Reuse dtNavMeshQuery

To avoid redundant allocations.

apps/openmw_test_suite/detournavigator/asyncnavmeshupdater.cpp

@@ -74,7 +74,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -86,7 +86,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -109,7 +109,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::update } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -135,7 +135,7 @@ namespace
         auto db = std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max());
         NavMeshDb* const dbPtr = db.get();
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const TilePosition tilePosition{ 0, 0 };
         const std::map<TilePosition, ChangeType> changedTiles{ { tilePosition, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
@@ -162,7 +162,7 @@ namespace
         NavMeshDb* const dbPtr = db.get();
         mSettings.mWriteToNavMeshDb = false;
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const TilePosition tilePosition{ 0, 0 };
         const std::map<TilePosition, ChangeType> changedTiles{ { tilePosition, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
@@ -187,7 +187,7 @@ namespace
         NavMeshDb* const dbPtr = db.get();
         mSettings.mWriteToNavMeshDb = false;
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const TilePosition tilePosition{ 0, 0 };
         const std::map<TilePosition, ChangeType> changedTiles{ { tilePosition, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
@@ -207,7 +207,7 @@ namespace
         mSettings.mMaxNavMeshTilesCacheSize = 0;
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager,
             std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max()));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTiles{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTiles);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -236,7 +236,7 @@ namespace
         mRecastMeshManager.setWorldspace(mWorldspace, nullptr);
         addHeightFieldPlane(mRecastMeshManager);
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, nullptr);
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         const std::map<TilePosition, ChangeType> changedTilesAdd{ { TilePosition{ 0, 0 }, ChangeType::add } };
         updater.post(mAgentBounds, navMeshCacheItem, mPlayerTile, mWorldspace, changedTilesAdd);
         updater.wait(WaitConditionType::allJobsDone, &mListener);
@@ -258,7 +258,7 @@ namespace
         auto db = std::make_unique<NavMeshDb>(":memory:", 4097);
         NavMeshDb* const dbPtr = db.get();
         AsyncNavMeshUpdater updater(mSettings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db));
-        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), 1);
+        const auto navMeshCacheItem = std::make_shared<GuardedNavMeshCacheItem>(1, mSettings);
         std::map<TilePosition, ChangeType> changedTiles;
         for (int x = -5; x <= 5; ++x)
             for (int y = -5; y <= 5; ++y)

components/detournavigator/findrandompointaroundcircle.cpp

@@ -1,20 +1,15 @@
 #include "findrandompointaroundcircle.hpp"
 #include "findsmoothpath.hpp"
-#include "settings.hpp"
 
 #include <DetourNavMesh.h>
 #include <DetourNavMeshQuery.h>
 
 namespace DetourNavigator
 {
-    std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
+    std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMeshQuery& navMeshQuery,
-        const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const DetourSettings& settings,
+        const osg::Vec3f& halfExtents, const osg::Vec3f& start, const float maxRadius, const Flags includeFlags,
         float (*prng)())
     {
-        dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
-            return std::optional<osg::Vec3f>();
-
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
 

components/detournavigator/findrandompointaroundcircle.hpp

@@ -6,14 +6,14 @@
 #include <optional>
 #include <osg/Vec3f>
 
-class dtNavMesh;
+class dtNavMeshQuery;
 
 namespace DetourNavigator
 {
     struct DetourSettings;
 
-    std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
+    std::optional<osg::Vec3f> findRandomPointAroundCircle(const dtNavMeshQuery& navMeshQuery,
-        const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, const DetourSettings& settings,
+        const osg::Vec3f& halfExtents, const osg::Vec3f& start, const float maxRadius, const Flags includeFlags,
         float (*prng)());
 }
 

components/detournavigator/findsmoothpath.hpp

@@ -252,14 +252,10 @@ namespace DetourNavigator
     }
 
     template <class OutputIterator>
-    Status findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const float stepSize,
+    Status findSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
+        const float stepSize, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
-        const Settings& settings, float endTolerance, OutputIterator out)
+        const AreaCosts& areaCosts, const Settings& settings, float endTolerance, OutputIterator out)
     {
-        dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mDetour.mMaxNavMeshQueryNodes))
-            return Status::InitNavMeshQueryFailed;
-
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
         queryFilter.setAreaCost(AreaType_water, areaCosts.mWater);

components/detournavigator/makenavmesh.cpp

@@ -13,7 +13,6 @@
 #include "recastparams.hpp"
 #include "settings.hpp"
 #include "settingsutils.hpp"
-#include "sharednavmesh.hpp"
 
 #include "components/debug/debuglog.hpp"
 
@@ -604,7 +603,7 @@ namespace DetourNavigator
         return NavMeshData(navMeshData, navMeshDataSize);
     }
 
-    NavMeshPtr makeEmptyNavMesh(const Settings& settings)
+    void initEmptyNavMesh(const Settings& settings, dtNavMesh& navMesh)
     {
         // Max tiles and max polys affect how the tile IDs are caculated.
         // There are 22 bits available for identifying a tile and a polygon.
@@ -623,17 +622,10 @@ namespace DetourNavigator
         params.maxTiles = 1 << tilesBits;
         params.maxPolys = 1 << polysBits;
 
-        NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh);
+        const auto status = navMesh.init(&params);
-
-        if (navMesh == nullptr)
-            throw NavigatorException("Failed to allocate navmesh");
-
-        const auto status = navMesh->init(&params);
 
         if (!dtStatusSucceed(status))
             throw NavigatorException("Failed to init navmesh");
-
-        return navMesh;
     }
 
     bool isSupportedAgentBounds(const RecastSettings& settings, const AgentBounds& agentBounds)

components/detournavigator/makenavmesh.hpp

@@ -2,7 +2,6 @@
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H
 
 #include "recastmesh.hpp"
-#include "sharednavmesh.hpp"
 #include "tileposition.hpp"
 
 #include <memory>
@@ -49,7 +48,7 @@ namespace DetourNavigator
         const std::vector<OffMeshConnection>& offMeshConnections, const AgentBounds& agentBounds,
         const TilePosition& tile, const RecastSettings& settings);
 
-    NavMeshPtr makeEmptyNavMesh(const Settings& settings);
+    void initEmptyNavMesh(const Settings& settings, dtNavMesh& navMesh);
 
     bool isSupportedAgentBounds(const RecastSettings& settings, const AgentBounds& agentBounds);
 }

components/detournavigator/navigatorutils.cpp

@@ -11,11 +11,12 @@ namespace DetourNavigator
         const auto navMesh = navigator.getNavMesh(agentBounds);
         if (!navMesh)
             return std::nullopt;
-        const auto& settings = navigator.getSettings();
+        const Settings& settings = navigator.getSettings();
-        const auto result = DetourNavigator::findRandomPointAroundCircle(navMesh->lockConst()->getImpl(),
+        const auto locked = navMesh->lock();
+        const auto result = DetourNavigator::findRandomPointAroundCircle(locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
             toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, maxRadius),
-            includeFlags, settings.mDetour, prng);
+            includeFlags, prng);
         if (!result)
             return std::nullopt;
         return std::optional<osg::Vec3f>(fromNavMeshCoordinates(settings.mRecast, *result));
@@ -27,11 +28,11 @@ namespace DetourNavigator
         const auto navMesh = navigator.getNavMesh(agentBounds);
         if (navMesh == nullptr)
             return std::nullopt;
-        const auto& settings = navigator.getSettings();
+        const Settings& settings = navigator.getSettings();
-        const auto result = DetourNavigator::raycast(navMesh->lockConst()->getImpl(),
+        const auto locked = navMesh->lock();
+        const auto result = DetourNavigator::raycast(locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
-            toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags,
+            toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags);
-            settings.mDetour);
         if (!result)
             return std::nullopt;
         return fromNavMeshCoordinates(settings.mRecast, *result);

components/detournavigator/navigatorutils.hpp

@@ -35,8 +35,9 @@ namespace DetourNavigator
         const auto navMesh = navigator.getNavMesh(agentBounds);
         if (navMesh == nullptr)
             return Status::NavMeshNotFound;
-        const auto settings = navigator.getSettings();
+        const Settings& settings = navigator.getSettings();
-        return findSmoothPath(navMesh->lockConst()->getImpl(),
+        const auto locked = navMesh->lock();
+        return findSmoothPath(locked->getImpl(), locked->getQuery(),
             toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
             toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
             toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings, endTolerance, out);

components/detournavigator/navmeshcacheitem.cpp

@@ -1,12 +1,16 @@
 #include "navmeshcacheitem.hpp"
+#include "debug.hpp"
+#include "makenavmesh.hpp"
 #include "navmeshdata.hpp"
 #include "navmeshtilescache.hpp"
 #include "navmeshtileview.hpp"
+#include "settings.hpp"
 #include "tileposition.hpp"
 
 #include <DetourNavMesh.h>
 
 #include <ostream>
+#include <sstream>
 
 namespace
 {
@@ -66,18 +70,32 @@ namespace DetourNavigator
         return navMesh.getTileAt(position.x(), position.y(), layer);
     }
 
+    NavMeshCacheItem::NavMeshCacheItem(std::size_t generation, const Settings& settings)
+        : mVersion{ generation, 0 }
+    {
+        initEmptyNavMesh(settings, mImpl);
+
+        if (const dtStatus status = mQuery.init(&mImpl, settings.mDetour.mMaxNavMeshQueryNodes);
+            !dtStatusSucceed(status))
+        {
+            std::ostringstream error;
+            error << "Failed to init navmesh query: " << WriteDtStatus{ status };
+            throw std::runtime_error(error.str());
+        }
+    }
+
     UpdateNavMeshStatus NavMeshCacheItem::updateTile(
         const TilePosition& position, NavMeshTilesCache::Value&& cached, NavMeshData&& navMeshData)
     {
-        const dtMeshTile* currentTile = getTile(*mImpl, position);
+        const dtMeshTile* currentTile = getTile(mImpl, position);
         if (currentTile != nullptr
             && asNavMeshTileConstView(*currentTile) == asNavMeshTileConstView(navMeshData.mValue.get()))
         {
             return UpdateNavMeshStatus::ignored;
         }
-        bool removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(mImpl, position);
         removed = mEmptyTiles.erase(position) > 0 || removed;
-        const auto addStatus = addTile(*mImpl, navMeshData.mValue.get(), navMeshData.mSize);
+        const auto addStatus = addTile(mImpl, navMeshData.mValue.get(), navMeshData.mSize);
         if (dtStatusSucceed(addStatus))
         {
             auto tile = mUsedTiles.find(position);
@@ -111,7 +129,7 @@ namespace DetourNavigator
 
     UpdateNavMeshStatus NavMeshCacheItem::removeTile(const TilePosition& position)
     {
-        bool removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(mImpl, position);
         removed = mEmptyTiles.erase(position) > 0 || removed;
         if (removed)
         {
@@ -123,7 +141,7 @@ namespace DetourNavigator
 
     UpdateNavMeshStatus NavMeshCacheItem::markAsEmpty(const TilePosition& position)
     {
-        bool removed = ::removeTile(*mImpl, position);
+        bool removed = ::removeTile(mImpl, position);
         removed = mEmptyTiles.insert(position).second || removed;
         if (removed)
         {

components/detournavigator/navmeshcacheitem.hpp

@@ -3,10 +3,12 @@
 
 #include "navmeshdata.hpp"
 #include "navmeshtilescache.hpp"
-#include "sharednavmesh.hpp"
 #include "tileposition.hpp"
 #include "version.hpp"
 
+#include <DetourNavMesh.h>
+#include <DetourNavMeshQuery.h>
+
 #include <iosfwd>
 #include <map>
 #include <set>
@@ -15,6 +17,8 @@ struct dtMeshTile;
 
 namespace DetourNavigator
 {
+    struct Settings;
+
     enum class UpdateNavMeshStatus : unsigned
     {
         ignored = 0,
@@ -102,13 +106,11 @@ namespace DetourNavigator
     class NavMeshCacheItem
     {
     public:
-        NavMeshCacheItem(const NavMeshPtr& impl, std::size_t generation)
+        explicit NavMeshCacheItem(std::size_t generation, const Settings& settings);
-            : mImpl(impl)
-            , mVersion{ generation, 0 }
-        {
-        }
 
-        const dtNavMesh& getImpl() const { return *mImpl; }
+        const dtNavMesh& getImpl() const { return mImpl; }
+
+        dtNavMeshQuery& getQuery() { return mQuery; }
 
         const Version& getVersion() const { return mVersion; }
 
@@ -125,7 +127,7 @@ namespace DetourNavigator
         void forEachUsedTile(Function&& function) const
         {
             for (const auto& [position, tile] : mUsedTiles)
-                if (const dtMeshTile* meshTile = getTile(*mImpl, position))
+                if (const dtMeshTile* meshTile = getTile(mImpl, position))
                     function(position, tile.mVersion, *meshTile);
         }
 
@@ -137,8 +139,9 @@ namespace DetourNavigator
             NavMeshData mData;
         };
 
-        NavMeshPtr mImpl;
         Version mVersion;
+        dtNavMesh mImpl;
+        dtNavMeshQuery mQuery;
         std::map<TilePosition, Tile> mUsedTiles;
         std::set<TilePosition> mEmptyTiles;
     };

components/detournavigator/navmeshmanager.cpp

@@ -69,7 +69,7 @@ namespace DetourNavigator
             return;
         mRecastMeshManager.setWorldspace(worldspace, getImpl(guard));
         for (auto& [agent, cache] : mCache)
-            cache = std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), ++mGenerationCounter);
+            cache = std::make_shared<GuardedNavMeshCacheItem>(++mGenerationCounter, mSettings);
         mWorldspace = worldspace;
     }
 
@@ -123,8 +123,7 @@ namespace DetourNavigator
         auto cached = mCache.find(agentBounds);
         if (cached != mCache.end())
             return;
-        mCache.insert(std::make_pair(
+        mCache.emplace(agentBounds, std::make_shared<GuardedNavMeshCacheItem>(++mGenerationCounter, mSettings));
-            agentBounds, std::make_shared<GuardedNavMeshCacheItem>(makeEmptyNavMesh(mSettings), ++mGenerationCounter)));
         mPlayerTile.reset();
         Log(Debug::Debug) << "cache add for agent=" << agentBounds;
     }

components/detournavigator/raycast.cpp

@@ -1,6 +1,4 @@
 #include "raycast.hpp"
-#include "findsmoothpath.hpp"
-#include "settings.hpp"
 
 #include <DetourNavMesh.h>
 #include <DetourNavMeshQuery.h>
@@ -9,13 +7,9 @@
 
 namespace DetourNavigator
 {
-    std::optional<osg::Vec3f> raycast(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const osg::Vec3f& start,
+    std::optional<osg::Vec3f> raycast(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& end, const Flags includeFlags, const DetourSettings& settings)
+        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags)
     {
-        dtNavMeshQuery navMeshQuery;
-        if (!initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes))
-            return {};
-
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
 

components/detournavigator/raycast.hpp

@@ -6,14 +6,14 @@
 #include <optional>
 #include <osg/Vec3f>
 
-class dtNavMesh;
+class dtNavMeshQuery;
 
 namespace DetourNavigator
 {
     struct DetourSettings;
 
-    std::optional<osg::Vec3f> raycast(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const osg::Vec3f& start,
+    std::optional<osg::Vec3f> raycast(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
-        const osg::Vec3f& end, const Flags includeFlags, const DetourSettings& settings);
+        const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags);
 }
 
 #endif

components/detournavigator/sharednavmesh.hpp

@@ -1,13 +0,0 @@
-#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H
-#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H
-
-#include <memory>
-
-class dtNavMesh;
-
-namespace DetourNavigator
-{
-    using NavMeshPtr = std::shared_ptr<dtNavMesh>;
-}
-
-#endif