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openmw/components/detournavigator/recastmeshbuilder.cpp

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#include "recastmeshbuilder.hpp"
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#include "debug.hpp"
#include "exceptions.hpp"
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#include <components/bullethelpers/transformboundingbox.hpp>
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#include <components/bullethelpers/processtrianglecallback.hpp>
#include <components/misc/convert.hpp>
#include <components/debug/debuglog.hpp>
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#include <BulletCollision/CollisionShapes/btBoxShape.h>
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#include <BulletCollision/CollisionShapes/btCompoundShape.h>
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#include <BulletCollision/CollisionShapes/btConcaveShape.h>
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#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
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#include <LinearMath/btTransform.h>
#include <LinearMath/btAabbUtil2.h>
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#include <algorithm>
#include <cassert>
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#include <array>
#include <vector>
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namespace DetourNavigator
{
using BulletHelpers::makeProcessTriangleCallback;
namespace
{
RecastMeshTriangle makeRecastMeshTriangle(const btVector3* vertices, const AreaType areaType)
{
RecastMeshTriangle result;
result.mAreaType = areaType;
for (std::size_t i = 0; i < 3; ++i)
result.mVertices[i] = Misc::Convert::makeOsgVec3f(vertices[i]);
return result;
}
}
Mesh makeMesh(std::vector<RecastMeshTriangle>&& triangles)
{
std::vector<osg::Vec3f> uniqueVertices;
uniqueVertices.reserve(3 * triangles.size());
for (const RecastMeshTriangle& v : triangles)
for (const osg::Vec3f& v : v.mVertices)
uniqueVertices.push_back(v);
std::sort(uniqueVertices.begin(), uniqueVertices.end());
uniqueVertices.erase(std::unique(uniqueVertices.begin(), uniqueVertices.end()), uniqueVertices.end());
std::vector<int> indices;
indices.reserve(3 * triangles.size());
std::vector<AreaType> areaTypes;
areaTypes.reserve(triangles.size());
for (const RecastMeshTriangle& v : triangles)
{
areaTypes.push_back(v.mAreaType);
for (const osg::Vec3f& v : v.mVertices)
{
const auto it = std::lower_bound(uniqueVertices.begin(), uniqueVertices.end(), v);
assert(it != uniqueVertices.end());
assert(*it == v);
indices.push_back(static_cast<int>(it - uniqueVertices.begin()));
}
}
triangles.clear();
std::vector<float> vertices;
vertices.reserve(3 * uniqueVertices.size());
for (const osg::Vec3f& v : uniqueVertices)
{
vertices.push_back(v.x());
vertices.push_back(v.y());
vertices.push_back(v.z());
}
return Mesh(std::move(indices), std::move(vertices), std::move(areaTypes));
}
RecastMeshBuilder::RecastMeshBuilder(const TileBounds& bounds) noexcept
: mBounds(bounds)
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{
}
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void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform,
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const AreaType areaType)
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{
if (shape.isCompound())
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return addObject(static_cast<const btCompoundShape&>(shape), transform, areaType);
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else if (shape.getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
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return addObject(static_cast<const btHeightfieldTerrainShape&>(shape), transform, areaType);
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else if (shape.isConcave())
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return addObject(static_cast<const btConcaveShape&>(shape), transform, areaType);
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else if (shape.getShapeType() == BOX_SHAPE_PROXYTYPE)
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return addObject(static_cast<const btBoxShape&>(shape), transform, areaType);
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std::ostringstream message;
message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType());
throw InvalidArgument(message.str());
}
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void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform,
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const AreaType areaType)
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{
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for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
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addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i), areaType);
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}
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void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform,
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const AreaType areaType)
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{
return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* vertices, int, int)
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{
RecastMeshTriangle triangle = makeRecastMeshTriangle(vertices, areaType);
std::reverse(triangle.mVertices.begin(), triangle.mVertices.end());
mTriangles.emplace_back(triangle);
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}));
}
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void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform,
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const AreaType areaType)
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{
return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* vertices, int, int)
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{
mTriangles.emplace_back(makeRecastMeshTriangle(vertices, areaType));
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}));
}
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void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType)
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{
constexpr std::array<int, 36> indices {{
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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,
}};
for (std::size_t i = 0; i < indices.size(); i += 3)
{
std::array<btVector3, 3> vertices;
for (std::size_t j = 0; j < 3; ++j)
{
btVector3 position;
shape.getVertex(indices[i + j], position);
vertices[j] = transform(position);
}
mTriangles.emplace_back(makeRecastMeshTriangle(vertices.data(), areaType));
}
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}
void RecastMeshBuilder::addWater(const int cellSize, const btTransform& transform)
{
mWater.push_back(Water {cellSize, transform});
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}
std::shared_ptr<RecastMesh> RecastMeshBuilder::create(std::size_t generation, std::size_t revision) &&
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{
std::sort(mTriangles.begin(), mTriangles.end());
std::sort(mWater.begin(), mWater.end());
Mesh mesh = makeMesh(std::move(mTriangles));
return std::make_shared<RecastMesh>(generation, revision, std::move(mesh), std::move(mWater));
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}
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void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform,
btTriangleCallback&& callback)
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{
btVector3 aabbMin;
btVector3 aabbMax;
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shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
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const btVector3 boundsMin(mBounds.mMin.x(), mBounds.mMin.y(),
-std::numeric_limits<btScalar>::max() * std::numeric_limits<btScalar>::epsilon());
const btVector3 boundsMax(mBounds.mMax.x(), mBounds.mMax.y(),
std::numeric_limits<btScalar>::max() * std::numeric_limits<btScalar>::epsilon());
auto wrapper = makeProcessTriangleCallback([&] (btVector3* triangle, int partId, int triangleIndex)
{
std::array<btVector3, 3> transformed;
for (std::size_t i = 0; i < 3; ++i)
transformed[i] = transform(triangle[i]);
if (TestTriangleAgainstAabb2(transformed.data(), boundsMin, boundsMax))
callback.processTriangle(transformed.data(), partId, triangleIndex);
});
shape.processAllTriangles(&wrapper, aabbMin, aabbMax);
}
void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform,
btTriangleCallback&& callback)
{
using BulletHelpers::transformBoundingBox;
btVector3 aabbMin;
btVector3 aabbMax;
shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
transformBoundingBox(transform, aabbMin, aabbMax);
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aabbMin.setX(std::max(static_cast<btScalar>(mBounds.mMin.x()), aabbMin.x()));
aabbMin.setX(std::min(static_cast<btScalar>(mBounds.mMax.x()), aabbMin.x()));
aabbMin.setY(std::max(static_cast<btScalar>(mBounds.mMin.y()), aabbMin.y()));
aabbMin.setY(std::min(static_cast<btScalar>(mBounds.mMax.y()), aabbMin.y()));
aabbMax.setX(std::max(static_cast<btScalar>(mBounds.mMin.x()), aabbMax.x()));
aabbMax.setX(std::min(static_cast<btScalar>(mBounds.mMax.x()), aabbMax.x()));
aabbMax.setY(std::max(static_cast<btScalar>(mBounds.mMin.y()), aabbMax.y()));
aabbMax.setY(std::min(static_cast<btScalar>(mBounds.mMax.y()), aabbMax.y()));
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transformBoundingBox(transform.inverse(), aabbMin, aabbMax);
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auto wrapper = makeProcessTriangleCallback([&] (btVector3* triangle, int partId, int triangleIndex)
{
std::array<btVector3, 3> transformed;
for (std::size_t i = 0; i < 3; ++i)
transformed[i] = transform(triangle[i]);
callback.processTriangle(transformed.data(), partId, triangleIndex);
});
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shape.processAllTriangles(&wrapper, aabbMin, aabbMax);
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}
}