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Build NavMesh tile data only for changed tiles

Browse Source
pull/541/head
elsid 7 years ago
parent 0c8a7295e6
commit 430ba9d7a5
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GPG Key ID: B845CB9FEE18AB40
10 changed files with 231 additions and 72 deletions
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31
components/detournavigator/asyncnavmeshupdater.cpp
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@ -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>& recastMesh,
const std::shared_ptr<NavMeshCacheItem>& navMeshCacheItem)
const std::shared_ptr<NavMeshCacheItem>& navMeshCacheItem, std::set<TilePosition>&& changedTiles)
{
const std::lock_guard<std::mutex> 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();

14
components/detournavigator/asyncnavmeshupdater.hpp
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@ -2,6 +2,7 @@
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H
#include "recastmesh.hpp"
#include "tileposition.hpp"
#include <osg/Vec3f>
@ -12,22 +13,19 @@
#include <map>
#include <memory>
#include <mutex>
#include <set>
#include <thread>
class dtNavMesh;
namespace DetourNavigator
{
using NavMeshConstPtr = std::shared_ptr<const dtNavMesh>;
using NavMeshPtr = std::shared_ptr<dtNavMesh>;
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>& recastMesh,
const std::shared_ptr<NavMeshCacheItem>& navMeshCacheItem);
const std::shared_ptr<NavMeshCacheItem>& mNavMeshCacheItem, std::set<TilePosition>&& changedTiles);
void wait();
@ -47,12 +45,12 @@ namespace DetourNavigator
osg::Vec3f mAgentHalfExtents;
std::shared_ptr<RecastMesh> mRecastMesh;
std::shared_ptr<NavMeshCacheItem> mNavMeshCacheItem;
std::set<TilePosition> mChangedTiles;
};
using Jobs = std::map<osg::Vec3f, Job>;
std::reference_wrapper<const Settings> mSettings;
std::atomic_size_t mMaxRevision;
std::atomic_bool mShouldStop;
std::mutex mMutex;
std::condition_variable mHasJob;

12
components/detournavigator/cachedrecastmeshmanager.cpp
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@ -8,12 +8,12 @@ namespace DetourNavigator
{
}
bool CachedRecastMeshManager::removeObject(std::size_t id)
boost::optional<RecastMeshManager::Object> 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<RecastMesh> CachedRecastMeshManager::getMesh()
@ -21,5 +21,5 @@ namespace DetourNavigator
if (!mCached)
mCached = mImpl.getMesh();
return mCached;
}
}
}

2
components/detournavigator/cachedrecastmeshmanager.hpp
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@ -21,7 +21,7 @@ namespace DetourNavigator
return true;
}
bool removeObject(std::size_t id);
boost::optional<RecastMeshManager::Object> removeObject(std::size_t id);
std::shared_ptr<RecastMesh> getMesh();

110
components/detournavigator/makenavmesh.cpp
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@ -5,13 +5,16 @@
#include "recastmesh.hpp"
#include "settings.hpp"
#include "settingsutils.hpp"
#include "debug.hpp"
#include <DetourNavMesh.h>
#include <DetourNavMeshBuilder.h>
#include <Recast.h>
#include <RecastAlloc.h>
#include <boost/optional.hpp>
#include <iostream>
#include <iomanip>
#include <limits>
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<float>::max_exponent10),
getHeight(settings, agentHalfExtents),
" agentMaxClimb=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getMaxClimb(settings),
" agentRadius=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getRadius(settings, agentHalfExtents));
osg::Vec3f boundsMin;
osg::Vec3f boundsMax;
rcCalcBounds(recastMesh.getVertices().data(), static_cast<int>(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(&params));
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<float>::max_exponent10),
getHeight(settings, agentHalfExtents),
" agentMaxClimb=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getMaxClimb(settings),
" agentRadius=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getRadius(settings, agentHalfExtents));
osg::Vec3f boundsMin;
osg::Vec3f boundsMax;
rcCalcBounds(recastMesh.getVertices().data(), static_cast<int>(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<int>(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<TilePosition>& changedTiles, const Settings& settings, dtNavMesh& navMesh)
{
return makeNavMeshWithMultiTiles(agentHalfExtents, recastMesh, settings);
log("update NavMesh with mutiple tiles:",
" agentHeight=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getHeight(settings, agentHalfExtents),
" agentMaxClimb=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getMaxClimb(settings),
" agentRadius=", std::setprecision(std::numeric_limits<float>::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();
}
}
}

12
components/detournavigator/makenavmesh.hpp
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@ -1,9 +1,12 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H
#include "tileposition.hpp"
#include <osg/Vec3f>
#include <memory>
#include <set>
class dtNavMesh;
@ -14,7 +17,14 @@ namespace DetourNavigator
using NavMeshPtr = std::shared_ptr<dtNavMesh>;
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<TilePosition>& changedTiles, const Settings& settings, dtNavMesh& navMesh);
}
#endif

83
components/detournavigator/navmeshmanager.cpp
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@ -1,21 +1,29 @@
#include "navmeshmanager.hpp"
#include "debug.hpp"
#include "makenavmesh.hpp"
#include "settings.hpp"
#include <DetourNavMesh.h>
#include <BulletCollision/CollisionShapes/btConcaveShape.h>
#include <iostream>
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<NavMeshCacheItem>(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>(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<TilePosition>());
}
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});
}
}
}
}
}

9
components/detournavigator/navmeshmanager.hpp
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@ -4,6 +4,8 @@
#include "asyncnavmeshupdater.hpp"
#include "cachedrecastmeshmanager.hpp"
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <osg/Vec3f>
#include <map>
@ -13,6 +15,8 @@ class dtNavMesh;
namespace DetourNavigator
{
using NavMeshConstPtr = std::shared_ptr<const dtNavMesh>;
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<osg::Vec3f, std::shared_ptr<NavMeshCacheItem>> mCache;
std::map<osg::Vec3f, std::set<TilePosition>> mChangedTiles;
AsyncNavMeshUpdater mAsyncNavMeshUpdater;
void addChangedTiles(const btCollisionShape& shape, const btTransform& transform);
};
}

14
components/detournavigator/recastmeshmanager.cpp
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@ -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::Object> 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<RecastMesh> RecastMeshManager::getMesh()

16
components/detournavigator/recastmeshmanager.hpp
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@ -5,6 +5,8 @@
#include <LinearMath/btTransform.h>
#include <boost/optional.hpp>
#include <unordered_map>
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<Object> removeObject(std::size_t id);
std::shared_ptr<RecastMesh> getMesh();
private:
struct Object
{
const btCollisionShape* mShape;
btTransform mTransform;
};
bool mShouldRebuild;
RecastMeshBuilder mMeshBuilder;
std::unordered_map<std::size_t, Object> mObjects;

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