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Merge branch 'recast_context' into 'master'

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Check input and report errors via RecastContext (#7093)

Closes #7093

See merge request OpenMW/openmw!2544
7098-improve-post-process-behavior-with-transparent-objects
psi29a 1 year ago
parent df92d76536 15e8f0b53c
commit 14afde4689
6 changed files with 253 additions and 62 deletions
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25
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -1203,4 +1203,29 @@ namespace
EXPECT_EQ(mNavigator->getNavMesh(mAgentBounds)->lockConst()->getVersion(), version);
}
TEST_F(DetourNavigatorNavigatorTest, add_agent_with_zero_coordinate_should_not_have_nav_mesh)
{
constexpr std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const AgentBounds agentBounds{ CollisionShapeType::RotatingBox, { 0, 1, 1 } };
mNavigator->addAgent(agentBounds);
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addHeightfield(mCellPosition, cellSize, surface, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
EXPECT_EQ(
findPath(*mNavigator, agentBounds, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::StartPolygonNotFound);
}
}

1
components/CMakeLists.txt
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@ -315,6 +315,7 @@ add_component_dir(detournavigator
collisionshapetype
stats
commulativeaabb
recastcontext
)
add_component_dir(loadinglistener

3
components/detournavigator/debug.cpp
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@ -86,7 +86,8 @@ namespace DetourNavigator
std::ostream& operator<<(std::ostream& s, const AgentBounds& v)
{
return s << "AgentBounds {" << v.mShapeType << ", " << v.mHalfExtents << "}";
return s << "AgentBounds {" << v.mShapeType << ", {" << v.mHalfExtents.x() << ", " << v.mHalfExtents.y() << ", "
<< v.mHalfExtents.z() << "}}";
}
namespace

213
components/detournavigator/makenavmesh.cpp
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@ -7,6 +7,7 @@
#include "navmeshtilescache.hpp"
#include "offmeshconnection.hpp"
#include "preparednavmeshdata.hpp"
#include "recastcontext.hpp"
#include "recastmesh.hpp"
#include "recastmeshbuilder.hpp"
#include "recastparams.hpp"
@ -14,6 +15,8 @@
#include "settingsutils.hpp"
#include "sharednavmesh.hpp"
#include "components/debug/debuglog.hpp"
#include <DetourNavMesh.h>
#include <DetourNavMeshBuilder.h>
#include <Recast.h>
@ -138,8 +141,8 @@ namespace DetourNavigator
return result;
}
void initHeightfield(rcContext& context, const TilePosition& tilePosition, float minZ, float maxZ,
const RecastSettings& settings, rcHeightfield& solid)
[[nodiscard]] bool initHeightfield(RecastContext& context, const TilePosition& tilePosition, float minZ,
float maxZ, const RecastSettings& settings, rcHeightfield& solid)
{
const int size = settings.mTileSize + settings.mBorderSize * 2;
const int width = size;
@ -150,14 +153,37 @@ namespace DetourNavigator
const osg::Vec3f bmin(shift.x() - halfBoundsSize, minZ, shift.y() - halfBoundsSize);
const osg::Vec3f bmax(shift.x() + halfBoundsSize, maxZ, shift.y() + halfBoundsSize);
const auto result = rcCreateHeightfield(
&context, solid, width, height, bmin.ptr(), bmax.ptr(), settings.mCellSize, settings.mCellHeight);
if (width < 0)
{
Log(Debug::Warning) << context.getPrefix() << "Invalid width to init heightfield: " << width;
return false;
}
if (height < 0)
{
Log(Debug::Warning) << context.getPrefix() << "Invalid height to init heightfield: " << height;
return false;
}
if (settings.mCellHeight <= 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid cell height to init heightfield: " << settings.mCellHeight;
return false;
}
if (settings.mCellSize <= 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid cell size to init heightfield: " << settings.mCellSize;
return false;
}
if (!result)
throw NavigatorException("Failed to create heightfield for navmesh");
return rcCreateHeightfield(
&context, solid, width, height, bmin.ptr(), bmax.ptr(), settings.mCellSize, settings.mCellHeight);
}
bool rasterizeTriangles(rcContext& context, const Mesh& mesh, const RecastSettings& settings,
[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const Mesh& mesh, const RecastSettings& settings,
const RecastParams& params, rcHeightfield& solid)
{
std::vector<unsigned char> areas(mesh.getAreaTypes().begin(), mesh.getAreaTypes().end());
@ -178,7 +204,7 @@ namespace DetourNavigator
mesh.getIndices().data(), areas.data(), static_cast<int>(areas.size()), solid, params.mWalkableClimb);
}
bool rasterizeTriangles(rcContext& context, const Rectangle& rectangle, AreaType areaType,
[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const Rectangle& rectangle, AreaType areaType,
const RecastParams& params, rcHeightfield& solid)
{
const std::array vertices{
@ -199,9 +225,9 @@ namespace DetourNavigator
indices.data(), areas.data(), static_cast<int>(areas.size()), solid, params.mWalkableClimb);
}
bool rasterizeTriangles(rcContext& context, float agentHalfExtentsZ, const std::vector<CellWater>& water,
const RecastSettings& settings, const RecastParams& params, const TileBounds& realTileBounds,
rcHeightfield& solid)
[[nodiscard]] bool rasterizeTriangles(RecastContext& context, float agentHalfExtentsZ,
const std::vector<CellWater>& water, const RecastSettings& settings, const RecastParams& params,
const TileBounds& realTileBounds, rcHeightfield& solid)
{
for (const CellWater& cellWater : water)
{
@ -219,7 +245,7 @@ namespace DetourNavigator
return true;
}
bool rasterizeTriangles(rcContext& context, const TileBounds& realTileBounds,
[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const TileBounds& realTileBounds,
const std::vector<FlatHeightfield>& heightfields, const RecastSettings& settings,
const RecastParams& params, rcHeightfield& solid)
{
@ -237,7 +263,7 @@ namespace DetourNavigator
return true;
}
bool rasterizeTriangles(rcContext& context, const std::vector<Heightfield>& heightfields,
[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const std::vector<Heightfield>& heightfields,
const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
{
for (const Heightfield& heightfield : heightfields)
@ -249,9 +275,9 @@ namespace DetourNavigator
return true;
}
bool rasterizeTriangles(rcContext& context, const TilePosition& tilePosition, float agentHalfExtentsZ,
const RecastMesh& recastMesh, const RecastSettings& settings, const RecastParams& params,
rcHeightfield& solid)
[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const TilePosition& tilePosition,
float agentHalfExtentsZ, const RecastMesh& recastMesh, const RecastSettings& settings,
const RecastParams& params, rcHeightfield& solid)
{
const TileBounds realTileBounds = makeRealTileBoundsWithBorder(settings, tilePosition);
return rasterizeTriangles(context, recastMesh.getMesh(), settings, params, solid)
@ -262,66 +288,119 @@ namespace DetourNavigator
context, realTileBounds, recastMesh.getFlatHeightfields(), settings, params, solid);
}
void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb,
rcHeightfield& solid, rcCompactHeightfield& compact)
[[nodiscard]] bool buildCompactHeightfield(RecastContext& context, const int walkableHeight,
const int walkableClimb, rcHeightfield& solid, rcCompactHeightfield& compact)
{
const auto result = rcBuildCompactHeightfield(&context, walkableHeight, walkableClimb, solid, compact);
if (walkableHeight < 3)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid walkableHeight to build compact heightfield: " << walkableHeight;
return false;
}
if (walkableClimb < 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid walkableClimb to build compact heightfield: " << walkableClimb;
return false;
}
if (!result)
throw NavigatorException("Failed to build compact heightfield for navmesh");
return rcBuildCompactHeightfield(&context, walkableHeight, walkableClimb, solid, compact);
}
void erodeWalkableArea(rcContext& context, int walkableRadius, rcCompactHeightfield& compact)
[[nodiscard]] bool erodeWalkableArea(RecastContext& context, int walkableRadius, rcCompactHeightfield& compact)
{
const auto result = rcErodeWalkableArea(&context, walkableRadius, compact);
if (walkableRadius <= 0 || 255 <= walkableRadius)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid walkableRadius to erode walkable area: " << walkableRadius;
return false;
}
if (!result)
throw NavigatorException("Failed to erode walkable area for navmesh");
return rcErodeWalkableArea(&context, walkableRadius, compact);
}
void buildDistanceField(rcContext& context, rcCompactHeightfield& compact)
[[nodiscard]] bool buildDistanceField(RecastContext& context, rcCompactHeightfield& compact)
{
const auto result = rcBuildDistanceField(&context, compact);
if (!result)
throw NavigatorException("Failed to build distance field for navmesh");
return rcBuildDistanceField(&context, compact);
}
void buildRegions(rcContext& context, rcCompactHeightfield& compact, const int borderSize,
[[nodiscard]] bool buildRegions(RecastContext& context, rcCompactHeightfield& compact, const int borderSize,
const int minRegionArea, const int mergeRegionArea)
{
const auto result = rcBuildRegions(&context, compact, borderSize, minRegionArea, mergeRegionArea);
if (borderSize < 0)
{
Log(Debug::Warning) << context.getPrefix() << "Invalid borderSize to build regions: " << borderSize;
return false;
}
if (minRegionArea < 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid minRegionArea to build regions: " << minRegionArea;
return false;
}
if (!result)
throw NavigatorException("Failed to build distance field for navmesh");
if (mergeRegionArea < 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid mergeRegionArea to build regions: " << mergeRegionArea;
return false;
}
return rcBuildRegions(&context, compact, borderSize, minRegionArea, mergeRegionArea);
}
void buildContours(rcContext& context, rcCompactHeightfield& compact, const float maxError,
[[nodiscard]] bool buildContours(RecastContext& 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 (maxError < 0)
{
Log(Debug::Warning) << context.getPrefix() << "Invalid maxError to build contours: " << maxError;
return false;
}
if (maxEdgeLen < 0)
{
Log(Debug::Warning) << context.getPrefix() << "Invalid maxEdgeLen to build contours: " << maxEdgeLen;
return false;
}
if (!result)
throw NavigatorException("Failed to build contours for navmesh");
return rcBuildContours(&context, compact, maxError, maxEdgeLen, contourSet, buildFlags);
}
void buildPolyMesh(
rcContext& context, rcContourSet& contourSet, const int maxVertsPerPoly, rcPolyMesh& polyMesh)
[[nodiscard]] bool buildPolyMesh(
RecastContext& context, rcContourSet& contourSet, const int maxVertsPerPoly, rcPolyMesh& polyMesh)
{
const auto result = rcBuildPolyMesh(&context, contourSet, maxVertsPerPoly, polyMesh);
if (maxVertsPerPoly < 3)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid maxVertsPerPoly to build poly mesh: " << maxVertsPerPoly;
return false;
}
if (!result)
throw NavigatorException("Failed to build poly mesh for navmesh");
return rcBuildPolyMesh(&context, contourSet, maxVertsPerPoly, polyMesh);
}
void buildPolyMeshDetail(rcContext& context, const rcPolyMesh& polyMesh, const rcCompactHeightfield& compact,
const float sampleDist, const float sampleMaxError, rcPolyMeshDetail& polyMeshDetail)
[[nodiscard]] bool buildPolyMeshDetail(RecastContext& 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 (sampleDist < 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid sampleDist to build poly mesh detail: " << sampleDist;
return false;
}
if (!result)
throw NavigatorException("Failed to build detail poly mesh for navmesh");
if (sampleMaxError < 0)
{
Log(Debug::Warning) << context.getPrefix()
<< "Invalid sampleMaxError to build poly mesh detail: " << sampleMaxError;
return false;
}
return rcBuildPolyMeshDetail(&context, polyMesh, compact, sampleDist, sampleMaxError, polyMeshDetail);
}
void setPolyMeshFlags(rcPolyMesh& polyMesh)
@ -330,25 +409,36 @@ namespace DetourNavigator
polyMesh.flags[i] = getFlag(static_cast<AreaType>(polyMesh.areas[i]));
}
bool fillPolyMesh(rcContext& context, const RecastSettings& settings, const RecastParams& params,
rcHeightfield& solid, rcPolyMesh& polyMesh, rcPolyMeshDetail& polyMeshDetail)
[[nodiscard]] bool fillPolyMesh(RecastContext& context, const RecastSettings& settings,
const RecastParams& params, rcHeightfield& solid, rcPolyMesh& polyMesh, rcPolyMeshDetail& polyMeshDetail)
{
rcCompactHeightfield compact;
buildCompactHeightfield(context, params.mWalkableHeight, params.mWalkableClimb, solid, compact);
if (!buildCompactHeightfield(context, params.mWalkableHeight, params.mWalkableClimb, solid, compact))
return false;
erodeWalkableArea(context, params.mWalkableRadius, compact);
buildDistanceField(context, compact);
buildRegions(context, compact, settings.mBorderSize, settings.mRegionMinArea, settings.mRegionMergeArea);
if (!erodeWalkableArea(context, params.mWalkableRadius, compact))
return false;
if (!buildDistanceField(context, compact))
return false;
if (!buildRegions(
context, compact, settings.mBorderSize, settings.mRegionMinArea, settings.mRegionMergeArea))
return false;
rcContourSet contourSet;
buildContours(context, compact, settings.mMaxSimplificationError, params.mMaxEdgeLen, contourSet);
if (!buildContours(context, compact, settings.mMaxSimplificationError, params.mMaxEdgeLen, contourSet))
return false;
if (contourSet.nconts == 0)
return false;
buildPolyMesh(context, contourSet, settings.mMaxVertsPerPoly, polyMesh);
if (!buildPolyMesh(context, contourSet, settings.mMaxVertsPerPoly, polyMesh))
return false;
buildPolyMeshDetail(context, polyMesh, compact, params.mSampleDist, params.mSampleMaxError, polyMeshDetail);
if (!buildPolyMeshDetail(
context, polyMesh, compact, params.mSampleDist, params.mSampleMaxError, polyMeshDetail))
return false;
setPolyMeshFlags(polyMesh);
@ -410,13 +500,14 @@ namespace DetourNavigator
std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh,
const TilePosition& tilePosition, const AgentBounds& agentBounds, const RecastSettings& settings)
{
rcContext context;
RecastContext context(tilePosition, agentBounds);
const auto [minZ, maxZ] = getBoundsByZ(recastMesh, agentBounds.mHalfExtents.z(), settings);
rcHeightfield solid;
initHeightfield(context, tilePosition, toNavMeshCoordinates(settings, minZ),
toNavMeshCoordinates(settings, maxZ), settings, solid);
if (!initHeightfield(context, tilePosition, toNavMeshCoordinates(settings, minZ),
toNavMeshCoordinates(settings, maxZ), settings, solid))
return nullptr;
const RecastParams params = makeRecastParams(settings, agentBounds);

45
components/detournavigator/recastcontext.cpp
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@ -0,0 +1,45 @@
#include "recastcontext.hpp"
#include "debug.hpp"
#include "components/debug/debuglog.hpp"
#include <sstream>
namespace DetourNavigator
{
namespace
{
Debug::Level getLogLevel(rcLogCategory category)
{
switch (category)
{
case RC_LOG_PROGRESS:
return Debug::Verbose;
case RC_LOG_WARNING:
return Debug::Warning;
case RC_LOG_ERROR:
return Debug::Error;
}
return Debug::Debug;
}
std::string formatPrefix(const TilePosition& tilePosition, const AgentBounds& agentBounds)
{
std::ostringstream stream;
stream << "Tile position: " << tilePosition.x() << ", " << tilePosition.y()
<< "; agent bounds: " << agentBounds << "; ";
return stream.str();
}
}
RecastContext::RecastContext(const TilePosition& tilePosition, const AgentBounds& agentBounds)
: mPrefix(formatPrefix(tilePosition, agentBounds))
{
}
void RecastContext::doLog(const rcLogCategory category, const char* msg, const int len)
{
if (len > 0)
Log(getLogLevel(category)) << mPrefix << std::string_view(msg, static_cast<std::size_t>(len));
}
}

28
components/detournavigator/recastcontext.hpp
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@ -0,0 +1,28 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTCONTEXT_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTCONTEXT_H
#include "tileposition.hpp"
#include <string>
#include <Recast.h>
namespace DetourNavigator
{
struct AgentBounds;
class RecastContext final : public rcContext
{
public:
explicit RecastContext(const TilePosition& tilePosition, const AgentBounds& agentBounds);
const std::string& getPrefix() const { return mPrefix; }
private:
std::string mPrefix;
void doLog(rcLogCategory category, const char* msg, int len) override;
};
}
#endif
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