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Create RecastMesh outside critical section

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To not lock main thread when it tries to update objects.
cherry-pick-2bee171c
elsid 3 years ago
parent c8987bda2f
commit 050b7d31aa
No known key found for this signature in database
GPG Key ID: B845CB9FEE18AB40
6 changed files with 79 additions and 49 deletions
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23
components/detournavigator/cachedrecastmeshmanager.cpp
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@ -13,7 +13,7 @@ namespace DetourNavigator
{ {
if (!mImpl.addObject(id, shape, transform, areaType)) if (!mImpl.addObject(id, shape, transform, areaType))
return false; return false;
mCached.reset(); mCached.lock()->reset();
return true; return true;
} }
@ -21,7 +21,7 @@ namespace DetourNavigator
{ {
if (!mImpl.updateObject(id, transform, areaType)) if (!mImpl.updateObject(id, transform, areaType))
return false; return false;
mCached.reset(); mCached.lock()->reset();
return true; return true;
} }
@ -29,7 +29,7 @@ namespace DetourNavigator
{ {
const auto object = mImpl.removeObject(id); const auto object = mImpl.removeObject(id);
if (object) if (object)
mCached.reset(); mCached.lock()->reset();
return object; return object;
} }
@ -38,7 +38,7 @@ namespace DetourNavigator
{ {
if (!mImpl.addWater(cellPosition, cellSize, shift)) if (!mImpl.addWater(cellPosition, cellSize, shift))
return false; return false;
mCached.reset(); mCached.lock()->reset();
return true; return true;
} }
@ -46,7 +46,7 @@ namespace DetourNavigator
{ {
const auto water = mImpl.removeWater(cellPosition); const auto water = mImpl.removeWater(cellPosition);
if (water) if (water)
mCached.reset(); mCached.lock()->reset();
return water; return water;
} }
@ -55,7 +55,7 @@ namespace DetourNavigator
{ {
if (!mImpl.addHeightfield(cellPosition, cellSize, shift, shape)) if (!mImpl.addHeightfield(cellPosition, cellSize, shift, shape))
return false; return false;
mCached.reset(); mCached.lock()->reset();
return true; return true;
} }
@ -63,15 +63,18 @@ namespace DetourNavigator
{ {
const auto cell = mImpl.removeHeightfield(cellPosition); const auto cell = mImpl.removeHeightfield(cellPosition);
if (cell) if (cell)
mCached.reset(); mCached.lock()->reset();
return cell; return cell;
} }
std::shared_ptr<RecastMesh> CachedRecastMeshManager::getMesh() std::shared_ptr<RecastMesh> CachedRecastMeshManager::getMesh()
{ {
if (!mCached) std::shared_ptr<RecastMesh> cached = *mCached.lock();
mCached = mImpl.getMesh(); if (cached != nullptr)
return mCached; return cached;
cached = mImpl.getMesh();
*mCached.lock() = cached;
return cached;
} }
bool CachedRecastMeshManager::isEmpty() const bool CachedRecastMeshManager::isEmpty() const

4
components/detournavigator/cachedrecastmeshmanager.hpp
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@ -5,6 +5,8 @@
#include "version.hpp" #include "version.hpp"
#include "heightfieldshape.hpp" #include "heightfieldshape.hpp"
#include <components/misc/guarded.hpp>
namespace DetourNavigator namespace DetourNavigator
{ {
class CachedRecastMeshManager class CachedRecastMeshManager
@ -38,7 +40,7 @@ namespace DetourNavigator
private: private:
RecastMeshManager mImpl; RecastMeshManager mImpl;
std::shared_ptr<RecastMesh> mCached; Misc::ScopeGuarded<std::shared_ptr<RecastMesh>> mCached;
}; };
} }

32
components/detournavigator/recastmeshmanager.cpp
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@ -38,6 +38,7 @@ namespace DetourNavigator
bool RecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform, bool RecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType) const AreaType areaType)
{ {
const std::lock_guard lock(mMutex);
const auto object = mObjects.lower_bound(id); const auto object = mObjects.lower_bound(id);
if (object != mObjects.end() && object->first == id) if (object != mObjects.end() && object->first == id)
return false; return false;
@ -49,6 +50,7 @@ namespace DetourNavigator
bool RecastMeshManager::updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType) bool RecastMeshManager::updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType)
{ {
const std::lock_guard lock(mMutex);
const auto object = mObjects.find(id); const auto object = mObjects.find(id);
if (object == mObjects.end()) if (object == mObjects.end())
return false; return false;
@ -62,6 +64,7 @@ namespace DetourNavigator
std::optional<RemovedRecastMeshObject> RecastMeshManager::removeObject(const ObjectId id) std::optional<RemovedRecastMeshObject> RecastMeshManager::removeObject(const ObjectId id)
{ {
const std::lock_guard lock(mMutex);
const auto object = mObjects.find(id); const auto object = mObjects.find(id);
if (object == mObjects.end()) if (object == mObjects.end())
return std::nullopt; return std::nullopt;
@ -73,6 +76,7 @@ namespace DetourNavigator
bool RecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift) bool RecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift)
{ {
const std::lock_guard lock(mMutex);
if (!mWater.emplace(cellPosition, Cell {cellSize, shift}).second) if (!mWater.emplace(cellPosition, Cell {cellSize, shift}).second)
return false; return false;
++mRevision; ++mRevision;
@ -81,6 +85,7 @@ namespace DetourNavigator
std::optional<Cell> RecastMeshManager::removeWater(const osg::Vec2i& cellPosition) std::optional<Cell> RecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
{ {
const std::lock_guard lock(mMutex);
const auto water = mWater.find(cellPosition); const auto water = mWater.find(cellPosition);
if (water == mWater.end()) if (water == mWater.end())
return std::nullopt; return std::nullopt;
@ -93,6 +98,7 @@ namespace DetourNavigator
bool RecastMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift, bool RecastMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape) const HeightfieldShape& shape)
{ {
const std::lock_guard lock(mMutex);
if (!mHeightfields.emplace(cellPosition, Heightfield {Cell {cellSize, shift}, shape}).second) if (!mHeightfields.emplace(cellPosition, Heightfield {Cell {cellSize, shift}, shape}).second)
return false; return false;
++mRevision; ++mRevision;
@ -101,6 +107,7 @@ namespace DetourNavigator
std::optional<Cell> RecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition) std::optional<Cell> RecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
{ {
const std::lock_guard lock(mMutex);
const auto it = mHeightfields.find(cellPosition); const auto it = mHeightfields.find(cellPosition);
if (it == mHeightfields.end()) if (it == mHeightfields.end())
return std::nullopt; return std::nullopt;
@ -116,20 +123,27 @@ namespace DetourNavigator
tileBounds.mMin /= mSettings.mRecastScaleFactor; tileBounds.mMin /= mSettings.mRecastScaleFactor;
tileBounds.mMax /= mSettings.mRecastScaleFactor; tileBounds.mMax /= mSettings.mRecastScaleFactor;
RecastMeshBuilder builder(tileBounds); RecastMeshBuilder builder(tileBounds);
for (const auto& [k, v] : mWater) std::vector<RecastMeshObject> objects;
builder.addWater(v.mSize, v.mShift); std::size_t revision;
for (const auto& [k, object] : mObjects)
{ {
const RecastMeshObject& v = object.getImpl(); const std::lock_guard lock(mMutex);
builder.addObject(v.getShape(), v.getTransform(), v.getAreaType()); for (const auto& [k, v] : mWater)
builder.addWater(v.mSize, v.mShift);
for (const auto& [cellPosition, v] : mHeightfields)
std::visit(AddHeightfield {v.mCell, builder}, v.mShape);
objects.reserve(mObjects.size());
for (const auto& [k, object] : mObjects)
objects.push_back(object.getImpl());
revision = mRevision;
} }
for (const auto& [cellPosition, v] : mHeightfields) for (const auto& v : objects)
std::visit(AddHeightfield {v.mCell, builder}, v.mShape); builder.addObject(v.getShape(), v.getTransform(), v.getAreaType());
return std::move(builder).create(mGeneration, mRevision); return std::move(builder).create(mGeneration, revision);
} }
bool RecastMeshManager::isEmpty() const bool RecastMeshManager::isEmpty() const
{ {
const std::lock_guard lock(mMutex);
return mObjects.empty() && mWater.empty() && mHeightfields.empty(); return mObjects.empty() && mWater.empty() && mHeightfields.empty();
} }
@ -137,6 +151,7 @@ namespace DetourNavigator
{ {
if (recastMeshVersion.mGeneration != mGeneration) if (recastMeshVersion.mGeneration != mGeneration)
return; return;
const std::lock_guard lock(mMutex);
if (mLastNavMeshReport.has_value() && navMeshVersion < mLastNavMeshReport->mNavMeshVersion) if (mLastNavMeshReport.has_value() && navMeshVersion < mLastNavMeshReport->mNavMeshVersion)
return; return;
mLastNavMeshReport = {recastMeshVersion.mRevision, navMeshVersion}; mLastNavMeshReport = {recastMeshVersion.mRevision, navMeshVersion};
@ -147,6 +162,7 @@ namespace DetourNavigator
Version RecastMeshManager::getVersion() const Version RecastMeshManager::getVersion() const
{ {
const std::lock_guard lock(mMutex);
return Version {mGeneration, mRevision}; return Version {mGeneration, mRevision};
} }
} }

6
components/detournavigator/recastmeshmanager.hpp
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@ -16,6 +16,7 @@
#include <memory> #include <memory>
#include <variant> #include <variant>
#include <tuple> #include <tuple>
#include <mutex>
class btCollisionShape; class btCollisionShape;
@ -73,9 +74,10 @@ namespace DetourNavigator
}; };
const Settings& mSettings; const Settings& mSettings;
const std::size_t mGeneration;
const TileBounds mTileBounds;
mutable std::mutex mMutex;
std::size_t mRevision = 0; std::size_t mRevision = 0;
std::size_t mGeneration;
TileBounds mTileBounds;
std::map<ObjectId, OscillatingRecastMeshObject> mObjects; std::map<ObjectId, OscillatingRecastMeshObject> mObjects;
std::map<osg::Vec2i, Cell> mWater; std::map<osg::Vec2i, Cell> mWater;
std::map<osg::Vec2i, Heightfield> mHeightfields; std::map<osg::Vec2i, Heightfield> mHeightfields;

50
components/detournavigator/tilecachedrecastmeshmanager.cpp
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@ -69,7 +69,7 @@ namespace DetourNavigator
const auto tiles = mTiles.lock(); const auto tiles = mTiles.lock();
for (auto& tile : *tiles) for (auto& tile : *tiles)
{ {
if (tile.second.addWater(cellPosition, cellSize, shift)) if (tile.second->addWater(cellPosition, cellSize, shift))
{ {
tilesPositions.push_back(tile.first); tilesPositions.push_back(tile.first);
result = true; result = true;
@ -88,9 +88,9 @@ namespace DetourNavigator
tileBounds.mMin -= osg::Vec2f(border, border); tileBounds.mMin -= osg::Vec2f(border, border);
tileBounds.mMax += osg::Vec2f(border, border); tileBounds.mMax += osg::Vec2f(border, border);
tile = tiles->insert(std::make_pair(tilePosition, tile = tiles->insert(std::make_pair(tilePosition,
CachedRecastMeshManager(mSettings, tileBounds, mTilesGeneration))).first; std::make_shared<CachedRecastMeshManager>(mSettings, tileBounds, mTilesGeneration))).first;
} }
if (tile->second.addWater(cellPosition, cellSize, shift)) if (tile->second->addWater(cellPosition, cellSize, shift))
{ {
tilesPositions.push_back(tilePosition); tilesPositions.push_back(tilePosition);
result = true; result = true;
@ -116,8 +116,8 @@ namespace DetourNavigator
const auto tile = tiles->find(tilePosition); const auto tile = tiles->find(tilePosition);
if (tile == tiles->end()) if (tile == tiles->end())
continue; continue;
const auto tileResult = tile->second.removeWater(cellPosition); const auto tileResult = tile->second->removeWater(cellPosition);
if (tile->second.isEmpty()) if (tile->second->isEmpty())
{ {
tiles->erase(tile); tiles->erase(tile);
++mTilesGeneration; ++mTilesGeneration;
@ -149,9 +149,9 @@ namespace DetourNavigator
tileBounds.mMin -= osg::Vec2f(border, border); tileBounds.mMin -= osg::Vec2f(border, border);
tileBounds.mMax += osg::Vec2f(border, border); tileBounds.mMax += osg::Vec2f(border, border);
tile = tiles->insert(std::make_pair(tilePosition, tile = tiles->insert(std::make_pair(tilePosition,
CachedRecastMeshManager(mSettings, tileBounds, mTilesGeneration))).first; std::make_shared<CachedRecastMeshManager>(mSettings, tileBounds, mTilesGeneration))).first;
} }
if (tile->second.addHeightfield(cellPosition, cellSize, shift, shape)) if (tile->second->addHeightfield(cellPosition, cellSize, shift, shape))
{ {
tilesPositions.push_back(tilePosition); tilesPositions.push_back(tilePosition);
result = true; result = true;
@ -176,8 +176,8 @@ namespace DetourNavigator
const auto tile = tiles->find(tilePosition); const auto tile = tiles->find(tilePosition);
if (tile == tiles->end()) if (tile == tiles->end())
continue; continue;
const auto tileResult = tile->second.removeHeightfield(cellPosition); const auto tileResult = tile->second->removeHeightfield(cellPosition);
if (tile->second.isEmpty()) if (tile->second->isEmpty())
{ {
tiles->erase(tile); tiles->erase(tile);
++mTilesGeneration; ++mTilesGeneration;
@ -192,11 +192,17 @@ namespace DetourNavigator
std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getMesh(const TilePosition& tilePosition) std::shared_ptr<RecastMesh> TileCachedRecastMeshManager::getMesh(const TilePosition& tilePosition)
{ {
const auto tiles = mTiles.lock(); const auto manager = [&] () -> std::shared_ptr<CachedRecastMeshManager>
const auto it = tiles->find(tilePosition); {
if (it == tiles->end()) const auto tiles = mTiles.lock();
const auto it = tiles->find(tilePosition);
if (it == tiles->end())
return nullptr;
return it->second;
} ();
if (manager == nullptr)
return nullptr; return nullptr;
return it->second.getMesh(); return manager->getMesh();
} }
bool TileCachedRecastMeshManager::hasTile(const TilePosition& tilePosition) bool TileCachedRecastMeshManager::hasTile(const TilePosition& tilePosition)
@ -215,12 +221,12 @@ namespace DetourNavigator
const auto it = tiles->find(tilePosition); const auto it = tiles->find(tilePosition);
if (it == tiles->end()) if (it == tiles->end())
return; return;
it->second.reportNavMeshChange(recastMeshVersion, navMeshVersion); it->second->reportNavMeshChange(recastMeshVersion, navMeshVersion);
} }
bool TileCachedRecastMeshManager::addTile(const ObjectId id, const CollisionShape& shape, bool TileCachedRecastMeshManager::addTile(const ObjectId id, const CollisionShape& shape,
const btTransform& transform, const AreaType areaType, const TilePosition& tilePosition, float border, const btTransform& transform, const AreaType areaType, const TilePosition& tilePosition, float border,
std::map<TilePosition, CachedRecastMeshManager>& tiles) TilesMap& tiles)
{ {
auto tile = tiles.find(tilePosition); auto tile = tiles.find(tilePosition);
if (tile == tiles.end()) if (tile == tiles.end())
@ -229,26 +235,26 @@ namespace DetourNavigator
tileBounds.mMin -= osg::Vec2f(border, border); tileBounds.mMin -= osg::Vec2f(border, border);
tileBounds.mMax += osg::Vec2f(border, border); tileBounds.mMax += osg::Vec2f(border, border);
tile = tiles.insert(std::make_pair( tile = tiles.insert(std::make_pair(
tilePosition, CachedRecastMeshManager(mSettings, tileBounds, mTilesGeneration))).first; tilePosition, std::make_shared<CachedRecastMeshManager>(mSettings, tileBounds, mTilesGeneration))).first;
} }
return tile->second.addObject(id, shape, transform, areaType); return tile->second->addObject(id, shape, transform, areaType);
} }
bool TileCachedRecastMeshManager::updateTile(const ObjectId id, const btTransform& transform, bool TileCachedRecastMeshManager::updateTile(const ObjectId id, const btTransform& transform,
const AreaType areaType, const TilePosition& tilePosition, std::map<TilePosition, CachedRecastMeshManager>& tiles) const AreaType areaType, const TilePosition& tilePosition, TilesMap& tiles)
{ {
const auto tile = tiles.find(tilePosition); const auto tile = tiles.find(tilePosition);
return tile != tiles.end() && tile->second.updateObject(id, transform, areaType); return tile != tiles.end() && tile->second->updateObject(id, transform, areaType);
} }
std::optional<RemovedRecastMeshObject> TileCachedRecastMeshManager::removeTile(const ObjectId id, std::optional<RemovedRecastMeshObject> TileCachedRecastMeshManager::removeTile(const ObjectId id,
const TilePosition& tilePosition, std::map<TilePosition, CachedRecastMeshManager>& tiles) const TilePosition& tilePosition, TilesMap& tiles)
{ {
const auto tile = tiles.find(tilePosition); const auto tile = tiles.find(tilePosition);
if (tile == tiles.end()) if (tile == tiles.end())
return std::optional<RemovedRecastMeshObject>(); return std::optional<RemovedRecastMeshObject>();
const auto tileResult = tile->second.removeObject(id); const auto tileResult = tile->second->removeObject(id);
if (tile->second.isEmpty()) if (tile->second->isEmpty())
{ {
tiles.erase(tile); tiles.erase(tile);
++mTilesGeneration; ++mTilesGeneration;

13
components/detournavigator/tilecachedrecastmeshmanager.hpp
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@ -94,7 +94,7 @@ namespace DetourNavigator
void forEachTile(Function&& function) void forEachTile(Function&& function)
{ {
for (auto& [tilePosition, recastMeshManager] : *mTiles.lock()) for (auto& [tilePosition, recastMeshManager] : *mTiles.lock())
function(tilePosition, recastMeshManager); function(tilePosition, *recastMeshManager);
} }
std::size_t getRevision() const; std::size_t getRevision() const;
@ -102,8 +102,10 @@ namespace DetourNavigator
void reportNavMeshChange(const TilePosition& tilePosition, Version recastMeshVersion, Version navMeshVersion); void reportNavMeshChange(const TilePosition& tilePosition, Version recastMeshVersion, Version navMeshVersion);
private: private:
using TilesMap = std::map<TilePosition, std::shared_ptr<CachedRecastMeshManager>>;
const Settings& mSettings; const Settings& mSettings;
Misc::ScopeGuarded<std::map<TilePosition, CachedRecastMeshManager>> mTiles; Misc::ScopeGuarded<TilesMap> mTiles;
std::unordered_map<ObjectId, std::vector<TilePosition>> mObjectsTilesPositions; std::unordered_map<ObjectId, std::vector<TilePosition>> mObjectsTilesPositions;
std::map<osg::Vec2i, std::vector<TilePosition>> mWaterTilesPositions; std::map<osg::Vec2i, std::vector<TilePosition>> mWaterTilesPositions;
std::map<osg::Vec2i, std::vector<TilePosition>> mHeightfieldTilesPositions; std::map<osg::Vec2i, std::vector<TilePosition>> mHeightfieldTilesPositions;
@ -111,14 +113,13 @@ namespace DetourNavigator
std::size_t mTilesGeneration = 0; std::size_t mTilesGeneration = 0;
bool addTile(const ObjectId id, const CollisionShape& shape, const btTransform& transform, bool addTile(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
const AreaType areaType, const TilePosition& tilePosition, float border, const AreaType areaType, const TilePosition& tilePosition, float border, TilesMap& tiles);
std::map<TilePosition, CachedRecastMeshManager>& tiles);
bool updateTile(const ObjectId id, const btTransform& transform, const AreaType areaType, bool updateTile(const ObjectId id, const btTransform& transform, const AreaType areaType,
const TilePosition& tilePosition, std::map<TilePosition, CachedRecastMeshManager>& tiles); const TilePosition& tilePosition, TilesMap& tiles);
std::optional<RemovedRecastMeshObject> removeTile(const ObjectId id, const TilePosition& tilePosition, std::optional<RemovedRecastMeshObject> removeTile(const ObjectId id, const TilePosition& tilePosition,
std::map<TilePosition, CachedRecastMeshManager>& tiles); TilesMap& tiles);
}; };
} }

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