Limit RecastMeshManager range by active cell grid

apps/openmw/mwworld/scene.cpp

@@ -572,11 +572,11 @@ namespace MWWorld
 
     void Scene::changeCellGrid(const osg::Vec3f& pos, ESM::ExteriorCellLocation playerCellIndex, bool changeEvent)
     {
-        mHalfGridSize
+        const int halfGridSize
             = isEsm4Ext(playerCellIndex.mWorldspace) ? Constants::ESM4CellGridRadius : Constants::CellGridRadius;
         auto navigatorUpdateGuard = mNavigator.makeUpdateGuard();
-        int playerCellX = playerCellIndex.mX;
-        int playerCellY = playerCellIndex.mY;
+        const int playerCellX = playerCellIndex.mX;
+        const int playerCellY = playerCellIndex.mY;
 
         for (auto iter = mActiveCells.begin(); iter != mActiveCells.end();)
         {
@@ -585,15 +585,21 @@ namespace MWWorld
             {
                 const auto dx = std::abs(playerCellX - cell->getCell()->getGridX());
                 const auto dy = std::abs(playerCellY - cell->getCell()->getGridY());
-                if (dx > mHalfGridSize || dy > mHalfGridSize)
+                if (dx > halfGridSize || dy > halfGridSize)
                     unloadCell(cell, navigatorUpdateGuard.get());
             }
             else
                 unloadCell(cell, navigatorUpdateGuard.get());
         }
 
-        mNavigator.updateBounds(playerCellIndex.mWorldspace, pos, navigatorUpdateGuard.get());
+        const DetourNavigator::CellGridBounds cellGridBounds{
+            .mCenter = osg::Vec2i(playerCellX, playerCellY),
+            .mHalfSize = halfGridSize,
+        };
+
+        mNavigator.updateBounds(playerCellIndex.mWorldspace, cellGridBounds, pos, navigatorUpdateGuard.get());
 
+        mHalfGridSize = halfGridSize;
         mCurrentGridCenter = osg::Vec2i(playerCellX, playerCellY);
         osg::Vec4i newGrid = gridCenterToBounds(mCurrentGridCenter);
         mRendering.setActiveGrid(newGrid);
@@ -696,7 +702,16 @@ namespace MWWorld
                 ESM::ExteriorCellLocation(it->mData.mX, it->mData.mY, ESM::Cell::sDefaultWorldspaceId));
             const osg::Vec3f position
                 = osg::Vec3f(it->mData.mX + 0.5f, it->mData.mY + 0.5f, 0) * Constants::CellSizeInUnits;
-            mNavigator.updateBounds(ESM::Cell::sDefaultWorldspaceId, position, navigatorUpdateGuard.get());
+            const osg::Vec2i cellPosition(it->mData.mX, it->mData.mY);
+
+            const DetourNavigator::CellGridBounds cellGridBounds{
+                .mCenter = osg::Vec2i(it->mData.mX, it->mData.mY),
+                .mHalfSize = Constants::CellGridRadius,
+            };
+
+            mNavigator.updateBounds(
+                ESM::Cell::sDefaultWorldspaceId, cellGridBounds, position, navigatorUpdateGuard.get());
+
             loadCell(cell, nullptr, false, position, navigatorUpdateGuard.get());
 
             mNavigator.update(position, navigatorUpdateGuard.get());
@@ -752,7 +767,8 @@ namespace MWWorld
             CellStore& cell = mWorld.getWorldModel().getInterior(it->mName);
             ESM::Position position;
             mWorld.findInteriorPosition(it->mName, position);
-            mNavigator.updateBounds(cell.getCell()->getWorldSpace(), position.asVec3(), navigatorUpdateGuard.get());
+            mNavigator.updateBounds(
+                cell.getCell()->getWorldSpace(), std::nullopt, position.asVec3(), navigatorUpdateGuard.get());
             loadCell(cell, nullptr, false, position.asVec3(), navigatorUpdateGuard.get());
 
             mNavigator.update(position.asVec3(), navigatorUpdateGuard.get());
@@ -902,7 +918,8 @@ namespace MWWorld
 
         loadingListener->setProgressRange(cell.count());
 
-        mNavigator.updateBounds(cell.getCell()->getWorldSpace(), position.asVec3(), navigatorUpdateGuard.get());
+        mNavigator.updateBounds(
+            cell.getCell()->getWorldSpace(), std::nullopt, position.asVec3(), navigatorUpdateGuard.get());
 
         // Load cell.
         mPagedRefs.clear();

apps/openmw_test_suite/detournavigator/navigator.cpp

@@ -859,6 +859,17 @@ namespace
         EXPECT_EQ(mNavigator->getNavMesh(mAgentBounds)->lockConst()->getVersion(), version);
     }
 
+    std::pair<TilePosition, TilePosition> getMinMax(const RecastMeshTiles& tiles)
+    {
+        const auto lessByX = [](const auto& l, const auto& r) { return l.first.x() < r.first.x(); };
+        const auto lessByY = [](const auto& l, const auto& r) { return l.first.y() < r.first.y(); };
+
+        const auto [minX, maxX] = std::ranges::minmax_element(tiles, lessByX);
+        const auto [minY, maxY] = std::ranges::minmax_element(tiles, lessByY);
+
+        return { TilePosition(minX->first.x(), minY->first.y()), TilePosition(maxX->first.x(), maxY->first.y()) };
+    }
+
     TEST_F(DetourNavigatorNavigatorTest, update_for_very_big_object_should_be_limited)
     {
         const float size = static_cast<float>((1 << 22) - 1);
@@ -867,8 +878,10 @@ namespace
             .mPosition = ESM::Position{ .pos = { 0, 0, 0 }, .rot{ 0, 0, 0 } },
             .mScale = 1.0f,
         };
+        const std::optional<CellGridBounds> cellGridBounds = std::nullopt;
+        const osg::Vec3f playerPosition(32, 1024, 0);
 
-        mNavigator->updateBounds(mWorldspace, mPlayerPosition, nullptr);
+        mNavigator->updateBounds(mWorldspace, cellGridBounds, playerPosition, nullptr);
         ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
         mNavigator->addObject(ObjectId(&bigBox.shape()), ObjectShapes(bigBox.instance(), objectTransform),
             btTransform::getIdentity(), nullptr);
@@ -878,7 +891,61 @@ namespace
         std::mutex mutex;
 
         std::thread thread([&] {
-            mNavigator->update(mPlayerPosition, nullptr);
+            auto guard = mNavigator->makeUpdateGuard();
+            mNavigator->update(playerPosition, guard.get());
+            std::lock_guard lock(mutex);
+            updated = true;
+            updateFinished.notify_all();
+        });
+
+        {
+            std::unique_lock lock(mutex);
+            updateFinished.wait_for(lock, std::chrono::seconds(10), [&] { return updated; });
+            ASSERT_TRUE(updated);
+        }
+
+        thread.join();
+
+        mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
+
+        const auto recastMeshTiles = mNavigator->getRecastMeshTiles();
+        ASSERT_EQ(recastMeshTiles.size(), 1033);
+        EXPECT_EQ(getMinMax(recastMeshTiles), std::pair(TilePosition(-18, -17), TilePosition(18, 19)));
+
+        const auto navMesh = mNavigator->getNavMesh(mAgentBounds);
+        ASSERT_NE(navMesh, nullptr);
+
+        std::size_t usedNavMeshTiles = 0;
+        navMesh->lockConst()->forEachUsedTile([&](const auto&...) { ++usedNavMeshTiles; });
+        EXPECT_EQ(usedNavMeshTiles, 1024);
+    }
+
+    TEST_F(DetourNavigatorNavigatorTest, update_should_be_limited_by_cell_grid_bounds)
+    {
+        const float size = static_cast<float>((1 << 22) - 1);
+        CollisionShapeInstance bigBox(std::make_unique<btBoxShape>(btVector3(size, size, 1)));
+        const ObjectTransform objectTransform{
+            .mPosition = ESM::Position{ .pos = { 0, 0, 0 }, .rot{ 0, 0, 0 } },
+            .mScale = 1.0f,
+        };
+        const CellGridBounds cellGridBounds{
+            .mCenter = osg::Vec2i(0, 0),
+            .mHalfSize = 1,
+        };
+        const osg::Vec3f playerPosition(32, 1024, 0);
+
+        mNavigator->updateBounds(mWorldspace, cellGridBounds, playerPosition, nullptr);
+        ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
+        mNavigator->addObject(ObjectId(&bigBox.shape()), ObjectShapes(bigBox.instance(), objectTransform),
+            btTransform::getIdentity(), nullptr);
+
+        bool updated = false;
+        std::condition_variable updateFinished;
+        std::mutex mutex;
+
+        std::thread thread([&] {
+            auto guard = mNavigator->makeUpdateGuard();
+            mNavigator->update(playerPosition, guard.get());
             std::lock_guard lock(mutex);
             updated = true;
             updateFinished.notify_all();
@@ -886,7 +953,7 @@ namespace
 
         {
             std::unique_lock lock(mutex);
-            updateFinished.wait_for(lock, std::chrono::seconds(3), [&] { return updated; });
+            updateFinished.wait_for(lock, std::chrono::seconds(10), [&] { return updated; });
             ASSERT_TRUE(updated);
         }
 
@@ -894,14 +961,16 @@ namespace
 
         mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
 
-        EXPECT_EQ(mNavigator->getRecastMeshTiles().size(), 509);
+        const auto recastMeshTiles = mNavigator->getRecastMeshTiles();
+        ASSERT_EQ(recastMeshTiles.size(), 854);
+        EXPECT_EQ(getMinMax(recastMeshTiles), std::pair(TilePosition(-12, -12), TilePosition(18, 19)));
 
         const auto navMesh = mNavigator->getNavMesh(mAgentBounds);
         ASSERT_NE(navMesh, nullptr);
 
         std::size_t usedNavMeshTiles = 0;
         navMesh->lockConst()->forEachUsedTile([&](const auto&...) { ++usedNavMeshTiles; });
-        EXPECT_EQ(usedNavMeshTiles, 509);
+        EXPECT_EQ(usedNavMeshTiles, 854);
     }
 
     struct DetourNavigatorNavigatorNotSupportedAgentBoundsTest : TestWithParam<AgentBounds>

apps/openmw_test_suite/detournavigator/settings.hpp

@@ -39,7 +39,7 @@ namespace DetourNavigator
             result.mDetour.mMaxPolygonPathSize = 1024;
             result.mDetour.mMaxSmoothPathSize = 1024;
             result.mDetour.mMaxPolys = 4096;
-            result.mMaxTilesNumber = 512;
+            result.mMaxTilesNumber = 1024;
             result.mMinUpdateInterval = std::chrono::milliseconds(50);
             result.mWriteToNavMeshDb = true;
             return result;

apps/openmw_test_suite/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -173,7 +173,7 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const TilesPositionsRange range{
             .mBegin = TilePosition(-1, -1),
-            .mEnd = TilePosition(1, 1),
+            .mEnd = TilePosition(2, 2),
         };
         manager.setRange(range, nullptr);
         manager.setWorldspace(mWorldspace, nullptr);

components/detournavigator/cellgridbounds.hpp

@@ -0,0 +1,15 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_CELLGRIDBOUNDS_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_CELLGRIDBOUNDS_H
+
+#include <osg/Vec2i>
+
+namespace DetourNavigator
+{
+    struct CellGridBounds
+    {
+        osg::Vec2i mCenter;
+        int mHalfSize;
+    };
+}
+
+#endif

components/detournavigator/navigator.hpp

@@ -3,7 +3,9 @@
 
 #include <cassert>
 #include <filesystem>
+#include <optional>
 
+#include "cellgridbounds.hpp"
 #include "heightfieldshape.hpp"
 #include "objectid.hpp"
 #include "objecttransform.hpp"
@@ -89,7 +91,8 @@ namespace DetourNavigator
         virtual void removeAgent(const AgentBounds& agentBounds) = 0;
 
         // Updates bounds for recast mesh and navmesh tiles, removes tiles outside the range.
-        virtual void updateBounds(ESM::RefId worldspace, const osg::Vec3f& playerPosition, const UpdateGuard* guard)
+        virtual void updateBounds(ESM::RefId worldspace, const std::optional<CellGridBounds>& cellGridBounds,
+            const osg::Vec3f& playerPosition, const UpdateGuard* guard)
             = 0;
 
         /**

components/detournavigator/navigatorimpl.cpp

@@ -33,9 +33,10 @@ namespace DetourNavigator
             --it->second;
     }
 
-    void NavigatorImpl::updateBounds(ESM::RefId worldspace, const osg::Vec3f& playerPosition, const UpdateGuard* guard)
+    void NavigatorImpl::updateBounds(ESM::RefId worldspace, const std::optional<CellGridBounds>& cellGridBounds,
+        const osg::Vec3f& playerPosition, const UpdateGuard* guard)
     {
-        mNavMeshManager.updateBounds(worldspace, playerPosition, guard);
+        mNavMeshManager.updateBounds(worldspace, cellGridBounds, playerPosition, guard);
     }
 
     void NavigatorImpl::addObject(

components/detournavigator/navigatorimpl.hpp

@@ -27,7 +27,8 @@ namespace DetourNavigator
 
         void removeAgent(const AgentBounds& agentBounds) override;
 
-        void updateBounds(ESM::RefId worldspace, const osg::Vec3f& playerPosition, const UpdateGuard* guard) override;
+        void updateBounds(ESM::RefId worldspace, const std::optional<CellGridBounds>& cellGridBounds,
+            const osg::Vec3f& playerPosition, const UpdateGuard* guard) override;
 
         void addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform,
             const UpdateGuard* guard) override;

components/detournavigator/navigatorstub.hpp

@@ -24,8 +24,8 @@ namespace DetourNavigator
 
         void removeAgent(const AgentBounds& /*agentBounds*/) override {}
 
-        void updateBounds(
-            ESM::RefId /*worldspace*/, const osg::Vec3f& /*playerPosition*/, const UpdateGuard* /*guard*/) override
+        void updateBounds(ESM::RefId /*worldspace*/, const std::optional<CellGridBounds>& /*cellGridBounds*/,
+            const osg::Vec3f& /*playerPosition*/, const UpdateGuard* /*guard*/) override
         {
         }
 

components/detournavigator/navmeshmanager.cpp

@@ -1,4 +1,5 @@
 #include "navmeshmanager.hpp"
+
 #include "debug.hpp"
 #include "gettilespositions.hpp"
 #include "makenavmesh.hpp"
@@ -8,6 +9,7 @@
 #include "waitconditiontype.hpp"
 
 #include <components/debug/debuglog.hpp>
+#include <components/esm/util.hpp>
 
 #include <osg/io_utils>
 
@@ -35,15 +37,46 @@ namespace DetourNavigator
 {
     namespace
     {
-        TilesPositionsRange makeRange(const TilePosition& center, int maxTiles)
+        int getMaxRadius(int maxTiles)
+        {
+            return static_cast<int>(std::ceil(std::sqrt(static_cast<float>(maxTiles) / osg::PIf) + 1));
+        }
+
+        TilesPositionsRange makeRange(const TilePosition& center, int radius)
         {
-            const int radius = static_cast<int>(std::ceil(std::sqrt(static_cast<float>(maxTiles) / osg::PIf) + 1));
             return TilesPositionsRange{
                 .mBegin = center - TilePosition(radius, radius),
                 .mEnd = center + TilePosition(radius + 1, radius + 1),
             };
         }
 
+        osg::Vec2f getMinCellGridPosition(const osg::Vec2i& center, int offset, float cellSize)
+        {
+            const osg::Vec2i cell = center + osg::Vec2i(offset, offset);
+            return osg::Vec2f(static_cast<float>(cell.x()) * cellSize, static_cast<float>(cell.y()) * cellSize);
+        }
+
+        TilesPositionsRange makeCellGridRange(
+            const RecastSettings& settings, ESM::RefId worldspace, const CellGridBounds& bounds)
+        {
+            const float floatCellSize = static_cast<float>(ESM::getCellSize(worldspace));
+            const osg::Vec2f min = getMinCellGridPosition(bounds.mCenter, -bounds.mHalfSize, floatCellSize);
+            const osg::Vec2f max = getMinCellGridPosition(bounds.mCenter, bounds.mHalfSize + 1, floatCellSize);
+            return TilesPositionsRange{
+                .mBegin = getTilePosition(settings, toNavMeshCoordinates(settings, min)),
+                .mEnd = getTilePosition(settings, toNavMeshCoordinates(settings, max)),
+            };
+        }
+
+        TilesPositionsRange makeRange(const Settings& settings, ESM::RefId worldspace,
+            const std::optional<CellGridBounds>& bounds, int radius, const TilePosition& center)
+        {
+            TilesPositionsRange result = makeRange(center, radius);
+            if (bounds.has_value())
+                result = getIntersection(result, makeCellGridRange(settings.mRecast, worldspace, *bounds));
+            return result;
+        }
+
         TilePosition toNavMeshTilePosition(const RecastSettings& settings, const osg::Vec3f& position)
         {
             return getTilePosition(settings, toNavMeshCoordinates(settings, position));
@@ -52,13 +85,15 @@ namespace DetourNavigator
 
     NavMeshManager::NavMeshManager(const Settings& settings, std::unique_ptr<NavMeshDb>&& db)
         : mSettings(settings)
+        , mMaxRadius(getMaxRadius(settings.mMaxTilesNumber))
         , mRecastMeshManager(settings.mRecast)
         , mOffMeshConnectionsManager(settings.mRecast)
         , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager, std::move(db))
     {
     }
 
-    void NavMeshManager::updateBounds(ESM::RefId worldspace, const osg::Vec3f& playerPosition, const UpdateGuard* guard)
+    void NavMeshManager::updateBounds(ESM::RefId worldspace, const std::optional<CellGridBounds>& cellGridBounds,
+        const osg::Vec3f& playerPosition, const UpdateGuard* guard)
     {
         if (worldspace != mWorldspace)
         {
@@ -69,8 +104,9 @@ namespace DetourNavigator
         }
 
         const TilePosition playerTile = toNavMeshTilePosition(mSettings.mRecast, playerPosition);
-        const TilesPositionsRange range = makeRange(playerTile, mSettings.mMaxTilesNumber);
-        mRecastMeshManager.setRange(range, guard);
+
+        mRecastMeshManager.setRange(makeRange(mSettings, worldspace, cellGridBounds, mMaxRadius, playerTile), guard);
+        mCellGridBounds = cellGridBounds;
     }
 
     bool NavMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
@@ -162,7 +198,7 @@ namespace DetourNavigator
             return;
         mLastRecastMeshManagerRevision = mRecastMeshManager.getRevision();
         mPlayerTile = playerTile;
-        mRecastMeshManager.setRange(makeRange(playerTile, mSettings.mMaxTilesNumber), guard);
+        mRecastMeshManager.setRange(makeRange(mSettings, mWorldspace, mCellGridBounds, mMaxRadius, playerTile), guard);
         const auto changedTiles = mRecastMeshManager.takeChangedTiles(guard);
         const TilesPositionsRange range = mRecastMeshManager.getLimitedObjectsRange();
         for (const auto& [agentBounds, cached] : mCache)

components/detournavigator/navmeshmanager.hpp

@@ -3,6 +3,7 @@
 
 #include "agentbounds.hpp"
 #include "asyncnavmeshupdater.hpp"
+#include "cellgridbounds.hpp"
 #include "heightfieldshape.hpp"
 #include "offmeshconnectionsmanager.hpp"
 #include "recastmeshtiles.hpp"
@@ -24,7 +25,8 @@ namespace DetourNavigator
 
         ScopedUpdateGuard makeUpdateGuard() { return mRecastMeshManager.makeUpdateGuard(); }
 
-        void updateBounds(ESM::RefId worldspace, const osg::Vec3f& playerPosition, const UpdateGuard* guard);
+        void updateBounds(ESM::RefId worldspace, const std::optional<CellGridBounds>& cellGridBounds,
+            const osg::Vec3f& playerPosition, const UpdateGuard* guard);
 
         bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
             const AreaType areaType, const UpdateGuard* guard);
@@ -65,7 +67,9 @@ namespace DetourNavigator
 
     private:
         const Settings& mSettings;
+        const int mMaxRadius;
         ESM::RefId mWorldspace;
+        std::optional<CellGridBounds> mCellGridBounds;
         TileCachedRecastMeshManager mRecastMeshManager;
         OffMeshConnectionsManager mOffMeshConnectionsManager;
         AsyncNavMeshUpdater mAsyncNavMeshUpdater;

components/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -107,11 +107,10 @@ namespace DetourNavigator
             });
         }
 
+        const MaybeLockGuard lock(mMutex, guard);
+
         if (changed)
-        {
-            const MaybeLockGuard lock(mMutex, guard);
             ++mRevision;
-        }
 
         mRange = range;
     }
@@ -357,6 +356,8 @@ namespace DetourNavigator
             const std::lock_guard lock(mMutex);
             if (mWorldspace != worldspace)
                 return nullptr;
+            if (!isInTilesPositionsRange(mRange, tilePosition))
+                return nullptr;
             const auto it = mCache.find(tilePosition);
             if (it != mCache.end() && it->second.mRecastMesh->getVersion() == it->second.mVersion)
                 return it->second.mRecastMesh;
@@ -380,6 +381,8 @@ namespace DetourNavigator
         const std::lock_guard lock(mMutex);
         if (mWorldspace != worldspace)
             return nullptr;
+        if (!isInTilesPositionsRange(mRange, tilePosition))
+            return nullptr;
         const auto it = mCache.find(tilePosition);
         if (it == mCache.end())
             return nullptr;