool dtPointInPolygon(const float* pt, const float* verts, const int nverts); + +bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, + float* ed, float* et); + +float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t); + +/// Derives the centroid of a convex polygon. +/// @param[out] tc The centroid of the polgyon. [(x, y, z)] +/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx] +/// @param[in] nidx The number of indices in the polygon. [Limit: >= 3] +/// @param[in] verts The polygon vertices. [(x, y, z) * vertCount] +void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts); + +/// Determines if the two convex polygons overlap on the xz-plane. +/// @param[in] polya Polygon A vertices. [(x, y, z) * @p npolya] +/// @param[in] npolya The number of vertices in polygon A. +/// @param[in] polyb Polygon B vertices. [(x, y, z) * @p npolyb] +/// @param[in] npolyb The number of vertices in polygon B. +/// @return True if the two polygons overlap. +bool dtOverlapPolyPoly2D(const float* polya, const int npolya, + const float* polyb, const int npolyb); + +/// @} +/// @name Miscellanious functions. +/// @{ + +inline unsigned int dtNextPow2(unsigned int v) +{ + v--; + v |= v >> 1; + v |= v >> 2; + v |= v >> 4; + v |= v >> 8; + v |= v >> 16; + v++; + return v; +} + +inline unsigned int dtIlog2(unsigned int v) +{ + unsigned int r; + unsigned int shift; + r = (v > 0xffff) << 4; v >>= r; + shift = (v > 0xff) << 3; v >>= shift; r |= shift; + shift = (v > 0xf) << 2; v >>= shift; r |= shift; + shift = (v > 0x3) << 1; v >>= shift; r |= shift; + r |= (v >> 1); + return r; +} + +inline int dtAlign4(int x) { return (x+3) & ~3; } + +inline int dtOppositeTile(int side) { return (side+4) & 0x7; } + +inline void dtSwapByte(unsigned char* a, unsigned char* b) +{ + unsigned char tmp = *a; + *a = *b; + *b = tmp; +} + +inline void dtSwapEndian(unsigned short* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+1); +} + +inline void dtSwapEndian(short* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+1); +} + +inline void dtSwapEndian(unsigned int* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); +} + +inline void dtSwapEndian(int* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); +} + +inline void dtSwapEndian(float* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); +} + +void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, + const float s, const float t, float* out); + +template +TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(const unsigned char*& buffer, const size_t distanceToAdvance) +{ + TypeToRetrieveAs* returnPointer = reinterpret_cast(buffer); + buffer += distanceToAdvance; + return returnPointer; +} + +template +TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(unsigned char*& buffer, const size_t distanceToAdvance) +{ + TypeToRetrieveAs* returnPointer = reinterpret_cast(buffer); + buffer += distanceToAdvance; + return returnPointer; +} + + +/// @} + +#endif // DETOURCOMMON_H + +/////////////////////////////////////////////////////////////////////////// + +// This section contains detailed documentation for members that don't have +// a source file. It reduces clutter in the main section of the header. + +/** + +@fn float dtTriArea2D(const float* a, const float* b, const float* c) +@par + +The vertices are projected onto the xz-plane, so the y-values are ignored. + +This is a low cost function than can be used for various purposes. Its main purpose +is for point/line relationship testing. + +In all cases: A value of zero indicates that all vertices are collinear or represent the same point. +(On the xz-plane.) + +When used for point/line relationship tests, AB usually represents a line against which +the C point is to be tested. In this case: + +A positive value indicates that point C is to the left of line AB, looking from A toward B.
+A negative value indicates that point C is to the right of lineAB, looking from A toward B. + +When used for evaluating a triangle: + +The absolute value of the return value is two times the area of the triangle when it is +projected onto the xz-plane. + +A positive return value indicates: + +
    +
  • The vertices are wrapped in the normal Detour wrap direction.
    • +
  • The triangle's 3D face normal is in the general up direction.
    • +
+ +A negative return value indicates: + +
    +
  • The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)
    • +
  • The triangle's 3D face normal is in the general down direction.
    • +
+ +*/ diff --git a/extern/recastnavigation/Detour/Include/DetourMath.h b/extern/recastnavigation/Detour/Include/DetourMath.h new file mode 100644 index 000000000..95e14f884 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourMath.h @@ -0,0 +1,20 @@ +/** +@defgroup detour Detour + +Members in this module are wrappers around the standard math library +*/ + +#ifndef DETOURMATH_H +#define DETOURMATH_H + +#include + +inline float dtMathFabsf(float x) { return fabsf(x); } +inline float dtMathSqrtf(float x) { return sqrtf(x); } +inline float dtMathFloorf(float x) { return floorf(x); } +inline float dtMathCeilf(float x) { return ceilf(x); } +inline float dtMathCosf(float x) { return cosf(x); } +inline float dtMathSinf(float x) { return sinf(x); } +inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); } + +#endif diff --git a/extern/recastnavigation/Detour/Include/DetourNavMesh.h b/extern/recastnavigation/Detour/Include/DetourNavMesh.h new file mode 100644 index 000000000..02ee5e78c --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourNavMesh.h @@ -0,0 +1,765 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURNAVMESH_H +#define DETOURNAVMESH_H + +#include "DetourAlloc.h" +#include "DetourStatus.h" + +// Undefine (or define in a build cofnig) the following line to use 64bit polyref. +// Generally not needed, useful for very large worlds. +// Note: tiles build using 32bit refs are not compatible with 64bit refs! +//#define DT_POLYREF64 1 + +#ifdef DT_POLYREF64 +// TODO: figure out a multiplatform version of uint64_t +// - maybe: https://code.google.com/p/msinttypes/ +// - or: http://www.azillionmonkeys.com/qed/pstdint.h +#include +#endif + +// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef. +// It is also recommended that you change dtHashRef() to a proper 64-bit hash. + +/// A handle to a polygon within a navigation mesh tile. +/// @ingroup detour +#ifdef DT_POLYREF64 +static const unsigned int DT_SALT_BITS = 16; +static const unsigned int DT_TILE_BITS = 28; +static const unsigned int DT_POLY_BITS = 20; +typedef uint64_t dtPolyRef; +#else +typedef unsigned int dtPolyRef; +#endif + +/// A handle to a tile within a navigation mesh. +/// @ingroup detour +#ifdef DT_POLYREF64 +typedef uint64_t dtTileRef; +#else +typedef unsigned int dtTileRef; +#endif + +/// The maximum number of vertices per navigation polygon. +/// @ingroup detour +static const int DT_VERTS_PER_POLYGON = 6; + +/// @{ +/// @name Tile Serialization Constants +/// These constants are used to detect whether a navigation tile's data +/// and state format is compatible with the current build. +/// + +/// A magic number used to detect compatibility of navigation tile data. +static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; + +/// A version number used to detect compatibility of navigation tile data. +static const int DT_NAVMESH_VERSION = 7; + +/// A magic number used to detect the compatibility of navigation tile states. +static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; + +/// A version number used to detect compatibility of navigation tile states. +static const int DT_NAVMESH_STATE_VERSION = 1; + +/// @} + +/// A flag that indicates that an entity links to an external entity. +/// (E.g. A polygon edge is a portal that links to another polygon.) +static const unsigned short DT_EXT_LINK = 0x8000; + +/// A value that indicates the entity does not link to anything. +static const unsigned int DT_NULL_LINK = 0xffffffff; + +/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.) +static const unsigned int DT_OFFMESH_CON_BIDIR = 1; + +/// The maximum number of user defined area ids. +/// @ingroup detour +static const int DT_MAX_AREAS = 64; + +/// Tile flags used for various functions and fields. +/// For an example, see dtNavMesh::addTile(). +enum dtTileFlags +{ + /// The navigation mesh owns the tile memory and is responsible for freeing it. + DT_TILE_FREE_DATA = 0x01, +}; + +/// Vertex flags returned by dtNavMeshQuery::findStraightPath. +enum dtStraightPathFlags +{ + DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path. + DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path. + DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection. +}; + +/// Options for dtNavMeshQuery::findStraightPath. +enum dtStraightPathOptions +{ + DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01, ///< Add a vertex at every polygon edge crossing where area changes. + DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, ///< Add a vertex at every polygon edge crossing. +}; + + +/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath +enum dtFindPathOptions +{ + DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs) +}; + +/// Options for dtNavMeshQuery::raycast +enum dtRaycastOptions +{ + DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost +}; + + +/// Limit raycasting during any angle pahfinding +/// The limit is given as a multiple of the character radius +static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f; + +/// Flags representing the type of a navigation mesh polygon. +enum dtPolyTypes +{ + /// The polygon is a standard convex polygon that is part of the surface of the mesh. + DT_POLYTYPE_GROUND = 0, + /// The polygon is an off-mesh connection consisting of two vertices. + DT_POLYTYPE_OFFMESH_CONNECTION = 1, +}; + + +/// Defines a polygon within a dtMeshTile object. +/// @ingroup detour +struct dtPoly +{ + /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.) + unsigned int firstLink; + + /// The indices of the polygon's vertices. + /// The actual vertices are located in dtMeshTile::verts. + unsigned short verts[DT_VERTS_PER_POLYGON]; + + /// Packed data representing neighbor polygons references and flags for each edge. + unsigned short neis[DT_VERTS_PER_POLYGON]; + + /// The user defined polygon flags. + unsigned short flags; + + /// The number of vertices in the polygon. + unsigned char vertCount; + + /// The bit packed area id and polygon type. + /// @note Use the structure's set and get methods to acess this value. + unsigned char areaAndtype; + + /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS] + inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); } + + /// Sets the polygon type. (See: #dtPolyTypes.) + inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); } + + /// Gets the user defined area id. + inline unsigned char getArea() const { return areaAndtype & 0x3f; } + + /// Gets the polygon type. (See: #dtPolyTypes) + inline unsigned char getType() const { return areaAndtype >> 6; } +}; + +/// Defines the location of detail sub-mesh data within a dtMeshTile. +struct dtPolyDetail +{ + unsigned int vertBase; ///< The offset of the vertices in the dtMeshTile::detailVerts array. + unsigned int triBase; ///< The offset of the triangles in the dtMeshTile::detailTris array. + unsigned char vertCount; ///< The number of vertices in the sub-mesh. + unsigned char triCount; ///< The number of triangles in the sub-mesh. +}; + +/// Defines a link between polygons. +/// @note This structure is rarely if ever used by the end user. +/// @see dtMeshTile +struct dtLink +{ + dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.) + unsigned int next; ///< Index of the next link. + unsigned char edge; ///< Index of the polygon edge that owns this link. + unsigned char side; ///< If a boundary link, defines on which side the link is. + unsigned char bmin; ///< If a boundary link, defines the minimum sub-edge area. + unsigned char bmax; ///< If a boundary link, defines the maximum sub-edge area. +}; + +/// Bounding volume node. +/// @note This structure is rarely if ever used by the end user. +/// @see dtMeshTile +struct dtBVNode +{ + unsigned short bmin[3]; ///< Minimum bounds of the node's AABB. [(x, y, z)] + unsigned short bmax[3]; ///< Maximum bounds of the node's AABB. [(x, y, z)] + int i; ///< The node's index. (Negative for escape sequence.) +}; + +/// Defines an navigation mesh off-mesh connection within a dtMeshTile object. +/// An off-mesh connection is a user defined traversable connection made up to two vertices. +struct dtOffMeshConnection +{ + /// The endpoints of the connection. [(ax, ay, az, bx, by, bz)] + float pos[6]; + + /// The radius of the endpoints. [Limit: >= 0] + float rad; + + /// The polygon reference of the connection within the tile. + unsigned short poly; + + /// Link flags. + /// @note These are not the connection's user defined flags. Those are assigned via the + /// connection's dtPoly definition. These are link flags used for internal purposes. + unsigned char flags; + + /// End point side. + unsigned char side; + + /// The id of the offmesh connection. (User assigned when the navigation mesh is built.) + unsigned int userId; +}; + +/// Provides high level information related to a dtMeshTile object. +/// @ingroup detour +struct dtMeshHeader +{ + int magic; ///< Tile magic number. (Used to identify the data format.) + int version; ///< Tile data format version number. + int x; ///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer) + int y; ///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer) + int layer; ///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer) + unsigned int userId; ///< The user defined id of the tile. + int polyCount; ///< The number of polygons in the tile. + int vertCount; ///< The number of vertices in the tile. + int maxLinkCount; ///< The number of allocated links. + int detailMeshCount; ///< The number of sub-meshes in the detail mesh. + + /// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.) + int detailVertCount; + + int detailTriCount; ///< The number of triangles in the detail mesh. + int bvNodeCount; ///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.) + int offMeshConCount; ///< The number of off-mesh connections. + int offMeshBase; ///< The index of the first polygon which is an off-mesh connection. + float walkableHeight; ///< The height of the agents using the tile. + float walkableRadius; ///< The radius of the agents using the tile. + float walkableClimb; ///< The maximum climb height of the agents using the tile. + float bmin[3]; ///< The minimum bounds of the tile's AABB. [(x, y, z)] + float bmax[3]; ///< The maximum bounds of the tile's AABB. [(x, y, z)] + + /// The bounding volume quantization factor. + float bvQuantFactor; +}; + +/// Defines a navigation mesh tile. +/// @ingroup detour +struct dtMeshTile +{ + unsigned int salt; ///< Counter describing modifications to the tile. + + unsigned int linksFreeList; ///< Index to the next free link. + dtMeshHeader* header; ///< The tile header. + dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount] + float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount] + dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount] + dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount] + + /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount] + float* detailVerts; + + /// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount] + unsigned char* detailTris; + + /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount] + /// (Will be null if bounding volumes are disabled.) + dtBVNode* bvTree; + + dtOffMeshConnection* offMeshCons; ///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount] + + unsigned char* data; ///< The tile data. (Not directly accessed under normal situations.) + int dataSize; ///< Size of the tile data. + int flags; ///< Tile flags. (See: #dtTileFlags) + dtMeshTile* next; ///< The next free tile, or the next tile in the spatial grid. +private: + dtMeshTile(const dtMeshTile&); + dtMeshTile& operator=(const dtMeshTile&); +}; + +/// Configuration parameters used to define multi-tile navigation meshes. +/// The values are used to allocate space during the initialization of a navigation mesh. +/// @see dtNavMesh::init() +/// @ingroup detour +struct dtNavMeshParams +{ + float orig[3]; ///< The world space origin of the navigation mesh's tile space. [(x, y, z)] + float tileWidth; ///< The width of each tile. (Along the x-axis.) + float tileHeight; ///< The height of each tile. (Along the z-axis.) + int maxTiles; ///< The maximum number of tiles the navigation mesh can contain. + int maxPolys; ///< The maximum number of polygons each tile can contain. +}; + +/// A navigation mesh based on tiles of convex polygons. +/// @ingroup detour +class dtNavMesh +{ +public: + dtNavMesh(); + ~dtNavMesh(); + + /// @{ + /// @name Initialization and Tile Management + + /// Initializes the navigation mesh for tiled use. + /// @param[in] params Initialization parameters. + /// @return The status flags for the operation. + dtStatus init(const dtNavMeshParams* params); + + /// Initializes the navigation mesh for single tile use. + /// @param[in] data Data of the new tile. (See: #dtCreateNavMeshData) + /// @param[in] dataSize The data size of the new tile. + /// @param[in] flags The tile flags. (See: #dtTileFlags) + /// @return The status flags for the operation. + /// @see dtCreateNavMeshData + dtStatus init(unsigned char* data, const int dataSize, const int flags); + + /// The navigation mesh initialization params. + const dtNavMeshParams* getParams() const; + + /// Adds a tile to the navigation mesh. + /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData) + /// @param[in] dataSize Data size of the new tile mesh. + /// @param[in] flags Tile flags. (See: #dtTileFlags) + /// @param[in] lastRef The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0] + /// @param[out] result The tile reference. (If the tile was succesfully added.) [opt] + /// @return The status flags for the operation. + dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result); + + /// Removes the specified tile from the navigation mesh. + /// @param[in] ref The reference of the tile to remove. + /// @param[out] data Data associated with deleted tile. + /// @param[out] dataSize Size of the data associated with deleted tile. + /// @return The status flags for the operation. + dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize); + + /// @} + + /// @{ + /// @name Query Functions + + /// Calculates the tile grid location for the specified world position. + /// @param[in] pos The world position for the query. [(x, y, z)] + /// @param[out] tx The tile's x-location. (x, y) + /// @param[out] ty The tile's y-location. (x, y) + void calcTileLoc(const float* pos, int* tx, int* ty) const; + + /// Gets the tile at the specified grid location. + /// @param[in] x The tile's x-location. (x, y, layer) + /// @param[in] y The tile's y-location. (x, y, layer) + /// @param[in] layer The tile's layer. (x, y, layer) + /// @return The tile, or null if the tile does not exist. + const dtMeshTile* getTileAt(const int x, const int y, const int layer) const; + + /// Gets all tiles at the specified grid location. (All layers.) + /// @param[in] x The tile's x-location. (x, y) + /// @param[in] y The tile's y-location. (x, y) + /// @param[out] tiles A pointer to an array of tiles that will hold the result. + /// @param[in] maxTiles The maximum tiles the tiles parameter can hold. + /// @return The number of tiles returned in the tiles array. + int getTilesAt(const int x, const int y, + dtMeshTile const** tiles, const int maxTiles) const; + + /// Gets the tile reference for the tile at specified grid location. + /// @param[in] x The tile's x-location. (x, y, layer) + /// @param[in] y The tile's y-location. (x, y, layer) + /// @param[in] layer The tile's layer. (x, y, layer) + /// @return The tile reference of the tile, or 0 if there is none. + dtTileRef getTileRefAt(int x, int y, int layer) const; + + /// Gets the tile reference for the specified tile. + /// @param[in] tile The tile. + /// @return The tile reference of the tile. + dtTileRef getTileRef(const dtMeshTile* tile) const; + + /// Gets the tile for the specified tile reference. + /// @param[in] ref The tile reference of the tile to retrieve. + /// @return The tile for the specified reference, or null if the + /// reference is invalid. + const dtMeshTile* getTileByRef(dtTileRef ref) const; + + /// The maximum number of tiles supported by the navigation mesh. + /// @return The maximum number of tiles supported by the navigation mesh. + int getMaxTiles() const; + + /// Gets the tile at the specified index. + /// @param[in] i The tile index. [Limit: 0 >= index < #getMaxTiles()] + /// @return The tile at the specified index. + const dtMeshTile* getTile(int i) const; + + /// Gets the tile and polygon for the specified polygon reference. + /// @param[in] ref The reference for the a polygon. + /// @param[out] tile The tile containing the polygon. + /// @param[out] poly The polygon. + /// @return The status flags for the operation. + dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; + + /// Returns the tile and polygon for the specified polygon reference. + /// @param[in] ref A known valid reference for a polygon. + /// @param[out] tile The tile containing the polygon. + /// @param[out] poly The polygon. + void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; + + /// Checks the validity of a polygon reference. + /// @param[in] ref The polygon reference to check. + /// @return True if polygon reference is valid for the navigation mesh. + bool isValidPolyRef(dtPolyRef ref) const; + + /// Gets the polygon reference for the tile's base polygon. + /// @param[in] tile The tile. + /// @return The polygon reference for the base polygon in the specified tile. + dtPolyRef getPolyRefBase(const dtMeshTile* tile) const; + + /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel". + /// @param[in] prevRef The reference of the polygon before the connection. + /// @param[in] polyRef The reference of the off-mesh connection polygon. + /// @param[out] startPos The start position of the off-mesh connection. [(x, y, z)] + /// @param[out] endPos The end position of the off-mesh connection. [(x, y, z)] + /// @return The status flags for the operation. + dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const; + + /// Gets the specified off-mesh connection. + /// @param[in] ref The polygon reference of the off-mesh connection. + /// @return The specified off-mesh connection, or null if the polygon reference is not valid. + const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const; + + /// @} + + /// @{ + /// @name State Management + /// These functions do not effect #dtTileRef or #dtPolyRef's. + + /// Sets the user defined flags for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[in] flags The new flags for the polygon. + /// @return The status flags for the operation. + dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags); + + /// Gets the user defined flags for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[out] resultFlags The polygon flags. + /// @return The status flags for the operation. + dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const; + + /// Sets the user defined area for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[in] area The new area id for the polygon. [Limit: < #DT_MAX_AREAS] + /// @return The status flags for the operation. + dtStatus setPolyArea(dtPolyRef ref, unsigned char area); + + /// Gets the user defined area for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[out] resultArea The area id for the polygon. + /// @return The status flags for the operation. + dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const; + + /// Gets the size of the buffer required by #storeTileState to store the specified tile's state. + /// @param[in] tile The tile. + /// @return The size of the buffer required to store the state. + int getTileStateSize(const dtMeshTile* tile) const; + + /// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.) + /// @param[in] tile The tile. + /// @param[out] data The buffer to store the tile's state in. + /// @param[in] maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize] + /// @return The status flags for the operation. + dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const; + + /// Restores the state of the tile. + /// @param[in] tile The tile. + /// @param[in] data The new state. (Obtained from #storeTileState.) + /// @param[in] maxDataSize The size of the state within the data buffer. + /// @return The status flags for the operation. + dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize); + + /// @} + + /// @{ + /// @name Encoding and Decoding + /// These functions are generally meant for internal use only. + + /// Derives a standard polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] salt The tile's salt value. + /// @param[in] it The index of the tile. + /// @param[in] ip The index of the polygon within the tile. + inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const + { +#ifdef DT_POLYREF64 + return ((dtPolyRef)salt << (DT_POLY_BITS+DT_TILE_BITS)) | ((dtPolyRef)it << DT_POLY_BITS) | (dtPolyRef)ip; +#else + return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip; +#endif + } + + /// Decodes a standard polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference to decode. + /// @param[out] salt The tile's salt value. + /// @param[out] it The index of the tile. + /// @param[out] ip The index of the polygon within the tile. + /// @see #encodePolyId + inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const + { +#ifdef DT_POLYREF64 + const dtPolyRef saltMask = ((dtPolyRef)1<> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); + it = (unsigned int)((ref >> DT_POLY_BITS) & tileMask); + ip = (unsigned int)(ref & polyMask); +#else + const dtPolyRef saltMask = ((dtPolyRef)1<> (m_polyBits+m_tileBits)) & saltMask); + it = (unsigned int)((ref >> m_polyBits) & tileMask); + ip = (unsigned int)(ref & polyMask); +#endif + } + + /// Extracts a tile's salt value from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId + inline unsigned int decodePolyIdSalt(dtPolyRef ref) const + { +#ifdef DT_POLYREF64 + const dtPolyRef saltMask = ((dtPolyRef)1<> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); +#else + const dtPolyRef saltMask = ((dtPolyRef)1<> (m_polyBits+m_tileBits)) & saltMask); +#endif + } + + /// Extracts the tile's index from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId + inline unsigned int decodePolyIdTile(dtPolyRef ref) const + { +#ifdef DT_POLYREF64 + const dtPolyRef tileMask = ((dtPolyRef)1<> DT_POLY_BITS) & tileMask); +#else + const dtPolyRef tileMask = ((dtPolyRef)1<> m_polyBits) & tileMask); +#endif + } + + /// Extracts the polygon's index (within its tile) from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId + inline unsigned int decodePolyIdPoly(dtPolyRef ref) const + { +#ifdef DT_POLYREF64 + const dtPolyRef polyMask = ((dtPolyRef)1<header->bvQuantFactor; +const dtBVNode* n = &tile->bvTree[i]; +if (n->i >= 0) +{ + // This is a leaf node. + float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs; + float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs; + // Etc... +} +@endcode + +@struct dtMeshTile +@par + +Tiles generally only exist within the context of a dtNavMesh object. + +Some tile content is optional. For example, a tile may not contain any +off-mesh connections. In this case the associated pointer will be null. + +If a detail mesh exists it will share vertices with the base polygon mesh. +Only the vertices unique to the detail mesh will be stored in #detailVerts. + +@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated. +For example: The tile at a location might not have been loaded yet, or may have been removed. +In this case, pointers will be null. So if in doubt, check the polygon count in the +tile's header to determine if a tile has polygons defined. + +@var float dtOffMeshConnection::pos[6] +@par + +For a properly built navigation mesh, vertex A will always be within the bounds of the mesh. +Vertex B is not required to be within the bounds of the mesh. + +*/ diff --git a/extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h b/extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h new file mode 100644 index 000000000..9425a7a78 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h @@ -0,0 +1,149 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURNAVMESHBUILDER_H +#define DETOURNAVMESHBUILDER_H + +#include "DetourAlloc.h" + +/// Represents the source data used to build an navigation mesh tile. +/// @ingroup detour +struct dtNavMeshCreateParams +{ + + /// @name Polygon Mesh Attributes + /// Used to create the base navigation graph. + /// See #rcPolyMesh for details related to these attributes. + /// @{ + + const unsigned short* verts; ///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx] + int vertCount; ///< The number vertices in the polygon mesh. [Limit: >= 3] + const unsigned short* polys; ///< The polygon data. [Size: #polyCount * 2 * #nvp] + const unsigned short* polyFlags; ///< The user defined flags assigned to each polygon. [Size: #polyCount] + const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount] + int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1] + int nvp; ///< Number maximum number of vertices per polygon. [Limit: >= 3] + + /// @} + /// @name Height Detail Attributes (Optional) + /// See #rcPolyMeshDetail for details related to these attributes. + /// @{ + + const unsigned int* detailMeshes; ///< The height detail sub-mesh data. [Size: 4 * #polyCount] + const float* detailVerts; ///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu] + int detailVertsCount; ///< The number of vertices in the detail mesh. + const unsigned char* detailTris; ///< The detail mesh triangles. [Size: 4 * #detailTriCount] + int detailTriCount; ///< The number of triangles in the detail mesh. + + /// @} + /// @name Off-Mesh Connections Attributes (Optional) + /// Used to define a custom point-to-point edge within the navigation graph, an + /// off-mesh connection is a user defined traversable connection made up to two vertices, + /// at least one of which resides within a navigation mesh polygon. + /// @{ + + /// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu] + const float* offMeshConVerts; + /// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu] + const float* offMeshConRad; + /// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount] + const unsigned short* offMeshConFlags; + /// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount] + const unsigned char* offMeshConAreas; + /// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount] + /// + /// 0 = Travel only from endpoint A to endpoint B.
+ /// #DT_OFFMESH_CON_BIDIR = Bidirectional travel. + const unsigned char* offMeshConDir; + /// The user defined ids of the off-mesh connection. [Size: #offMeshConCount] + const unsigned int* offMeshConUserID; + /// The number of off-mesh connections. [Limit: >= 0] + int offMeshConCount; + + /// @} + /// @name Tile Attributes + /// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh. + /// @{ + + unsigned int userId; ///< The user defined id of the tile. + int tileX; ///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.) + int tileY; ///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.) + int tileLayer; ///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.) + float bmin[3]; ///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu] + float bmax[3]; ///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu] + + /// @} + /// @name General Configuration Attributes + /// @{ + + float walkableHeight; ///< The agent height. [Unit: wu] + float walkableRadius; ///< The agent radius. [Unit: wu] + float walkableClimb; ///< The agent maximum traversable ledge. (Up/Down) [Unit: wu] + float cs; ///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu] + float ch; ///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu] + + /// True if a bounding volume tree should be built for the tile. + /// @note The BVTree is not normally needed for layered navigation meshes. + bool buildBvTree; + + /// @} +}; + +/// Builds navigation mesh tile data from the provided tile creation data. +/// @ingroup detour +/// @param[in] params Tile creation data. +/// @param[out] outData The resulting tile data. +/// @param[out] outDataSize The size of the tile data array. +/// @return True if the tile data was successfully created. +bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize); + +/// Swaps the endianess of the tile data's header (#dtMeshHeader). +/// @param[in,out] data The tile data array. +/// @param[in] dataSize The size of the data array. +bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize); + +/// Swaps endianess of the tile data. +/// @param[in,out] data The tile data array. +/// @param[in] dataSize The size of the data array. +bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize); + +#endif // DETOURNAVMESHBUILDER_H + +// This section contains detailed documentation for members that don't have +// a source file. It reduces clutter in the main section of the header. + +/** + +@struct dtNavMeshCreateParams +@par + +This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components. + +See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure. + +Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size +are all based on the values of #cs and #ch. + +The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile +to a navigation mesh using either the dtNavMesh single tile init() function or the dtNavMesh::addTile() +function. + +@see dtCreateNavMeshData + +*/ + diff --git a/extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h b/extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h new file mode 100644 index 000000000..1c23e4857 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h @@ -0,0 +1,575 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURNAVMESHQUERY_H +#define DETOURNAVMESHQUERY_H + +#include "DetourNavMesh.h" +#include "DetourStatus.h" + + +// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter. +// On certain platforms indirect or virtual function call is expensive. The default +// setting is to use non-virtual functions, the actual implementations of the functions +// are declared as inline for maximum speed. + +//#define DT_VIRTUAL_QUERYFILTER 1 + +/// Defines polygon filtering and traversal costs for navigation mesh query operations. +/// @ingroup detour +class dtQueryFilter +{ + float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.) + unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.) + unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.) + +public: + dtQueryFilter(); + +#ifdef DT_VIRTUAL_QUERYFILTER + virtual ~dtQueryFilter() { } +#endif + + /// Returns true if the polygon can be visited. (I.e. Is traversable.) + /// @param[in] ref The reference id of the polygon test. + /// @param[in] tile The tile containing the polygon. + /// @param[in] poly The polygon to test. +#ifdef DT_VIRTUAL_QUERYFILTER + virtual bool passFilter(const dtPolyRef ref, + const dtMeshTile* tile, + const dtPoly* poly) const; +#else + bool passFilter(const dtPolyRef ref, + const dtMeshTile* tile, + const dtPoly* poly) const; +#endif + + /// Returns cost to move from the beginning to the end of a line segment + /// that is fully contained within a polygon. + /// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)] + /// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)] + /// @param[in] prevRef The reference id of the previous polygon. [opt] + /// @param[in] prevTile The tile containing the previous polygon. [opt] + /// @param[in] prevPoly The previous polygon. [opt] + /// @param[in] curRef The reference id of the current polygon. + /// @param[in] curTile The tile containing the current polygon. + /// @param[in] curPoly The current polygon. + /// @param[in] nextRef The refernece id of the next polygon. [opt] + /// @param[in] nextTile The tile containing the next polygon. [opt] + /// @param[in] nextPoly The next polygon. [opt] +#ifdef DT_VIRTUAL_QUERYFILTER + virtual float getCost(const float* pa, const float* pb, + const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, + const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, + const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; +#else + float getCost(const float* pa, const float* pb, + const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, + const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, + const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; +#endif + + /// @name Getters and setters for the default implementation data. + ///@{ + + /// Returns the traversal cost of the area. + /// @param[in] i The id of the area. + /// @returns The traversal cost of the area. + inline float getAreaCost(const int i) const { return m_areaCost[i]; } + + /// Sets the traversal cost of the area. + /// @param[in] i The id of the area. + /// @param[in] cost The new cost of traversing the area. + inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } + + /// Returns the include flags for the filter. + /// Any polygons that include one or more of these flags will be + /// included in the operation. + inline unsigned short getIncludeFlags() const { return m_includeFlags; } + + /// Sets the include flags for the filter. + /// @param[in] flags The new flags. + inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; } + + /// Returns the exclude flags for the filter. + /// Any polygons that include one ore more of these flags will be + /// excluded from the operation. + inline unsigned short getExcludeFlags() const { return m_excludeFlags; } + + /// Sets the exclude flags for the filter. + /// @param[in] flags The new flags. + inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } + + ///@} + +}; + + + +/// Provides information about raycast hit +/// filled by dtNavMeshQuery::raycast +/// @ingroup detour +struct dtRaycastHit +{ + /// The hit parameter. (FLT_MAX if no wall hit.) + float t; + + /// hitNormal The normal of the nearest wall hit. [(x, y, z)] + float hitNormal[3]; + + /// The index of the edge on the final polygon where the wall was hit. + int hitEdgeIndex; + + /// Pointer to an array of reference ids of the visited polygons. [opt] + dtPolyRef* path; + + /// The number of visited polygons. [opt] + int pathCount; + + /// The maximum number of polygons the @p path array can hold. + int maxPath; + + /// The cost of the path until hit. + float pathCost; +}; + +/// Provides custom polygon query behavior. +/// Used by dtNavMeshQuery::queryPolygons. +/// @ingroup detour +class dtPolyQuery +{ +public: + virtual ~dtPolyQuery() { } + + /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons. + /// This can be called multiple times for a single query. + virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0; +}; + +/// Provides the ability to perform pathfinding related queries against +/// a navigation mesh. +/// @ingroup detour +class dtNavMeshQuery +{ +public: + dtNavMeshQuery(); + ~dtNavMeshQuery(); + + /// Initializes the query object. + /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. + /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535] + /// @returns The status flags for the query. + dtStatus init(const dtNavMesh* nav, const int maxNodes); + + /// @name Standard Pathfinding Functions + // /@{ + + /// Finds a path from the start polygon to the end polygon. + /// @param[in] startRef The refrence id of the start polygon. + /// @param[in] endRef The reference id of the end polygon. + /// @param[in] startPos A position within the start polygon. [(x, y, z)] + /// @param[in] endPos A position within the end polygon. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1] + dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, + const float* startPos, const float* endPos, + const dtQueryFilter* filter, + dtPolyRef* path, int* pathCount, const int maxPath) const; + + /// Finds the straight path from the start to the end position within the polygon corridor. + /// @param[in] startPos Path start position. [(x, y, z)] + /// @param[in] endPos Path end position. [(x, y, z)] + /// @param[in] path An array of polygon references that represent the path corridor. + /// @param[in] pathSize The number of polygons in the @p path array. + /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. + /// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt] + /// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt] + /// @param[out] straightPathCount The number of points in the straight path. + /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] + /// @param[in] options Query options. (see: #dtStraightPathOptions) + /// @returns The status flags for the query. + dtStatus findStraightPath(const float* startPos, const float* endPos, + const dtPolyRef* path, const int pathSize, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath, const int options = 0) const; + + ///@} + /// @name Sliced Pathfinding Functions + /// Common use case: + /// -# Call initSlicedFindPath() to initialize the sliced path query. + /// -# Call updateSlicedFindPath() until it returns complete. + /// -# Call finalizeSlicedFindPath() to get the path. + ///@{ + + /// Intializes a sliced path query. + /// @param[in] startRef The refrence id of the start polygon. + /// @param[in] endRef The reference id of the end polygon. + /// @param[in] startPos A position within the start polygon. [(x, y, z)] + /// @param[in] endPos A position within the end polygon. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] options query options (see: #dtFindPathOptions) + /// @returns The status flags for the query. + dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, + const float* startPos, const float* endPos, + const dtQueryFilter* filter, const unsigned int options = 0); + + /// Updates an in-progress sliced path query. + /// @param[in] maxIter The maximum number of iterations to perform. + /// @param[out] doneIters The actual number of iterations completed. [opt] + /// @returns The status flags for the query. + dtStatus updateSlicedFindPath(const int maxIter, int* doneIters); + + /// Finalizes and returns the results of a sliced path query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1] + /// @returns The status flags for the query. + dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath); + + /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest + /// polygon on the existing path that was visited during the search. + /// @param[in] existing An array of polygon references for the existing path. + /// @param[in] existingSize The number of polygon in the @p existing array. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1] + /// @returns The status flags for the query. + dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, + dtPolyRef* path, int* pathCount, const int maxPath); + + ///@} + /// @name Dijkstra Search Functions + /// @{ + + /// Finds the polygons along the navigation graph that touch the specified circle. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] radius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. [opt] + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, + int* resultCount, const int maxResult) const; + + /// Finds the polygons along the naviation graph that touch the specified convex polygon. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] verts The vertices describing the convex polygon. (CCW) + /// [(x, y, z) * @p nverts] + /// @param[in] nverts The number of vertices in the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a + /// result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, + int* resultCount, const int maxResult) const; + + /// Gets a path from the explored nodes in the previous search. + /// @param[in] endRef The reference id of the end polygon. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0] + /// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if + /// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL + /// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path. + /// Otherwise returns DT_SUCCESS. + /// @remarks The result of this function depends on the state of the query object. For that reason it should only + /// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape. + dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const; + + /// @} + /// @name Local Query Functions + ///@{ + + /// Finds the polygon nearest to the specified center point. + /// @param[in] center The center of the search box. [(x, y, z)] + /// @param[in] halfExtents The search distance along each axis. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] nearestRef The reference id of the nearest polygon. + /// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findNearestPoly(const float* center, const float* halfExtents, + const dtQueryFilter* filter, + dtPolyRef* nearestRef, float* nearestPt) const; + + /// Finds polygons that overlap the search box. + /// @param[in] center The center of the search box. [(x, y, z)] + /// @param[in] halfExtents The search distance along each axis. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] polys The reference ids of the polygons that overlap the query box. + /// @param[out] polyCount The number of polygons in the search result. + /// @param[in] maxPolys The maximum number of polygons the search result can hold. + /// @returns The status flags for the query. + dtStatus queryPolygons(const float* center, const float* halfExtents, + const dtQueryFilter* filter, + dtPolyRef* polys, int* polyCount, const int maxPolys) const; + + /// Finds polygons that overlap the search box. + /// @param[in] center The center of the search box. [(x, y, z)] + /// @param[in] halfExtents The search distance along each axis. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] query The query. Polygons found will be batched together and passed to this query. + dtStatus queryPolygons(const float* center, const float* halfExtents, + const dtQueryFilter* filter, dtPolyQuery* query) const; + + /// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the query circle. [(x, y, z)] + /// @param[in] radius The radius of the query circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, + int* resultCount, const int maxResult) const; + + /// Moves from the start to the end position constrained to the navigation mesh. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)] + /// @param[in] endPos The desired end position of the mover. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultPos The result position of the mover. [(x, y, z)] + /// @param[out] visited The reference ids of the polygons visited during the move. + /// @param[out] visitedCount The number of polygons visited during the move. + /// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold. + /// @returns The status flags for the query. + dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, + float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const; + + /// Casts a 'walkability' ray along the surface of the navigation mesh from + /// the start position toward the end position. + /// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position within the start polygon representing + /// the start of the ray. [(x, y, z)] + /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] + /// @param[out] t The hit parameter. (FLT_MAX if no wall hit.) + /// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] path The reference ids of the visited polygons. [opt] + /// @param[out] pathCount The number of visited polygons. [opt] + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. + /// @returns The status flags for the query. + dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, + float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const; + + /// Casts a 'walkability' ray along the surface of the navigation mesh from + /// the start position toward the end position. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position within the start polygon representing + /// the start of the ray. [(x, y, z)] + /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] flags govern how the raycast behaves. See dtRaycastOptions + /// @param[out] hit Pointer to a raycast hit structure which will be filled by the results. + /// @param[in] prevRef parent of start ref. Used during for cost calculation [opt] + /// @returns The status flags for the query. + dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, const unsigned int options, + dtRaycastHit* hit, dtPolyRef prevRef = 0) const; + + + /// Finds the distance from the specified position to the nearest polygon wall. + /// @param[in] startRef The reference id of the polygon containing @p centerPos. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] maxRadius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] hitDist The distance to the nearest wall from @p centerPos. + /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] + /// @param[out] hitNormal The normalized ray formed from the wall point to the + /// source point. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, + float* hitDist, float* hitPos, float* hitNormal) const; + + /// Returns the segments for the specified polygon, optionally including portals. + /// @param[in] ref The reference id of the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount] + /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon. + /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] + /// @param[out] segmentCount The number of segments returned. + /// @param[in] maxSegments The maximum number of segments the result arrays can hold. + /// @returns The status flags for the query. + dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, + float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, + const int maxSegments) const; + + /// Returns random location on navmesh. + /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] frand Function returning a random number [0..1). + /// @param[out] randomRef The reference id of the random location. + /// @param[out] randomPt The random location. + /// @returns The status flags for the query. + dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const; + + /// Returns random location on navmesh within the reach of specified location. + /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. + /// The location is not exactly constrained by the circle, but it limits the visited polygons. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] frand Function returning a random number [0..1). + /// @param[out] randomRef The reference id of the random location. + /// @param[out] randomPt The random location. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const; + + /// Finds the closest point on the specified polygon. + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest The closest point on the polygon. [(x, y, z)] + /// @param[out] posOverPoly True of the position is over the polygon. + /// @returns The status flags for the query. + dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const; + + /// Returns a point on the boundary closest to the source point if the source point is outside the + /// polygon's xz-bounds. + /// @param[in] ref The reference id to the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest The closest point. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const; + + /// Gets the height of the polygon at the provided position using the height detail. (Most accurate.) + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] + /// @param[out] height The height at the surface of the polygon. + /// @returns The status flags for the query. + dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const; + + /// @} + /// @name Miscellaneous Functions + /// @{ + + /// Returns true if the polygon reference is valid and passes the filter restrictions. + /// @param[in] ref The polygon reference to check. + /// @param[in] filter The filter to apply. + bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const; + + /// Returns true if the polygon reference is in the closed list. + /// @param[in] ref The reference id of the polygon to check. + /// @returns True if the polygon is in closed list. + bool isInClosedList(dtPolyRef ref) const; + + /// Gets the node pool. + /// @returns The node pool. + class dtNodePool* getNodePool() const { return m_nodePool; } + + /// Gets the navigation mesh the query object is using. + /// @return The navigation mesh the query object is using. + const dtNavMesh* getAttachedNavMesh() const { return m_nav; } + + /// @} + +private: + // Explicitly disabled copy constructor and copy assignment operator + dtNavMeshQuery(const dtNavMeshQuery&); + dtNavMeshQuery& operator=(const dtNavMeshQuery&); + + /// Queries polygons within a tile. + void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, + const dtQueryFilter* filter, dtPolyQuery* query) const; + + /// Returns portal points between two polygons. + dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, + unsigned char& fromType, unsigned char& toType) const; + dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, + dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, + float* left, float* right) const; + + /// Returns edge mid point between two polygons. + dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const; + dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, + dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, + float* mid) const; + + // Appends vertex to a straight path + dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath) const; + + // Appends intermediate portal points to a straight path. + dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath, const int options) const; + + // Gets the path leading to the specified end node. + dtStatus getPathToNode(struct dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const; + + const dtNavMesh* m_nav; ///< Pointer to navmesh data. + + struct dtQueryData + { + dtStatus status; + struct dtNode* lastBestNode; + float lastBestNodeCost; + dtPolyRef startRef, endRef; + float startPos[3], endPos[3]; + const dtQueryFilter* filter; + unsigned int options; + float raycastLimitSqr; + }; + dtQueryData m_query; ///< Sliced query state. + + class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool. + class dtNodePool* m_nodePool; ///< Pointer to node pool. + class dtNodeQueue* m_openList; ///< Pointer to open list queue. +}; + +/// Allocates a query object using the Detour allocator. +/// @return An allocated query object, or null on failure. +/// @ingroup detour +dtNavMeshQuery* dtAllocNavMeshQuery(); + +/// Frees the specified query object using the Detour allocator. +/// @param[in] query A query object allocated using #dtAllocNavMeshQuery +/// @ingroup detour +void dtFreeNavMeshQuery(dtNavMeshQuery* query); + +#endif // DETOURNAVMESHQUERY_H diff --git a/extern/recastnavigation/Detour/Include/DetourNode.h b/extern/recastnavigation/Detour/Include/DetourNode.h new file mode 100644 index 000000000..db0974708 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourNode.h @@ -0,0 +1,168 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURNODE_H +#define DETOURNODE_H + +#include "DetourNavMesh.h" + +enum dtNodeFlags +{ + DT_NODE_OPEN = 0x01, + DT_NODE_CLOSED = 0x02, + DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast. +}; + +typedef unsigned short dtNodeIndex; +static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0; + +static const int DT_NODE_PARENT_BITS = 24; +static const int DT_NODE_STATE_BITS = 2; +struct dtNode +{ + float pos[3]; ///< Position of the node. + float cost; ///< Cost from previous node to current node. + float total; ///< Cost up to the node. + unsigned int pidx : DT_NODE_PARENT_BITS; ///< Index to parent node. + unsigned int state : DT_NODE_STATE_BITS; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE + unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags. + dtPolyRef id; ///< Polygon ref the node corresponds to. +}; + +static const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS; // number of extra states per node. See dtNode::state + +class dtNodePool +{ +public: + dtNodePool(int maxNodes, int hashSize); + ~dtNodePool(); + void clear(); + + // Get a dtNode by ref and extra state information. If there is none then - allocate + // There can be more than one node for the same polyRef but with different extra state information + dtNode* getNode(dtPolyRef id, unsigned char state=0); + dtNode* findNode(dtPolyRef id, unsigned char state); + unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes); + + inline unsigned int getNodeIdx(const dtNode* node) const + { + if (!node) return 0; + return (unsigned int)(node - m_nodes) + 1; + } + + inline dtNode* getNodeAtIdx(unsigned int idx) + { + if (!idx) return 0; + return &m_nodes[idx - 1]; + } + + inline const dtNode* getNodeAtIdx(unsigned int idx) const + { + if (!idx) return 0; + return &m_nodes[idx - 1]; + } + + inline int getMemUsed() const + { + return sizeof(*this) + + sizeof(dtNode)*m_maxNodes + + sizeof(dtNodeIndex)*m_maxNodes + + sizeof(dtNodeIndex)*m_hashSize; + } + + inline int getMaxNodes() const { return m_maxNodes; } + + inline int getHashSize() const { return m_hashSize; } + inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; } + inline dtNodeIndex getNext(int i) const { return m_next[i]; } + inline int getNodeCount() const { return m_nodeCount; } + +private: + // Explicitly disabled copy constructor and copy assignment operator. + dtNodePool(const dtNodePool&); + dtNodePool& operator=(const dtNodePool&); + + dtNode* m_nodes; + dtNodeIndex* m_first; + dtNodeIndex* m_next; + const int m_maxNodes; + const int m_hashSize; + int m_nodeCount; +}; + +class dtNodeQueue +{ +public: + dtNodeQueue(int n); + ~dtNodeQueue(); + + inline void clear() { m_size = 0; } + + inline dtNode* top() { return m_heap[0]; } + + inline dtNode* pop() + { + dtNode* result = m_heap[0]; + m_size--; + trickleDown(0, m_heap[m_size]); + return result; + } + + inline void push(dtNode* node) + { + m_size++; + bubbleUp(m_size-1, node); + } + + inline void modify(dtNode* node) + { + for (int i = 0; i < m_size; ++i) + { + if (m_heap[i] == node) + { + bubbleUp(i, node); + return; + } + } + } + + inline bool empty() const { return m_size == 0; } + + inline int getMemUsed() const + { + return sizeof(*this) + + sizeof(dtNode*) * (m_capacity + 1); + } + + inline int getCapacity() const { return m_capacity; } + +private: + // Explicitly disabled copy constructor and copy assignment operator. + dtNodeQueue(const dtNodeQueue&); + dtNodeQueue& operator=(const dtNodeQueue&); + + void bubbleUp(int i, dtNode* node); + void trickleDown(int i, dtNode* node); + + dtNode** m_heap; + const int m_capacity; + int m_size; +}; + + +#endif // DETOURNODE_H diff --git a/extern/recastnavigation/Detour/Include/DetourStatus.h b/extern/recastnavigation/Detour/Include/DetourStatus.h new file mode 100644 index 000000000..8e1bb44b9 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourStatus.h @@ -0,0 +1,65 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURSTATUS_H +#define DETOURSTATUS_H + +typedef unsigned int dtStatus; + +// High level status. +static const unsigned int DT_FAILURE = 1u << 31; // Operation failed. +static const unsigned int DT_SUCCESS = 1u << 30; // Operation succeed. +static const unsigned int DT_IN_PROGRESS = 1u << 29; // Operation still in progress. + +// Detail information for status. +static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff; +static const unsigned int DT_WRONG_MAGIC = 1 << 0; // Input data is not recognized. +static const unsigned int DT_WRONG_VERSION = 1 << 1; // Input data is in wrong version. +static const unsigned int DT_OUT_OF_MEMORY = 1 << 2; // Operation ran out of memory. +static const unsigned int DT_INVALID_PARAM = 1 << 3; // An input parameter was invalid. +static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4; // Result buffer for the query was too small to store all results. +static const unsigned int DT_OUT_OF_NODES = 1 << 5; // Query ran out of nodes during search. +static const unsigned int DT_PARTIAL_RESULT = 1 << 6; // Query did not reach the end location, returning best guess. +static const unsigned int DT_ALREADY_OCCUPIED = 1 << 7; // A tile has already been assigned to the given x,y coordinate + + +// Returns true of status is success. +inline bool dtStatusSucceed(dtStatus status) +{ + return (status & DT_SUCCESS) != 0; +} + +// Returns true of status is failure. +inline bool dtStatusFailed(dtStatus status) +{ + return (status & DT_FAILURE) != 0; +} + +// Returns true of status is in progress. +inline bool dtStatusInProgress(dtStatus status) +{ + return (status & DT_IN_PROGRESS) != 0; +} + +// Returns true if specific detail is set. +inline bool dtStatusDetail(dtStatus status, unsigned int detail) +{ + return (status & detail) != 0; +} + +#endif // DETOURSTATUS_H diff --git a/extern/recastnavigation/Detour/Source/DetourAlloc.cpp b/extern/recastnavigation/Detour/Source/DetourAlloc.cpp new file mode 100644 index 000000000..d9ad1fc01 --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourAlloc.cpp @@ -0,0 +1,50 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#include "DetourAlloc.h" + +static void *dtAllocDefault(size_t size, dtAllocHint) +{ + return malloc(size); +} + +static void dtFreeDefault(void *ptr) +{ + free(ptr); +} + +static dtAllocFunc* sAllocFunc = dtAllocDefault; +static dtFreeFunc* sFreeFunc = dtFreeDefault; + +void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc) +{ + sAllocFunc = allocFunc ? allocFunc : dtAllocDefault; + sFreeFunc = freeFunc ? freeFunc : dtFreeDefault; +} + +void* dtAlloc(size_t size, dtAllocHint hint) +{ + return sAllocFunc(size, hint); +} + +void dtFree(void* ptr) +{ + if (ptr) + sFreeFunc(ptr); +} diff --git a/extern/recastnavigation/Detour/Source/DetourAssert.cpp b/extern/recastnavigation/Detour/Source/DetourAssert.cpp new file mode 100644 index 000000000..5e019e0cf --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourAssert.cpp @@ -0,0 +1,35 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "DetourAssert.h" + +#ifndef NDEBUG + +static dtAssertFailFunc* sAssertFailFunc = 0; + +void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc) +{ + sAssertFailFunc = assertFailFunc; +} + +dtAssertFailFunc* dtAssertFailGetCustom() +{ + return sAssertFailFunc; +} + +#endif diff --git a/extern/recastnavigation/Detour/Source/DetourCommon.cpp b/extern/recastnavigation/Detour/Source/DetourCommon.cpp new file mode 100644 index 000000000..41d0d7bd3 --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourCommon.cpp @@ -0,0 +1,388 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "DetourCommon.h" +#include "DetourMath.h" + +////////////////////////////////////////////////////////////////////////////////////////// + +void dtClosestPtPointTriangle(float* closest, const float* p, + const float* a, const float* b, const float* c) +{ + // Check if P in vertex region outside A + float ab[3], ac[3], ap[3]; + dtVsub(ab, b, a); + dtVsub(ac, c, a); + dtVsub(ap, p, a); + float d1 = dtVdot(ab, ap); + float d2 = dtVdot(ac, ap); + if (d1 <= 0.0f && d2 <= 0.0f) + { + // barycentric coordinates (1,0,0) + dtVcopy(closest, a); + return; + } + + // Check if P in vertex region outside B + float bp[3]; + dtVsub(bp, p, b); + float d3 = dtVdot(ab, bp); + float d4 = dtVdot(ac, bp); + if (d3 >= 0.0f && d4 <= d3) + { + // barycentric coordinates (0,1,0) + dtVcopy(closest, b); + return; + } + + // Check if P in edge region of AB, if so return projection of P onto AB + float vc = d1*d4 - d3*d2; + if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) + { + // barycentric coordinates (1-v,v,0) + float v = d1 / (d1 - d3); + closest[0] = a[0] + v * ab[0]; + closest[1] = a[1] + v * ab[1]; + closest[2] = a[2] + v * ab[2]; + return; + } + + // Check if P in vertex region outside C + float cp[3]; + dtVsub(cp, p, c); + float d5 = dtVdot(ab, cp); + float d6 = dtVdot(ac, cp); + if (d6 >= 0.0f && d5 <= d6) + { + // barycentric coordinates (0,0,1) + dtVcopy(closest, c); + return; + } + + // Check if P in edge region of AC, if so return projection of P onto AC + float vb = d5*d2 - d1*d6; + if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) + { + // barycentric coordinates (1-w,0,w) + float w = d2 / (d2 - d6); + closest[0] = a[0] + w * ac[0]; + closest[1] = a[1] + w * ac[1]; + closest[2] = a[2] + w * ac[2]; + return; + } + + // Check if P in edge region of BC, if so return projection of P onto BC + float va = d3*d6 - d5*d4; + if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) + { + // barycentric coordinates (0,1-w,w) + float w = (d4 - d3) / ((d4 - d3) + (d5 - d6)); + closest[0] = b[0] + w * (c[0] - b[0]); + closest[1] = b[1] + w * (c[1] - b[1]); + closest[2] = b[2] + w * (c[2] - b[2]); + return; + } + + // P inside face region. Compute Q through its barycentric coordinates (u,v,w) + float denom = 1.0f / (va + vb + vc); + float v = vb * denom; + float w = vc * denom; + closest[0] = a[0] + ab[0] * v + ac[0] * w; + closest[1] = a[1] + ab[1] * v + ac[1] * w; + closest[2] = a[2] + ab[2] * v + ac[2] * w; +} + +bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, + const float* verts, int nverts, + float& tmin, float& tmax, + int& segMin, int& segMax) +{ + static const float EPS = 0.00000001f; + + tmin = 0; + tmax = 1; + segMin = -1; + segMax = -1; + + float dir[3]; + dtVsub(dir, p1, p0); + + for (int i = 0, j = nverts-1; i < nverts; j=i++) + { + float edge[3], diff[3]; + dtVsub(edge, &verts[i*3], &verts[j*3]); + dtVsub(diff, p0, &verts[j*3]); + const float n = dtVperp2D(edge, diff); + const float d = dtVperp2D(dir, edge); + if (fabsf(d) < EPS) + { + // S is nearly parallel to this edge + if (n < 0) + return false; + else + continue; + } + const float t = n / d; + if (d < 0) + { + // segment S is entering across this edge + if (t > tmin) + { + tmin = t; + segMin = j; + // S enters after leaving polygon + if (tmin > tmax) + return false; + } + } + else + { + // segment S is leaving across this edge + if (t < tmax) + { + tmax = t; + segMax = j; + // S leaves before entering polygon + if (tmax < tmin) + return false; + } + } + } + + return true; +} + +float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t) +{ + float pqx = q[0] - p[0]; + float pqz = q[2] - p[2]; + float dx = pt[0] - p[0]; + float dz = pt[2] - p[2]; + float d = pqx*pqx + pqz*pqz; + t = pqx*dx + pqz*dz; + if (d > 0) t /= d; + if (t < 0) t = 0; + else if (t > 1) t = 1; + dx = p[0] + t*pqx - pt[0]; + dz = p[2] + t*pqz - pt[2]; + return dx*dx + dz*dz; +} + +void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts) +{ + tc[0] = 0.0f; + tc[1] = 0.0f; + tc[2] = 0.0f; + for (int j = 0; j < nidx; ++j) + { + const float* v = &verts[idx[j]*3]; + tc[0] += v[0]; + tc[1] += v[1]; + tc[2] += v[2]; + } + const float s = 1.0f / nidx; + tc[0] *= s; + tc[1] *= s; + tc[2] *= s; +} + +bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h) +{ + float v0[3], v1[3], v2[3]; + dtVsub(v0, c,a); + dtVsub(v1, b,a); + dtVsub(v2, p,a); + + const float dot00 = dtVdot2D(v0, v0); + const float dot01 = dtVdot2D(v0, v1); + const float dot02 = dtVdot2D(v0, v2); + const float dot11 = dtVdot2D(v1, v1); + const float dot12 = dtVdot2D(v1, v2); + + // Compute barycentric coordinates + const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01); + const float u = (dot11 * dot02 - dot01 * dot12) * invDenom; + const float v = (dot00 * dot12 - dot01 * dot02) * invDenom; + + // The (sloppy) epsilon is needed to allow to get height of points which + // are interpolated along the edges of the triangles. + static const float EPS = 1e-4f; + + // If point lies inside the triangle, return interpolated ycoord. + if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS) + { + h = a[1] + v0[1]*u + v1[1]*v; + return true; + } + + return false; +} + +/// @par +/// +/// All points are projected onto the xz-plane, so the y-values are ignored. +bool dtPointInPolygon(const float* pt, const float* verts, const int nverts) +{ + // TODO: Replace pnpoly with triArea2D tests? + int i, j; + bool c = false; + for (i = 0, j = nverts-1; i < nverts; j = i++) + { + const float* vi = &verts[i*3]; + const float* vj = &verts[j*3]; + if (((vi[2] > pt[2]) != (vj[2] > pt[2])) && + (pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) + c = !c; + } + return c; +} + +bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, + float* ed, float* et) +{ + // TODO: Replace pnpoly with triArea2D tests? + int i, j; + bool c = false; + for (i = 0, j = nverts-1; i < nverts; j = i++) + { + const float* vi = &verts[i*3]; + const float* vj = &verts[j*3]; + if (((vi[2] > pt[2]) != (vj[2] > pt[2])) && + (pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) + c = !c; + ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]); + } + return c; +} + +static void projectPoly(const float* axis, const float* poly, const int npoly, + float& rmin, float& rmax) +{ + rmin = rmax = dtVdot2D(axis, &poly[0]); + for (int i = 1; i < npoly; ++i) + { + const float d = dtVdot2D(axis, &poly[i*3]); + rmin = dtMin(rmin, d); + rmax = dtMax(rmax, d); + } +} + +inline bool overlapRange(const float amin, const float amax, + const float bmin, const float bmax, + const float eps) +{ + return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true; +} + +/// @par +/// +/// All vertices are projected onto the xz-plane, so the y-values are ignored. +bool dtOverlapPolyPoly2D(const float* polya, const int npolya, + const float* polyb, const int npolyb) +{ + const float eps = 1e-4f; + + for (int i = 0, j = npolya-1; i < npolya; j=i++) + { + const float* va = &polya[j*3]; + const float* vb = &polya[i*3]; + const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) }; + float amin,amax,bmin,bmax; + projectPoly(n, polya, npolya, amin,amax); + projectPoly(n, polyb, npolyb, bmin,bmax); + if (!overlapRange(amin,amax, bmin,bmax, eps)) + { + // Found separating axis + return false; + } + } + for (int i = 0, j = npolyb-1; i < npolyb; j=i++) + { + const float* va = &polyb[j*3]; + const float* vb = &polyb[i*3]; + const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) }; + float amin,amax,bmin,bmax; + projectPoly(n, polya, npolya, amin,amax); + projectPoly(n, polyb, npolyb, bmin,bmax); + if (!overlapRange(amin,amax, bmin,bmax, eps)) + { + // Found separating axis + return false; + } + } + return true; +} + +// Returns a random point in a convex polygon. +// Adapted from Graphics Gems article. +void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, + const float s, const float t, float* out) +{ + // Calc triangle araes + float areasum = 0.0f; + for (int i = 2; i < npts; i++) { + areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]); + areasum += dtMax(0.001f, areas[i]); + } + // Find sub triangle weighted by area. + const float thr = s*areasum; + float acc = 0.0f; + float u = 1.0f; + int tri = npts - 1; + for (int i = 2; i < npts; i++) { + const float dacc = areas[i]; + if (thr >= acc && thr < (acc+dacc)) + { + u = (thr - acc) / dacc; + tri = i; + break; + } + acc += dacc; + } + + float v = dtMathSqrtf(t); + + const float a = 1 - v; + const float b = (1 - u) * v; + const float c = u * v; + const float* pa = &pts[0]; + const float* pb = &pts[(tri-1)*3]; + const float* pc = &pts[tri*3]; + + out[0] = a*pa[0] + b*pb[0] + c*pc[0]; + out[1] = a*pa[1] + b*pb[1] + c*pc[1]; + out[2] = a*pa[2] + b*pb[2] + c*pc[2]; +} + +inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; } + +bool dtIntersectSegSeg2D(const float* ap, const float* aq, + const float* bp, const float* bq, + float& s, float& t) +{ + float u[3], v[3], w[3]; + dtVsub(u,aq,ap); + dtVsub(v,bq,bp); + dtVsub(w,ap,bp); + float d = vperpXZ(u,v); + if (fabsf(d) < 1e-6f) return false; + s = vperpXZ(v,w) / d; + t = vperpXZ(u,w) / d; + return true; +} + diff --git a/extern/recastnavigation/Detour/Source/DetourNavMesh.cpp b/extern/recastnavigation/Detour/Source/DetourNavMesh.cpp new file mode 100644 index 000000000..17df26d8c --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourNavMesh.cpp @@ -0,0 +1,1522 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#include +#include +#include "DetourNavMesh.h" +#include "DetourNode.h" +#include "DetourCommon.h" +#include "DetourMath.h" +#include "DetourAlloc.h" +#include "DetourAssert.h" +#include + + +inline bool overlapSlabs(const float* amin, const float* amax, + const float* bmin, const float* bmax, + const float px, const float py) +{ + // Check for horizontal overlap. + // The segment is shrunken a little so that slabs which touch + // at end points are not connected. + const float minx = dtMax(amin[0]+px,bmin[0]+px); + const float maxx = dtMin(amax[0]-px,bmax[0]-px); + if (minx > maxx) + return false; + + // Check vertical overlap. + const float ad = (amax[1]-amin[1]) / (amax[0]-amin[0]); + const float ak = amin[1] - ad*amin[0]; + const float bd = (bmax[1]-bmin[1]) / (bmax[0]-bmin[0]); + const float bk = bmin[1] - bd*bmin[0]; + const float aminy = ad*minx + ak; + const float amaxy = ad*maxx + ak; + const float bminy = bd*minx + bk; + const float bmaxy = bd*maxx + bk; + const float dmin = bminy - aminy; + const float dmax = bmaxy - amaxy; + + // Crossing segments always overlap. + if (dmin*dmax < 0) + return true; + + // Check for overlap at endpoints. + const float thr = dtSqr(py*2); + if (dmin*dmin <= thr || dmax*dmax <= thr) + return true; + + return false; +} + +static float getSlabCoord(const float* va, const int side) +{ + if (side == 0 || side == 4) + return va[0]; + else if (side == 2 || side == 6) + return va[2]; + return 0; +} + +static void calcSlabEndPoints(const float* va, const float* vb, float* bmin, float* bmax, const int side) +{ + if (side == 0 || side == 4) + { + if (va[2] < vb[2]) + { + bmin[0] = va[2]; + bmin[1] = va[1]; + bmax[0] = vb[2]; + bmax[1] = vb[1]; + } + else + { + bmin[0] = vb[2]; + bmin[1] = vb[1]; + bmax[0] = va[2]; + bmax[1] = va[1]; + } + } + else if (side == 2 || side == 6) + { + if (va[0] < vb[0]) + { + bmin[0] = va[0]; + bmin[1] = va[1]; + bmax[0] = vb[0]; + bmax[1] = vb[1]; + } + else + { + bmin[0] = vb[0]; + bmin[1] = vb[1]; + bmax[0] = va[0]; + bmax[1] = va[1]; + } + } +} + +inline int computeTileHash(int x, int y, const int mask) +{ + const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; + const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes + unsigned int n = h1 * x + h2 * y; + return (int)(n & mask); +} + +inline unsigned int allocLink(dtMeshTile* tile) +{ + if (tile->linksFreeList == DT_NULL_LINK) + return DT_NULL_LINK; + unsigned int link = tile->linksFreeList; + tile->linksFreeList = tile->links[link].next; + return link; +} + +inline void freeLink(dtMeshTile* tile, unsigned int link) +{ + tile->links[link].next = tile->linksFreeList; + tile->linksFreeList = link; +} + + +dtNavMesh* dtAllocNavMesh() +{ + void* mem = dtAlloc(sizeof(dtNavMesh), DT_ALLOC_PERM); + if (!mem) return 0; + return new(mem) dtNavMesh; +} + +/// @par +/// +/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA +/// flag set. +void dtFreeNavMesh(dtNavMesh* navmesh) +{ + if (!navmesh) return; + navmesh->~dtNavMesh(); + dtFree(navmesh); +} + +////////////////////////////////////////////////////////////////////////////////////////// + +/** +@class dtNavMesh + +The navigation mesh consists of one or more tiles defining three primary types of structural data: + +A polygon mesh which defines most of the navigation graph. (See rcPolyMesh for its structure.) +A detail mesh used for determining surface height on the polygon mesh. (See rcPolyMeshDetail for its structure.) +Off-mesh connections, which define custom point-to-point edges within the navigation graph. + +The general build process is as follows: + +-# Create rcPolyMesh and rcPolyMeshDetail data using the Recast build pipeline. +-# Optionally, create off-mesh connection data. +-# Combine the source data into a dtNavMeshCreateParams structure. +-# Create a tile data array using dtCreateNavMeshData(). +-# Allocate at dtNavMesh object and initialize it. (For single tile navigation meshes, + the tile data is loaded during this step.) +-# For multi-tile navigation meshes, load the tile data using dtNavMesh::addTile(). + +Notes: + +- This class is usually used in conjunction with the dtNavMeshQuery class for pathfinding. +- Technically, all navigation meshes are tiled. A 'solo' mesh is simply a navigation mesh initialized + to have only a single tile. +- This class does not implement any asynchronous methods. So the ::dtStatus result of all methods will + always contain either a success or failure flag. + +@see dtNavMeshQuery, dtCreateNavMeshData, dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh +*/ + +dtNavMesh::dtNavMesh() : + m_tileWidth(0), + m_tileHeight(0), + m_maxTiles(0), + m_tileLutSize(0), + m_tileLutMask(0), + m_posLookup(0), + m_nextFree(0), + m_tiles(0) +{ +#ifndef DT_POLYREF64 + m_saltBits = 0; + m_tileBits = 0; + m_polyBits = 0; +#endif + memset(&m_params, 0, sizeof(dtNavMeshParams)); + m_orig[0] = 0; + m_orig[1] = 0; + m_orig[2] = 0; +} + +dtNavMesh::~dtNavMesh() +{ + for (int i = 0; i < m_maxTiles; ++i) + { + if (m_tiles[i].flags & DT_TILE_FREE_DATA) + { + dtFree(m_tiles[i].data); + m_tiles[i].data = 0; + m_tiles[i].dataSize = 0; + } + } + dtFree(m_posLookup); + dtFree(m_tiles); +} + +dtStatus dtNavMesh::init(const dtNavMeshParams* params) +{ + memcpy(&m_params, params, sizeof(dtNavMeshParams)); + dtVcopy(m_orig, params->orig); + m_tileWidth = params->tileWidth; + m_tileHeight = params->tileHeight; + + // Init tiles + m_maxTiles = params->maxTiles; + m_tileLutSize = dtNextPow2(params->maxTiles/4); + if (!m_tileLutSize) m_tileLutSize = 1; + m_tileLutMask = m_tileLutSize-1; + + m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM); + if (!m_tiles) + return DT_FAILURE | DT_OUT_OF_MEMORY; + m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM); + if (!m_posLookup) + return DT_FAILURE | DT_OUT_OF_MEMORY; + memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles); + memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize); + m_nextFree = 0; + for (int i = m_maxTiles-1; i >= 0; --i) + { + m_tiles[i].salt = 1; + m_tiles[i].next = m_nextFree; + m_nextFree = &m_tiles[i]; + } + + // Init ID generator values. +#ifndef DT_POLYREF64 + m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles)); + m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys)); + // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. + m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits); + + if (m_saltBits < 10) + return DT_FAILURE | DT_INVALID_PARAM; +#endif + + return DT_SUCCESS; +} + +dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flags) +{ + // Make sure the data is in right format. + dtMeshHeader* header = (dtMeshHeader*)data; + if (header->magic != DT_NAVMESH_MAGIC) + return DT_FAILURE | DT_WRONG_MAGIC; + if (header->version != DT_NAVMESH_VERSION) + return DT_FAILURE | DT_WRONG_VERSION; + + dtNavMeshParams params; + dtVcopy(params.orig, header->bmin); + params.tileWidth = header->bmax[0] - header->bmin[0]; + params.tileHeight = header->bmax[2] - header->bmin[2]; + params.maxTiles = 1; + params.maxPolys = header->polyCount; + + dtStatus status = init(¶ms); + if (dtStatusFailed(status)) + return status; + + return addTile(data, dataSize, flags, 0, 0); +} + +/// @par +/// +/// @note The parameters are created automatically when the single tile +/// initialization is performed. +const dtNavMeshParams* dtNavMesh::getParams() const +{ + return &m_params; +} + +////////////////////////////////////////////////////////////////////////////////////////// +int dtNavMesh::findConnectingPolys(const float* va, const float* vb, + const dtMeshTile* tile, int side, + dtPolyRef* con, float* conarea, int maxcon) const +{ + if (!tile) return 0; + + float amin[2], amax[2]; + calcSlabEndPoints(va, vb, amin, amax, side); + const float apos = getSlabCoord(va, side); + + // Remove links pointing to 'side' and compact the links array. + float bmin[2], bmax[2]; + unsigned short m = DT_EXT_LINK | (unsigned short)side; + int n = 0; + + dtPolyRef base = getPolyRefBase(tile); + + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* poly = &tile->polys[i]; + const int nv = poly->vertCount; + for (int j = 0; j < nv; ++j) + { + // Skip edges which do not point to the right side. + if (poly->neis[j] != m) continue; + + const float* vc = &tile->verts[poly->verts[j]*3]; + const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3]; + const float bpos = getSlabCoord(vc, side); + + // Segments are not close enough. + if (dtAbs(apos-bpos) > 0.01f) + continue; + + // Check if the segments touch. + calcSlabEndPoints(vc,vd, bmin,bmax, side); + + if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue; + + // Add return value. + if (n < maxcon) + { + conarea[n*2+0] = dtMax(amin[0], bmin[0]); + conarea[n*2+1] = dtMin(amax[0], bmax[0]); + con[n] = base | (dtPolyRef)i; + n++; + } + break; + } + } + return n; +} + +void dtNavMesh::unconnectLinks(dtMeshTile* tile, dtMeshTile* target) +{ + if (!tile || !target) return; + + const unsigned int targetNum = decodePolyIdTile(getTileRef(target)); + + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* poly = &tile->polys[i]; + unsigned int j = poly->firstLink; + unsigned int pj = DT_NULL_LINK; + while (j != DT_NULL_LINK) + { + if (decodePolyIdTile(tile->links[j].ref) == targetNum) + { + // Remove link. + unsigned int nj = tile->links[j].next; + if (pj == DT_NULL_LINK) + poly->firstLink = nj; + else + tile->links[pj].next = nj; + freeLink(tile, j); + j = nj; + } + else + { + // Advance + pj = j; + j = tile->links[j].next; + } + } + } +} + +void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side) +{ + if (!tile) return; + + // Connect border links. + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* poly = &tile->polys[i]; + + // Create new links. +// unsigned short m = DT_EXT_LINK | (unsigned short)side; + + const int nv = poly->vertCount; + for (int j = 0; j < nv; ++j) + { + // Skip non-portal edges. + if ((poly->neis[j] & DT_EXT_LINK) == 0) + continue; + + const int dir = (int)(poly->neis[j] & 0xff); + if (side != -1 && dir != side) + continue; + + // Create new links + const float* va = &tile->verts[poly->verts[j]*3]; + const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; + dtPolyRef nei[4]; + float neia[4*2]; + int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(dir), nei,neia,4); + for (int k = 0; k < nnei; ++k) + { + unsigned int idx = allocLink(tile); + if (idx != DT_NULL_LINK) + { + dtLink* link = &tile->links[idx]; + link->ref = nei[k]; + link->edge = (unsigned char)j; + link->side = (unsigned char)dir; + + link->next = poly->firstLink; + poly->firstLink = idx; + + // Compress portal limits to a byte value. + if (dir == 0 || dir == 4) + { + float tmin = (neia[k*2+0]-va[2]) / (vb[2]-va[2]); + float tmax = (neia[k*2+1]-va[2]) / (vb[2]-va[2]); + if (tmin > tmax) + dtSwap(tmin,tmax); + link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f); + link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f); + } + else if (dir == 2 || dir == 6) + { + float tmin = (neia[k*2+0]-va[0]) / (vb[0]-va[0]); + float tmax = (neia[k*2+1]-va[0]) / (vb[0]-va[0]); + if (tmin > tmax) + dtSwap(tmin,tmax); + link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f); + link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f); + } + } + } + } + } +} + +void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side) +{ + if (!tile) return; + + // Connect off-mesh links. + // We are interested on links which land from target tile to this tile. + const unsigned char oppositeSide = (side == -1) ? 0xff : (unsigned char)dtOppositeTile(side); + + for (int i = 0; i < target->header->offMeshConCount; ++i) + { + dtOffMeshConnection* targetCon = &target->offMeshCons[i]; + if (targetCon->side != oppositeSide) + continue; + + dtPoly* targetPoly = &target->polys[targetCon->poly]; + // Skip off-mesh connections which start location could not be connected at all. + if (targetPoly->firstLink == DT_NULL_LINK) + continue; + + const float halfExtents[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad }; + + // Find polygon to connect to. + const float* p = &targetCon->pos[3]; + float nearestPt[3]; + dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt); + if (!ref) + continue; + // findNearestPoly may return too optimistic results, further check to make sure. + if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(targetCon->rad)) + continue; + // Make sure the location is on current mesh. + float* v = &target->verts[targetPoly->verts[1]*3]; + dtVcopy(v, nearestPt); + + // Link off-mesh connection to target poly. + unsigned int idx = allocLink(target); + if (idx != DT_NULL_LINK) + { + dtLink* link = &target->links[idx]; + link->ref = ref; + link->edge = (unsigned char)1; + link->side = oppositeSide; + link->bmin = link->bmax = 0; + // Add to linked list. + link->next = targetPoly->firstLink; + targetPoly->firstLink = idx; + } + + // Link target poly to off-mesh connection. + if (targetCon->flags & DT_OFFMESH_CON_BIDIR) + { + unsigned int tidx = allocLink(tile); + if (tidx != DT_NULL_LINK) + { + const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref); + dtPoly* landPoly = &tile->polys[landPolyIdx]; + dtLink* link = &tile->links[tidx]; + link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly); + link->edge = 0xff; + link->side = (unsigned char)(side == -1 ? 0xff : side); + link->bmin = link->bmax = 0; + // Add to linked list. + link->next = landPoly->firstLink; + landPoly->firstLink = tidx; + } + } + } + +} + +void dtNavMesh::connectIntLinks(dtMeshTile* tile) +{ + if (!tile) return; + + dtPolyRef base = getPolyRefBase(tile); + + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* poly = &tile->polys[i]; + poly->firstLink = DT_NULL_LINK; + + if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + + // Build edge links backwards so that the links will be + // in the linked list from lowest index to highest. + for (int j = poly->vertCount-1; j >= 0; --j) + { + // Skip hard and non-internal edges. + if (poly->neis[j] == 0 || (poly->neis[j] & DT_EXT_LINK)) continue; + + unsigned int idx = allocLink(tile); + if (idx != DT_NULL_LINK) + { + dtLink* link = &tile->links[idx]; + link->ref = base | (dtPolyRef)(poly->neis[j]-1); + link->edge = (unsigned char)j; + link->side = 0xff; + link->bmin = link->bmax = 0; + // Add to linked list. + link->next = poly->firstLink; + poly->firstLink = idx; + } + } + } +} + +void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile) +{ + if (!tile) return; + + dtPolyRef base = getPolyRefBase(tile); + + // Base off-mesh connection start points. + for (int i = 0; i < tile->header->offMeshConCount; ++i) + { + dtOffMeshConnection* con = &tile->offMeshCons[i]; + dtPoly* poly = &tile->polys[con->poly]; + + const float halfExtents[3] = { con->rad, tile->header->walkableClimb, con->rad }; + + // Find polygon to connect to. + const float* p = &con->pos[0]; // First vertex + float nearestPt[3]; + dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt); + if (!ref) continue; + // findNearestPoly may return too optimistic results, further check to make sure. + if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad)) + continue; + // Make sure the location is on current mesh. + float* v = &tile->verts[poly->verts[0]*3]; + dtVcopy(v, nearestPt); + + // Link off-mesh connection to target poly. + unsigned int idx = allocLink(tile); + if (idx != DT_NULL_LINK) + { + dtLink* link = &tile->links[idx]; + link->ref = ref; + link->edge = (unsigned char)0; + link->side = 0xff; + link->bmin = link->bmax = 0; + // Add to linked list. + link->next = poly->firstLink; + poly->firstLink = idx; + } + + // Start end-point is always connect back to off-mesh connection. + unsigned int tidx = allocLink(tile); + if (tidx != DT_NULL_LINK) + { + const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref); + dtPoly* landPoly = &tile->polys[landPolyIdx]; + dtLink* link = &tile->links[tidx]; + link->ref = base | (dtPolyRef)(con->poly); + link->edge = 0xff; + link->side = 0xff; + link->bmin = link->bmax = 0; + // Add to linked list. + link->next = landPoly->firstLink; + landPoly->firstLink = tidx; + } + } +} + +void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const +{ + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + getTileAndPolyByRefUnsafe(ref, &tile, &poly); + + // Off-mesh connections don't have detail polygons. + if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + { + const float* v0 = &tile->verts[poly->verts[0]*3]; + const float* v1 = &tile->verts[poly->verts[1]*3]; + const float d0 = dtVdist(pos, v0); + const float d1 = dtVdist(pos, v1); + const float u = d0 / (d0+d1); + dtVlerp(closest, v0, v1, u); + if (posOverPoly) + *posOverPoly = false; + return; + } + + const unsigned int ip = (unsigned int)(poly - tile->polys); + const dtPolyDetail* pd = &tile->detailMeshes[ip]; + + // Clamp point to be inside the polygon. + float verts[DT_VERTS_PER_POLYGON*3]; + float edged[DT_VERTS_PER_POLYGON]; + float edget[DT_VERTS_PER_POLYGON]; + const int nv = poly->vertCount; + for (int i = 0; i < nv; ++i) + dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]); + + dtVcopy(closest, pos); + if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) + { + // Point is outside the polygon, dtClamp to nearest edge. + float dmin = edged[0]; + int imin = 0; + for (int i = 1; i < nv; ++i) + { + if (edged[i] < dmin) + { + dmin = edged[i]; + imin = i; + } + } + const float* va = &verts[imin*3]; + const float* vb = &verts[((imin+1)%nv)*3]; + dtVlerp(closest, va, vb, edget[imin]); + + if (posOverPoly) + *posOverPoly = false; + } + else + { + if (posOverPoly) + *posOverPoly = true; + } + + // Find height at the location. + for (int j = 0; j < pd->triCount; ++j) + { + const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; + const float* v[3]; + for (int k = 0; k < 3; ++k) + { + if (t[k] < poly->vertCount) + v[k] = &tile->verts[poly->verts[t[k]]*3]; + else + v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; + } + float h; + if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h)) + { + closest[1] = h; + break; + } + } +} + +dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile, + const float* center, const float* halfExtents, + float* nearestPt) const +{ + float bmin[3], bmax[3]; + dtVsub(bmin, center, halfExtents); + dtVadd(bmax, center, halfExtents); + + // Get nearby polygons from proximity grid. + dtPolyRef polys[128]; + int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128); + + // Find nearest polygon amongst the nearby polygons. + dtPolyRef nearest = 0; + float nearestDistanceSqr = FLT_MAX; + for (int i = 0; i < polyCount; ++i) + { + dtPolyRef ref = polys[i]; + float closestPtPoly[3]; + float diff[3]; + bool posOverPoly = false; + float d; + closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly); + + // If a point is directly over a polygon and closer than + // climb height, favor that instead of straight line nearest point. + dtVsub(diff, center, closestPtPoly); + if (posOverPoly) + { + d = dtAbs(diff[1]) - tile->header->walkableClimb; + d = d > 0 ? d*d : 0; + } + else + { + d = dtVlenSqr(diff); + } + + if (d < nearestDistanceSqr) + { + dtVcopy(nearestPt, closestPtPoly); + nearestDistanceSqr = d; + nearest = ref; + } + } + + return nearest; +} + +int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, + dtPolyRef* polys, const int maxPolys) const +{ + if (tile->bvTree) + { + const dtBVNode* node = &tile->bvTree[0]; + const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount]; + const float* tbmin = tile->header->bmin; + const float* tbmax = tile->header->bmax; + const float qfac = tile->header->bvQuantFactor; + + // Calculate quantized box + unsigned short bmin[3], bmax[3]; + // dtClamp query box to world box. + float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; + float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; + float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; + float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; + float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; + float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; + // Quantize + bmin[0] = (unsigned short)(qfac * minx) & 0xfffe; + bmin[1] = (unsigned short)(qfac * miny) & 0xfffe; + bmin[2] = (unsigned short)(qfac * minz) & 0xfffe; + bmax[0] = (unsigned short)(qfac * maxx + 1) | 1; + bmax[1] = (unsigned short)(qfac * maxy + 1) | 1; + bmax[2] = (unsigned short)(qfac * maxz + 1) | 1; + + // Traverse tree + dtPolyRef base = getPolyRefBase(tile); + int n = 0; + while (node < end) + { + const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax); + const bool isLeafNode = node->i >= 0; + + if (isLeafNode && overlap) + { + if (n < maxPolys) + polys[n++] = base | (dtPolyRef)node->i; + } + + if (overlap || isLeafNode) + node++; + else + { + const int escapeIndex = -node->i; + node += escapeIndex; + } + } + + return n; + } + else + { + float bmin[3], bmax[3]; + int n = 0; + dtPolyRef base = getPolyRefBase(tile); + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* p = &tile->polys[i]; + // Do not return off-mesh connection polygons. + if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + // Calc polygon bounds. + const float* v = &tile->verts[p->verts[0]*3]; + dtVcopy(bmin, v); + dtVcopy(bmax, v); + for (int j = 1; j < p->vertCount; ++j) + { + v = &tile->verts[p->verts[j]*3]; + dtVmin(bmin, v); + dtVmax(bmax, v); + } + if (dtOverlapBounds(qmin,qmax, bmin,bmax)) + { + if (n < maxPolys) + polys[n++] = base | (dtPolyRef)i; + } + } + return n; + } +} + +/// @par +/// +/// The add operation will fail if the data is in the wrong format, the allocated tile +/// space is full, or there is a tile already at the specified reference. +/// +/// The lastRef parameter is used to restore a tile with the same tile +/// reference it had previously used. In this case the #dtPolyRef's for the +/// tile will be restored to the same values they were before the tile was +/// removed. +/// +/// The nav mesh assumes exclusive access to the data passed and will make +/// changes to the dynamic portion of the data. For that reason the data +/// should not be reused in other nav meshes until the tile has been successfully +/// removed from this nav mesh. +/// +/// @see dtCreateNavMeshData, #removeTile +dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, + dtTileRef lastRef, dtTileRef* result) +{ + // Make sure the data is in right format. + dtMeshHeader* header = (dtMeshHeader*)data; + if (header->magic != DT_NAVMESH_MAGIC) + return DT_FAILURE | DT_WRONG_MAGIC; + if (header->version != DT_NAVMESH_VERSION) + return DT_FAILURE | DT_WRONG_VERSION; + + // Make sure the location is free. + if (getTileAt(header->x, header->y, header->layer)) + return DT_FAILURE | DT_ALREADY_OCCUPIED; + + // Allocate a tile. + dtMeshTile* tile = 0; + if (!lastRef) + { + if (m_nextFree) + { + tile = m_nextFree; + m_nextFree = tile->next; + tile->next = 0; + } + } + else + { + // Try to relocate the tile to specific index with same salt. + int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef); + if (tileIndex >= m_maxTiles) + return DT_FAILURE | DT_OUT_OF_MEMORY; + // Try to find the specific tile id from the free list. + dtMeshTile* target = &m_tiles[tileIndex]; + dtMeshTile* prev = 0; + tile = m_nextFree; + while (tile && tile != target) + { + prev = tile; + tile = tile->next; + } + // Could not find the correct location. + if (tile != target) + return DT_FAILURE | DT_OUT_OF_MEMORY; + // Remove from freelist + if (!prev) + m_nextFree = tile->next; + else + prev->next = tile->next; + + // Restore salt. + tile->salt = decodePolyIdSalt((dtPolyRef)lastRef); + } + + // Make sure we could allocate a tile. + if (!tile) + return DT_FAILURE | DT_OUT_OF_MEMORY; + + // Insert tile into the position lut. + int h = computeTileHash(header->x, header->y, m_tileLutMask); + tile->next = m_posLookup[h]; + m_posLookup[h] = tile; + + // Patch header pointers. + const int headerSize = dtAlign4(sizeof(dtMeshHeader)); + const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount); + const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount); + const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount)); + const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount); + const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount); + const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount); + const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount); + const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount); + + unsigned char* d = data + headerSize; + tile->verts = dtGetThenAdvanceBufferPointer(d, vertsSize); + tile->polys = dtGetThenAdvanceBufferPointer(d, polysSize); + tile->links = dtGetThenAdvanceBufferPointer(d, linksSize); + tile->detailMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); + tile->detailVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); + tile->detailTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); + tile->bvTree = dtGetThenAdvanceBufferPointer(d, bvtreeSize); + tile->offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshLinksSize); + + // If there are no items in the bvtree, reset the tree pointer. + if (!bvtreeSize) + tile->bvTree = 0; + + // Build links freelist + tile->linksFreeList = 0; + tile->links[header->maxLinkCount-1].next = DT_NULL_LINK; + for (int i = 0; i < header->maxLinkCount-1; ++i) + tile->links[i].next = i+1; + + // Init tile. + tile->header = header; + tile->data = data; + tile->dataSize = dataSize; + tile->flags = flags; + + connectIntLinks(tile); + + // Base off-mesh connections to their starting polygons and connect connections inside the tile. + baseOffMeshLinks(tile); + connectExtOffMeshLinks(tile, tile, -1); + + // Create connections with neighbour tiles. + static const int MAX_NEIS = 32; + dtMeshTile* neis[MAX_NEIS]; + int nneis; + + // Connect with layers in current tile. + nneis = getTilesAt(header->x, header->y, neis, MAX_NEIS); + for (int j = 0; j < nneis; ++j) + { + if (neis[j] == tile) + continue; + + connectExtLinks(tile, neis[j], -1); + connectExtLinks(neis[j], tile, -1); + connectExtOffMeshLinks(tile, neis[j], -1); + connectExtOffMeshLinks(neis[j], tile, -1); + } + + // Connect with neighbour tiles. + for (int i = 0; i < 8; ++i) + { + nneis = getNeighbourTilesAt(header->x, header->y, i, neis, MAX_NEIS); + for (int j = 0; j < nneis; ++j) + { + connectExtLinks(tile, neis[j], i); + connectExtLinks(neis[j], tile, dtOppositeTile(i)); + connectExtOffMeshLinks(tile, neis[j], i); + connectExtOffMeshLinks(neis[j], tile, dtOppositeTile(i)); + } + } + + if (result) + *result = getTileRef(tile); + + return DT_SUCCESS; +} + +const dtMeshTile* dtNavMesh::getTileAt(const int x, const int y, const int layer) const +{ + // Find tile based on hash. + int h = computeTileHash(x,y,m_tileLutMask); + dtMeshTile* tile = m_posLookup[h]; + while (tile) + { + if (tile->header && + tile->header->x == x && + tile->header->y == y && + tile->header->layer == layer) + { + return tile; + } + tile = tile->next; + } + return 0; +} + +int dtNavMesh::getNeighbourTilesAt(const int x, const int y, const int side, dtMeshTile** tiles, const int maxTiles) const +{ + int nx = x, ny = y; + switch (side) + { + case 0: nx++; break; + case 1: nx++; ny++; break; + case 2: ny++; break; + case 3: nx--; ny++; break; + case 4: nx--; break; + case 5: nx--; ny--; break; + case 6: ny--; break; + case 7: nx++; ny--; break; + }; + + return getTilesAt(nx, ny, tiles, maxTiles); +} + +int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile** tiles, const int maxTiles) const +{ + int n = 0; + + // Find tile based on hash. + int h = computeTileHash(x,y,m_tileLutMask); + dtMeshTile* tile = m_posLookup[h]; + while (tile) + { + if (tile->header && + tile->header->x == x && + tile->header->y == y) + { + if (n < maxTiles) + tiles[n++] = tile; + } + tile = tile->next; + } + + return n; +} + +/// @par +/// +/// This function will not fail if the tiles array is too small to hold the +/// entire result set. It will simply fill the array to capacity. +int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile const** tiles, const int maxTiles) const +{ + int n = 0; + + // Find tile based on hash. + int h = computeTileHash(x,y,m_tileLutMask); + dtMeshTile* tile = m_posLookup[h]; + while (tile) + { + if (tile->header && + tile->header->x == x && + tile->header->y == y) + { + if (n < maxTiles) + tiles[n++] = tile; + } + tile = tile->next; + } + + return n; +} + + +dtTileRef dtNavMesh::getTileRefAt(const int x, const int y, const int layer) const +{ + // Find tile based on hash. + int h = computeTileHash(x,y,m_tileLutMask); + dtMeshTile* tile = m_posLookup[h]; + while (tile) + { + if (tile->header && + tile->header->x == x && + tile->header->y == y && + tile->header->layer == layer) + { + return getTileRef(tile); + } + tile = tile->next; + } + return 0; +} + +const dtMeshTile* dtNavMesh::getTileByRef(dtTileRef ref) const +{ + if (!ref) + return 0; + unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); + unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); + if ((int)tileIndex >= m_maxTiles) + return 0; + const dtMeshTile* tile = &m_tiles[tileIndex]; + if (tile->salt != tileSalt) + return 0; + return tile; +} + +int dtNavMesh::getMaxTiles() const +{ + return m_maxTiles; +} + +dtMeshTile* dtNavMesh::getTile(int i) +{ + return &m_tiles[i]; +} + +const dtMeshTile* dtNavMesh::getTile(int i) const +{ + return &m_tiles[i]; +} + +void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const +{ + *tx = (int)floorf((pos[0]-m_orig[0]) / m_tileWidth); + *ty = (int)floorf((pos[2]-m_orig[2]) / m_tileHeight); +} + +dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const +{ + if (!ref) return DT_FAILURE; + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; + *tile = &m_tiles[it]; + *poly = &m_tiles[it].polys[ip]; + return DT_SUCCESS; +} + +/// @par +/// +/// @warning Only use this function if it is known that the provided polygon +/// reference is valid. This function is faster than #getTileAndPolyByRef, but +/// it does not validate the reference. +void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const +{ + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + *tile = &m_tiles[it]; + *poly = &m_tiles[it].polys[ip]; +} + +bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const +{ + if (!ref) return false; + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return false; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false; + if (ip >= (unsigned int)m_tiles[it].header->polyCount) return false; + return true; +} + +/// @par +/// +/// This function returns the data for the tile so that, if desired, +/// it can be added back to the navigation mesh at a later point. +/// +/// @see #addTile +dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize) +{ + if (!ref) + return DT_FAILURE | DT_INVALID_PARAM; + unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); + unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); + if ((int)tileIndex >= m_maxTiles) + return DT_FAILURE | DT_INVALID_PARAM; + dtMeshTile* tile = &m_tiles[tileIndex]; + if (tile->salt != tileSalt) + return DT_FAILURE | DT_INVALID_PARAM; + + // Remove tile from hash lookup. + int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask); + dtMeshTile* prev = 0; + dtMeshTile* cur = m_posLookup[h]; + while (cur) + { + if (cur == tile) + { + if (prev) + prev->next = cur->next; + else + m_posLookup[h] = cur->next; + break; + } + prev = cur; + cur = cur->next; + } + + // Remove connections to neighbour tiles. + static const int MAX_NEIS = 32; + dtMeshTile* neis[MAX_NEIS]; + int nneis; + + // Disconnect from other layers in current tile. + nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS); + for (int j = 0; j < nneis; ++j) + { + if (neis[j] == tile) continue; + unconnectLinks(neis[j], tile); + } + + // Disconnect from neighbour tiles. + for (int i = 0; i < 8; ++i) + { + nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS); + for (int j = 0; j < nneis; ++j) + unconnectLinks(neis[j], tile); + } + + // Reset tile. + if (tile->flags & DT_TILE_FREE_DATA) + { + // Owns data + dtFree(tile->data); + tile->data = 0; + tile->dataSize = 0; + if (data) *data = 0; + if (dataSize) *dataSize = 0; + } + else + { + if (data) *data = tile->data; + if (dataSize) *dataSize = tile->dataSize; + } + + tile->header = 0; + tile->flags = 0; + tile->linksFreeList = 0; + tile->polys = 0; + tile->verts = 0; + tile->links = 0; + tile->detailMeshes = 0; + tile->detailVerts = 0; + tile->detailTris = 0; + tile->bvTree = 0; + tile->offMeshCons = 0; + + // Update salt, salt should never be zero. +#ifdef DT_POLYREF64 + tile->salt = (tile->salt+1) & ((1<salt = (tile->salt+1) & ((1<salt == 0) + tile->salt++; + + // Add to free list. + tile->next = m_nextFree; + m_nextFree = tile; + + return DT_SUCCESS; +} + +dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const +{ + if (!tile) return 0; + const unsigned int it = (unsigned int)(tile - m_tiles); + return (dtTileRef)encodePolyId(tile->salt, it, 0); +} + +/// @par +/// +/// Example use case: +/// @code +/// +/// const dtPolyRef base = navmesh->getPolyRefBase(tile); +/// for (int i = 0; i < tile->header->polyCount; ++i) +/// { +/// const dtPoly* p = &tile->polys[i]; +/// const dtPolyRef ref = base | (dtPolyRef)i; +/// +/// // Use the reference to access the polygon data. +/// } +/// @endcode +dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const +{ + if (!tile) return 0; + const unsigned int it = (unsigned int)(tile - m_tiles); + return encodePolyId(tile->salt, it, 0); +} + +struct dtTileState +{ + int magic; // Magic number, used to identify the data. + int version; // Data version number. + dtTileRef ref; // Tile ref at the time of storing the data. +}; + +struct dtPolyState +{ + unsigned short flags; // Flags (see dtPolyFlags). + unsigned char area; // Area ID of the polygon. +}; + +/// @see #storeTileState +int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const +{ + if (!tile) return 0; + const int headerSize = dtAlign4(sizeof(dtTileState)); + const int polyStateSize = dtAlign4(sizeof(dtPolyState) * tile->header->polyCount); + return headerSize + polyStateSize; +} + +/// @par +/// +/// Tile state includes non-structural data such as polygon flags, area ids, etc. +/// @note The state data is only valid until the tile reference changes. +/// @see #getTileStateSize, #restoreTileState +dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const +{ + // Make sure there is enough space to store the state. + const int sizeReq = getTileStateSize(tile); + if (maxDataSize < sizeReq) + return DT_FAILURE | DT_BUFFER_TOO_SMALL; + + dtTileState* tileState = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtTileState))); + dtPolyState* polyStates = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount)); + + // Store tile state. + tileState->magic = DT_NAVMESH_STATE_MAGIC; + tileState->version = DT_NAVMESH_STATE_VERSION; + tileState->ref = getTileRef(tile); + + // Store per poly state. + for (int i = 0; i < tile->header->polyCount; ++i) + { + const dtPoly* p = &tile->polys[i]; + dtPolyState* s = &polyStates[i]; + s->flags = p->flags; + s->area = p->getArea(); + } + + return DT_SUCCESS; +} + +/// @par +/// +/// Tile state includes non-structural data such as polygon flags, area ids, etc. +/// @note This function does not impact the tile's #dtTileRef and #dtPolyRef's. +/// @see #storeTileState +dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize) +{ + // Make sure there is enough space to store the state. + const int sizeReq = getTileStateSize(tile); + if (maxDataSize < sizeReq) + return DT_FAILURE | DT_INVALID_PARAM; + + const dtTileState* tileState = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtTileState))); + const dtPolyState* polyStates = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount)); + + // Check that the restore is possible. + if (tileState->magic != DT_NAVMESH_STATE_MAGIC) + return DT_FAILURE | DT_WRONG_MAGIC; + if (tileState->version != DT_NAVMESH_STATE_VERSION) + return DT_FAILURE | DT_WRONG_VERSION; + if (tileState->ref != getTileRef(tile)) + return DT_FAILURE | DT_INVALID_PARAM; + + // Restore per poly state. + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* p = &tile->polys[i]; + const dtPolyState* s = &polyStates[i]; + p->flags = s->flags; + p->setArea(s->area); + } + + return DT_SUCCESS; +} + +/// @par +/// +/// Off-mesh connections are stored in the navigation mesh as special 2-vertex +/// polygons with a single edge. At least one of the vertices is expected to be +/// inside a normal polygon. So an off-mesh connection is "entered" from a +/// normal polygon at one of its endpoints. This is the polygon identified by +/// the prevRef parameter. +dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const +{ + unsigned int salt, it, ip; + + if (!polyRef) + return DT_FAILURE; + + // Get current polygon + decodePolyId(polyRef, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + const dtMeshTile* tile = &m_tiles[it]; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; + const dtPoly* poly = &tile->polys[ip]; + + // Make sure that the current poly is indeed off-mesh link. + if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) + return DT_FAILURE; + + // Figure out which way to hand out the vertices. + int idx0 = 0, idx1 = 1; + + // Find link that points to first vertex. + for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next) + { + if (tile->links[i].edge == 0) + { + if (tile->links[i].ref != prevRef) + { + idx0 = 1; + idx1 = 0; + } + break; + } + } + + dtVcopy(startPos, &tile->verts[poly->verts[idx0]*3]); + dtVcopy(endPos, &tile->verts[poly->verts[idx1]*3]); + + return DT_SUCCESS; +} + + +const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) const +{ + unsigned int salt, it, ip; + + if (!ref) + return 0; + + // Get current polygon + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return 0; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0; + const dtMeshTile* tile = &m_tiles[it]; + if (ip >= (unsigned int)tile->header->polyCount) return 0; + const dtPoly* poly = &tile->polys[ip]; + + // Make sure that the current poly is indeed off-mesh link. + if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) + return 0; + + const unsigned int idx = ip - tile->header->offMeshBase; + dtAssert(idx < (unsigned int)tile->header->offMeshConCount); + return &tile->offMeshCons[idx]; +} + + +dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags) +{ + if (!ref) return DT_FAILURE; + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + dtMeshTile* tile = &m_tiles[it]; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; + dtPoly* poly = &tile->polys[ip]; + + // Change flags. + poly->flags = flags; + + return DT_SUCCESS; +} + +dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const +{ + if (!ref) return DT_FAILURE; + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + const dtMeshTile* tile = &m_tiles[it]; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; + const dtPoly* poly = &tile->polys[ip]; + + *resultFlags = poly->flags; + + return DT_SUCCESS; +} + +dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area) +{ + if (!ref) return DT_FAILURE; + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + dtMeshTile* tile = &m_tiles[it]; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; + dtPoly* poly = &tile->polys[ip]; + + poly->setArea(area); + + return DT_SUCCESS; +} + +dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const +{ + if (!ref) return DT_FAILURE; + unsigned int salt, it, ip; + decodePolyId(ref, salt, it, ip); + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + const dtMeshTile* tile = &m_tiles[it]; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; + const dtPoly* poly = &tile->polys[ip]; + + *resultArea = poly->getArea(); + + return DT_SUCCESS; +} + diff --git a/extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp b/extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp new file mode 100644 index 000000000..e93a97629 --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp @@ -0,0 +1,802 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#include +#include +#include +#include "DetourNavMesh.h" +#include "DetourCommon.h" +#include "DetourMath.h" +#include "DetourNavMeshBuilder.h" +#include "DetourAlloc.h" +#include "DetourAssert.h" + +static unsigned short MESH_NULL_IDX = 0xffff; + + +struct BVItem +{ + unsigned short bmin[3]; + unsigned short bmax[3]; + int i; +}; + +static int compareItemX(const void* va, const void* vb) +{ + const BVItem* a = (const BVItem*)va; + const BVItem* b = (const BVItem*)vb; + if (a->bmin[0] < b->bmin[0]) + return -1; + if (a->bmin[0] > b->bmin[0]) + return 1; + return 0; +} + +static int compareItemY(const void* va, const void* vb) +{ + const BVItem* a = (const BVItem*)va; + const BVItem* b = (const BVItem*)vb; + if (a->bmin[1] < b->bmin[1]) + return -1; + if (a->bmin[1] > b->bmin[1]) + return 1; + return 0; +} + +static int compareItemZ(const void* va, const void* vb) +{ + const BVItem* a = (const BVItem*)va; + const BVItem* b = (const BVItem*)vb; + if (a->bmin[2] < b->bmin[2]) + return -1; + if (a->bmin[2] > b->bmin[2]) + return 1; + return 0; +} + +static void calcExtends(BVItem* items, const int /*nitems*/, const int imin, const int imax, + unsigned short* bmin, unsigned short* bmax) +{ + bmin[0] = items[imin].bmin[0]; + bmin[1] = items[imin].bmin[1]; + bmin[2] = items[imin].bmin[2]; + + bmax[0] = items[imin].bmax[0]; + bmax[1] = items[imin].bmax[1]; + bmax[2] = items[imin].bmax[2]; + + for (int i = imin+1; i < imax; ++i) + { + const BVItem& it = items[i]; + if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0]; + if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1]; + if (it.bmin[2] < bmin[2]) bmin[2] = it.bmin[2]; + + if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0]; + if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1]; + if (it.bmax[2] > bmax[2]) bmax[2] = it.bmax[2]; + } +} + +inline int longestAxis(unsigned short x, unsigned short y, unsigned short z) +{ + int axis = 0; + unsigned short maxVal = x; + if (y > maxVal) + { + axis = 1; + maxVal = y; + } + if (z > maxVal) + { + axis = 2; + } + return axis; +} + +static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes) +{ + int inum = imax - imin; + int icur = curNode; + + dtBVNode& node = nodes[curNode++]; + + if (inum == 1) + { + // Leaf + node.bmin[0] = items[imin].bmin[0]; + node.bmin[1] = items[imin].bmin[1]; + node.bmin[2] = items[imin].bmin[2]; + + node.bmax[0] = items[imin].bmax[0]; + node.bmax[1] = items[imin].bmax[1]; + node.bmax[2] = items[imin].bmax[2]; + + node.i = items[imin].i; + } + else + { + // Split + calcExtends(items, nitems, imin, imax, node.bmin, node.bmax); + + int axis = longestAxis(node.bmax[0] - node.bmin[0], + node.bmax[1] - node.bmin[1], + node.bmax[2] - node.bmin[2]); + + if (axis == 0) + { + // Sort along x-axis + qsort(items+imin, inum, sizeof(BVItem), compareItemX); + } + else if (axis == 1) + { + // Sort along y-axis + qsort(items+imin, inum, sizeof(BVItem), compareItemY); + } + else + { + // Sort along z-axis + qsort(items+imin, inum, sizeof(BVItem), compareItemZ); + } + + int isplit = imin+inum/2; + + // Left + subdivide(items, nitems, imin, isplit, curNode, nodes); + // Right + subdivide(items, nitems, isplit, imax, curNode, nodes); + + int iescape = curNode - icur; + // Negative index means escape. + node.i = -iescape; + } +} + +static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/) +{ + // Build tree + float quantFactor = 1 / params->cs; + BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*params->polyCount, DT_ALLOC_TEMP); + for (int i = 0; i < params->polyCount; i++) + { + BVItem& it = items[i]; + it.i = i; + // Calc polygon bounds. Use detail meshes if available. + if (params->detailMeshes) + { + int vb = (int)params->detailMeshes[i*4+0]; + int ndv = (int)params->detailMeshes[i*4+1]; + float bmin[3]; + float bmax[3]; + + const float* dv = ¶ms->detailVerts[vb*3]; + dtVcopy(bmin, dv); + dtVcopy(bmax, dv); + + for (int j = 1; j < ndv; j++) + { + dtVmin(bmin, &dv[j * 3]); + dtVmax(bmax, &dv[j * 3]); + } + + // BV-tree uses cs for all dimensions + it.bmin[0] = (unsigned short)dtClamp((int)((bmin[0] - params->bmin[0])*quantFactor), 0, 0xffff); + it.bmin[1] = (unsigned short)dtClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff); + it.bmin[2] = (unsigned short)dtClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff); + + it.bmax[0] = (unsigned short)dtClamp((int)((bmax[0] - params->bmin[0])*quantFactor), 0, 0xffff); + it.bmax[1] = (unsigned short)dtClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff); + it.bmax[2] = (unsigned short)dtClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff); + } + else + { + const unsigned short* p = ¶ms->polys[i*params->nvp * 2]; + it.bmin[0] = it.bmax[0] = params->verts[p[0] * 3 + 0]; + it.bmin[1] = it.bmax[1] = params->verts[p[0] * 3 + 1]; + it.bmin[2] = it.bmax[2] = params->verts[p[0] * 3 + 2]; + + for (int j = 1; j < params->nvp; ++j) + { + if (p[j] == MESH_NULL_IDX) break; + unsigned short x = params->verts[p[j] * 3 + 0]; + unsigned short y = params->verts[p[j] * 3 + 1]; + unsigned short z = params->verts[p[j] * 3 + 2]; + + if (x < it.bmin[0]) it.bmin[0] = x; + if (y < it.bmin[1]) it.bmin[1] = y; + if (z < it.bmin[2]) it.bmin[2] = z; + + if (x > it.bmax[0]) it.bmax[0] = x; + if (y > it.bmax[1]) it.bmax[1] = y; + if (z > it.bmax[2]) it.bmax[2] = z; + } + // Remap y + it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1] * params->ch / params->cs); + it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1] * params->ch / params->cs); + } + } + + int curNode = 0; + subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes); + + dtFree(items); + + return curNode; +} + +static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, const float* bmax) +{ + static const unsigned char XP = 1<<0; + static const unsigned char ZP = 1<<1; + static const unsigned char XM = 1<<2; + static const unsigned char ZM = 1<<3; + + unsigned char outcode = 0; + outcode |= (pt[0] >= bmax[0]) ? XP : 0; + outcode |= (pt[2] >= bmax[2]) ? ZP : 0; + outcode |= (pt[0] < bmin[0]) ? XM : 0; + outcode |= (pt[2] < bmin[2]) ? ZM : 0; + + switch (outcode) + { + case XP: return 0; + case XP|ZP: return 1; + case ZP: return 2; + case XM|ZP: return 3; + case XM: return 4; + case XM|ZM: return 5; + case ZM: return 6; + case XP|ZM: return 7; + }; + + return 0xff; +} + +// TODO: Better error handling. + +/// @par +/// +/// The output data array is allocated using the detour allocator (dtAlloc()). The method +/// used to free the memory will be determined by how the tile is added to the navigation +/// mesh. +/// +/// @see dtNavMesh, dtNavMesh::addTile() +bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize) +{ + if (params->nvp > DT_VERTS_PER_POLYGON) + return false; + if (params->vertCount >= 0xffff) + return false; + if (!params->vertCount || !params->verts) + return false; + if (!params->polyCount || !params->polys) + return false; + + const int nvp = params->nvp; + + // Classify off-mesh connection points. We store only the connections + // whose start point is inside the tile. + unsigned char* offMeshConClass = 0; + int storedOffMeshConCount = 0; + int offMeshConLinkCount = 0; + + if (params->offMeshConCount > 0) + { + offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP); + if (!offMeshConClass) + return false; + + // Find tight heigh bounds, used for culling out off-mesh start locations. + float hmin = FLT_MAX; + float hmax = -FLT_MAX; + + if (params->detailVerts && params->detailVertsCount) + { + for (int i = 0; i < params->detailVertsCount; ++i) + { + const float h = params->detailVerts[i*3+1]; + hmin = dtMin(hmin,h); + hmax = dtMax(hmax,h); + } + } + else + { + for (int i = 0; i < params->vertCount; ++i) + { + const unsigned short* iv = ¶ms->verts[i*3]; + const float h = params->bmin[1] + iv[1] * params->ch; + hmin = dtMin(hmin,h); + hmax = dtMax(hmax,h); + } + } + hmin -= params->walkableClimb; + hmax += params->walkableClimb; + float bmin[3], bmax[3]; + dtVcopy(bmin, params->bmin); + dtVcopy(bmax, params->bmax); + bmin[1] = hmin; + bmax[1] = hmax; + + for (int i = 0; i < params->offMeshConCount; ++i) + { + const float* p0 = ¶ms->offMeshConVerts[(i*2+0)*3]; + const float* p1 = ¶ms->offMeshConVerts[(i*2+1)*3]; + offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax); + offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax); + + // Zero out off-mesh start positions which are not even potentially touching the mesh. + if (offMeshConClass[i*2+0] == 0xff) + { + if (p0[1] < bmin[1] || p0[1] > bmax[1]) + offMeshConClass[i*2+0] = 0; + } + + // Cound how many links should be allocated for off-mesh connections. + if (offMeshConClass[i*2+0] == 0xff) + offMeshConLinkCount++; + if (offMeshConClass[i*2+1] == 0xff) + offMeshConLinkCount++; + + if (offMeshConClass[i*2+0] == 0xff) + storedOffMeshConCount++; + } + } + + // Off-mesh connectionss are stored as polygons, adjust values. + const int totPolyCount = params->polyCount + storedOffMeshConCount; + const int totVertCount = params->vertCount + storedOffMeshConCount*2; + + // Find portal edges which are at tile borders. + int edgeCount = 0; + int portalCount = 0; + for (int i = 0; i < params->polyCount; ++i) + { + const unsigned short* p = ¶ms->polys[i*2*nvp]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == MESH_NULL_IDX) break; + edgeCount++; + + if (p[nvp+j] & 0x8000) + { + unsigned short dir = p[nvp+j] & 0xf; + if (dir != 0xf) + portalCount++; + } + } + } + + const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2; + + // Find unique detail vertices. + int uniqueDetailVertCount = 0; + int detailTriCount = 0; + if (params->detailMeshes) + { + // Has detail mesh, count unique detail vertex count and use input detail tri count. + detailTriCount = params->detailTriCount; + for (int i = 0; i < params->polyCount; ++i) + { + const unsigned short* p = ¶ms->polys[i*nvp*2]; + int ndv = params->detailMeshes[i*4+1]; + int nv = 0; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == MESH_NULL_IDX) break; + nv++; + } + ndv -= nv; + uniqueDetailVertCount += ndv; + } + } + else + { + // No input detail mesh, build detail mesh from nav polys. + uniqueDetailVertCount = 0; // No extra detail verts. + detailTriCount = 0; + for (int i = 0; i < params->polyCount; ++i) + { + const unsigned short* p = ¶ms->polys[i*nvp*2]; + int nv = 0; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == MESH_NULL_IDX) break; + nv++; + } + detailTriCount += nv-2; + } + } + + // Calculate data size + const int headerSize = dtAlign4(sizeof(dtMeshHeader)); + const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount); + const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount); + const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount); + const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount); + const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount); + const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount); + const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0; + const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount); + + const int dataSize = headerSize + vertsSize + polysSize + linksSize + + detailMeshesSize + detailVertsSize + detailTrisSize + + bvTreeSize + offMeshConsSize; + + unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM); + if (!data) + { + dtFree(offMeshConClass); + return false; + } + memset(data, 0, dataSize); + + unsigned char* d = data; + + dtMeshHeader* header = dtGetThenAdvanceBufferPointer(d, headerSize); + float* navVerts = dtGetThenAdvanceBufferPointer(d, vertsSize); + dtPoly* navPolys = dtGetThenAdvanceBufferPointer(d, polysSize); + d += linksSize; // Ignore links; just leave enough space for them. They'll be created on load. + dtPolyDetail* navDMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); + float* navDVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); + unsigned char* navDTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); + dtBVNode* navBvtree = dtGetThenAdvanceBufferPointer(d, bvTreeSize); + dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshConsSize); + + + // Store header + header->magic = DT_NAVMESH_MAGIC; + header->version = DT_NAVMESH_VERSION; + header->x = params->tileX; + header->y = params->tileY; + header->layer = params->tileLayer; + header->userId = params->userId; + header->polyCount = totPolyCount; + header->vertCount = totVertCount; + header->maxLinkCount = maxLinkCount; + dtVcopy(header->bmin, params->bmin); + dtVcopy(header->bmax, params->bmax); + header->detailMeshCount = params->polyCount; + header->detailVertCount = uniqueDetailVertCount; + header->detailTriCount = detailTriCount; + header->bvQuantFactor = 1.0f / params->cs; + header->offMeshBase = params->polyCount; + header->walkableHeight = params->walkableHeight; + header->walkableRadius = params->walkableRadius; + header->walkableClimb = params->walkableClimb; + header->offMeshConCount = storedOffMeshConCount; + header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0; + + const int offMeshVertsBase = params->vertCount; + const int offMeshPolyBase = params->polyCount; + + // Store vertices + // Mesh vertices + for (int i = 0; i < params->vertCount; ++i) + { + const unsigned short* iv = ¶ms->verts[i*3]; + float* v = &navVerts[i*3]; + v[0] = params->bmin[0] + iv[0] * params->cs; + v[1] = params->bmin[1] + iv[1] * params->ch; + v[2] = params->bmin[2] + iv[2] * params->cs; + } + // Off-mesh link vertices. + int n = 0; + for (int i = 0; i < params->offMeshConCount; ++i) + { + // Only store connections which start from this tile. + if (offMeshConClass[i*2+0] == 0xff) + { + const float* linkv = ¶ms->offMeshConVerts[i*2*3]; + float* v = &navVerts[(offMeshVertsBase + n*2)*3]; + dtVcopy(&v[0], &linkv[0]); + dtVcopy(&v[3], &linkv[3]); + n++; + } + } + + // Store polygons + // Mesh polys + const unsigned short* src = params->polys; + for (int i = 0; i < params->polyCount; ++i) + { + dtPoly* p = &navPolys[i]; + p->vertCount = 0; + p->flags = params->polyFlags[i]; + p->setArea(params->polyAreas[i]); + p->setType(DT_POLYTYPE_GROUND); + for (int j = 0; j < nvp; ++j) + { + if (src[j] == MESH_NULL_IDX) break; + p->verts[j] = src[j]; + if (src[nvp+j] & 0x8000) + { + // Border or portal edge. + unsigned short dir = src[nvp+j] & 0xf; + if (dir == 0xf) // Border + p->neis[j] = 0; + else if (dir == 0) // Portal x- + p->neis[j] = DT_EXT_LINK | 4; + else if (dir == 1) // Portal z+ + p->neis[j] = DT_EXT_LINK | 2; + else if (dir == 2) // Portal x+ + p->neis[j] = DT_EXT_LINK | 0; + else if (dir == 3) // Portal z- + p->neis[j] = DT_EXT_LINK | 6; + } + else + { + // Normal connection + p->neis[j] = src[nvp+j]+1; + } + + p->vertCount++; + } + src += nvp*2; + } + // Off-mesh connection vertices. + n = 0; + for (int i = 0; i < params->offMeshConCount; ++i) + { + // Only store connections which start from this tile. + if (offMeshConClass[i*2+0] == 0xff) + { + dtPoly* p = &navPolys[offMeshPolyBase+n]; + p->vertCount = 2; + p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0); + p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1); + p->flags = params->offMeshConFlags[i]; + p->setArea(params->offMeshConAreas[i]); + p->setType(DT_POLYTYPE_OFFMESH_CONNECTION); + n++; + } + } + + // Store detail meshes and vertices. + // The nav polygon vertices are stored as the first vertices on each mesh. + // We compress the mesh data by skipping them and using the navmesh coordinates. + if (params->detailMeshes) + { + unsigned short vbase = 0; + for (int i = 0; i < params->polyCount; ++i) + { + dtPolyDetail& dtl = navDMeshes[i]; + const int vb = (int)params->detailMeshes[i*4+0]; + const int ndv = (int)params->detailMeshes[i*4+1]; + const int nv = navPolys[i].vertCount; + dtl.vertBase = (unsigned int)vbase; + dtl.vertCount = (unsigned char)(ndv-nv); + dtl.triBase = (unsigned int)params->detailMeshes[i*4+2]; + dtl.triCount = (unsigned char)params->detailMeshes[i*4+3]; + // Copy vertices except the first 'nv' verts which are equal to nav poly verts. + if (ndv-nv) + { + memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv)); + vbase += (unsigned short)(ndv-nv); + } + } + // Store triangles. + memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount); + } + else + { + // Create dummy detail mesh by triangulating polys. + int tbase = 0; + for (int i = 0; i < params->polyCount; ++i) + { + dtPolyDetail& dtl = navDMeshes[i]; + const int nv = navPolys[i].vertCount; + dtl.vertBase = 0; + dtl.vertCount = 0; + dtl.triBase = (unsigned int)tbase; + dtl.triCount = (unsigned char)(nv-2); + // Triangulate polygon (local indices). + for (int j = 2; j < nv; ++j) + { + unsigned char* t = &navDTris[tbase*4]; + t[0] = 0; + t[1] = (unsigned char)(j-1); + t[2] = (unsigned char)j; + // Bit for each edge that belongs to poly boundary. + t[3] = (1<<2); + if (j == 2) t[3] |= (1<<0); + if (j == nv-1) t[3] |= (1<<4); + tbase++; + } + } + } + + // Store and create BVtree. + if (params->buildBvTree) + { + createBVTree(params, navBvtree, 2*params->polyCount); + } + + // Store Off-Mesh connections. + n = 0; + for (int i = 0; i < params->offMeshConCount; ++i) + { + // Only store connections which start from this tile. + if (offMeshConClass[i*2+0] == 0xff) + { + dtOffMeshConnection* con = &offMeshCons[n]; + con->poly = (unsigned short)(offMeshPolyBase + n); + // Copy connection end-points. + const float* endPts = ¶ms->offMeshConVerts[i*2*3]; + dtVcopy(&con->pos[0], &endPts[0]); + dtVcopy(&con->pos[3], &endPts[3]); + con->rad = params->offMeshConRad[i]; + con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0; + con->side = offMeshConClass[i*2+1]; + if (params->offMeshConUserID) + con->userId = params->offMeshConUserID[i]; + n++; + } + } + + dtFree(offMeshConClass); + + *outData = data; + *outDataSize = dataSize; + + return true; +} + +bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/) +{ + dtMeshHeader* header = (dtMeshHeader*)data; + + int swappedMagic = DT_NAVMESH_MAGIC; + int swappedVersion = DT_NAVMESH_VERSION; + dtSwapEndian(&swappedMagic); + dtSwapEndian(&swappedVersion); + + if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) && + (header->magic != swappedMagic || header->version != swappedVersion)) + { + return false; + } + + dtSwapEndian(&header->magic); + dtSwapEndian(&header->version); + dtSwapEndian(&header->x); + dtSwapEndian(&header->y); + dtSwapEndian(&header->layer); + dtSwapEndian(&header->userId); + dtSwapEndian(&header->polyCount); + dtSwapEndian(&header->vertCount); + dtSwapEndian(&header->maxLinkCount); + dtSwapEndian(&header->detailMeshCount); + dtSwapEndian(&header->detailVertCount); + dtSwapEndian(&header->detailTriCount); + dtSwapEndian(&header->bvNodeCount); + dtSwapEndian(&header->offMeshConCount); + dtSwapEndian(&header->offMeshBase); + dtSwapEndian(&header->walkableHeight); + dtSwapEndian(&header->walkableRadius); + dtSwapEndian(&header->walkableClimb); + dtSwapEndian(&header->bmin[0]); + dtSwapEndian(&header->bmin[1]); + dtSwapEndian(&header->bmin[2]); + dtSwapEndian(&header->bmax[0]); + dtSwapEndian(&header->bmax[1]); + dtSwapEndian(&header->bmax[2]); + dtSwapEndian(&header->bvQuantFactor); + + // Freelist index and pointers are updated when tile is added, no need to swap. + + return true; +} + +/// @par +/// +/// @warning This function assumes that the header is in the correct endianess already. +/// Call #dtNavMeshHeaderSwapEndian() first on the data if the data is expected to be in wrong endianess +/// to start with. Call #dtNavMeshHeaderSwapEndian() after the data has been swapped if converting from +/// native to foreign endianess. +bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/) +{ + // Make sure the data is in right format. + dtMeshHeader* header = (dtMeshHeader*)data; + if (header->magic != DT_NAVMESH_MAGIC) + return false; + if (header->version != DT_NAVMESH_VERSION) + return false; + + // Patch header pointers. + const int headerSize = dtAlign4(sizeof(dtMeshHeader)); + const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount); + const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount); + const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount)); + const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount); + const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount); + const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount); + const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount); + const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount); + + unsigned char* d = data + headerSize; + float* verts = dtGetThenAdvanceBufferPointer(d, vertsSize); + dtPoly* polys = dtGetThenAdvanceBufferPointer(d, polysSize); + d += linksSize; // Ignore links; they technically should be endian-swapped but all their data is overwritten on load anyway. + //dtLink* links = dtGetThenAdvanceBufferPointer(d, linksSize); + dtPolyDetail* detailMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); + float* detailVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); + d += detailTrisSize; // Ignore detail tris; single bytes can't be endian-swapped. + //unsigned char* detailTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); + dtBVNode* bvTree = dtGetThenAdvanceBufferPointer(d, bvtreeSize); + dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshLinksSize); + + // Vertices + for (int i = 0; i < header->vertCount*3; ++i) + { + dtSwapEndian(&verts[i]); + } + + // Polys + for (int i = 0; i < header->polyCount; ++i) + { + dtPoly* p = &polys[i]; + // poly->firstLink is update when tile is added, no need to swap. + for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j) + { + dtSwapEndian(&p->verts[j]); + dtSwapEndian(&p->neis[j]); + } + dtSwapEndian(&p->flags); + } + + // Links are rebuild when tile is added, no need to swap. + + // Detail meshes + for (int i = 0; i < header->detailMeshCount; ++i) + { + dtPolyDetail* pd = &detailMeshes[i]; + dtSwapEndian(&pd->vertBase); + dtSwapEndian(&pd->triBase); + } + + // Detail verts + for (int i = 0; i < header->detailVertCount*3; ++i) + { + dtSwapEndian(&detailVerts[i]); + } + + // BV-tree + for (int i = 0; i < header->bvNodeCount; ++i) + { + dtBVNode* node = &bvTree[i]; + for (int j = 0; j < 3; ++j) + { + dtSwapEndian(&node->bmin[j]); + dtSwapEndian(&node->bmax[j]); + } + dtSwapEndian(&node->i); + } + + // Off-mesh Connections. + for (int i = 0; i < header->offMeshConCount; ++i) + { + dtOffMeshConnection* con = &offMeshCons[i]; + for (int j = 0; j < 6; ++j) + dtSwapEndian(&con->pos[j]); + dtSwapEndian(&con->rad); + dtSwapEndian(&con->poly); + } + + return true; +} diff --git a/extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp new file mode 100644 index 000000000..90999f2f6 --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp @@ -0,0 +1,3664 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#include +#include "DetourNavMeshQuery.h" +#include "DetourNavMesh.h" +#include "DetourNode.h" +#include "DetourCommon.h" +#include "DetourMath.h" +#include "DetourAlloc.h" +#include "DetourAssert.h" +#include + +/// @class dtQueryFilter +/// +/// The Default Implementation +/// +/// At construction: All area costs default to 1.0. All flags are included +/// and none are excluded. +/// +/// If a polygon has both an include and an exclude flag, it will be excluded. +/// +/// The way filtering works, a navigation mesh polygon must have at least one flag +/// set to ever be considered by a query. So a polygon with no flags will never +/// be considered. +/// +/// Setting the include flags to 0 will result in all polygons being excluded. +/// +/// Custom Implementations +/// +/// DT_VIRTUAL_QUERYFILTER must be defined in order to extend this class. +/// +/// Implement a custom query filter by overriding the virtual passFilter() +/// and getCost() functions. If this is done, both functions should be as +/// fast as possible. Use cached local copies of data rather than accessing +/// your own objects where possible. +/// +/// Custom implementations do not need to adhere to the flags or cost logic +/// used by the default implementation. +/// +/// In order for A* searches to work properly, the cost should be proportional to +/// the travel distance. Implementing a cost modifier less than 1.0 is likely +/// to lead to problems during pathfinding. +/// +/// @see dtNavMeshQuery + +dtQueryFilter::dtQueryFilter() : + m_includeFlags(0xffff), + m_excludeFlags(0) +{ + for (int i = 0; i < DT_MAX_AREAS; ++i) + m_areaCost[i] = 1.0f; +} + +#ifdef DT_VIRTUAL_QUERYFILTER +bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, + const dtMeshTile* /*tile*/, + const dtPoly* poly) const +{ + return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0; +} + +float dtQueryFilter::getCost(const float* pa, const float* pb, + const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/, + const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, + const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const +{ + return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; +} +#else +inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, + const dtMeshTile* /*tile*/, + const dtPoly* poly) const +{ + return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0; +} + +inline float dtQueryFilter::getCost(const float* pa, const float* pb, + const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/, + const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, + const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const +{ + return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; +} +#endif + +static const float H_SCALE = 0.999f; // Search heuristic scale. + + +dtNavMeshQuery* dtAllocNavMeshQuery() +{ + void* mem = dtAlloc(sizeof(dtNavMeshQuery), DT_ALLOC_PERM); + if (!mem) return 0; + return new(mem) dtNavMeshQuery; +} + +void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh) +{ + if (!navmesh) return; + navmesh->~dtNavMeshQuery(); + dtFree(navmesh); +} + +////////////////////////////////////////////////////////////////////////////////////////// + +/// @class dtNavMeshQuery +/// +/// For methods that support undersized buffers, if the buffer is too small +/// to hold the entire result set the return status of the method will include +/// the #DT_BUFFER_TOO_SMALL flag. +/// +/// Constant member functions can be used by multiple clients without side +/// effects. (E.g. No change to the closed list. No impact on an in-progress +/// sliced path query. Etc.) +/// +/// Walls and portals: A @e wall is a polygon segment that is +/// considered impassable. A @e portal is a passable segment between polygons. +/// A portal may be treated as a wall based on the dtQueryFilter used for a query. +/// +/// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery() + +dtNavMeshQuery::dtNavMeshQuery() : + m_nav(0), + m_tinyNodePool(0), + m_nodePool(0), + m_openList(0) +{ + memset(&m_query, 0, sizeof(dtQueryData)); +} + +dtNavMeshQuery::~dtNavMeshQuery() +{ + if (m_tinyNodePool) + m_tinyNodePool->~dtNodePool(); + if (m_nodePool) + m_nodePool->~dtNodePool(); + if (m_openList) + m_openList->~dtNodeQueue(); + dtFree(m_tinyNodePool); + dtFree(m_nodePool); + dtFree(m_openList); +} + +/// @par +/// +/// Must be the first function called after construction, before other +/// functions are used. +/// +/// This function can be used multiple times. +dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) +{ + if (maxNodes > DT_NULL_IDX || maxNodes > (1 << DT_NODE_PARENT_BITS) - 1) + return DT_FAILURE | DT_INVALID_PARAM; + + m_nav = nav; + + if (!m_nodePool || m_nodePool->getMaxNodes() < maxNodes) + { + if (m_nodePool) + { + m_nodePool->~dtNodePool(); + dtFree(m_nodePool); + m_nodePool = 0; + } + m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4)); + if (!m_nodePool) + return DT_FAILURE | DT_OUT_OF_MEMORY; + } + else + { + m_nodePool->clear(); + } + + if (!m_tinyNodePool) + { + m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32); + if (!m_tinyNodePool) + return DT_FAILURE | DT_OUT_OF_MEMORY; + } + else + { + m_tinyNodePool->clear(); + } + + if (!m_openList || m_openList->getCapacity() < maxNodes) + { + if (m_openList) + { + m_openList->~dtNodeQueue(); + dtFree(m_openList); + m_openList = 0; + } + m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes); + if (!m_openList) + return DT_FAILURE | DT_OUT_OF_MEMORY; + } + else + { + m_openList->clear(); + } + + return DT_SUCCESS; +} + +dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const +{ + dtAssert(m_nav); + + // Randomly pick one tile. Assume that all tiles cover roughly the same area. + const dtMeshTile* tile = 0; + float tsum = 0.0f; + for (int i = 0; i < m_nav->getMaxTiles(); i++) + { + const dtMeshTile* t = m_nav->getTile(i); + if (!t || !t->header) continue; + + // Choose random tile using reservoi sampling. + const float area = 1.0f; // Could be tile area too. + tsum += area; + const float u = frand(); + if (u*tsum <= area) + tile = t; + } + if (!tile) + return DT_FAILURE; + + // Randomly pick one polygon weighted by polygon area. + const dtPoly* poly = 0; + dtPolyRef polyRef = 0; + const dtPolyRef base = m_nav->getPolyRefBase(tile); + + float areaSum = 0.0f; + for (int i = 0; i < tile->header->polyCount; ++i) + { + const dtPoly* p = &tile->polys[i]; + // Do not return off-mesh connection polygons. + if (p->getType() != DT_POLYTYPE_GROUND) + continue; + // Must pass filter + const dtPolyRef ref = base | (dtPolyRef)i; + if (!filter->passFilter(ref, tile, p)) + continue; + + // Calc area of the polygon. + float polyArea = 0.0f; + for (int j = 2; j < p->vertCount; ++j) + { + const float* va = &tile->verts[p->verts[0]*3]; + const float* vb = &tile->verts[p->verts[j-1]*3]; + const float* vc = &tile->verts[p->verts[j]*3]; + polyArea += dtTriArea2D(va,vb,vc); + } + + // Choose random polygon weighted by area, using reservoi sampling. + areaSum += polyArea; + const float u = frand(); + if (u*areaSum <= polyArea) + { + poly = p; + polyRef = ref; + } + } + + if (!poly) + return DT_FAILURE; + + // Randomly pick point on polygon. + const float* v = &tile->verts[poly->verts[0]*3]; + float verts[3*DT_VERTS_PER_POLYGON]; + float areas[DT_VERTS_PER_POLYGON]; + dtVcopy(&verts[0*3],v); + for (int j = 1; j < poly->vertCount; ++j) + { + v = &tile->verts[poly->verts[j]*3]; + dtVcopy(&verts[j*3],v); + } + + const float s = frand(); + const float t = frand(); + + float pt[3]; + dtRandomPointInConvexPoly(verts, poly->vertCount, areas, s, t, pt); + + float h = 0.0f; + dtStatus status = getPolyHeight(polyRef, pt, &h); + if (dtStatusFailed(status)) + return status; + pt[1] = h; + + dtVcopy(randomPt, pt); + *randomRef = polyRef; + + return DT_SUCCESS; +} + +dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + const dtMeshTile* startTile = 0; + const dtPoly* startPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(startRef, &startTile, &startPoly); + if (!filter->passFilter(startRef, startTile, startPoly)) + return DT_FAILURE | DT_INVALID_PARAM; + + m_nodePool->clear(); + m_openList->clear(); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, centerPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + dtStatus status = DT_SUCCESS; + + const float radiusSqr = dtSqr(maxRadius); + float areaSum = 0.0f; + + const dtMeshTile* randomTile = 0; + const dtPoly* randomPoly = 0; + dtPolyRef randomPolyRef = 0; + + while (!m_openList->empty()) + { + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); + + // Place random locations on on ground. + if (bestPoly->getType() == DT_POLYTYPE_GROUND) + { + // Calc area of the polygon. + float polyArea = 0.0f; + for (int j = 2; j < bestPoly->vertCount; ++j) + { + const float* va = &bestTile->verts[bestPoly->verts[0]*3]; + const float* vb = &bestTile->verts[bestPoly->verts[j-1]*3]; + const float* vc = &bestTile->verts[bestPoly->verts[j]*3]; + polyArea += dtTriArea2D(va,vb,vc); + } + // Choose random polygon weighted by area, using reservoi sampling. + areaSum += polyArea; + const float u = frand(); + if (u*areaSum <= polyArea) + { + randomTile = bestTile; + randomPoly = bestPoly; + randomPolyRef = bestRef; + } + } + + + // Get parent poly and tile. + dtPolyRef parentRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + if (bestNode->pidx) + parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; + if (parentRef) + m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + const dtLink* link = &bestTile->links[i]; + dtPolyRef neighbourRef = link->ref; + // Skip invalid neighbours and do not follow back to parent. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Expand to neighbour + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + // Do not advance if the polygon is excluded by the filter. + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // Find edge and calc distance to the edge. + float va[3], vb[3]; + if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) + continue; + + // If the circle is not touching the next polygon, skip it. + float tseg; + float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); + if (distSqr > radiusSqr) + continue; + + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); + if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; + continue; + } + + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Cost + if (neighbourNode->flags == 0) + dtVlerp(neighbourNode->pos, va, vb, 0.5f); + + const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + + neighbourNode->id = neighbourRef; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); + neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); + neighbourNode->total = total; + + if (neighbourNode->flags & DT_NODE_OPEN) + { + m_openList->modify(neighbourNode); + } + else + { + neighbourNode->flags = DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + } + } + + if (!randomPoly) + return DT_FAILURE; + + // Randomly pick point on polygon. + const float* v = &randomTile->verts[randomPoly->verts[0]*3]; + float verts[3*DT_VERTS_PER_POLYGON]; + float areas[DT_VERTS_PER_POLYGON]; + dtVcopy(&verts[0*3],v); + for (int j = 1; j < randomPoly->vertCount; ++j) + { + v = &randomTile->verts[randomPoly->verts[j]*3]; + dtVcopy(&verts[j*3],v); + } + + const float s = frand(); + const float t = frand(); + + float pt[3]; + dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt); + + float h = 0.0f; + dtStatus stat = getPolyHeight(randomPolyRef, pt, &h); + if (dtStatusFailed(status)) + return stat; + pt[1] = h; + + dtVcopy(randomPt, pt); + *randomRef = randomPolyRef; + + return DT_SUCCESS; +} + + +////////////////////////////////////////////////////////////////////////////////////////// + +/// @par +/// +/// Uses the detail polygons to find the surface height. (Most accurate.) +/// +/// @p pos does not have to be within the bounds of the polygon or navigation mesh. +/// +/// See closestPointOnPolyBoundary() for a limited but faster option. +/// +dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const +{ + dtAssert(m_nav); + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; + if (!tile) + return DT_FAILURE | DT_INVALID_PARAM; + + // Off-mesh connections don't have detail polygons. + if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + { + const float* v0 = &tile->verts[poly->verts[0]*3]; + const float* v1 = &tile->verts[poly->verts[1]*3]; + const float d0 = dtVdist(pos, v0); + const float d1 = dtVdist(pos, v1); + const float u = d0 / (d0+d1); + dtVlerp(closest, v0, v1, u); + if (posOverPoly) + *posOverPoly = false; + return DT_SUCCESS; + } + + const unsigned int ip = (unsigned int)(poly - tile->polys); + const dtPolyDetail* pd = &tile->detailMeshes[ip]; + + // Clamp point to be inside the polygon. + float verts[DT_VERTS_PER_POLYGON*3]; + float edged[DT_VERTS_PER_POLYGON]; + float edget[DT_VERTS_PER_POLYGON]; + const int nv = poly->vertCount; + for (int i = 0; i < nv; ++i) + dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]); + + dtVcopy(closest, pos); + if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) + { + // Point is outside the polygon, dtClamp to nearest edge. + float dmin = edged[0]; + int imin = 0; + for (int i = 1; i < nv; ++i) + { + if (edged[i] < dmin) + { + dmin = edged[i]; + imin = i; + } + } + const float* va = &verts[imin*3]; + const float* vb = &verts[((imin+1)%nv)*3]; + dtVlerp(closest, va, vb, edget[imin]); + + if (posOverPoly) + *posOverPoly = false; + } + else + { + if (posOverPoly) + *posOverPoly = true; + } + + // Find height at the location. + for (int j = 0; j < pd->triCount; ++j) + { + const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; + const float* v[3]; + for (int k = 0; k < 3; ++k) + { + if (t[k] < poly->vertCount) + v[k] = &tile->verts[poly->verts[t[k]]*3]; + else + v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; + } + float h; + if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h)) + { + closest[1] = h; + break; + } + } + + return DT_SUCCESS; +} + +/// @par +/// +/// Much faster than closestPointOnPoly(). +/// +/// If the provided position lies within the polygon's xz-bounds (above or below), +/// then @p pos and @p closest will be equal. +/// +/// The height of @p closest will be the polygon boundary. The height detail is not used. +/// +/// @p pos does not have to be within the bounds of the polybon or the navigation mesh. +/// +dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const +{ + dtAssert(m_nav); + + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; + + // Collect vertices. + float verts[DT_VERTS_PER_POLYGON*3]; + float edged[DT_VERTS_PER_POLYGON]; + float edget[DT_VERTS_PER_POLYGON]; + int nv = 0; + for (int i = 0; i < (int)poly->vertCount; ++i) + { + dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]); + nv++; + } + + bool inside = dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget); + if (inside) + { + // Point is inside the polygon, return the point. + dtVcopy(closest, pos); + } + else + { + // Point is outside the polygon, dtClamp to nearest edge. + float dmin = edged[0]; + int imin = 0; + for (int i = 1; i < nv; ++i) + { + if (edged[i] < dmin) + { + dmin = edged[i]; + imin = i; + } + } + const float* va = &verts[imin*3]; + const float* vb = &verts[((imin+1)%nv)*3]; + dtVlerp(closest, va, vb, edget[imin]); + } + + return DT_SUCCESS; +} + +/// @par +/// +/// Will return #DT_FAILURE if the provided position is outside the xz-bounds +/// of the polygon. +/// +dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const +{ + dtAssert(m_nav); + + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; + + if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + { + const float* v0 = &tile->verts[poly->verts[0]*3]; + const float* v1 = &tile->verts[poly->verts[1]*3]; + const float d0 = dtVdist2D(pos, v0); + const float d1 = dtVdist2D(pos, v1); + const float u = d0 / (d0+d1); + if (height) + *height = v0[1] + (v1[1] - v0[1]) * u; + return DT_SUCCESS; + } + else + { + const unsigned int ip = (unsigned int)(poly - tile->polys); + const dtPolyDetail* pd = &tile->detailMeshes[ip]; + for (int j = 0; j < pd->triCount; ++j) + { + const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; + const float* v[3]; + for (int k = 0; k < 3; ++k) + { + if (t[k] < poly->vertCount) + v[k] = &tile->verts[poly->verts[t[k]]*3]; + else + v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; + } + float h; + if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h)) + { + if (height) + *height = h; + return DT_SUCCESS; + } + } + } + + return DT_FAILURE | DT_INVALID_PARAM; +} + +class dtFindNearestPolyQuery : public dtPolyQuery +{ + const dtNavMeshQuery* m_query; + const float* m_center; + float m_nearestDistanceSqr; + dtPolyRef m_nearestRef; + float m_nearestPoint[3]; + +public: + dtFindNearestPolyQuery(const dtNavMeshQuery* query, const float* center) + : m_query(query), m_center(center), m_nearestDistanceSqr(FLT_MAX), m_nearestRef(0), m_nearestPoint() + { + } + + dtPolyRef nearestRef() const { return m_nearestRef; } + const float* nearestPoint() const { return m_nearestPoint; } + + void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) + { + dtIgnoreUnused(polys); + + for (int i = 0; i < count; ++i) + { + dtPolyRef ref = refs[i]; + float closestPtPoly[3]; + float diff[3]; + bool posOverPoly = false; + float d; + m_query->closestPointOnPoly(ref, m_center, closestPtPoly, &posOverPoly); + + // If a point is directly over a polygon and closer than + // climb height, favor that instead of straight line nearest point. + dtVsub(diff, m_center, closestPtPoly); + if (posOverPoly) + { + d = dtAbs(diff[1]) - tile->header->walkableClimb; + d = d > 0 ? d*d : 0; + } + else + { + d = dtVlenSqr(diff); + } + + if (d < m_nearestDistanceSqr) + { + dtVcopy(m_nearestPoint, closestPtPoly); + + m_nearestDistanceSqr = d; + m_nearestRef = ref; + } + } + } +}; + +/// @par +/// +/// @note If the search box does not intersect any polygons the search will +/// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check +/// @p nearestRef before using @p nearestPt. +/// +dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* halfExtents, + const dtQueryFilter* filter, + dtPolyRef* nearestRef, float* nearestPt) const +{ + dtAssert(m_nav); + + if (!nearestRef) + return DT_FAILURE | DT_INVALID_PARAM; + + dtFindNearestPolyQuery query(this, center); + + dtStatus status = queryPolygons(center, halfExtents, filter, &query); + if (dtStatusFailed(status)) + return status; + + *nearestRef = query.nearestRef(); + // Only override nearestPt if we actually found a poly so the nearest point + // is valid. + if (nearestPt && *nearestRef) + dtVcopy(nearestPt, query.nearestPoint()); + + return DT_SUCCESS; +} + +void dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, + const dtQueryFilter* filter, dtPolyQuery* query) const +{ + dtAssert(m_nav); + static const int batchSize = 32; + dtPolyRef polyRefs[batchSize]; + dtPoly* polys[batchSize]; + int n = 0; + + if (tile->bvTree) + { + const dtBVNode* node = &tile->bvTree[0]; + const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount]; + const float* tbmin = tile->header->bmin; + const float* tbmax = tile->header->bmax; + const float qfac = tile->header->bvQuantFactor; + + // Calculate quantized box + unsigned short bmin[3], bmax[3]; + // dtClamp query box to world box. + float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; + float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; + float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; + float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; + float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; + float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; + // Quantize + bmin[0] = (unsigned short)(qfac * minx) & 0xfffe; + bmin[1] = (unsigned short)(qfac * miny) & 0xfffe; + bmin[2] = (unsigned short)(qfac * minz) & 0xfffe; + bmax[0] = (unsigned short)(qfac * maxx + 1) | 1; + bmax[1] = (unsigned short)(qfac * maxy + 1) | 1; + bmax[2] = (unsigned short)(qfac * maxz + 1) | 1; + + // Traverse tree + const dtPolyRef base = m_nav->getPolyRefBase(tile); + while (node < end) + { + const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax); + const bool isLeafNode = node->i >= 0; + + if (isLeafNode && overlap) + { + dtPolyRef ref = base | (dtPolyRef)node->i; + if (filter->passFilter(ref, tile, &tile->polys[node->i])) + { + polyRefs[n] = ref; + polys[n] = &tile->polys[node->i]; + + if (n == batchSize - 1) + { + query->process(tile, polys, polyRefs, batchSize); + n = 0; + } + else + { + n++; + } + } + } + + if (overlap || isLeafNode) + node++; + else + { + const int escapeIndex = -node->i; + node += escapeIndex; + } + } + } + else + { + float bmin[3], bmax[3]; + const dtPolyRef base = m_nav->getPolyRefBase(tile); + for (int i = 0; i < tile->header->polyCount; ++i) + { + dtPoly* p = &tile->polys[i]; + // Do not return off-mesh connection polygons. + if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + // Must pass filter + const dtPolyRef ref = base | (dtPolyRef)i; + if (!filter->passFilter(ref, tile, p)) + continue; + // Calc polygon bounds. + const float* v = &tile->verts[p->verts[0]*3]; + dtVcopy(bmin, v); + dtVcopy(bmax, v); + for (int j = 1; j < p->vertCount; ++j) + { + v = &tile->verts[p->verts[j]*3]; + dtVmin(bmin, v); + dtVmax(bmax, v); + } + if (dtOverlapBounds(qmin, qmax, bmin, bmax)) + { + polyRefs[n] = ref; + polys[n] = p; + + if (n == batchSize - 1) + { + query->process(tile, polys, polyRefs, batchSize); + n = 0; + } + else + { + n++; + } + } + } + } + + // Process the last polygons that didn't make a full batch. + if (n > 0) + query->process(tile, polys, polyRefs, n); +} + +class dtCollectPolysQuery : public dtPolyQuery +{ + dtPolyRef* m_polys; + const int m_maxPolys; + int m_numCollected; + bool m_overflow; + +public: + dtCollectPolysQuery(dtPolyRef* polys, const int maxPolys) + : m_polys(polys), m_maxPolys(maxPolys), m_numCollected(0), m_overflow(false) + { + } + + int numCollected() const { return m_numCollected; } + bool overflowed() const { return m_overflow; } + + void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) + { + dtIgnoreUnused(tile); + dtIgnoreUnused(polys); + + int numLeft = m_maxPolys - m_numCollected; + int toCopy = count; + if (toCopy > numLeft) + { + m_overflow = true; + toCopy = numLeft; + } + + memcpy(m_polys + m_numCollected, refs, (size_t)toCopy * sizeof(dtPolyRef)); + m_numCollected += toCopy; + } +}; + +/// @par +/// +/// If no polygons are found, the function will return #DT_SUCCESS with a +/// @p polyCount of zero. +/// +/// If @p polys is too small to hold the entire result set, then the array will +/// be filled to capacity. The method of choosing which polygons from the +/// full set are included in the partial result set is undefined. +/// +dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExtents, + const dtQueryFilter* filter, + dtPolyRef* polys, int* polyCount, const int maxPolys) const +{ + if (!polys || !polyCount || maxPolys < 0) + return DT_FAILURE | DT_INVALID_PARAM; + + dtCollectPolysQuery collector(polys, maxPolys); + + dtStatus status = queryPolygons(center, halfExtents, filter, &collector); + if (dtStatusFailed(status)) + return status; + + *polyCount = collector.numCollected(); + return collector.overflowed() ? DT_SUCCESS | DT_BUFFER_TOO_SMALL : DT_SUCCESS; +} + +/// @par +/// +/// The query will be invoked with batches of polygons. Polygons passed +/// to the query have bounding boxes that overlap with the center and halfExtents +/// passed to this function. The dtPolyQuery::process function is invoked multiple +/// times until all overlapping polygons have been processed. +/// +dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExtents, + const dtQueryFilter* filter, dtPolyQuery* query) const +{ + dtAssert(m_nav); + + if (!center || !halfExtents || !filter || !query) + return DT_FAILURE | DT_INVALID_PARAM; + + float bmin[3], bmax[3]; + dtVsub(bmin, center, halfExtents); + dtVadd(bmax, center, halfExtents); + + // Find tiles the query touches. + int minx, miny, maxx, maxy; + m_nav->calcTileLoc(bmin, &minx, &miny); + m_nav->calcTileLoc(bmax, &maxx, &maxy); + + static const int MAX_NEIS = 32; + const dtMeshTile* neis[MAX_NEIS]; + + for (int y = miny; y <= maxy; ++y) + { + for (int x = minx; x <= maxx; ++x) + { + const int nneis = m_nav->getTilesAt(x,y,neis,MAX_NEIS); + for (int j = 0; j < nneis; ++j) + { + queryPolygonsInTile(neis[j], bmin, bmax, filter, query); + } + } + } + + return DT_SUCCESS; +} + +/// @par +/// +/// If the end polygon cannot be reached through the navigation graph, +/// the last polygon in the path will be the nearest the end polygon. +/// +/// If the path array is to small to hold the full result, it will be filled as +/// far as possible from the start polygon toward the end polygon. +/// +/// The start and end positions are used to calculate traversal costs. +/// (The y-values impact the result.) +/// +dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, + const float* startPos, const float* endPos, + const dtQueryFilter* filter, + dtPolyRef* path, int* pathCount, const int maxPath) const +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + if (pathCount) + *pathCount = 0; + + // Validate input + if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) || + !startPos || !endPos || !filter || maxPath <= 0 || !path || !pathCount) + return DT_FAILURE | DT_INVALID_PARAM; + + if (startRef == endRef) + { + path[0] = startRef; + *pathCount = 1; + return DT_SUCCESS; + } + + m_nodePool->clear(); + m_openList->clear(); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, startPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = dtVdist(startPos, endPos) * H_SCALE; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + dtNode* lastBestNode = startNode; + float lastBestNodeCost = startNode->total; + + bool outOfNodes = false; + + while (!m_openList->empty()) + { + // Remove node from open list and put it in closed list. + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Reached the goal, stop searching. + if (bestNode->id == endRef) + { + lastBestNode = bestNode; + break; + } + + // Get current poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); + + // Get parent poly and tile. + dtPolyRef parentRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + if (bestNode->pidx) + parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; + if (parentRef) + m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + dtPolyRef neighbourRef = bestTile->links[i].ref; + + // Skip invalid ids and do not expand back to where we came from. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Get neighbour poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // deal explicitly with crossing tile boundaries + unsigned char crossSide = 0; + if (bestTile->links[i].side != 0xff) + crossSide = bestTile->links[i].side >> 1; + + // get the node + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide); + if (!neighbourNode) + { + outOfNodes = true; + continue; + } + + // If the node is visited the first time, calculate node position. + if (neighbourNode->flags == 0) + { + getEdgeMidPoint(bestRef, bestPoly, bestTile, + neighbourRef, neighbourPoly, neighbourTile, + neighbourNode->pos); + } + + // Calculate cost and heuristic. + float cost = 0; + float heuristic = 0; + + // Special case for last node. + if (neighbourRef == endRef) + { + // Cost + const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, + parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly); + const float endCost = filter->getCost(neighbourNode->pos, endPos, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly, + 0, 0, 0); + + cost = bestNode->cost + curCost + endCost; + heuristic = 0; + } + else + { + // Cost + const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, + parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly); + cost = bestNode->cost + curCost; + heuristic = dtVdist(neighbourNode->pos, endPos)*H_SCALE; + } + + const float total = cost + heuristic; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + // The node is already visited and process, and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total) + continue; + + // Add or update the node. + neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); + neighbourNode->id = neighbourRef; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); + neighbourNode->cost = cost; + neighbourNode->total = total; + + if (neighbourNode->flags & DT_NODE_OPEN) + { + // Already in open, update node location. + m_openList->modify(neighbourNode); + } + else + { + // Put the node in open list. + neighbourNode->flags |= DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + + // Update nearest node to target so far. + if (heuristic < lastBestNodeCost) + { + lastBestNodeCost = heuristic; + lastBestNode = neighbourNode; + } + } + } + + dtStatus status = getPathToNode(lastBestNode, path, pathCount, maxPath); + + if (lastBestNode->id != endRef) + status |= DT_PARTIAL_RESULT; + + if (outOfNodes) + status |= DT_OUT_OF_NODES; + + return status; +} + +dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const +{ + // Find the length of the entire path. + dtNode* curNode = endNode; + int length = 0; + do + { + length++; + curNode = m_nodePool->getNodeAtIdx(curNode->pidx); + } while (curNode); + + // If the path cannot be fully stored then advance to the last node we will be able to store. + curNode = endNode; + int writeCount; + for (writeCount = length; writeCount > maxPath; writeCount--) + { + dtAssert(curNode); + + curNode = m_nodePool->getNodeAtIdx(curNode->pidx); + } + + // Write path + for (int i = writeCount - 1; i >= 0; i--) + { + dtAssert(curNode); + + path[i] = curNode->id; + curNode = m_nodePool->getNodeAtIdx(curNode->pidx); + } + + dtAssert(!curNode); + + *pathCount = dtMin(length, maxPath); + + if (length > maxPath) + return DT_SUCCESS | DT_BUFFER_TOO_SMALL; + + return DT_SUCCESS; +} + + +/// @par +/// +/// @warning Calling any non-slice methods before calling finalizeSlicedFindPath() +/// or finalizeSlicedFindPathPartial() may result in corrupted data! +/// +/// The @p filter pointer is stored and used for the duration of the sliced +/// path query. +/// +dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, + const float* startPos, const float* endPos, + const dtQueryFilter* filter, const unsigned int options) +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + // Init path state. + memset(&m_query, 0, sizeof(dtQueryData)); + m_query.status = DT_FAILURE; + m_query.startRef = startRef; + m_query.endRef = endRef; + dtVcopy(m_query.startPos, startPos); + dtVcopy(m_query.endPos, endPos); + m_query.filter = filter; + m_query.options = options; + m_query.raycastLimitSqr = FLT_MAX; + + if (!startRef || !endRef) + return DT_FAILURE | DT_INVALID_PARAM; + + // Validate input + if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + // trade quality with performance? + if (options & DT_FINDPATH_ANY_ANGLE) + { + // limiting to several times the character radius yields nice results. It is not sensitive + // so it is enough to compute it from the first tile. + const dtMeshTile* tile = m_nav->getTileByRef(startRef); + float agentRadius = tile->header->walkableRadius; + m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS); + } + + if (startRef == endRef) + { + m_query.status = DT_SUCCESS; + return DT_SUCCESS; + } + + m_nodePool->clear(); + m_openList->clear(); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, startPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = dtVdist(startPos, endPos) * H_SCALE; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + m_query.status = DT_IN_PROGRESS; + m_query.lastBestNode = startNode; + m_query.lastBestNodeCost = startNode->total; + + return m_query.status; +} + +dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters) +{ + if (!dtStatusInProgress(m_query.status)) + return m_query.status; + + // Make sure the request is still valid. + if (!m_nav->isValidPolyRef(m_query.startRef) || !m_nav->isValidPolyRef(m_query.endRef)) + { + m_query.status = DT_FAILURE; + return DT_FAILURE; + } + + dtRaycastHit rayHit; + rayHit.maxPath = 0; + + int iter = 0; + while (iter < maxIter && !m_openList->empty()) + { + iter++; + + // Remove node from open list and put it in closed list. + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Reached the goal, stop searching. + if (bestNode->id == m_query.endRef) + { + m_query.lastBestNode = bestNode; + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + m_query.status = DT_SUCCESS | details; + if (doneIters) + *doneIters = iter; + return m_query.status; + } + + // Get current poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly))) + { + // The polygon has disappeared during the sliced query, fail. + m_query.status = DT_FAILURE; + if (doneIters) + *doneIters = iter; + return m_query.status; + } + + // Get parent and grand parent poly and tile. + dtPolyRef parentRef = 0, grandpaRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + dtNode* parentNode = 0; + if (bestNode->pidx) + { + parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx); + parentRef = parentNode->id; + if (parentNode->pidx) + grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id; + } + if (parentRef) + { + bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)); + if (invalidParent || (grandpaRef && !m_nav->isValidPolyRef(grandpaRef)) ) + { + // The polygon has disappeared during the sliced query, fail. + m_query.status = DT_FAILURE; + if (doneIters) + *doneIters = iter; + return m_query.status; + } + } + + // decide whether to test raycast to previous nodes + bool tryLOS = false; + if (m_query.options & DT_FINDPATH_ANY_ANGLE) + { + if ((parentRef != 0) && (dtVdistSqr(parentNode->pos, bestNode->pos) < m_query.raycastLimitSqr)) + tryLOS = true; + } + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + dtPolyRef neighbourRef = bestTile->links[i].ref; + + // Skip invalid ids and do not expand back to where we came from. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Get neighbour poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // get the neighbor node + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, 0); + if (!neighbourNode) + { + m_query.status |= DT_OUT_OF_NODES; + continue; + } + + // do not expand to nodes that were already visited from the same parent + if (neighbourNode->pidx != 0 && neighbourNode->pidx == bestNode->pidx) + continue; + + // If the node is visited the first time, calculate node position. + if (neighbourNode->flags == 0) + { + getEdgeMidPoint(bestRef, bestPoly, bestTile, + neighbourRef, neighbourPoly, neighbourTile, + neighbourNode->pos); + } + + // Calculate cost and heuristic. + float cost = 0; + float heuristic = 0; + + // raycast parent + bool foundShortCut = false; + rayHit.pathCost = rayHit.t = 0; + if (tryLOS) + { + raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef); + foundShortCut = rayHit.t >= 1.0f; + } + + // update move cost + if (foundShortCut) + { + // shortcut found using raycast. Using shorter cost instead + cost = parentNode->cost + rayHit.pathCost; + } + else + { + // No shortcut found. + const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos, + parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly); + cost = bestNode->cost + curCost; + } + + // Special case for last node. + if (neighbourRef == m_query.endRef) + { + const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly, + 0, 0, 0); + + cost = cost + endCost; + heuristic = 0; + } + else + { + heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE; + } + + const float total = cost + heuristic; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + // The node is already visited and process, and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total) + continue; + + // Add or update the node. + neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode); + neighbourNode->id = neighbourRef; + neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED)); + neighbourNode->cost = cost; + neighbourNode->total = total; + if (foundShortCut) + neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED); + + if (neighbourNode->flags & DT_NODE_OPEN) + { + // Already in open, update node location. + m_openList->modify(neighbourNode); + } + else + { + // Put the node in open list. + neighbourNode->flags |= DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + + // Update nearest node to target so far. + if (heuristic < m_query.lastBestNodeCost) + { + m_query.lastBestNodeCost = heuristic; + m_query.lastBestNode = neighbourNode; + } + } + } + + // Exhausted all nodes, but could not find path. + if (m_openList->empty()) + { + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + m_query.status = DT_SUCCESS | details; + } + + if (doneIters) + *doneIters = iter; + + return m_query.status; +} + +dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath) +{ + *pathCount = 0; + + if (dtStatusFailed(m_query.status)) + { + // Reset query. + memset(&m_query, 0, sizeof(dtQueryData)); + return DT_FAILURE; + } + + int n = 0; + + if (m_query.startRef == m_query.endRef) + { + // Special case: the search starts and ends at same poly. + path[n++] = m_query.startRef; + } + else + { + // Reverse the path. + dtAssert(m_query.lastBestNode); + + if (m_query.lastBestNode->id != m_query.endRef) + m_query.status |= DT_PARTIAL_RESULT; + + dtNode* prev = 0; + dtNode* node = m_query.lastBestNode; + int prevRay = 0; + do + { + dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); + node->pidx = m_nodePool->getNodeIdx(prev); + prev = node; + int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut) + node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node + prevRay = nextRay; + node = next; + } + while (node); + + // Store path + node = prev; + do + { + dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); + dtStatus status = 0; + if (node->flags & DT_NODE_PARENT_DETACHED) + { + float t, normal[3]; + int m; + status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n); + n += m; + // raycast ends on poly boundary and the path might include the next poly boundary. + if (path[n-1] == next->id) + n--; // remove to avoid duplicates + } + else + { + path[n++] = node->id; + if (n >= maxPath) + status = DT_BUFFER_TOO_SMALL; + } + + if (status & DT_STATUS_DETAIL_MASK) + { + m_query.status |= status & DT_STATUS_DETAIL_MASK; + break; + } + node = next; + } + while (node); + } + + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + + // Reset query. + memset(&m_query, 0, sizeof(dtQueryData)); + + *pathCount = n; + + return DT_SUCCESS | details; +} + +dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, + dtPolyRef* path, int* pathCount, const int maxPath) +{ + *pathCount = 0; + + if (existingSize == 0) + { + return DT_FAILURE; + } + + if (dtStatusFailed(m_query.status)) + { + // Reset query. + memset(&m_query, 0, sizeof(dtQueryData)); + return DT_FAILURE; + } + + int n = 0; + + if (m_query.startRef == m_query.endRef) + { + // Special case: the search starts and ends at same poly. + path[n++] = m_query.startRef; + } + else + { + // Find furthest existing node that was visited. + dtNode* prev = 0; + dtNode* node = 0; + for (int i = existingSize-1; i >= 0; --i) + { + m_nodePool->findNodes(existing[i], &node, 1); + if (node) + break; + } + + if (!node) + { + m_query.status |= DT_PARTIAL_RESULT; + dtAssert(m_query.lastBestNode); + node = m_query.lastBestNode; + } + + // Reverse the path. + int prevRay = 0; + do + { + dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); + node->pidx = m_nodePool->getNodeIdx(prev); + prev = node; + int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut) + node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node + prevRay = nextRay; + node = next; + } + while (node); + + // Store path + node = prev; + do + { + dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); + dtStatus status = 0; + if (node->flags & DT_NODE_PARENT_DETACHED) + { + float t, normal[3]; + int m; + status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n); + n += m; + // raycast ends on poly boundary and the path might include the next poly boundary. + if (path[n-1] == next->id) + n--; // remove to avoid duplicates + } + else + { + path[n++] = node->id; + if (n >= maxPath) + status = DT_BUFFER_TOO_SMALL; + } + + if (status & DT_STATUS_DETAIL_MASK) + { + m_query.status |= status & DT_STATUS_DETAIL_MASK; + break; + } + node = next; + } + while (node); + } + + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + + // Reset query. + memset(&m_query, 0, sizeof(dtQueryData)); + + *pathCount = n; + + return DT_SUCCESS | details; +} + + +dtStatus dtNavMeshQuery::appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath) const +{ + if ((*straightPathCount) > 0 && dtVequal(&straightPath[((*straightPathCount)-1)*3], pos)) + { + // The vertices are equal, update flags and poly. + if (straightPathFlags) + straightPathFlags[(*straightPathCount)-1] = flags; + if (straightPathRefs) + straightPathRefs[(*straightPathCount)-1] = ref; + } + else + { + // Append new vertex. + dtVcopy(&straightPath[(*straightPathCount)*3], pos); + if (straightPathFlags) + straightPathFlags[(*straightPathCount)] = flags; + if (straightPathRefs) + straightPathRefs[(*straightPathCount)] = ref; + (*straightPathCount)++; + + // If there is no space to append more vertices, return. + if ((*straightPathCount) >= maxStraightPath) + { + return DT_SUCCESS | DT_BUFFER_TOO_SMALL; + } + + // If reached end of path, return. + if (flags == DT_STRAIGHTPATH_END) + { + return DT_SUCCESS; + } + } + return DT_IN_PROGRESS; +} + +dtStatus dtNavMeshQuery::appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath, const int options) const +{ + const float* startPos = &straightPath[(*straightPathCount-1)*3]; + // Append or update last vertex + dtStatus stat = 0; + for (int i = startIdx; i < endIdx; i++) + { + // Calculate portal + const dtPolyRef from = path[i]; + const dtMeshTile* fromTile = 0; + const dtPoly* fromPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) + return DT_FAILURE | DT_INVALID_PARAM; + + const dtPolyRef to = path[i+1]; + const dtMeshTile* toTile = 0; + const dtPoly* toPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) + return DT_FAILURE | DT_INVALID_PARAM; + + float left[3], right[3]; + if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) + break; + + if (options & DT_STRAIGHTPATH_AREA_CROSSINGS) + { + // Skip intersection if only area crossings are requested. + if (fromPoly->getArea() == toPoly->getArea()) + continue; + } + + // Append intersection + float s,t; + if (dtIntersectSegSeg2D(startPos, endPos, left, right, s, t)) + { + float pt[3]; + dtVlerp(pt, left,right, t); + + stat = appendVertex(pt, 0, path[i+1], + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; + } + } + return DT_IN_PROGRESS; +} + +/// @par +/// +/// This method peforms what is often called 'string pulling'. +/// +/// The start position is clamped to the first polygon in the path, and the +/// end position is clamped to the last. So the start and end positions should +/// normally be within or very near the first and last polygons respectively. +/// +/// The returned polygon references represent the reference id of the polygon +/// that is entered at the associated path position. The reference id associated +/// with the end point will always be zero. This allows, for example, matching +/// off-mesh link points to their representative polygons. +/// +/// If the provided result buffers are too small for the entire result set, +/// they will be filled as far as possible from the start toward the end +/// position. +/// +dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos, + const dtPolyRef* path, const int pathSize, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath, const int options) const +{ + dtAssert(m_nav); + + *straightPathCount = 0; + + if (!maxStraightPath) + return DT_FAILURE | DT_INVALID_PARAM; + + if (!path[0]) + return DT_FAILURE | DT_INVALID_PARAM; + + dtStatus stat = 0; + + // TODO: Should this be callers responsibility? + float closestStartPos[3]; + if (dtStatusFailed(closestPointOnPolyBoundary(path[0], startPos, closestStartPos))) + return DT_FAILURE | DT_INVALID_PARAM; + + float closestEndPos[3]; + if (dtStatusFailed(closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos))) + return DT_FAILURE | DT_INVALID_PARAM; + + // Add start point. + stat = appendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0], + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; + + if (pathSize > 1) + { + float portalApex[3], portalLeft[3], portalRight[3]; + dtVcopy(portalApex, closestStartPos); + dtVcopy(portalLeft, portalApex); + dtVcopy(portalRight, portalApex); + int apexIndex = 0; + int leftIndex = 0; + int rightIndex = 0; + + unsigned char leftPolyType = 0; + unsigned char rightPolyType = 0; + + dtPolyRef leftPolyRef = path[0]; + dtPolyRef rightPolyRef = path[0]; + + for (int i = 0; i < pathSize; ++i) + { + float left[3], right[3]; + unsigned char toType; + + if (i+1 < pathSize) + { + unsigned char fromType; // fromType is ignored. + + // Next portal. + if (dtStatusFailed(getPortalPoints(path[i], path[i+1], left, right, fromType, toType))) + { + // Failed to get portal points, in practice this means that path[i+1] is invalid polygon. + // Clamp the end point to path[i], and return the path so far. + + if (dtStatusFailed(closestPointOnPolyBoundary(path[i], endPos, closestEndPos))) + { + // This should only happen when the first polygon is invalid. + return DT_FAILURE | DT_INVALID_PARAM; + } + + // Apeend portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + // Ignore status return value as we're just about to return anyway. + appendPortals(apexIndex, i, closestEndPos, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + } + + // Ignore status return value as we're just about to return anyway. + appendVertex(closestEndPos, 0, path[i], + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + + return DT_SUCCESS | DT_PARTIAL_RESULT | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); + } + + // If starting really close the portal, advance. + if (i == 0) + { + float t; + if (dtDistancePtSegSqr2D(portalApex, left, right, t) < dtSqr(0.001f)) + continue; + } + } + else + { + // End of the path. + dtVcopy(left, closestEndPos); + dtVcopy(right, closestEndPos); + + toType = DT_POLYTYPE_GROUND; + } + + // Right vertex. + if (dtTriArea2D(portalApex, portalRight, right) <= 0.0f) + { + if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) > 0.0f) + { + dtVcopy(portalRight, right); + rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0; + rightPolyType = toType; + rightIndex = i; + } + else + { + // Append portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, leftIndex, portalLeft, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + if (stat != DT_IN_PROGRESS) + return stat; + } + + dtVcopy(portalApex, portalLeft); + apexIndex = leftIndex; + + unsigned char flags = 0; + if (!leftPolyRef) + flags = DT_STRAIGHTPATH_END; + else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) + flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; + dtPolyRef ref = leftPolyRef; + + // Append or update vertex + stat = appendVertex(portalApex, flags, ref, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; + + dtVcopy(portalLeft, portalApex); + dtVcopy(portalRight, portalApex); + leftIndex = apexIndex; + rightIndex = apexIndex; + + // Restart + i = apexIndex; + + continue; + } + } + + // Left vertex. + if (dtTriArea2D(portalApex, portalLeft, left) >= 0.0f) + { + if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) < 0.0f) + { + dtVcopy(portalLeft, left); + leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0; + leftPolyType = toType; + leftIndex = i; + } + else + { + // Append portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, rightIndex, portalRight, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + if (stat != DT_IN_PROGRESS) + return stat; + } + + dtVcopy(portalApex, portalRight); + apexIndex = rightIndex; + + unsigned char flags = 0; + if (!rightPolyRef) + flags = DT_STRAIGHTPATH_END; + else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) + flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; + dtPolyRef ref = rightPolyRef; + + // Append or update vertex + stat = appendVertex(portalApex, flags, ref, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; + + dtVcopy(portalLeft, portalApex); + dtVcopy(portalRight, portalApex); + leftIndex = apexIndex; + rightIndex = apexIndex; + + // Restart + i = apexIndex; + + continue; + } + } + } + + // Append portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, pathSize-1, closestEndPos, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + if (stat != DT_IN_PROGRESS) + return stat; + } + } + + // Ignore status return value as we're just about to return anyway. + appendVertex(closestEndPos, DT_STRAIGHTPATH_END, 0, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + + return DT_SUCCESS | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); +} + +/// @par +/// +/// This method is optimized for small delta movement and a small number of +/// polygons. If used for too great a distance, the result set will form an +/// incomplete path. +/// +/// @p resultPos will equal the @p endPos if the end is reached. +/// Otherwise the closest reachable position will be returned. +/// +/// @p resultPos is not projected onto the surface of the navigation +/// mesh. Use #getPolyHeight if this is needed. +/// +/// This method treats the end position in the same manner as +/// the #raycast method. (As a 2D point.) See that method's documentation +/// for details. +/// +/// If the @p visited array is too small to hold the entire result set, it will +/// be filled as far as possible from the start position toward the end +/// position. +/// +dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, + float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const +{ + dtAssert(m_nav); + dtAssert(m_tinyNodePool); + + *visitedCount = 0; + + // Validate input + if (!startRef) + return DT_FAILURE | DT_INVALID_PARAM; + if (!m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + dtStatus status = DT_SUCCESS; + + static const int MAX_STACK = 48; + dtNode* stack[MAX_STACK]; + int nstack = 0; + + m_tinyNodePool->clear(); + + dtNode* startNode = m_tinyNodePool->getNode(startRef); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_CLOSED; + stack[nstack++] = startNode; + + float bestPos[3]; + float bestDist = FLT_MAX; + dtNode* bestNode = 0; + dtVcopy(bestPos, startPos); + + // Search constraints + float searchPos[3], searchRadSqr; + dtVlerp(searchPos, startPos, endPos, 0.5f); + searchRadSqr = dtSqr(dtVdist(startPos, endPos)/2.0f + 0.001f); + + float verts[DT_VERTS_PER_POLYGON*3]; + + while (nstack) + { + // Pop front. + dtNode* curNode = stack[0]; + for (int i = 0; i < nstack-1; ++i) + stack[i] = stack[i+1]; + nstack--; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef curRef = curNode->id; + const dtMeshTile* curTile = 0; + const dtPoly* curPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly); + + // Collect vertices. + const int nverts = curPoly->vertCount; + for (int i = 0; i < nverts; ++i) + dtVcopy(&verts[i*3], &curTile->verts[curPoly->verts[i]*3]); + + // If target is inside the poly, stop search. + if (dtPointInPolygon(endPos, verts, nverts)) + { + bestNode = curNode; + dtVcopy(bestPos, endPos); + break; + } + + // Find wall edges and find nearest point inside the walls. + for (int i = 0, j = (int)curPoly->vertCount-1; i < (int)curPoly->vertCount; j = i++) + { + // Find links to neighbours. + static const int MAX_NEIS = 8; + int nneis = 0; + dtPolyRef neis[MAX_NEIS]; + + if (curPoly->neis[j] & DT_EXT_LINK) + { + // Tile border. + for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next) + { + const dtLink* link = &curTile->links[k]; + if (link->edge == j) + { + if (link->ref != 0) + { + const dtMeshTile* neiTile = 0; + const dtPoly* neiPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); + if (filter->passFilter(link->ref, neiTile, neiPoly)) + { + if (nneis < MAX_NEIS) + neis[nneis++] = link->ref; + } + } + } + } + } + else if (curPoly->neis[j]) + { + const unsigned int idx = (unsigned int)(curPoly->neis[j]-1); + const dtPolyRef ref = m_nav->getPolyRefBase(curTile) | idx; + if (filter->passFilter(ref, curTile, &curTile->polys[idx])) + { + // Internal edge, encode id. + neis[nneis++] = ref; + } + } + + if (!nneis) + { + // Wall edge, calc distance. + const float* vj = &verts[j*3]; + const float* vi = &verts[i*3]; + float tseg; + const float distSqr = dtDistancePtSegSqr2D(endPos, vj, vi, tseg); + if (distSqr < bestDist) + { + // Update nearest distance. + dtVlerp(bestPos, vj,vi, tseg); + bestDist = distSqr; + bestNode = curNode; + } + } + else + { + for (int k = 0; k < nneis; ++k) + { + // Skip if no node can be allocated. + dtNode* neighbourNode = m_tinyNodePool->getNode(neis[k]); + if (!neighbourNode) + continue; + // Skip if already visited. + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Skip the link if it is too far from search constraint. + // TODO: Maybe should use getPortalPoints(), but this one is way faster. + const float* vj = &verts[j*3]; + const float* vi = &verts[i*3]; + float tseg; + float distSqr = dtDistancePtSegSqr2D(searchPos, vj, vi, tseg); + if (distSqr > searchRadSqr) + continue; + + // Mark as the node as visited and push to queue. + if (nstack < MAX_STACK) + { + neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode); + neighbourNode->flags |= DT_NODE_CLOSED; + stack[nstack++] = neighbourNode; + } + } + } + } + } + + int n = 0; + if (bestNode) + { + // Reverse the path. + dtNode* prev = 0; + dtNode* node = bestNode; + do + { + dtNode* next = m_tinyNodePool->getNodeAtIdx(node->pidx); + node->pidx = m_tinyNodePool->getNodeIdx(prev); + prev = node; + node = next; + } + while (node); + + // Store result + node = prev; + do + { + visited[n++] = node->id; + if (n >= maxVisitedSize) + { + status |= DT_BUFFER_TOO_SMALL; + break; + } + node = m_tinyNodePool->getNodeAtIdx(node->pidx); + } + while (node); + } + + dtVcopy(resultPos, bestPos); + + *visitedCount = n; + + return status; +} + + +dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, + unsigned char& fromType, unsigned char& toType) const +{ + dtAssert(m_nav); + + const dtMeshTile* fromTile = 0; + const dtPoly* fromPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) + return DT_FAILURE | DT_INVALID_PARAM; + fromType = fromPoly->getType(); + + const dtMeshTile* toTile = 0; + const dtPoly* toPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) + return DT_FAILURE | DT_INVALID_PARAM; + toType = toPoly->getType(); + + return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right); +} + +// Returns portal points between two polygons. +dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, + dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, + float* left, float* right) const +{ + // Find the link that points to the 'to' polygon. + const dtLink* link = 0; + for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next) + { + if (fromTile->links[i].ref == to) + { + link = &fromTile->links[i]; + break; + } + } + if (!link) + return DT_FAILURE | DT_INVALID_PARAM; + + // Handle off-mesh connections. + if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + { + // Find link that points to first vertex. + for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next) + { + if (fromTile->links[i].ref == to) + { + const int v = fromTile->links[i].edge; + dtVcopy(left, &fromTile->verts[fromPoly->verts[v]*3]); + dtVcopy(right, &fromTile->verts[fromPoly->verts[v]*3]); + return DT_SUCCESS; + } + } + return DT_FAILURE | DT_INVALID_PARAM; + } + + if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + { + for (unsigned int i = toPoly->firstLink; i != DT_NULL_LINK; i = toTile->links[i].next) + { + if (toTile->links[i].ref == from) + { + const int v = toTile->links[i].edge; + dtVcopy(left, &toTile->verts[toPoly->verts[v]*3]); + dtVcopy(right, &toTile->verts[toPoly->verts[v]*3]); + return DT_SUCCESS; + } + } + return DT_FAILURE | DT_INVALID_PARAM; + } + + // Find portal vertices. + const int v0 = fromPoly->verts[link->edge]; + const int v1 = fromPoly->verts[(link->edge+1) % (int)fromPoly->vertCount]; + dtVcopy(left, &fromTile->verts[v0*3]); + dtVcopy(right, &fromTile->verts[v1*3]); + + // If the link is at tile boundary, dtClamp the vertices to + // the link width. + if (link->side != 0xff) + { + // Unpack portal limits. + if (link->bmin != 0 || link->bmax != 255) + { + const float s = 1.0f/255.0f; + const float tmin = link->bmin*s; + const float tmax = link->bmax*s; + dtVlerp(left, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmin); + dtVlerp(right, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmax); + } + } + + return DT_SUCCESS; +} + +// Returns edge mid point between two polygons. +dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const +{ + float left[3], right[3]; + unsigned char fromType, toType; + if (dtStatusFailed(getPortalPoints(from, to, left,right, fromType, toType))) + return DT_FAILURE | DT_INVALID_PARAM; + mid[0] = (left[0]+right[0])*0.5f; + mid[1] = (left[1]+right[1])*0.5f; + mid[2] = (left[2]+right[2])*0.5f; + return DT_SUCCESS; +} + +dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, + dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, + float* mid) const +{ + float left[3], right[3]; + if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) + return DT_FAILURE | DT_INVALID_PARAM; + mid[0] = (left[0]+right[0])*0.5f; + mid[1] = (left[1]+right[1])*0.5f; + mid[2] = (left[2]+right[2])*0.5f; + return DT_SUCCESS; +} + + + +/// @par +/// +/// This method is meant to be used for quick, short distance checks. +/// +/// If the path array is too small to hold the result, it will be filled as +/// far as possible from the start postion toward the end position. +/// +/// Using the Hit Parameter (t) +/// +/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit +/// the end position. In this case the path represents a valid corridor to the +/// end position and the value of @p hitNormal is undefined. +/// +/// If the hit parameter is zero, then the start position is on the wall that +/// was hit and the value of @p hitNormal is undefined. +/// +/// If 0 < t < 1.0 then the following applies: +/// +/// @code +/// distanceToHitBorder = distanceToEndPosition * t +/// hitPoint = startPos + (endPos - startPos) * t +/// @endcode +/// +/// Use Case Restriction +/// +/// The raycast ignores the y-value of the end position. (2D check.) This +/// places significant limits on how it can be used. For example: +/// +/// Consider a scene where there is a main floor with a second floor balcony +/// that hangs over the main floor. So the first floor mesh extends below the +/// balcony mesh. The start position is somewhere on the first floor. The end +/// position is on the balcony. +/// +/// The raycast will search toward the end position along the first floor mesh. +/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX +/// (no wall hit), meaning it reached the end position. This is one example of why +/// this method is meant for short distance checks. +/// +dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, + float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const +{ + dtRaycastHit hit; + hit.path = path; + hit.maxPath = maxPath; + + dtStatus status = raycast(startRef, startPos, endPos, filter, 0, &hit); + + *t = hit.t; + if (hitNormal) + dtVcopy(hitNormal, hit.hitNormal); + if (pathCount) + *pathCount = hit.pathCount; + + return status; +} + + +/// @par +/// +/// This method is meant to be used for quick, short distance checks. +/// +/// If the path array is too small to hold the result, it will be filled as +/// far as possible from the start postion toward the end position. +/// +/// Using the Hit Parameter t of RaycastHit +/// +/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit +/// the end position. In this case the path represents a valid corridor to the +/// end position and the value of @p hitNormal is undefined. +/// +/// If the hit parameter is zero, then the start position is on the wall that +/// was hit and the value of @p hitNormal is undefined. +/// +/// If 0 < t < 1.0 then the following applies: +/// +/// @code +/// distanceToHitBorder = distanceToEndPosition * t +/// hitPoint = startPos + (endPos - startPos) * t +/// @endcode +/// +/// Use Case Restriction +/// +/// The raycast ignores the y-value of the end position. (2D check.) This +/// places significant limits on how it can be used. For example: +/// +/// Consider a scene where there is a main floor with a second floor balcony +/// that hangs over the main floor. So the first floor mesh extends below the +/// balcony mesh. The start position is somewhere on the first floor. The end +/// position is on the balcony. +/// +/// The raycast will search toward the end position along the first floor mesh. +/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX +/// (no wall hit), meaning it reached the end position. This is one example of why +/// this method is meant for short distance checks. +/// +dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, const unsigned int options, + dtRaycastHit* hit, dtPolyRef prevRef) const +{ + dtAssert(m_nav); + + hit->t = 0; + hit->pathCount = 0; + hit->pathCost = 0; + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + if (prevRef && !m_nav->isValidPolyRef(prevRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + float dir[3], curPos[3], lastPos[3]; + float verts[DT_VERTS_PER_POLYGON*3+3]; + int n = 0; + + dtVcopy(curPos, startPos); + dtVsub(dir, endPos, startPos); + dtVset(hit->hitNormal, 0, 0, 0); + + dtStatus status = DT_SUCCESS; + + const dtMeshTile* prevTile, *tile, *nextTile; + const dtPoly* prevPoly, *poly, *nextPoly; + dtPolyRef curRef; + + // The API input has been checked already, skip checking internal data. + curRef = startRef; + tile = 0; + poly = 0; + m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly); + nextTile = prevTile = tile; + nextPoly = prevPoly = poly; + if (prevRef) + m_nav->getTileAndPolyByRefUnsafe(prevRef, &prevTile, &prevPoly); + + while (curRef) + { + // Cast ray against current polygon. + + // Collect vertices. + int nv = 0; + for (int i = 0; i < (int)poly->vertCount; ++i) + { + dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]); + nv++; + } + + float tmin, tmax; + int segMin, segMax; + if (!dtIntersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax)) + { + // Could not hit the polygon, keep the old t and report hit. + hit->pathCount = n; + return status; + } + + hit->hitEdgeIndex = segMax; + + // Keep track of furthest t so far. + if (tmax > hit->t) + hit->t = tmax; + + // Store visited polygons. + if (n < hit->maxPath) + hit->path[n++] = curRef; + else + status |= DT_BUFFER_TOO_SMALL; + + // Ray end is completely inside the polygon. + if (segMax == -1) + { + hit->t = FLT_MAX; + hit->pathCount = n; + + // add the cost + if (options & DT_RAYCAST_USE_COSTS) + hit->pathCost += filter->getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly); + return status; + } + + // Follow neighbours. + dtPolyRef nextRef = 0; + + for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next) + { + const dtLink* link = &tile->links[i]; + + // Find link which contains this edge. + if ((int)link->edge != segMax) + continue; + + // Get pointer to the next polygon. + nextTile = 0; + nextPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly); + + // Skip off-mesh connections. + if (nextPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + + // Skip links based on filter. + if (!filter->passFilter(link->ref, nextTile, nextPoly)) + continue; + + // If the link is internal, just return the ref. + if (link->side == 0xff) + { + nextRef = link->ref; + break; + } + + // If the link is at tile boundary, + + // Check if the link spans the whole edge, and accept. + if (link->bmin == 0 && link->bmax == 255) + { + nextRef = link->ref; + break; + } + + // Check for partial edge links. + const int v0 = poly->verts[link->edge]; + const int v1 = poly->verts[(link->edge+1) % poly->vertCount]; + const float* left = &tile->verts[v0*3]; + const float* right = &tile->verts[v1*3]; + + // Check that the intersection lies inside the link portal. + if (link->side == 0 || link->side == 4) + { + // Calculate link size. + const float s = 1.0f/255.0f; + float lmin = left[2] + (right[2] - left[2])*(link->bmin*s); + float lmax = left[2] + (right[2] - left[2])*(link->bmax*s); + if (lmin > lmax) dtSwap(lmin, lmax); + + // Find Z intersection. + float z = startPos[2] + (endPos[2]-startPos[2])*tmax; + if (z >= lmin && z <= lmax) + { + nextRef = link->ref; + break; + } + } + else if (link->side == 2 || link->side == 6) + { + // Calculate link size. + const float s = 1.0f/255.0f; + float lmin = left[0] + (right[0] - left[0])*(link->bmin*s); + float lmax = left[0] + (right[0] - left[0])*(link->bmax*s); + if (lmin > lmax) dtSwap(lmin, lmax); + + // Find X intersection. + float x = startPos[0] + (endPos[0]-startPos[0])*tmax; + if (x >= lmin && x <= lmax) + { + nextRef = link->ref; + break; + } + } + } + + // add the cost + if (options & DT_RAYCAST_USE_COSTS) + { + // compute the intersection point at the furthest end of the polygon + // and correct the height (since the raycast moves in 2d) + dtVcopy(lastPos, curPos); + dtVmad(curPos, startPos, dir, hit->t); + float* e1 = &verts[segMax*3]; + float* e2 = &verts[((segMax+1)%nv)*3]; + float eDir[3], diff[3]; + dtVsub(eDir, e2, e1); + dtVsub(diff, curPos, e1); + float s = dtSqr(eDir[0]) > dtSqr(eDir[2]) ? diff[0] / eDir[0] : diff[2] / eDir[2]; + curPos[1] = e1[1] + eDir[1] * s; + + hit->pathCost += filter->getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly); + } + + if (!nextRef) + { + // No neighbour, we hit a wall. + + // Calculate hit normal. + const int a = segMax; + const int b = segMax+1 < nv ? segMax+1 : 0; + const float* va = &verts[a*3]; + const float* vb = &verts[b*3]; + const float dx = vb[0] - va[0]; + const float dz = vb[2] - va[2]; + hit->hitNormal[0] = dz; + hit->hitNormal[1] = 0; + hit->hitNormal[2] = -dx; + dtVnormalize(hit->hitNormal); + + hit->pathCount = n; + return status; + } + + // No hit, advance to neighbour polygon. + prevRef = curRef; + curRef = nextRef; + prevTile = tile; + tile = nextTile; + prevPoly = poly; + poly = nextPoly; + } + + hit->pathCount = n; + + return status; +} + +/// @par +/// +/// At least one result array must be provided. +/// +/// The order of the result set is from least to highest cost to reach the polygon. +/// +/// A common use case for this method is to perform Dijkstra searches. +/// Candidate polygons are found by searching the graph beginning at the start polygon. +/// +/// If a polygon is not found via the graph search, even if it intersects the +/// search circle, it will not be included in the result set. For example: +/// +/// polyA is the start polygon. +/// polyB shares an edge with polyA. (Is adjacent.) +/// polyC shares an edge with polyB, but not with polyA +/// Even if the search circle overlaps polyC, it will not be included in the +/// result set unless polyB is also in the set. +/// +/// The value of the center point is used as the start position for cost +/// calculations. It is not projected onto the surface of the mesh, so its +/// y-value will effect the costs. +/// +/// Intersection tests occur in 2D. All polygons and the search circle are +/// projected onto the xz-plane. So the y-value of the center point does not +/// effect intersection tests. +/// +/// If the result arrays are to small to hold the entire result set, they will be +/// filled to capacity. +/// +dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, + int* resultCount, const int maxResult) const +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + *resultCount = 0; + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + m_nodePool->clear(); + m_openList->clear(); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, centerPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + dtStatus status = DT_SUCCESS; + + int n = 0; + + const float radiusSqr = dtSqr(radius); + + while (!m_openList->empty()) + { + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); + + // Get parent poly and tile. + dtPolyRef parentRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + if (bestNode->pidx) + parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; + if (parentRef) + m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); + + if (n < maxResult) + { + if (resultRef) + resultRef[n] = bestRef; + if (resultParent) + resultParent[n] = parentRef; + if (resultCost) + resultCost[n] = bestNode->total; + ++n; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + const dtLink* link = &bestTile->links[i]; + dtPolyRef neighbourRef = link->ref; + // Skip invalid neighbours and do not follow back to parent. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Expand to neighbour + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + // Do not advance if the polygon is excluded by the filter. + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // Find edge and calc distance to the edge. + float va[3], vb[3]; + if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) + continue; + + // If the circle is not touching the next polygon, skip it. + float tseg; + float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); + if (distSqr > radiusSqr) + continue; + + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); + if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; + continue; + } + + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Cost + if (neighbourNode->flags == 0) + dtVlerp(neighbourNode->pos, va, vb, 0.5f); + + float cost = filter->getCost( + bestNode->pos, neighbourNode->pos, + parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly); + + const float total = bestNode->total + cost; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + + neighbourNode->id = neighbourRef; + neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); + neighbourNode->total = total; + + if (neighbourNode->flags & DT_NODE_OPEN) + { + m_openList->modify(neighbourNode); + } + else + { + neighbourNode->flags = DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + } + } + + *resultCount = n; + + return status; +} + +/// @par +/// +/// The order of the result set is from least to highest cost. +/// +/// At least one result array must be provided. +/// +/// A common use case for this method is to perform Dijkstra searches. +/// Candidate polygons are found by searching the graph beginning at the start +/// polygon. +/// +/// The same intersection test restrictions that apply to findPolysAroundCircle() +/// method apply to this method. +/// +/// The 3D centroid of the search polygon is used as the start position for cost +/// calculations. +/// +/// Intersection tests occur in 2D. All polygons are projected onto the +/// xz-plane. So the y-values of the vertices do not effect intersection tests. +/// +/// If the result arrays are is too small to hold the entire result set, they will +/// be filled to capacity. +/// +dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, + int* resultCount, const int maxResult) const +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + *resultCount = 0; + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + m_nodePool->clear(); + m_openList->clear(); + + float centerPos[3] = {0,0,0}; + for (int i = 0; i < nverts; ++i) + dtVadd(centerPos,centerPos,&verts[i*3]); + dtVscale(centerPos,centerPos,1.0f/nverts); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, centerPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + dtStatus status = DT_SUCCESS; + + int n = 0; + + while (!m_openList->empty()) + { + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); + + // Get parent poly and tile. + dtPolyRef parentRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + if (bestNode->pidx) + parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; + if (parentRef) + m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); + + if (n < maxResult) + { + if (resultRef) + resultRef[n] = bestRef; + if (resultParent) + resultParent[n] = parentRef; + if (resultCost) + resultCost[n] = bestNode->total; + + ++n; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + const dtLink* link = &bestTile->links[i]; + dtPolyRef neighbourRef = link->ref; + // Skip invalid neighbours and do not follow back to parent. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Expand to neighbour + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + // Do not advance if the polygon is excluded by the filter. + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // Find edge and calc distance to the edge. + float va[3], vb[3]; + if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) + continue; + + // If the poly is not touching the edge to the next polygon, skip the connection it. + float tmin, tmax; + int segMin, segMax; + if (!dtIntersectSegmentPoly2D(va, vb, verts, nverts, tmin, tmax, segMin, segMax)) + continue; + if (tmin > 1.0f || tmax < 0.0f) + continue; + + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); + if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; + continue; + } + + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Cost + if (neighbourNode->flags == 0) + dtVlerp(neighbourNode->pos, va, vb, 0.5f); + + float cost = filter->getCost( + bestNode->pos, neighbourNode->pos, + parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, + neighbourRef, neighbourTile, neighbourPoly); + + const float total = bestNode->total + cost; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + + neighbourNode->id = neighbourRef; + neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); + neighbourNode->total = total; + + if (neighbourNode->flags & DT_NODE_OPEN) + { + m_openList->modify(neighbourNode); + } + else + { + neighbourNode->flags = DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + } + } + + *resultCount = n; + + return status; +} + +dtStatus dtNavMeshQuery::getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const +{ + if (!m_nav->isValidPolyRef(endRef) || !path || !pathCount || maxPath < 0) + return DT_FAILURE | DT_INVALID_PARAM; + + *pathCount = 0; + + dtNode* endNode; + if (m_nodePool->findNodes(endRef, &endNode, 1) != 1 || + (endNode->flags & DT_NODE_CLOSED) == 0) + return DT_FAILURE | DT_INVALID_PARAM; + + return getPathToNode(endNode, path, pathCount, maxPath); +} + +/// @par +/// +/// This method is optimized for a small search radius and small number of result +/// polygons. +/// +/// Candidate polygons are found by searching the navigation graph beginning at +/// the start polygon. +/// +/// The same intersection test restrictions that apply to the findPolysAroundCircle +/// mehtod applies to this method. +/// +/// The value of the center point is used as the start point for cost calculations. +/// It is not projected onto the surface of the mesh, so its y-value will effect +/// the costs. +/// +/// Intersection tests occur in 2D. All polygons and the search circle are +/// projected onto the xz-plane. So the y-value of the center point does not +/// effect intersection tests. +/// +/// If the result arrays are is too small to hold the entire result set, they will +/// be filled to capacity. +/// +dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, + int* resultCount, const int maxResult) const +{ + dtAssert(m_nav); + dtAssert(m_tinyNodePool); + + *resultCount = 0; + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + static const int MAX_STACK = 48; + dtNode* stack[MAX_STACK]; + int nstack = 0; + + m_tinyNodePool->clear(); + + dtNode* startNode = m_tinyNodePool->getNode(startRef); + startNode->pidx = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_CLOSED; + stack[nstack++] = startNode; + + const float radiusSqr = dtSqr(radius); + + float pa[DT_VERTS_PER_POLYGON*3]; + float pb[DT_VERTS_PER_POLYGON*3]; + + dtStatus status = DT_SUCCESS; + + int n = 0; + if (n < maxResult) + { + resultRef[n] = startNode->id; + if (resultParent) + resultParent[n] = 0; + ++n; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + + while (nstack) + { + // Pop front. + dtNode* curNode = stack[0]; + for (int i = 0; i < nstack-1; ++i) + stack[i] = stack[i+1]; + nstack--; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef curRef = curNode->id; + const dtMeshTile* curTile = 0; + const dtPoly* curPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly); + + for (unsigned int i = curPoly->firstLink; i != DT_NULL_LINK; i = curTile->links[i].next) + { + const dtLink* link = &curTile->links[i]; + dtPolyRef neighbourRef = link->ref; + // Skip invalid neighbours. + if (!neighbourRef) + continue; + + // Skip if cannot alloca more nodes. + dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef); + if (!neighbourNode) + continue; + // Skip visited. + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Expand to neighbour + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + // Skip off-mesh connections. + if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + + // Do not advance if the polygon is excluded by the filter. + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // Find edge and calc distance to the edge. + float va[3], vb[3]; + if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) + continue; + + // If the circle is not touching the next polygon, skip it. + float tseg; + float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); + if (distSqr > radiusSqr) + continue; + + // Mark node visited, this is done before the overlap test so that + // we will not visit the poly again if the test fails. + neighbourNode->flags |= DT_NODE_CLOSED; + neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode); + + // Check that the polygon does not collide with existing polygons. + + // Collect vertices of the neighbour poly. + const int npa = neighbourPoly->vertCount; + for (int k = 0; k < npa; ++k) + dtVcopy(&pa[k*3], &neighbourTile->verts[neighbourPoly->verts[k]*3]); + + bool overlap = false; + for (int j = 0; j < n; ++j) + { + dtPolyRef pastRef = resultRef[j]; + + // Connected polys do not overlap. + bool connected = false; + for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next) + { + if (curTile->links[k].ref == pastRef) + { + connected = true; + break; + } + } + if (connected) + continue; + + // Potentially overlapping. + const dtMeshTile* pastTile = 0; + const dtPoly* pastPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(pastRef, &pastTile, &pastPoly); + + // Get vertices and test overlap + const int npb = pastPoly->vertCount; + for (int k = 0; k < npb; ++k) + dtVcopy(&pb[k*3], &pastTile->verts[pastPoly->verts[k]*3]); + + if (dtOverlapPolyPoly2D(pa,npa, pb,npb)) + { + overlap = true; + break; + } + } + if (overlap) + continue; + + // This poly is fine, store and advance to the poly. + if (n < maxResult) + { + resultRef[n] = neighbourRef; + if (resultParent) + resultParent[n] = curRef; + ++n; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + + if (nstack < MAX_STACK) + { + stack[nstack++] = neighbourNode; + } + } + } + + *resultCount = n; + + return status; +} + + +struct dtSegInterval +{ + dtPolyRef ref; + short tmin, tmax; +}; + +static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts, + const short tmin, const short tmax, const dtPolyRef ref) +{ + if (nints+1 > maxInts) return; + // Find insertion point. + int idx = 0; + while (idx < nints) + { + if (tmax <= ints[idx].tmin) + break; + idx++; + } + // Move current results. + if (nints-idx) + memmove(ints+idx+1, ints+idx, sizeof(dtSegInterval)*(nints-idx)); + // Store + ints[idx].ref = ref; + ints[idx].tmin = tmin; + ints[idx].tmax = tmax; + nints++; +} + +/// @par +/// +/// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. +/// Otherwise only the wall segments are returned. +/// +/// A segment that is normally a portal will be included in the result set as a +/// wall if the @p filter results in the neighbor polygon becoomming impassable. +/// +/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the +/// maximum segments per polygon of the source navigation mesh. +/// +dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, + float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, + const int maxSegments) const +{ + dtAssert(m_nav); + + *segmentCount = 0; + + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; + + int n = 0; + static const int MAX_INTERVAL = 16; + dtSegInterval ints[MAX_INTERVAL]; + int nints; + + const bool storePortals = segmentRefs != 0; + + dtStatus status = DT_SUCCESS; + + for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++) + { + // Skip non-solid edges. + nints = 0; + if (poly->neis[j] & DT_EXT_LINK) + { + // Tile border. + for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) + { + const dtLink* link = &tile->links[k]; + if (link->edge == j) + { + if (link->ref != 0) + { + const dtMeshTile* neiTile = 0; + const dtPoly* neiPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); + if (filter->passFilter(link->ref, neiTile, neiPoly)) + { + insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax, link->ref); + } + } + } + } + } + else + { + // Internal edge + dtPolyRef neiRef = 0; + if (poly->neis[j]) + { + const unsigned int idx = (unsigned int)(poly->neis[j]-1); + neiRef = m_nav->getPolyRefBase(tile) | idx; + if (!filter->passFilter(neiRef, tile, &tile->polys[idx])) + neiRef = 0; + } + + // If the edge leads to another polygon and portals are not stored, skip. + if (neiRef != 0 && !storePortals) + continue; + + if (n < maxSegments) + { + const float* vj = &tile->verts[poly->verts[j]*3]; + const float* vi = &tile->verts[poly->verts[i]*3]; + float* seg = &segmentVerts[n*6]; + dtVcopy(seg+0, vj); + dtVcopy(seg+3, vi); + if (segmentRefs) + segmentRefs[n] = neiRef; + n++; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + + continue; + } + + // Add sentinels + insertInterval(ints, nints, MAX_INTERVAL, -1, 0, 0); + insertInterval(ints, nints, MAX_INTERVAL, 255, 256, 0); + + // Store segments. + const float* vj = &tile->verts[poly->verts[j]*3]; + const float* vi = &tile->verts[poly->verts[i]*3]; + for (int k = 1; k < nints; ++k) + { + // Portal segment. + if (storePortals && ints[k].ref) + { + const float tmin = ints[k].tmin/255.0f; + const float tmax = ints[k].tmax/255.0f; + if (n < maxSegments) + { + float* seg = &segmentVerts[n*6]; + dtVlerp(seg+0, vj,vi, tmin); + dtVlerp(seg+3, vj,vi, tmax); + if (segmentRefs) + segmentRefs[n] = ints[k].ref; + n++; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + } + + // Wall segment. + const int imin = ints[k-1].tmax; + const int imax = ints[k].tmin; + if (imin != imax) + { + const float tmin = imin/255.0f; + const float tmax = imax/255.0f; + if (n < maxSegments) + { + float* seg = &segmentVerts[n*6]; + dtVlerp(seg+0, vj,vi, tmin); + dtVlerp(seg+3, vj,vi, tmax); + if (segmentRefs) + segmentRefs[n] = 0; + n++; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + } + } + } + + *segmentCount = n; + + return status; +} + +/// @par +/// +/// @p hitPos is not adjusted using the height detail data. +/// +/// @p hitDist will equal the search radius if there is no wall within the +/// radius. In this case the values of @p hitPos and @p hitNormal are +/// undefined. +/// +/// The normal will become unpredicable if @p hitDist is a very small number. +/// +dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, + float* hitDist, float* hitPos, float* hitNormal) const +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + m_nodePool->clear(); + m_openList->clear(); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, centerPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + float radiusSqr = dtSqr(maxRadius); + + dtStatus status = DT_SUCCESS; + + while (!m_openList->empty()) + { + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); + + // Get parent poly and tile. + dtPolyRef parentRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + if (bestNode->pidx) + parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; + if (parentRef) + m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); + + // Hit test walls. + for (int i = 0, j = (int)bestPoly->vertCount-1; i < (int)bestPoly->vertCount; j = i++) + { + // Skip non-solid edges. + if (bestPoly->neis[j] & DT_EXT_LINK) + { + // Tile border. + bool solid = true; + for (unsigned int k = bestPoly->firstLink; k != DT_NULL_LINK; k = bestTile->links[k].next) + { + const dtLink* link = &bestTile->links[k]; + if (link->edge == j) + { + if (link->ref != 0) + { + const dtMeshTile* neiTile = 0; + const dtPoly* neiPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); + if (filter->passFilter(link->ref, neiTile, neiPoly)) + solid = false; + } + break; + } + } + if (!solid) continue; + } + else if (bestPoly->neis[j]) + { + // Internal edge + const unsigned int idx = (unsigned int)(bestPoly->neis[j]-1); + const dtPolyRef ref = m_nav->getPolyRefBase(bestTile) | idx; + if (filter->passFilter(ref, bestTile, &bestTile->polys[idx])) + continue; + } + + // Calc distance to the edge. + const float* vj = &bestTile->verts[bestPoly->verts[j]*3]; + const float* vi = &bestTile->verts[bestPoly->verts[i]*3]; + float tseg; + float distSqr = dtDistancePtSegSqr2D(centerPos, vj, vi, tseg); + + // Edge is too far, skip. + if (distSqr > radiusSqr) + continue; + + // Hit wall, update radius. + radiusSqr = distSqr; + // Calculate hit pos. + hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg; + hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg; + hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg; + } + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + const dtLink* link = &bestTile->links[i]; + dtPolyRef neighbourRef = link->ref; + // Skip invalid neighbours and do not follow back to parent. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Expand to neighbour. + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + // Skip off-mesh connections. + if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + + // Calc distance to the edge. + const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3]; + const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3]; + float tseg; + float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); + + // If the circle is not touching the next polygon, skip it. + if (distSqr > radiusSqr) + continue; + + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); + if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; + continue; + } + + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Cost + if (neighbourNode->flags == 0) + { + getEdgeMidPoint(bestRef, bestPoly, bestTile, + neighbourRef, neighbourPoly, neighbourTile, neighbourNode->pos); + } + + const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + + neighbourNode->id = neighbourRef; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); + neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); + neighbourNode->total = total; + + if (neighbourNode->flags & DT_NODE_OPEN) + { + m_openList->modify(neighbourNode); + } + else + { + neighbourNode->flags |= DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + } + } + + // Calc hit normal. + dtVsub(hitNormal, centerPos, hitPos); + dtVnormalize(hitNormal); + + *hitDist = dtMathSqrtf(radiusSqr); + + return status; +} + +bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const +{ + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + dtStatus status = m_nav->getTileAndPolyByRef(ref, &tile, &poly); + // If cannot get polygon, assume it does not exists and boundary is invalid. + if (dtStatusFailed(status)) + return false; + // If cannot pass filter, assume flags has changed and boundary is invalid. + if (!filter->passFilter(ref, tile, poly)) + return false; + return true; +} + +/// @par +/// +/// The closed list is the list of polygons that were fully evaluated during +/// the last navigation graph search. (A* or Dijkstra) +/// +bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const +{ + if (!m_nodePool) return false; + + dtNode* nodes[DT_MAX_STATES_PER_NODE]; + int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE); + + for (int i=0; iflags & DT_NODE_CLOSED) + return true; + } + + return false; +} diff --git a/extern/recastnavigation/Detour/Source/DetourNode.cpp b/extern/recastnavigation/Detour/Source/DetourNode.cpp new file mode 100644 index 000000000..48abbba6b --- /dev/null +++ b/extern/recastnavigation/Detour/Source/DetourNode.cpp @@ -0,0 +1,200 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "DetourNode.h" +#include "DetourAlloc.h" +#include "DetourAssert.h" +#include "DetourCommon.h" +#include + +#ifdef DT_POLYREF64 +// From Thomas Wang, https://gist.github.com/badboy/6267743 +inline unsigned int dtHashRef(dtPolyRef a) +{ + a = (~a) + (a << 18); // a = (a << 18) - a - 1; + a = a ^ (a >> 31); + a = a * 21; // a = (a + (a << 2)) + (a << 4); + a = a ^ (a >> 11); + a = a + (a << 6); + a = a ^ (a >> 22); + return (unsigned int)a; +} +#else +inline unsigned int dtHashRef(dtPolyRef a) +{ + a += ~(a<<15); + a ^= (a>>10); + a += (a<<3); + a ^= (a>>6); + a += ~(a<<11); + a ^= (a>>16); + return (unsigned int)a; +} +#endif + +////////////////////////////////////////////////////////////////////////////////////////// +dtNodePool::dtNodePool(int maxNodes, int hashSize) : + m_nodes(0), + m_first(0), + m_next(0), + m_maxNodes(maxNodes), + m_hashSize(hashSize), + m_nodeCount(0) +{ + dtAssert(dtNextPow2(m_hashSize) == (unsigned int)m_hashSize); + // pidx is special as 0 means "none" and 1 is the first node. For that reason + // we have 1 fewer nodes available than the number of values it can contain. + dtAssert(m_maxNodes > 0 && m_maxNodes <= DT_NULL_IDX && m_maxNodes <= (1 << DT_NODE_PARENT_BITS) - 1); + + m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM); + m_next = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*m_maxNodes, DT_ALLOC_PERM); + m_first = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*hashSize, DT_ALLOC_PERM); + + dtAssert(m_nodes); + dtAssert(m_next); + dtAssert(m_first); + + memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize); + memset(m_next, 0xff, sizeof(dtNodeIndex)*m_maxNodes); +} + +dtNodePool::~dtNodePool() +{ + dtFree(m_nodes); + dtFree(m_next); + dtFree(m_first); +} + +void dtNodePool::clear() +{ + memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize); + m_nodeCount = 0; +} + +unsigned int dtNodePool::findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes) +{ + int n = 0; + unsigned int bucket = dtHashRef(id) & (m_hashSize-1); + dtNodeIndex i = m_first[bucket]; + while (i != DT_NULL_IDX) + { + if (m_nodes[i].id == id) + { + if (n >= maxNodes) + return n; + nodes[n++] = &m_nodes[i]; + } + i = m_next[i]; + } + + return n; +} + +dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state) +{ + unsigned int bucket = dtHashRef(id) & (m_hashSize-1); + dtNodeIndex i = m_first[bucket]; + while (i != DT_NULL_IDX) + { + if (m_nodes[i].id == id && m_nodes[i].state == state) + return &m_nodes[i]; + i = m_next[i]; + } + return 0; +} + +dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state) +{ + unsigned int bucket = dtHashRef(id) & (m_hashSize-1); + dtNodeIndex i = m_first[bucket]; + dtNode* node = 0; + while (i != DT_NULL_IDX) + { + if (m_nodes[i].id == id && m_nodes[i].state == state) + return &m_nodes[i]; + i = m_next[i]; + } + + if (m_nodeCount >= m_maxNodes) + return 0; + + i = (dtNodeIndex)m_nodeCount; + m_nodeCount++; + + // Init node + node = &m_nodes[i]; + node->pidx = 0; + node->cost = 0; + node->total = 0; + node->id = id; + node->state = state; + node->flags = 0; + + m_next[i] = m_first[bucket]; + m_first[bucket] = i; + + return node; +} + + +////////////////////////////////////////////////////////////////////////////////////////// +dtNodeQueue::dtNodeQueue(int n) : + m_heap(0), + m_capacity(n), + m_size(0) +{ + dtAssert(m_capacity > 0); + + m_heap = (dtNode**)dtAlloc(sizeof(dtNode*)*(m_capacity+1), DT_ALLOC_PERM); + dtAssert(m_heap); +} + +dtNodeQueue::~dtNodeQueue() +{ + dtFree(m_heap); +} + +void dtNodeQueue::bubbleUp(int i, dtNode* node) +{ + int parent = (i-1)/2; + // note: (index > 0) means there is a parent + while ((i > 0) && (m_heap[parent]->total > node->total)) + { + m_heap[i] = m_heap[parent]; + i = parent; + parent = (i-1)/2; + } + m_heap[i] = node; +} + +void dtNodeQueue::trickleDown(int i, dtNode* node) +{ + int child = (i*2)+1; + while (child < m_size) + { + if (((child+1) < m_size) && + (m_heap[child]->total > m_heap[child+1]->total)) + { + child++; + } + m_heap[i] = m_heap[child]; + i = child; + child = (i*2)+1; + } + bubbleUp(i, node); +} diff --git a/extern/recastnavigation/DetourCrowd/CMakeLists.txt b/extern/recastnavigation/DetourCrowd/CMakeLists.txt new file mode 100644 index 000000000..73cdf7ce8 --- /dev/null +++ b/extern/recastnavigation/DetourCrowd/CMakeLists.txt @@ -0,0 +1,33 @@ +file(GLOB SOURCES Source/*.cpp) + +if (RECASTNAVIGATION_STATIC) + add_library(DetourCrowd STATIC ${SOURCES}) +else () + add_library(DetourCrowd SHARED ${SOURCES}) +endif () + +add_library(RecastNavigation::DetourCrowd ALIAS DetourCrowd) + +set(DetourCrowd_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include") + +target_include_directories(DetourCrowd PUBLIC + "$" +) + +target_link_libraries(DetourCrowd + Detour +) + +set_target_properties(DetourCrowd PROPERTIES + SOVERSION ${SOVERSION} + VERSION ${VERSION} + ) + +install(TARGETS DetourCrowd + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + COMPONENT library + ) + +file(GLOB INCLUDES Include/*.h) +install(FILES ${INCLUDES} DESTINATION include) diff --git a/extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h b/extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h new file mode 100644 index 000000000..952050878 --- /dev/null +++ b/extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h @@ -0,0 +1,460 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURCROWD_H +#define DETOURCROWD_H + +#include "DetourNavMeshQuery.h" +#include "DetourObstacleAvoidance.h" +#include "DetourLocalBoundary.h" +#include "DetourPathCorridor.h" +#include "DetourProximityGrid.h" +#include "DetourPathQueue.h" + +/// The maximum number of neighbors that a crowd agent can take into account +/// for steering decisions. +/// @ingroup crowd +static const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6; + +/// The maximum number of corners a crowd agent will look ahead in the path. +/// This value is used for sizing the crowd agent corner buffers. +/// Due to the behavior of the crowd manager, the actual number of useful +/// corners will be one less than this number. +/// @ingroup crowd +static const int DT_CROWDAGENT_MAX_CORNERS = 4; + +/// The maximum number of crowd avoidance configurations supported by the +/// crowd manager. +/// @ingroup crowd +/// @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(), dtCrowd::getObstacleAvoidanceParams(), +/// dtCrowdAgentParams::obstacleAvoidanceType +static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8; + +/// The maximum number of query filter types supported by the crowd manager. +/// @ingroup crowd +/// @see dtQueryFilter, dtCrowd::getFilter() dtCrowd::getEditableFilter(), +/// dtCrowdAgentParams::queryFilterType +static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16; + +/// Provides neighbor data for agents managed by the crowd. +/// @ingroup crowd +/// @see dtCrowdAgent::neis, dtCrowd +struct dtCrowdNeighbour +{ + int idx; ///< The index of the neighbor in the crowd. + float dist; ///< The distance between the current agent and the neighbor. +}; + +/// The type of navigation mesh polygon the agent is currently traversing. +/// @ingroup crowd +enum CrowdAgentState +{ + DT_CROWDAGENT_STATE_INVALID, ///< The agent is not in a valid state. + DT_CROWDAGENT_STATE_WALKING, ///< The agent is traversing a normal navigation mesh polygon. + DT_CROWDAGENT_STATE_OFFMESH, ///< The agent is traversing an off-mesh connection. +}; + +/// Configuration parameters for a crowd agent. +/// @ingroup crowd +struct dtCrowdAgentParams +{ + float radius; ///< Agent radius. [Limit: >= 0] + float height; ///< Agent height. [Limit: > 0] + float maxAcceleration; ///< Maximum allowed acceleration. [Limit: >= 0] + float maxSpeed; ///< Maximum allowed speed. [Limit: >= 0] + + /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0] + float collisionQueryRange; + + float pathOptimizationRange; ///< The path visibility optimization range. [Limit: > 0] + + /// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0] + float separationWeight; + + /// Flags that impact steering behavior. (See: #UpdateFlags) + unsigned char updateFlags; + + /// The index of the avoidance configuration to use for the agent. + /// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS] + unsigned char obstacleAvoidanceType; + + /// The index of the query filter used by this agent. + unsigned char queryFilterType; + + /// User defined data attached to the agent. + void* userData; +}; + +enum MoveRequestState +{ + DT_CROWDAGENT_TARGET_NONE = 0, + DT_CROWDAGENT_TARGET_FAILED, + DT_CROWDAGENT_TARGET_VALID, + DT_CROWDAGENT_TARGET_REQUESTING, + DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE, + DT_CROWDAGENT_TARGET_WAITING_FOR_PATH, + DT_CROWDAGENT_TARGET_VELOCITY, +}; + +/// Represents an agent managed by a #dtCrowd object. +/// @ingroup crowd +struct dtCrowdAgent +{ + /// True if the agent is active, false if the agent is in an unused slot in the agent pool. + bool active; + + /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState) + unsigned char state; + + /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the requested position, else false. + bool partial; + + /// The path corridor the agent is using. + dtPathCorridor corridor; + + /// The local boundary data for the agent. + dtLocalBoundary boundary; + + /// Time since the agent's path corridor was optimized. + float topologyOptTime; + + /// The known neighbors of the agent. + dtCrowdNeighbour neis[DT_CROWDAGENT_MAX_NEIGHBOURS]; + + /// The number of neighbors. + int nneis; + + /// The desired speed. + float desiredSpeed; + + float npos[3]; ///< The current agent position. [(x, y, z)] + float disp[3]; ///< A temporary value used to accumulate agent displacement during iterative collision resolution. [(x, y, z)] + float dvel[3]; ///< The desired velocity of the agent. Based on the current path, calculated from scratch each frame. [(x, y, z)] + float nvel[3]; ///< The desired velocity adjusted by obstacle avoidance, calculated from scratch each frame. [(x, y, z)] + float vel[3]; ///< The actual velocity of the agent. The change from nvel -> vel is constrained by max acceleration. [(x, y, z)] + + /// The agent's configuration parameters. + dtCrowdAgentParams params; + + /// The local path corridor corners for the agent. (Staight path.) [(x, y, z) * #ncorners] + float cornerVerts[DT_CROWDAGENT_MAX_CORNERS*3]; + + /// The local path corridor corner flags. (See: #dtStraightPathFlags) [(flags) * #ncorners] + unsigned char cornerFlags[DT_CROWDAGENT_MAX_CORNERS]; + + /// The reference id of the polygon being entered at the corner. [(polyRef) * #ncorners] + dtPolyRef cornerPolys[DT_CROWDAGENT_MAX_CORNERS]; + + /// The number of corners. + int ncorners; + + unsigned char targetState; ///< State of the movement request. + dtPolyRef targetRef; ///< Target polyref of the movement request. + float targetPos[3]; ///< Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY). + dtPathQueueRef targetPathqRef; ///< Path finder ref. + bool targetReplan; ///< Flag indicating that the current path is being replanned. + float targetReplanTime; ///