From 3e67f5ffa57eca6e42a480fec0ad2756414891c4 Mon Sep 17 00:00:00 2001 From: elsid Date: Sun, 18 Apr 2021 16:51:52 +0200 Subject: [PATCH] Detect and ignore updates for oscillating objects To avoid triggering NavMesh update when RecastMesh change should not change NavMesh. Based on the following assumption: Given a set of transformations and a bounding shape for all these tranformations, a new object transformation that does not change this bounding shape also should not change navmesh if for all of this object transformations resulting navmesh tiles are equivalent The idea is to report back to RecastMeshManager all changes of NavMesh if there are any assiciated with RecastMesh version. So we know the last time when RecastMesh change resulted into the NavMesh change. When later report shows that there was no NavMesh change for a new RecastMesh version we can assume that any object transformation within the same bounding box should not change NavMesh. --- CHANGELOG.md | 1 + .../detournavigator/navigator.cpp | 51 +++++++++++++++++++ components/CMakeLists.txt | 1 + components/bullethelpers/aabb.hpp | 29 +++++++++++ .../detournavigator/asyncnavmeshupdater.cpp | 14 +++++ .../cachedrecastmeshmanager.cpp | 5 ++ .../cachedrecastmeshmanager.hpp | 3 ++ .../oscillatingrecastmeshobject.cpp | 35 +++++++++++++ .../oscillatingrecastmeshobject.hpp | 28 ++++++++++ .../detournavigator/recastmeshmanager.cpp | 26 ++++++++-- .../detournavigator/recastmeshmanager.hpp | 17 +++++-- .../tilecachedrecastmeshmanager.cpp | 9 ++++ .../tilecachedrecastmeshmanager.hpp | 3 ++ components/detournavigator/version.hpp | 21 ++++++++ 14 files changed, 236 insertions(+), 7 deletions(-) create mode 100644 components/bullethelpers/aabb.hpp create mode 100644 components/detournavigator/oscillatingrecastmeshobject.cpp create mode 100644 components/detournavigator/oscillatingrecastmeshobject.hpp create mode 100644 components/detournavigator/version.hpp diff --git a/CHANGELOG.md b/CHANGELOG.md index d440073854..5b89eea03f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -127,6 +127,7 @@ Feature #3983: Wizard: Add link to buy Morrowind Feature #4894: Consider actors as obstacles for pathfinding Feature #4899: Alpha-To-Coverage Anti-Aliasing for alpha testing + Feature #4917: Do not trigger NavMesh update when RecastMesh update should not change NavMesh Feature #4977: Use the "default icon.tga" when an item's icon is not found Feature #5043: Head Bobbing Feature #5199: OpenMW-CS: Improve scene view colors diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp index d377aed1eb..3b7dc49151 100644 --- a/apps/openmw_test_suite/detournavigator/navigator.cpp +++ b/apps/openmw_test_suite/detournavigator/navigator.cpp @@ -835,4 +835,55 @@ namespace ASSERT_THAT(result, Optional(Vec3fEq(mEnd.x(), mEnd.y(), 1.87719))); } + + TEST_F(DetourNavigatorNavigatorTest, update_for_oscillating_object_that_does_not_change_navmesh_should_not_trigger_navmesh_update) + { + const std::array heightfieldData {{ + 0, 0, 0, 0, 0, + 0, -25, -25, -25, -25, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + 0, -25, -100, -100, -100, + }}; + btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData); + heightfieldShape.setLocalScaling(btVector3(128, 128, 1)); + + const btBoxShape oscillatingBoxShape(btVector3(20, 20, 20)); + const btVector3 oscillatingBoxShapePosition(32, 32, 400); + const btBoxShape boderBoxShape(btVector3(50, 50, 50)); + + mNavigator->addAgent(mAgentHalfExtents); + mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity()); + mNavigator->addObject(ObjectId(&oscillatingBoxShape), oscillatingBoxShape, + btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition)); + // add this box to make navmesh bound box independent from oscillatingBoxShape rotations + mNavigator->addObject(ObjectId(&boderBoxShape), boderBoxShape, + btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition + btVector3(0, 0, 200))); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + + const auto navMeshes = mNavigator->getNavMeshes(); + ASSERT_EQ(navMeshes.size(), 1); + { + const auto navMesh = navMeshes.begin()->second->lockConst(); + ASSERT_EQ(navMesh->getGeneration(), 1); + ASSERT_EQ(navMesh->getNavMeshRevision(), 4); + } + + for (int n = 0; n < 10; ++n) + { + const btTransform transform(btQuaternion(btVector3(0, 0, 1), n * 2 * osg::PI / 10), + oscillatingBoxShapePosition); + mNavigator->updateObject(ObjectId(&oscillatingBoxShape), oscillatingBoxShape, transform); + mNavigator->update(mPlayerPosition); + mNavigator->wait(); + } + + ASSERT_EQ(navMeshes.size(), 1); + { + const auto navMesh = navMeshes.begin()->second->lockConst(); + ASSERT_EQ(navMesh->getGeneration(), 1); + ASSERT_EQ(navMesh->getNavMeshRevision(), 4); + } + } } diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt index 970f029b4d..2fe09070ab 100644 --- a/components/CMakeLists.txt +++ b/components/CMakeLists.txt @@ -183,6 +183,7 @@ add_component_dir(detournavigator findrandompointaroundcircle raycast navmeshtileview + oscillatingrecastmeshobject ) set (ESM_UI ${CMAKE_SOURCE_DIR}/files/ui/contentselector.ui diff --git a/components/bullethelpers/aabb.hpp b/components/bullethelpers/aabb.hpp new file mode 100644 index 0000000000..6509b946ca --- /dev/null +++ b/components/bullethelpers/aabb.hpp @@ -0,0 +1,29 @@ +#ifndef OPENMW_COMPONENTS_BULLETHELPERS_AABB_H +#define OPENMW_COMPONENTS_BULLETHELPERS_AABB_H + +#include +#include +#include +#include + +inline bool operator==(const btAABB& lhs, const btAABB& rhs) +{ + return lhs.m_min == rhs.m_min && lhs.m_max == rhs.m_max; +} + +inline bool operator!=(const btAABB& lhs, const btAABB& rhs) +{ + return !(lhs == rhs); +} + +namespace BulletHelpers +{ + inline btAABB getAabb(const btCollisionShape& shape, const btTransform& transform) + { + btAABB result; + shape.getAabb(transform, result.m_min, result.m_max); + return result; + } +} + +#endif diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp index bb78df7643..4855cf0adc 100644 --- a/components/detournavigator/asyncnavmeshupdater.cpp +++ b/components/detournavigator/asyncnavmeshupdater.cpp @@ -2,6 +2,7 @@ #include "debug.hpp" #include "makenavmesh.hpp" #include "settings.hpp" +#include "version.hpp" #include #include @@ -180,6 +181,19 @@ namespace DetourNavigator const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile, offMeshConnections, mSettings, navMeshCacheItem, mNavMeshTilesCache); + if (recastMesh != nullptr) + { + Version navMeshVersion; + { + const auto locked = navMeshCacheItem->lockConst(); + navMeshVersion.mGeneration = locked->getGeneration(); + navMeshVersion.mRevision = locked->getNavMeshRevision(); + } + mRecastMeshManager.get().reportNavMeshChange(job.mChangedTile, + Version {recastMesh->getGeneration(), recastMesh->getRevision()}, + navMeshVersion); + } + const auto finish = std::chrono::steady_clock::now(); writeDebugFiles(job, recastMesh.get()); diff --git a/components/detournavigator/cachedrecastmeshmanager.cpp b/components/detournavigator/cachedrecastmeshmanager.cpp index 90b4266104..22b047fbd3 100644 --- a/components/detournavigator/cachedrecastmeshmanager.cpp +++ b/components/detournavigator/cachedrecastmeshmanager.cpp @@ -61,4 +61,9 @@ namespace DetourNavigator { return mImpl.isEmpty(); } + + void CachedRecastMeshManager::reportNavMeshChange(Version recastMeshVersion, Version navMeshVersion) + { + mImpl.reportNavMeshChange(recastMeshVersion, navMeshVersion); + } } diff --git a/components/detournavigator/cachedrecastmeshmanager.hpp b/components/detournavigator/cachedrecastmeshmanager.hpp index 54574aa99d..a19f017a4a 100644 --- a/components/detournavigator/cachedrecastmeshmanager.hpp +++ b/components/detournavigator/cachedrecastmeshmanager.hpp @@ -2,6 +2,7 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_CACHEDRECASTMESHMANAGER_H #include "recastmeshmanager.hpp" +#include "version.hpp" namespace DetourNavigator { @@ -25,6 +26,8 @@ namespace DetourNavigator bool isEmpty() const; + void reportNavMeshChange(Version recastMeshVersion, Version navMeshVersion); + private: RecastMeshManager mImpl; std::shared_ptr mCached; diff --git a/components/detournavigator/oscillatingrecastmeshobject.cpp b/components/detournavigator/oscillatingrecastmeshobject.cpp new file mode 100644 index 0000000000..dd0b956003 --- /dev/null +++ b/components/detournavigator/oscillatingrecastmeshobject.cpp @@ -0,0 +1,35 @@ +#include "oscillatingrecastmeshobject.hpp" + +#include + +namespace DetourNavigator +{ + OscillatingRecastMeshObject::OscillatingRecastMeshObject(RecastMeshObject impl, std::size_t lastChangeRevision) + : mImpl(std::move(impl)) + , mLastChangeRevision(lastChangeRevision) + , mAabb(BulletHelpers::getAabb(mImpl.getShape(), mImpl.getTransform())) + { + } + + bool OscillatingRecastMeshObject::update(const btTransform& transform, const AreaType areaType, + std::size_t lastChangeRevision) + { + const btTransform oldTransform = mImpl.getTransform(); + if (!mImpl.update(transform, areaType)) + return false; + if (transform == oldTransform) + return true; + if (mLastChangeRevision != lastChangeRevision) + { + mLastChangeRevision = lastChangeRevision; + // btAABB doesn't have copy-assignment operator + const btAABB aabb = BulletHelpers::getAabb(mImpl.getShape(), transform); + mAabb.m_min = aabb.m_min; + mAabb.m_max = aabb.m_max; + return true; + } + const btAABB currentAabb = mAabb; + mAabb.merge(BulletHelpers::getAabb(mImpl.getShape(), transform)); + return currentAabb != mAabb; + } +} diff --git a/components/detournavigator/oscillatingrecastmeshobject.hpp b/components/detournavigator/oscillatingrecastmeshobject.hpp new file mode 100644 index 0000000000..476fd4e0df --- /dev/null +++ b/components/detournavigator/oscillatingrecastmeshobject.hpp @@ -0,0 +1,28 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OSCILLATINGRECASTMESHOBJECT_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OSCILLATINGRECASTMESHOBJECT_H + +#include "areatype.hpp" +#include "recastmeshobject.hpp" + +#include +#include + +namespace DetourNavigator +{ + class OscillatingRecastMeshObject + { + public: + explicit OscillatingRecastMeshObject(RecastMeshObject impl, std::size_t lastChangeRevision); + + bool update(const btTransform& transform, const AreaType areaType, std::size_t lastChangeRevision); + + const RecastMeshObject& getImpl() const { return mImpl; } + + private: + RecastMeshObject mImpl; + std::size_t mLastChangeRevision; + btAABB mAabb; + }; +} + +#endif diff --git a/components/detournavigator/recastmeshmanager.cpp b/components/detournavigator/recastmeshmanager.cpp index 0b0298bc05..146038ae68 100644 --- a/components/detournavigator/recastmeshmanager.cpp +++ b/components/detournavigator/recastmeshmanager.cpp @@ -13,7 +13,8 @@ namespace DetourNavigator bool RecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType) { - const auto iterator = mObjectsOrder.emplace(mObjectsOrder.end(), RecastMeshObject(shape, transform, areaType)); + const auto iterator = mObjectsOrder.emplace(mObjectsOrder.end(), + OscillatingRecastMeshObject(RecastMeshObject(shape, transform, areaType), mRevision + 1)); if (!mObjects.emplace(id, iterator).second) { mObjectsOrder.erase(iterator); @@ -28,7 +29,9 @@ namespace DetourNavigator const auto object = mObjects.find(id); if (object == mObjects.end()) return false; - if (!object->second->update(transform, areaType)) + const std::size_t lastChangeRevision = mLastNavMeshReportedChange.has_value() + ? mLastNavMeshReportedChange->mRevision : mRevision; + if (!object->second->update(transform, areaType, lastChangeRevision)) return false; ++mRevision; return true; @@ -39,7 +42,7 @@ namespace DetourNavigator const auto object = mObjects.find(id); if (object == mObjects.end()) return std::nullopt; - const RemovedRecastMeshObject result {object->second->getShape(), object->second->getTransform()}; + const RemovedRecastMeshObject result {object->second->getImpl().getShape(), object->second->getImpl().getTransform()}; mObjectsOrder.erase(object->second); mObjects.erase(object); ++mRevision; @@ -82,12 +85,27 @@ namespace DetourNavigator return mObjects.empty(); } + void RecastMeshManager::reportNavMeshChange(Version recastMeshVersion, Version navMeshVersion) + { + if (recastMeshVersion.mGeneration != mGeneration) + return; + if (mLastNavMeshReport.has_value() && navMeshVersion < mLastNavMeshReport->mNavMeshVersion) + return; + mLastNavMeshReport = {recastMeshVersion.mRevision, navMeshVersion}; + if (!mLastNavMeshReportedChange.has_value() + || mLastNavMeshReportedChange->mNavMeshVersion < mLastNavMeshReport->mNavMeshVersion) + mLastNavMeshReportedChange = mLastNavMeshReport; + } + void RecastMeshManager::rebuild() { mMeshBuilder.reset(); for (const auto& v : mWaterOrder) mMeshBuilder.addWater(v.mCellSize, v.mTransform); - for (const auto& v : mObjectsOrder) + for (const auto& object : mObjectsOrder) + { + const RecastMeshObject& v = object.getImpl(); mMeshBuilder.addObject(v.getShape(), v.getTransform(), v.getAreaType()); + } } } diff --git a/components/detournavigator/recastmeshmanager.hpp b/components/detournavigator/recastmeshmanager.hpp index 0ad111b5da..daa123fcbc 100644 --- a/components/detournavigator/recastmeshmanager.hpp +++ b/components/detournavigator/recastmeshmanager.hpp @@ -2,8 +2,9 @@ #define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHMANAGER_H #include "recastmeshbuilder.hpp" -#include "recastmeshobject.hpp" +#include "oscillatingrecastmeshobject.hpp" #include "objectid.hpp" +#include "version.hpp" #include @@ -50,14 +51,24 @@ namespace DetourNavigator bool isEmpty() const; + void reportNavMeshChange(Version recastMeshVersion, Version navMeshVersion); + private: + struct Report + { + std::size_t mRevision; + Version mNavMeshVersion; + }; + std::size_t mRevision = 0; std::size_t mGeneration; RecastMeshBuilder mMeshBuilder; - std::list mObjectsOrder; - std::unordered_map::iterator> mObjects; + std::list mObjectsOrder; + std::unordered_map::iterator> mObjects; std::list mWaterOrder; std::map::iterator> mWater; + std::optional mLastNavMeshReportedChange; + std::optional mLastNavMeshReport; void rebuild(); }; diff --git a/components/detournavigator/tilecachedrecastmeshmanager.cpp b/components/detournavigator/tilecachedrecastmeshmanager.cpp index fddaa88f1d..20ebc8fea9 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.cpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.cpp @@ -145,6 +145,15 @@ namespace DetourNavigator return mRevision; } + void TileCachedRecastMeshManager::reportNavMeshChange(const TilePosition& tilePosition, Version recastMeshVersion, Version navMeshVersion) + { + const auto tiles = mTiles.lock(); + const auto it = tiles->find(tilePosition); + if (it == tiles->end()) + return; + it->second.reportNavMeshChange(recastMeshVersion, navMeshVersion); + } + bool TileCachedRecastMeshManager::addTile(const ObjectId id, const btCollisionShape& shape, const btTransform& transform, const AreaType areaType, const TilePosition& tilePosition, float border, std::map& tiles) diff --git a/components/detournavigator/tilecachedrecastmeshmanager.hpp b/components/detournavigator/tilecachedrecastmeshmanager.hpp index fa192bd732..68683f4100 100644 --- a/components/detournavigator/tilecachedrecastmeshmanager.hpp +++ b/components/detournavigator/tilecachedrecastmeshmanager.hpp @@ -5,6 +5,7 @@ #include "tileposition.hpp" #include "settingsutils.hpp" #include "gettilespositions.hpp" +#include "version.hpp" #include @@ -88,6 +89,8 @@ namespace DetourNavigator std::size_t getRevision() const; + void reportNavMeshChange(const TilePosition& tilePosition, Version recastMeshVersion, Version navMeshVersion); + private: const Settings& mSettings; Misc::ScopeGuarded> mTiles; diff --git a/components/detournavigator/version.hpp b/components/detournavigator/version.hpp new file mode 100644 index 0000000000..c9de98459d --- /dev/null +++ b/components/detournavigator/version.hpp @@ -0,0 +1,21 @@ +#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_VERSION_H +#define OPENMW_COMPONENTS_DETOURNAVIGATOR_VERSION_H + +#include +#include + +namespace DetourNavigator +{ + struct Version + { + std::size_t mGeneration; + std::size_t mRevision; + + friend inline bool operator<(const Version& lhs, const Version& rhs) + { + return std::tie(lhs.mGeneration, lhs.mRevision) < std::tie(rhs.mGeneration, rhs.mRevision); + } + }; +} + +#endif