Do not use NavMesh to find changed tiles

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");

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})

apps/openmw_test_suite/detournavigator/gettilespositions.cpp

@@ -0,0 +1,104 @@
+#include <components/detournavigator/gettilespositions.hpp>
+#include <components/detournavigator/debug.hpp>
+
+#include <gtest/gtest.h>
+#include <gmock/gmock.h>
+
+namespace
+{
+    using namespace testing;
+    using namespace DetourNavigator;
+
+    struct CollectTilesPositions
+    {
+        std::vector<TilePosition>& mTilesPositions;
+
+        void operator ()(const TilePosition& value)
+        {
+            mTilesPositions.push_back(value);
+        }
+    };
+
+    struct DetourNavigatorGetTilesPositionsTest : Test
+    {
+        Settings mSettings;
+        std::vector<TilePosition> 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)));
+    }
+}

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;

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 <BulletCollision/CollisionShapes/btCollisionShape.h>
+
+#include <osg/Vec3f>
+
+namespace DetourNavigator
+{
+    inline osg::Vec3f makeOsgVec3f(const btVector3& value)
+    {
+        return osg::Vec3f(value.x(), value.y(), value.z());
+    }
+
+    template <class Callback>
+    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 <class Callback>
+    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>(callback));
+    }
+}
+
+#endif

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[0] -= getBorderSize(settings);
-        config.bmin[2] -= config.borderSize * config.cs;
+        config.bmin[2] -= getBorderSize(settings);
-        config.bmax[0] += config.borderSize * config.cs;
+        config.bmax[0] += getBorderSize(settings);
-        config.bmax[2] += config.borderSize * config.cs;
+        config.bmax[2] += getBorderSize(settings);
 
         rcHeightfield solid;
         OPENMW_CHECK_DT_RESULT(rcCreateHeightfield(nullptr, solid, config.width, config.height,

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 <osg/Vec3f>

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,
-            mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, playerTile,
+                                      getTilePosition(mSettings, playerPosition), changedTiles->second);
-                                      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;
+        getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& v) {
-        btVector3 aabbMax;
+            for (const auto& cached : mCache)
-        shape.getAabb(transform, aabbMin, aabbMax);
+                if (cached.second)
-        osg::Vec3f min(aabbMin.x(), aabbMin.z(), aabbMin.y());
+                    mChangedTiles[cached.first].insert(v);
-        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});
-            }
-        }
     }
 
     const std::shared_ptr<NavMeshCacheItem>& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const

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)
-        {
+            mMeshBuilder.addObject(*v.second.mShape, v.second.mTransform);
-            if (v.second.mShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
-                mMeshBuilder.addObject(*static_cast<const btHeightfieldTerrainShape*>(v.second.mShape), v.second.mTransform);
-            else if (v.second.mShape->isConcave())
-                mMeshBuilder.addObject(*static_cast<const btConcaveShape*>(v.second.mShape), v.second.mTransform);
-        }
         mShouldRebuild = false;
     }
 }

components/detournavigator/settings.hpp

@@ -19,6 +19,7 @@ namespace DetourNavigator
         float mMaxSimplificationError;
         float mMaxSlope;
         float mRecastScaleFactor;
+        int mBorderSize;
         int mMaxEdgeLen;
         int mMaxNavMeshQueryNodes;
         int mMaxVertsPerPoly;

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

components/detournavigator/sharednavmesh.hpp

@@ -44,11 +44,6 @@ namespace DetourNavigator
             return LockedSharedNavMesh(*mMutex, mValue);
         }
 
-        NavMeshPtr raw() const
-        {
-            return mValue;
-        }
-
     private:
         std::shared_ptr<std::mutex> mMutex;
         NavMeshPtr mValue;

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 =