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Add enums for area type and flags

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elsid 2018-07-18 22:09:50 +03:00
parent fa23b590a4
commit 72f211ef28
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23 changed files with 218 additions and 148 deletions
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100
apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp
View file

@ -40,7 +40,7 @@ namespace
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>());
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>());
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>());
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>());
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape)
@ -49,7 +49,7 @@ namespace
mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), 1);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
@ -57,7 +57,7 @@ namespace
-1, 0, -1,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_bhv_triangle_mesh_shape)
@ -69,7 +69,7 @@ namespace
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
1
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
@ -78,7 +78,7 @@ namespace
0, 3, 0,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_terrian_shape)
@ -86,7 +86,7 @@ namespace
const std::array<btScalar, 4> heightfieldData {{0, 0, 0, 0}};
btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), 1);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-0.5, 0, -0.5,
@ -97,14 +97,14 @@ namespace
0.5, 0, 0.5,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1, 1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground, AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles)
{
btBoxShape shape(btVector3(1, 1, 2));
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), 1);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 2, 1,
@ -130,7 +130,7 @@ namespace
7, 6, 4,
4, 5, 7,
}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>(12, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_compound_shape)
@ -147,7 +147,11 @@ namespace
shape.addChildShape(btTransform::getIdentity(), &box);
shape.addChildShape(btTransform::getIdentity(), &triangle2);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), 1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
@ -181,7 +185,7 @@ namespace
7, 8, 10,
11, 12, 13,
}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>(14, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape)
@ -192,9 +196,11 @@ namespace
btCompoundShape shape;
shape.addChildShape(btTransform::getIdentity(), &triangle);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
2, 3, 0,
@ -202,7 +208,7 @@ namespace
0, 3, 0,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape_with_transformed_bhv_triangle_shape)
@ -217,7 +223,7 @@ namespace
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
1
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
@ -226,7 +232,7 @@ namespace
1, 12, 2,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, without_bounds_add_bhv_triangle_shape_should_not_filter_by_bounds)
@ -236,7 +242,11 @@ namespace
mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), 1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
@ -247,7 +257,7 @@ namespace
-3, 0, -3,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1, 1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>(2, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_bhv_triangle_shape_should_filter_by_bounds)
@ -260,7 +270,11 @@ namespace
mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), 1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-0.2f, 0, -0.3f,
@ -268,7 +282,7 @@ namespace
-0.3f, 0, -0.3f,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds)
@ -280,8 +294,12 @@ namespace
mesh.addTriangle(btVector3(0, -3, -3), btVector3(0, -3, -2), btVector3(0, -2, -3));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(1, 0, 0), static_cast<btScalar>(-osg::PI_4))), 1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(1, 0, 0),
static_cast<btScalar>(-osg::PI_4))),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
0, -0.70710659027099609375, -3.535533905029296875,
@ -289,7 +307,7 @@ namespace
0, 2.384185791015625e-07, -4.24264049530029296875,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_y_bhv_triangle_shape_should_filter_by_bounds)
@ -301,8 +319,12 @@ namespace
mesh.addTriangle(btVector3(-3, 0, -3), btVector3(-3, 0, -2), btVector3(-2, 0, -3));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(0, 1, 0), static_cast<btScalar>(osg::PI_4))), 1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(0, 1, 0),
static_cast<btScalar>(osg::PI_4))),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-3.535533905029296875, -0.70710659027099609375, 0,
@ -310,7 +332,7 @@ namespace
-4.24264049530029296875, 2.384185791015625e-07, 0,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_z_bhv_triangle_shape_should_filter_by_bounds)
@ -322,8 +344,12 @@ namespace
mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(0, 0, 1), static_cast<btScalar>(osg::PI_4))), 1);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(0, 0, 1),
static_cast<btScalar>(osg::PI_4))),
AreaType_ground
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
0.707107067108154296875, 0, -3.535533905029296875,
@ -331,7 +357,7 @@ namespace
2.384185791015625e-07, 0, -4.24264049530029296875,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, flags_values_should_be_corresponding_to_added_objects)
@ -343,8 +369,16 @@ namespace
mesh2.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape2(&mesh2, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape1), btTransform::getIdentity(), 1);
builder.addObject(static_cast<const btCollisionShape&>(shape2), btTransform::getIdentity(), 0);
builder.addObject(
static_cast<const btCollisionShape&>(shape1),
btTransform::getIdentity(),
AreaType_ground
);
builder.addObject(
static_cast<const btCollisionShape&>(shape2),
btTransform::getIdentity(),
AreaType_null
);
const auto recastMesh = builder.create();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
@ -355,6 +389,6 @@ namespace
-3, 0, -3,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
EXPECT_EQ(recastMesh->getFlags(), std::vector<unsigned char>({1, 0}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground, AreaType_null}));
}
}

28
apps/openmw_test_suite/detournavigator/recastmeshobject.cpp
View file

@ -26,47 +26,47 @@ namespace
TEST_F(DetourNavigatorRecastMeshObjectTest, constructed_object_should_have_shape_and_transform)
{
const RecastMeshObject object(mBoxShape, mTransform, 1);
const RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShape));
EXPECT_EQ(object.getTransform(), mTransform);
}
TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_same_transform_for_not_compound_shape_should_return_false)
{
RecastMeshObject object(mBoxShape, mTransform, 1);
EXPECT_FALSE(object.update(mTransform, 1));
RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
EXPECT_FALSE(object.update(mTransform, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_transform_should_return_true)
{
RecastMeshObject object(mBoxShape, mTransform, 1);
EXPECT_TRUE(object.update(btTransform::getIdentity(), 1));
RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
EXPECT_TRUE(object.update(btTransform::getIdentity(), AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshObjectTest, update_with_different_flags_should_return_true)
{
RecastMeshObject object(mBoxShape, mTransform, 1);
EXPECT_TRUE(object.update(mTransform, 2));
RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
EXPECT_TRUE(object.update(mTransform, AreaType_null));
}
TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_not_changed_child_transform_should_return_false)
{
RecastMeshObject object(mCompoundShape, mTransform, 1);
EXPECT_FALSE(object.update(mTransform, 1));
RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
EXPECT_FALSE(object.update(mTransform, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_changed_child_transform_should_return_true)
{
RecastMeshObject object(mCompoundShape, mTransform, 1);
RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
mCompoundShape.updateChildTransform(0, btTransform::getIdentity());
EXPECT_TRUE(object.update(mTransform, 1));
EXPECT_TRUE(object.update(mTransform, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshObjectTest, repeated_update_for_compound_shape_without_changes_should_return_false)
{
RecastMeshObject object(mCompoundShape, mTransform, 1);
RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
mCompoundShape.updateChildTransform(0, btTransform::getIdentity());
object.update(mTransform, 1);
EXPECT_FALSE(object.update(mTransform, 1));
object.update(mTransform, AreaType_ground);
EXPECT_FALSE(object.update(mTransform, AreaType_ground));
}
}

15
components/detournavigator/areatype.hpp Normal file
View file

@ -0,0 +1,15 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_AREATYPE_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_AREATYPE_H
#include <Recast.h>
namespace DetourNavigator
{
enum AreaType : unsigned char
{
AreaType_null = RC_NULL_AREA,
AreaType_ground = RC_WALKABLE_AREA,
};
}
#endif

8
components/detournavigator/cachedrecastmeshmanager.cpp
View file

@ -8,17 +8,17 @@ namespace DetourNavigator
{}
bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape,
const btTransform& transform, const unsigned char flags)
const btTransform& transform, const AreaType areaType)
{
if (!mImpl.addObject(id, shape, transform, flags))
if (!mImpl.addObject(id, shape, transform, areaType))
return false;
mCached.reset();
return true;
}
bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const unsigned char flags)
bool CachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const AreaType areaType)
{
if (!mImpl.updateObject(id, transform, flags))
if (!mImpl.updateObject(id, transform, areaType))
return false;
mCached.reset();
return true;

4
components/detournavigator/cachedrecastmeshmanager.hpp
View file

@ -13,9 +13,9 @@ namespace DetourNavigator
CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds);
bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags);
const AreaType areaType);
bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags);
bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType);
boost::optional<RemovedRecastMeshObject> removeObject(std::size_t id);

20
components/detournavigator/chunkytrimesh.cpp
View file

@ -13,7 +13,7 @@ namespace DetourNavigator
{
Rect mBounds;
std::ptrdiff_t mOffset;
unsigned char mFlags;
unsigned char mAreaTypes;
};
template <std::size_t axis>
@ -44,9 +44,9 @@ namespace DetourNavigator
}
void subdivide(std::vector<BoundsItem>& items, const std::size_t imin, const std::size_t imax,
const std::size_t trisPerChunk, const std::vector<int>& inIndices, const std::vector<unsigned char>& inFlags,
const std::size_t trisPerChunk, const std::vector<int>& inIndices, const std::vector<AreaType>& inAreaTypes,
std::size_t& curNode, std::vector<ChunkyTriMeshNode>& nodes, std::size_t& curTri,
std::vector<int>& outIndices, std::vector<unsigned char>& outFlags)
std::vector<int>& outIndices, std::vector<AreaType>& outAreaTypes)
{
const auto inum = imax - imin;
const auto icur = curNode;
@ -72,7 +72,7 @@ namespace DetourNavigator
inIndices.begin() + items[i].mOffset * 3 + 3,
outIndices.begin() + static_cast<std::ptrdiff_t>(curTri) * 3
);
outFlags[curTri] = inFlags[static_cast<std::size_t>(items[i].mOffset)];
outAreaTypes[curTri] = inAreaTypes[static_cast<std::size_t>(items[i].mOffset)];
curTri++;
}
}
@ -104,9 +104,9 @@ namespace DetourNavigator
const auto isplit = imin + inum / 2;
// Left
subdivide(items, imin, isplit, trisPerChunk, inIndices, inFlags, curNode, nodes, curTri, outIndices, outFlags);
subdivide(items, imin, isplit, trisPerChunk, inIndices, inAreaTypes, curNode, nodes, curTri, outIndices, outAreaTypes);
// Right
subdivide(items, isplit, imax, trisPerChunk, inIndices, inFlags, curNode, nodes, curTri, outIndices, outFlags);
subdivide(items, isplit, imax, trisPerChunk, inIndices, inAreaTypes, curNode, nodes, curTri, outIndices, outAreaTypes);
const auto iescape = static_cast<std::ptrdiff_t>(curNode) - static_cast<std::ptrdiff_t>(icur);
// Negative index means escape.
@ -116,7 +116,7 @@ namespace DetourNavigator
}
ChunkyTriMesh::ChunkyTriMesh(const std::vector<float>& verts, const std::vector<int>& indices,
const std::vector<unsigned char>& flags, const std::size_t trisPerChunk)
const std::vector<AreaType>& flags, const std::size_t trisPerChunk)
: mMaxTrisPerChunk(0)
{
const auto trianglesCount = indices.size() / 3;
@ -128,7 +128,7 @@ namespace DetourNavigator
mNodes.resize(nchunks * 4);
mIndices.resize(trianglesCount * 3);
mFlags.resize(trianglesCount);
mAreaTypes.resize(trianglesCount);
// Build tree
std::vector<BoundsItem> items(trianglesCount);
@ -138,7 +138,7 @@ namespace DetourNavigator
auto& item = items[i];
item.mOffset = static_cast<std::ptrdiff_t>(i);
item.mFlags = flags[i];
item.mAreaTypes = flags[i];
// Calc triangle XZ bounds.
const auto baseIndex = static_cast<std::size_t>(indices[i * 3]) * 3;
@ -160,7 +160,7 @@ namespace DetourNavigator
std::size_t curTri = 0;
std::size_t curNode = 0;
subdivide(items, 0, trianglesCount, trisPerChunk, indices, flags, curNode, mNodes, curTri, mIndices, mFlags);
subdivide(items, 0, trianglesCount, trisPerChunk, indices, flags, curNode, mNodes, curTri, mIndices, mAreaTypes);
items.clear();

10
components/detournavigator/chunkytrimesh.hpp
View file

@ -1,6 +1,8 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_CHUNKYTRIMESH_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_CHUNKYTRIMESH_H
#include "areatype.hpp"
#include <osg/Vec2f>
#include <array>
@ -24,7 +26,7 @@ namespace DetourNavigator
struct Chunk
{
const int* const mIndices;
const unsigned char* const mFlags;
const AreaType* const mAreaTypes;
const std::size_t mSize;
};
@ -42,7 +44,7 @@ namespace DetourNavigator
/// Creates partitioned triangle mesh (AABB tree),
/// where each node contains at max trisPerChunk triangles.
ChunkyTriMesh(const std::vector<float>& verts, const std::vector<int>& tris,
const std::vector<unsigned char>& flags, const std::size_t trisPerChunk);
const std::vector<AreaType>& flags, const std::size_t trisPerChunk);
ChunkyTriMesh(const ChunkyTriMesh&) = delete;
ChunkyTriMesh& operator=(const ChunkyTriMesh&) = delete;
@ -76,7 +78,7 @@ namespace DetourNavigator
const auto& node = mNodes[chunkId];
return Chunk {
mIndices.data() + node.mOffset * 3,
mFlags.data() + node.mOffset,
mAreaTypes.data() + node.mOffset,
node.mSize
};
}
@ -89,7 +91,7 @@ namespace DetourNavigator
private:
std::vector<ChunkyTriMeshNode> mNodes;
std::vector<int> mIndices;
std::vector<unsigned char> mFlags;
std::vector<AreaType> mAreaTypes;
std::size_t mMaxTrisPerChunk;
};
}

15
components/detournavigator/flags.hpp Normal file
View file

@ -0,0 +1,15 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_FLAGS_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_FLAGS_H
namespace DetourNavigator
{
using Flags = unsigned short;
enum Flag : Flags
{
Flag_none = 0,
Flag_walk = 1 << 0,
};
}
#endif

11
components/detournavigator/makenavmesh.cpp
View file

@ -8,6 +8,7 @@
#include "settingsutils.hpp"
#include "sharednavmesh.hpp"
#include "settingsutils.hpp"
#include "flags.hpp"
#include <DetourNavMesh.h>
#include <DetourNavMeshBuilder.h>
@ -99,7 +100,7 @@ namespace
{
const auto& chunkyMesh = recastMesh.getChunkyTriMesh();
std::vector<unsigned char> areas(chunkyMesh.getMaxTrisPerChunk(), RC_NULL_AREA);
std::vector<unsigned char> areas(chunkyMesh.getMaxTrisPerChunk(), AreaType_null);
const osg::Vec2f tileBoundsMin(config.bmin[0], config.bmin[2]);
const osg::Vec2f tileBoundsMax(config.bmax[0], config.bmax[2]);
std::vector<std::size_t> cids;
@ -116,7 +117,7 @@ namespace
areas.begin(),
std::min(areas.begin() + static_cast<std::ptrdiff_t>(chunk.mSize),
areas.end()),
RC_NULL_AREA
AreaType_null
);
rcMarkWalkableTriangles(
@ -130,7 +131,7 @@ namespace
);
for (std::size_t i = 0; i < chunk.mSize; ++i)
areas[i] &= chunk.mFlags[i];
areas[i] = chunk.mAreaTypes[i];
rcClearUnwalkableTriangles(
&context,
@ -186,8 +187,8 @@ namespace
}
for (int i = 0; i < polyMesh.npolys; ++i)
if (polyMesh.areas[i] == RC_WALKABLE_AREA)
polyMesh.flags[i] = 1;
if (polyMesh.areas[i] == AreaType_ground)
polyMesh.flags[i] = Flag_walk;
dtNavMeshCreateParams params;
params.verts = polyMesh.verts;

8
components/detournavigator/navigator.cpp
View file

@ -29,7 +29,7 @@ namespace DetourNavigator
bool Navigator::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
{
return mNavMeshManager.addObject(id, shape, transform, RC_WALKABLE_AREA);
return mNavMeshManager.addObject(id, shape, transform, AreaType_ground);
}
bool Navigator::addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform)
@ -38,7 +38,7 @@ namespace DetourNavigator
if (shapes.mAvoid)
{
const auto avoidId = reinterpret_cast<std::size_t>(shapes.mAvoid);
if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, RC_NULL_AREA))
if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, AreaType_null))
{
updateAvoidShapeId(id, avoidId);
result = true;
@ -49,7 +49,7 @@ namespace DetourNavigator
bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
{
return mNavMeshManager.updateObject(id, shape, transform, RC_WALKABLE_AREA);
return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground);
}
bool Navigator::updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform)
@ -58,7 +58,7 @@ namespace DetourNavigator
if (shapes.mAvoid)
{
const auto avoidId = reinterpret_cast<std::size_t>(shapes.mAvoid);
if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, RC_NULL_AREA))
if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, AreaType_null))
{
updateAvoidShapeId(id, avoidId);
result = true;

3
components/detournavigator/navigator.hpp
View file

@ -15,8 +15,7 @@ namespace DetourNavigator
ObjectShapes(const btCollisionShape& shape, const btCollisionShape* avoid)
: mShape(shape), mAvoid(avoid)
{
}
{}
};
class Navigator

8
components/detournavigator/navmeshmanager.cpp
View file

@ -32,18 +32,18 @@ namespace DetourNavigator
{}
bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
if (!mRecastMeshManager.addObject(id, shape, transform, flags))
if (!mRecastMeshManager.addObject(id, shape, transform, areaType))
return false;
addChangedTiles(shape, transform, ChangeType::add);
return true;
}
bool NavMeshManager::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
if (!mRecastMeshManager.updateObject(id, transform, flags))
if (!mRecastMeshManager.updateObject(id, transform, areaType))
return false;
addChangedTiles(shape, transform, ChangeType::mixed);
return true;

4
components/detournavigator/navmeshmanager.hpp
View file

@ -24,10 +24,10 @@ namespace DetourNavigator
NavMeshManager(const Settings& settings);
bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags);
const AreaType areaType);
bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags);
const AreaType areaType);
bool removeObject(std::size_t id);

10
components/detournavigator/recastmesh.cpp
View file

@ -7,15 +7,15 @@
namespace DetourNavigator
{
RecastMesh::RecastMesh(std::vector<int> indices, std::vector<float> vertices,
std::vector<unsigned char> flags, const Settings& settings)
std::vector<AreaType> areaTypes, const Settings& settings)
: mIndices(std::move(indices))
, mVertices(std::move(vertices))
, mFlags(std::move(flags))
, mChunkyTriMesh(mVertices, mIndices, mFlags, settings.mTrianglesPerChunk)
, mAreaTypes(std::move(areaTypes))
, mChunkyTriMesh(mVertices, mIndices, mAreaTypes, settings.mTrianglesPerChunk)
{
if (getTrianglesCount() != mFlags.size())
if (getTrianglesCount() != mAreaTypes.size())
throw InvalidArgument("number of flags doesn't match number of triangles: triangles="
+ std::to_string(getTrianglesCount()) + ", flags=" + std::to_string(mFlags.size()));
+ std::to_string(getTrianglesCount()) + ", areaTypes=" + std::to_string(mAreaTypes.size()));
if (getVerticesCount())
rcCalcBounds(mVertices.data(), static_cast<int>(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr());
}

9
components/detournavigator/recastmesh.hpp
View file

@ -1,6 +1,7 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESH_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESH_H
#include "areatype.hpp"
#include "chunkytrimesh.hpp"
#include <memory>
@ -16,7 +17,7 @@ namespace DetourNavigator
{
public:
RecastMesh(std::vector<int> indices, std::vector<float> vertices,
std::vector<unsigned char> flags, const Settings& settings);
std::vector<AreaType> areaTypes, const Settings& settings);
const std::vector<int>& getIndices() const
{
@ -28,9 +29,9 @@ namespace DetourNavigator
return mVertices;
}
const std::vector<unsigned char>& getFlags() const
const std::vector<AreaType>& getAreaTypes() const
{
return mFlags;
return mAreaTypes;
}
std::size_t getVerticesCount() const
@ -61,7 +62,7 @@ namespace DetourNavigator
private:
std::vector<int> mIndices;
std::vector<float> mVertices;
std::vector<unsigned char> mFlags;
std::vector<AreaType> mAreaTypes;
ChunkyTriMesh mChunkyTriMesh;
osg::Vec3f mBoundsMin;
osg::Vec3f mBoundsMax;

30
components/detournavigator/recastmeshbuilder.cpp
View file

@ -36,51 +36,51 @@ namespace DetourNavigator
}
void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
if (shape.isCompound())
return addObject(static_cast<const btCompoundShape&>(shape), transform, flags);
return addObject(static_cast<const btCompoundShape&>(shape), transform, areaType);
else if (shape.getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
return addObject(static_cast<const btHeightfieldTerrainShape&>(shape), transform, flags);
return addObject(static_cast<const btHeightfieldTerrainShape&>(shape), transform, areaType);
else if (shape.isConcave())
return addObject(static_cast<const btConcaveShape&>(shape), transform, flags);
return addObject(static_cast<const btConcaveShape&>(shape), transform, areaType);
else if (shape.getShapeType() == BOX_SHAPE_PROXYTYPE)
return addObject(static_cast<const btBoxShape&>(shape), transform, flags);
return addObject(static_cast<const btBoxShape&>(shape), transform, areaType);
std::ostringstream message;
message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType());
throw InvalidArgument(message.str());
}
void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i), flags);
addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i), areaType);
}
void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int)
{
for (std::size_t i = 3; i > 0; --i)
addTriangleVertex(transform(triangle[i - 1]));
mFlags.push_back(flags);
mAreaTypes.push_back(areaType);
}));
}
void RecastMeshBuilder::addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
return addObject(shape, transform, makeProcessTriangleCallback([&] (btVector3* triangle, int, int)
{
for (std::size_t i = 0; i < 3; ++i)
addTriangleVertex(transform(triangle[i]));
mFlags.push_back(flags);
mAreaTypes.push_back(areaType);
}));
}
void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const unsigned char flags)
void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType)
{
const auto indexOffset = int(mVertices.size() / 3);
@ -92,7 +92,7 @@ namespace DetourNavigator
}
for (int vertex = 0; vertex < 12; ++vertex)
mFlags.push_back(flags);
mAreaTypes.push_back(areaType);
static const std::array<int, 36> indices {{
0, 2, 3,
@ -115,14 +115,14 @@ namespace DetourNavigator
std::shared_ptr<RecastMesh> RecastMeshBuilder::create() const
{
return std::make_shared<RecastMesh>(mIndices, mVertices, mFlags, mSettings);
return std::make_shared<RecastMesh>(mIndices, mVertices, mAreaTypes, mSettings);
}
void RecastMeshBuilder::reset()
{
mIndices.clear();
mVertices.clear();
mFlags.clear();
mAreaTypes.clear();
}
void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform,

12
components/detournavigator/recastmeshbuilder.hpp
View file

@ -20,15 +20,15 @@ namespace DetourNavigator
public:
RecastMeshBuilder(const Settings& settings, const TileBounds& bounds);
void addObject(const btCollisionShape& shape, const btTransform& transform, const unsigned char flags);
void addObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType);
void addObject(const btCompoundShape& shape, const btTransform& transform, const unsigned char flags);
void addObject(const btCompoundShape& shape, const btTransform& transform, const AreaType areaType);
void addObject(const btConcaveShape& shape, const btTransform& transform, const unsigned char flags);
void addObject(const btConcaveShape& shape, const btTransform& transform, const AreaType areaType);
void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, const unsigned char flags);
void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform, const AreaType areaType);
void addObject(const btBoxShape& shape, const btTransform& transform, const unsigned char flags);
void addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType);
std::shared_ptr<RecastMesh> create() const;
@ -39,7 +39,7 @@ namespace DetourNavigator
TileBounds mBounds;
std::vector<int> mIndices;
std::vector<float> mVertices;
std::vector<unsigned char> mFlags;
std::vector<AreaType> mAreaTypes;
void addObject(const btConcaveShape& shape, const btTransform& transform, btTriangleCallback&& callback);

10
components/detournavigator/recastmeshmanager.cpp
View file

@ -12,20 +12,20 @@ namespace DetourNavigator
}
bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
if (!mObjects.emplace(id, RecastMeshObject(shape, transform, flags)).second)
if (!mObjects.emplace(id, RecastMeshObject(shape, transform, areaType)).second)
return false;
mShouldRebuild = true;
return mShouldRebuild;
}
bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const unsigned char flags)
bool RecastMeshManager::updateObject(std::size_t id, const btTransform& transform, const AreaType areaType)
{
const auto object = mObjects.find(id);
if (object == mObjects.end())
return false;
if (!object->second.update(transform, flags))
if (!object->second.update(transform, areaType))
return false;
mShouldRebuild = true;
return mShouldRebuild;
@ -59,7 +59,7 @@ namespace DetourNavigator
return;
mMeshBuilder.reset();
for (const auto& v : mObjects)
mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getFlags());
mMeshBuilder.addObject(v.second.getShape(), v.second.getTransform(), v.second.getAreaType());
mShouldRebuild = false;
}
}

4
components/detournavigator/recastmeshmanager.hpp
View file

@ -26,9 +26,9 @@ namespace DetourNavigator
RecastMeshManager(const Settings& settings, const TileBounds& bounds);
bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags);
const AreaType areaType);
bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags);
bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType);
boost::optional<RemovedRecastMeshObject> removeObject(std::size_t id);

27
components/detournavigator/recastmeshobject.cpp
View file

@ -9,15 +9,15 @@
namespace DetourNavigator
{
RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
: mShape(shape)
, mTransform(transform)
, mFlags(flags)
, mChildren(makeChildrenObjects(shape, mFlags))
, mAreaType(areaType)
, mChildren(makeChildrenObjects(shape, mAreaType))
{
}
bool RecastMeshObject::update(const btTransform& transform, const unsigned char flags)
bool RecastMeshObject::update(const btTransform& transform, const AreaType areaType)
{
bool result = false;
if (!(mTransform == transform))
@ -25,42 +25,43 @@ namespace DetourNavigator
mTransform = transform;
result = true;
}
if (mFlags != flags)
if (mAreaType != areaType)
{
mFlags = flags;
mAreaType = areaType;
result = true;
}
if (mShape.get().isCompound())
result = updateCompoundObject(static_cast<const btCompoundShape&>(mShape.get()), mFlags, mChildren) || result;
result = updateCompoundObject(static_cast<const btCompoundShape&>(mShape.get()), mAreaType, mChildren)
|| result;
return result;
}
bool RecastMeshObject::updateCompoundObject(const btCompoundShape& shape,
const unsigned char flags, std::vector<RecastMeshObject>& children)
const AreaType areaType, std::vector<RecastMeshObject>& children)
{
assert(static_cast<std::size_t>(shape.getNumChildShapes()) == children.size());
bool result = false;
for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
{
assert(shape.getChildShape(i) == std::addressof(children[static_cast<std::size_t>(i)].mShape.get()));
result = children[static_cast<std::size_t>(i)].update(shape.getChildTransform(i), flags) || result;
result = children[static_cast<std::size_t>(i)].update(shape.getChildTransform(i), areaType) || result;
}
return result;
}
std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const unsigned char flags)
std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType)
{
if (shape.isCompound())
return makeChildrenObjects(static_cast<const btCompoundShape&>(shape), flags);
return makeChildrenObjects(static_cast<const btCompoundShape&>(shape), areaType);
else
return std::vector<RecastMeshObject>();
}
std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const unsigned char flags)
std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType)
{
std::vector<RecastMeshObject> result;
for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), flags);
result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), areaType);
return result;
}
}

18
components/detournavigator/recastmeshobject.hpp
View file

@ -1,6 +1,8 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_RECASTMESHOBJECT_H
#include "areatype.hpp"
#include <LinearMath/btTransform.h>
#include <functional>
@ -14,9 +16,9 @@ namespace DetourNavigator
class RecastMeshObject
{
public:
RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const unsigned char flags);
RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType);
bool update(const btTransform& transform, const unsigned char flags);
bool update(const btTransform& transform, const AreaType areaType);
const btCollisionShape& getShape() const
{
@ -28,24 +30,24 @@ namespace DetourNavigator
return mTransform;
}
unsigned char getFlags() const
AreaType getAreaType() const
{
return mFlags;
return mAreaType;
}
private:
std::reference_wrapper<const btCollisionShape> mShape;
btTransform mTransform;
unsigned char mFlags;
AreaType mAreaType;
std::vector<RecastMeshObject> mChildren;
static bool updateCompoundObject(const btCompoundShape& shape, const unsigned char flags,
static bool updateCompoundObject(const btCompoundShape& shape, const AreaType areaType,
std::vector<RecastMeshObject>& children);
};
std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const unsigned char flags);
std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType);
std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const unsigned char flags);
std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType);
}
#endif

8
components/detournavigator/tilecachedrecastmeshmanager.cpp
View file

@ -10,7 +10,7 @@ namespace DetourNavigator
{}
bool TileCachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape,
const btTransform& transform, const unsigned char flags)
const btTransform& transform, const AreaType areaType)
{
bool result = false;
auto& tilesPositions = mObjectsTilesPositions[id];
@ -27,7 +27,7 @@ namespace DetourNavigator
tile = mTiles.insert(std::make_pair(tilePosition,
CachedRecastMeshManager(mSettings, tileBounds))).first;
}
if (tile->second.addObject(id, shape, transform, flags))
if (tile->second.addObject(id, shape, transform, areaType))
{
lock.unlock();
tilesPositions.push_back(tilePosition);
@ -40,7 +40,7 @@ namespace DetourNavigator
}
bool TileCachedRecastMeshManager::updateObject(std::size_t id, const btTransform& transform,
const unsigned char flags)
const AreaType areaType)
{
const auto object = mObjectsTilesPositions.find(id);
if (object == mObjectsTilesPositions.end())
@ -51,7 +51,7 @@ namespace DetourNavigator
{
const auto tile = mTiles.find(tilePosition);
if (tile != mTiles.end())
result = tile->second.updateObject(id, transform, flags) || result;
result = tile->second.updateObject(id, transform, areaType) || result;
}
lock.unlock();
if (result)

4
components/detournavigator/tilecachedrecastmeshmanager.hpp
View file

@ -15,9 +15,9 @@ namespace DetourNavigator
TileCachedRecastMeshManager(const Settings& settings);
bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
const unsigned char flags);
const AreaType areaType);
bool updateObject(std::size_t id, const btTransform& transform, const unsigned char flags);
bool updateObject(std::size_t id, const btTransform& transform, const AreaType areaType);
boost::optional<RemovedRecastMeshObject> removeObject(std::size_t id);