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Add raw heightfield data to navigator

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pull/3225/head
elsid 3 years ago
parent 8571c317d8
commit 7dcb219ecf
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GPG Key ID: B845CB9FEE18AB40
23 changed files with 266 additions and 210 deletions
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31
apps/benchmarks/detournavigator/navmeshtilescache.cpp
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@ -25,18 +25,10 @@ namespace
};
template <typename Random>
TilePosition generateTilePosition(int max, Random& random)
osg::Vec2i generateVec2i(int max, Random& random)
{
std::uniform_int_distribution<int> distribution(0, max);
return TilePosition(distribution(random), distribution(random));
}
template <typename Random>
TileBounds generateTileBounds(Random& random)
{
std::uniform_real_distribution<float> distribution(0.0, 1.0);
const osg::Vec2f min(distribution(random), distribution(random));
return TileBounds {min, min + osg::Vec2f(1.0, 1.0)};
return osg::Vec2i(distribution(random), distribution(random));
}
template <typename Random>
@ -89,11 +81,9 @@ namespace
template <typename OutputIterator, typename Random>
void generateWater(OutputIterator out, std::size_t count, Random& random)
{
std::uniform_real_distribution<float> floatDistribution(0.0, 1.0);
std::uniform_int_distribution<int> intDistribution(-10, 10);
std::uniform_real_distribution<float> distribution(0.0, 1.0);
std::generate_n(out, count, [&] {
const osg::Vec2i cellPosition(intDistribution(random), intDistribution(random));
return CellWater {cellPosition, Water {8196, floatDistribution(random)}};
return CellWater {generateVec2i(1000, random), Water {ESM::Land::REAL_SIZE, distribution(random)}};
});
}
@ -118,16 +108,18 @@ namespace
{
std::uniform_real_distribution<float> distribution(0.0, 1.0);
Heightfield result;
result.mBounds = generateTileBounds(random);
result.mCellPosition = generateVec2i(1000, random);
result.mCellSize = ESM::Land::REAL_SIZE;
result.mMinHeight = distribution(random);
result.mMaxHeight = result.mMinHeight + 1.0;
result.mShift = osg::Vec3f(distribution(random), distribution(random), distribution(random));
result.mScale = distribution(random);
result.mLength = static_cast<std::uint8_t>(ESM::Land::LAND_SIZE);
std::generate_n(std::back_inserter(result.mHeights), ESM::Land::LAND_NUM_VERTS, [&]
{
return distribution(random);
});
result.mOriginalSize = ESM::Land::LAND_SIZE;
result.mMinX = 0;
result.mMinY = 0;
return result;
}
@ -136,7 +128,8 @@ namespace
{
std::uniform_real_distribution<float> distribution(0.0, 1.0);
FlatHeightfield result;
result.mBounds = generateTileBounds(random);
result.mCellPosition = generateVec2i(1000, random);
result.mCellSize = ESM::Land::REAL_SIZE;
result.mHeight = distribution(random);
return result;
}
@ -145,7 +138,7 @@ namespace
Key generateKey(std::size_t triangles, Random& random)
{
const osg::Vec3f agentHalfExtents = generateAgentHalfExtents(0.5, 1.5, random);
const TilePosition tilePosition = generateTilePosition(10000, random);
const TilePosition tilePosition = generateVec2i(10000, random);
const std::size_t generation = std::uniform_int_distribution<std::size_t>(0, 100)(random);
const std::size_t revision = std::uniform_int_distribution<std::size_t>(0, 10000)(random);
Mesh mesh = generateMesh(triangles, random);

2
apps/openmw/mwworld/scene.cpp
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@ -404,7 +404,7 @@ namespace MWWorld
return heights;
}
} ();
mNavigator.addHeightfield(cellPosition, ESM::Land::REAL_SIZE, shift, shape);
mNavigator.addHeightfield(cellPosition, ESM::Land::REAL_SIZE, shape);
}
}

103
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -47,7 +47,6 @@ namespace
Loading::Listener mListener;
const osg::Vec2i mCellPosition {0, 0};
const int mHeightfieldTileSize = ESM::Land::REAL_SIZE / (ESM::Land::LAND_SIZE - 1);
const osg::Vec3f mShift {0, 0, 0};
const float mEndTolerance = 0;
const btTransform mTransform {btMatrix3x3::getIdentity(), btVector3(256, 256, 0)};
@ -137,9 +136,9 @@ namespace
osg::ref_ptr<const Resource::BulletShapeInstance> mInstance;
};
osg::Vec3f getHeightfieldShift(const osg::Vec2i& cellPosition, int cellSize, float minHeight, float maxHeight)
btVector3 getHeightfieldShift(const osg::Vec2i& cellPosition, int cellSize, float minHeight, float maxHeight)
{
return Misc::Convert::toOsg(BulletHelpers::getHeightfieldShift(cellPosition.x(), cellPosition.x(), cellSize, minHeight, maxHeight));
return BulletHelpers::getHeightfieldShift(cellPosition.x(), cellPosition.x(), cellSize, minHeight, maxHeight);
}
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
@ -176,10 +175,9 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::requiredTilesPresent);
@ -223,13 +221,12 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -308,13 +305,12 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -453,7 +449,6 @@ namespace
}};
const HeightfieldSurface surface1 = makeSquareHeightfieldSurface(heightfieldData1);
const int cellSize1 = mHeightfieldTileSize * (surface1.mSize - 1);
const osg::Vec3f shift1 = getHeightfieldShift(mCellPosition, cellSize1, surface1.mMinHeight, surface1.mMaxHeight);
const std::array<float, 5 * 5> heightfieldData2 {{
-25, -25, -25, -25, -25,
@ -464,11 +459,10 @@ namespace
}};
const HeightfieldSurface surface2 = makeSquareHeightfieldSurface(heightfieldData2);
const int cellSize2 = mHeightfieldTileSize * (surface2.mSize - 1);
const osg::Vec3f shift2 = getHeightfieldShift(mCellPosition, cellSize2, surface2.mMinHeight, surface2.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
EXPECT_TRUE(mNavigator->addHeightfield(mCellPosition, cellSize1, shift1, surface1));
EXPECT_FALSE(mNavigator->addHeightfield(mCellPosition, cellSize2, shift2, surface2));
EXPECT_TRUE(mNavigator->addHeightfield(mCellPosition, cellSize1, surface1));
EXPECT_FALSE(mNavigator->addHeightfield(mCellPosition, cellSize2, surface2));
}
TEST_F(DetourNavigatorNavigatorTest, path_should_be_around_avoid_shape)
@ -545,11 +539,10 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addWater(mCellPosition, cellSize, 300);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -594,11 +587,10 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addWater(mCellPosition, cellSize, -25);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -641,10 +633,9 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->addWater(mCellPosition, std::numeric_limits<int>::max(), -25);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -688,11 +679,10 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addWater(mCellPosition, cellSize, -25);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -787,10 +777,9 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -798,7 +787,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -843,10 +832,9 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -876,14 +864,14 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
const btVector3 shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
std::vector<CollisionShapeInstance<btBoxShape>> boxes;
std::generate_n(std::back_inserter(boxes), 100, [] { return std::make_unique<btBoxShape>(btVector3(20, 20, 100)); });
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
for (std::size_t i = 0; i < boxes.size(); ++i)
{
@ -981,10 +969,9 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -1007,14 +994,13 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
CollisionShapeInstance oscillatingBox(std::make_unique<btBoxShape>(btVector3(20, 20, 20)));
const btVector3 oscillatingBoxShapePosition(288, 288, 400);
CollisionShapeInstance borderBox(std::make_unique<btBoxShape>(btVector3(50, 50, 50)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->addObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()),
btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition));
// add this box to make navmesh bound box independent from oscillatingBoxShape rotations
@ -1046,10 +1032,9 @@ namespace
{
const HeightfieldPlane plane {100};
const int cellSize = mHeightfieldTileSize * 4;
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, plane.mHeight, plane.mHeight);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, plane);
mNavigator->addHeightfield(mCellPosition, cellSize, plane);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::requiredTilesPresent);
@ -1057,28 +1042,28 @@ namespace
Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(56.66666412353515625, 460, 203.9999847412109375),
Vec3fEq(76.70135498046875, 439.965301513671875, 203.9999847412109375),
Vec3fEq(96.73604583740234375, 419.93060302734375, 203.9999847412109375),
Vec3fEq(116.770751953125, 399.89593505859375, 203.9999847412109375),
Vec3fEq(136.8054351806640625, 379.861236572265625, 203.9999847412109375),
Vec3fEq(156.840118408203125, 359.826568603515625, 203.9999847412109375),
Vec3fEq(176.8748016357421875, 339.7918701171875, 203.9999847412109375),
Vec3fEq(196.90948486328125, 319.757171630859375, 203.9999847412109375),
Vec3fEq(216.944183349609375, 299.722503662109375, 203.9999847412109375),
Vec3fEq(236.9788665771484375, 279.68780517578125, 203.9999847412109375),
Vec3fEq(257.0135498046875, 259.65313720703125, 203.9999847412109375),
Vec3fEq(277.048248291015625, 239.618438720703125, 203.9999847412109375),
Vec3fEq(297.082916259765625, 219.583740234375, 203.9999847412109375),
Vec3fEq(317.11761474609375, 199.549041748046875, 203.9999847412109375),
Vec3fEq(337.15228271484375, 179.5143585205078125, 203.9999847412109375),
Vec3fEq(357.186981201171875, 159.47967529296875, 203.9999847412109375),
Vec3fEq(377.221649169921875, 139.4449920654296875, 203.9999847412109375),
Vec3fEq(397.25634765625, 119.41030120849609375, 203.9999847412109375),
Vec3fEq(417.291046142578125, 99.3756103515625, 203.9999847412109375),
Vec3fEq(437.325714111328125, 79.340911865234375, 203.9999847412109375),
Vec3fEq(457.360443115234375, 59.3062286376953125, 203.9999847412109375),
Vec3fEq(460, 56.66666412353515625, 203.9999847412109375)
Vec3fEq(56.66666412353515625, 460, 101.99999237060546875),
Vec3fEq(76.70135498046875, 439.965301513671875, 101.99999237060546875),
Vec3fEq(96.73604583740234375, 419.93060302734375, 101.99999237060546875),
Vec3fEq(116.770751953125, 399.89593505859375, 101.99999237060546875),
Vec3fEq(136.8054351806640625, 379.861236572265625, 101.99999237060546875),
Vec3fEq(156.840118408203125, 359.826568603515625, 101.99999237060546875),
Vec3fEq(176.8748016357421875, 339.7918701171875, 101.99999237060546875),
Vec3fEq(196.90948486328125, 319.757171630859375, 101.99999237060546875),
Vec3fEq(216.944183349609375, 299.722503662109375, 101.99999237060546875),
Vec3fEq(236.9788665771484375, 279.68780517578125, 101.99999237060546875),
Vec3fEq(257.0135498046875, 259.65313720703125, 101.99999237060546875),
Vec3fEq(277.048248291015625, 239.618438720703125, 101.99999237060546875),
Vec3fEq(297.082916259765625, 219.583740234375, 101.99999237060546875),
Vec3fEq(317.11761474609375, 199.549041748046875, 101.99999237060546875),
Vec3fEq(337.15228271484375, 179.5143585205078125, 101.99999237060546875),
Vec3fEq(357.186981201171875, 159.47967529296875, 101.99999237060546875),
Vec3fEq(377.221649169921875, 139.4449920654296875, 101.99999237060546875),
Vec3fEq(397.25634765625, 119.41030120849609375, 101.99999237060546875),
Vec3fEq(417.291046142578125, 99.3756103515625, 101.99999237060546875),
Vec3fEq(437.325714111328125, 79.340911865234375, 101.99999237060546875),
Vec3fEq(457.360443115234375, 59.3062286376953125, 101.99999237060546875),
Vec3fEq(460, 56.66666412353515625, 101.99999237060546875)
)) << mPath;
}
@ -1093,14 +1078,13 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(204, -204, 0)),
new btBoxShape(btVector3(200, 200, 1000)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@ -1133,14 +1117,13 @@ namespace
}};
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const osg::Vec3f shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(204, -204, 0)),
new btBoxShape(btVector3(100, 100, 1000)));
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addHeightfield(mCellPosition, cellSize, shift, surface);
mNavigator->addHeightfield(mCellPosition, cellSize, surface);
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), mTransform);
mNavigator->update(mPlayerPosition);
mNavigator->wait(mListener, WaitConditionType::allJobsDone);

106
apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp
Unescape Escape View File

@ -23,11 +23,6 @@
namespace DetourNavigator
{
static inline bool operator ==(const Cell& lhs, const Cell& rhs)
{
return lhs.mSize == rhs.mSize && lhs.mShift == rhs.mShift;
}
static inline bool operator ==(const Water& lhs, const Water& rhs)
{
const auto tie = [] (const Water& v) { return std::tie(v.mCellSize, v.mLevel); };
@ -47,7 +42,11 @@ namespace DetourNavigator
static inline bool operator==(const FlatHeightfield& lhs, const FlatHeightfield& rhs)
{
return std::tie(lhs.mBounds, lhs.mHeight) == std::tie(rhs.mBounds, rhs.mHeight);
const auto tie = [] (const FlatHeightfield& v)
{
return std::tie(v.mCellPosition, v.mCellSize, v.mHeight);
};
return tie(lhs) == tie(rhs);
}
static inline std::ostream& operator<<(std::ostream& s, const Water& v)
@ -62,21 +61,21 @@ namespace DetourNavigator
static inline std::ostream& operator<<(std::ostream& s, const FlatHeightfield& v)
{
return s << "FlatHeightfield {" << v.mBounds << ", " << v.mHeight << "}";
return s << "FlatHeightfield {" << v.mCellPosition << ", " << v.mCellSize << ", " << v.mHeight << "}";
}
static inline std::ostream& operator<<(std::ostream& s, const Heightfield& v)
{
s << "Heightfield {.mBounds=" << v.mBounds
<< ", .mLength=" << int(v.mLength)
s << "Heightfield {.mCellPosition=" << v.mCellPosition
<< ", .mCellSize=" << v.mCellSize
<< ", .mLength=" << static_cast<int>(v.mLength)
<< ", .mMinHeight=" << v.mMinHeight
<< ", .mMaxHeight=" << v.mMaxHeight
<< ", .mShift=" << v.mShift
<< ", .mScale=" << v.mScale
<< ", .mHeights={";
for (float h : v.mHeights)
s << h << ", ";
return s << "}}";
s << "}";
return s << ", .mOriginalSize=" << v.mOriginalSize << "}";
}
}
@ -486,62 +485,111 @@ namespace
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_flat_heightfield_should_add_intersection)
{
mBounds.mMin = osg::Vec2f(0, 0);
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 1000;
const float height = 10;
mBounds.mMin = osg::Vec2f(100, 100);
RecastMeshBuilder builder(mBounds);
builder.addHeightfield(1000, osg::Vec3f(1, 2, 3), 10);
builder.addHeightfield(cellPosition, cellSize, height);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getFlatHeightfields(), std::vector<FlatHeightfield>({
FlatHeightfield {TileBounds {osg::Vec2f(0, 0), osg::Vec2f(501, 502)}, 13},
FlatHeightfield {cellPosition, cellSize, height},
}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_inside_tile)
{
constexpr std::array<float, 9> heights {{
constexpr std::size_t size = 3;
constexpr std::array<float, size * size> heights {{
0, 1, 2,
3, 4, 5,
6, 7, 8,
}};
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 1000;
const float minHeight = 0;
const float maxHeight = 8;
RecastMeshBuilder builder(mBounds);
builder.addHeightfield(1000, osg::Vec3f(1, 2, 3), heights.data(), 3, 0, 8);
builder.addHeightfield(cellPosition, cellSize, heights.data(), size, minHeight, maxHeight);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
Heightfield expected;
expected.mBounds = TileBounds {osg::Vec2f(-499, -498), osg::Vec2f(501, 502)};
expected.mLength = 3;
expected.mMinHeight = 0;
expected.mMaxHeight = 8;
expected.mShift = osg::Vec3f(-499, -498, 3);
expected.mScale = 500;
expected.mCellPosition = cellPosition;
expected.mCellSize = cellSize;
expected.mLength = size;
expected.mMinHeight = minHeight;
expected.mMaxHeight = maxHeight;
expected.mHeights = {
0, 1, 2,
3, 4, 5,
6, 7, 8,
};
expected.mOriginalSize = 3;
expected.mMinX = 0;
expected.mMinY = 0;
EXPECT_EQ(recastMesh->getHeightfields(), std::vector<Heightfield>({expected}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_to_shifted_cell_inside_tile)
{
constexpr std::size_t size = 3;
constexpr std::array<float, size * size> heights {{
0, 1, 2,
3, 4, 5,
6, 7, 8,
}};
const osg::Vec2i cellPosition(1, 2);
const int cellSize = 1000;
const float minHeight = 0;
const float maxHeight = 8;
RecastMeshBuilder builder(maxCellTileBounds(cellPosition, cellSize));
builder.addHeightfield(cellPosition, cellSize, heights.data(), size, minHeight, maxHeight);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
Heightfield expected;
expected.mCellPosition = cellPosition;
expected.mCellSize = cellSize;
expected.mLength = size;
expected.mMinHeight = minHeight;
expected.mMaxHeight = maxHeight;
expected.mHeights = {
0, 1, 2,
3, 4, 5,
6, 7, 8,
};
expected.mOriginalSize = 3;
expected.mMinX = 0;
expected.mMinY = 0;
EXPECT_EQ(recastMesh->getHeightfields(), std::vector<Heightfield>({expected}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_should_add_intersection)
{
constexpr std::array<float, 9> heights {{
constexpr std::size_t size = 3;
constexpr std::array<float, 3 * 3> heights {{
0, 1, 2,
3, 4, 5,
6, 7, 8,
}};
mBounds.mMin = osg::Vec2f(250, 250);
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 1000;
const float minHeight = 0;
const float maxHeight = 8;
mBounds.mMin = osg::Vec2f(750, 750);
RecastMeshBuilder builder(mBounds);
builder.addHeightfield(1000, osg::Vec3f(-1, -2, 3), heights.data(), 3, 0, 8);
builder.addHeightfield(cellPosition, cellSize, heights.data(), size, minHeight, maxHeight);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
Heightfield expected;
expected.mBounds = TileBounds {osg::Vec2f(250, 250), osg::Vec2f(499, 498)};
expected.mCellPosition = cellPosition;
expected.mCellSize = cellSize;
expected.mLength = 2;
expected.mMinHeight = 0;
expected.mMaxHeight = 8;
expected.mShift = osg::Vec3f(-1, -2, 3);
expected.mScale = 500;
expected.mHeights = {
4, 5,
7, 8,
};
expected.mOriginalSize = 3;
expected.mMinX = 1;
expected.mMinY = 1;
EXPECT_EQ(recastMesh->getHeightfields(), std::vector<Heightfield>({expected}));
}
}

12
components/detournavigator/cachedrecastmeshmanager.cpp
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@ -49,20 +49,20 @@ namespace DetourNavigator
}
bool CachedRecastMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize,
const osg::Vec3f& shift, const HeightfieldShape& shape)
const HeightfieldShape& shape)
{
if (!mImpl.addHeightfield(cellPosition, cellSize, shift, shape))
if (!mImpl.addHeightfield(cellPosition, cellSize, shape))
return false;
mOutdatedCache = true;
return true;
}
std::optional<Cell> CachedRecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
std::optional<SizedHeightfieldShape> CachedRecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
{
const auto cell = mImpl.removeHeightfield(cellPosition);
if (cell)
const auto heightfield = mImpl.removeHeightfield(cellPosition);
if (heightfield)
mOutdatedCache = true;
return cell;
return heightfield;
}
std::shared_ptr<RecastMesh> CachedRecastMeshManager::getMesh()

5
components/detournavigator/cachedrecastmeshmanager.hpp
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@ -27,10 +27,9 @@ namespace DetourNavigator
std::optional<Water> removeWater(const osg::Vec2i& cellPosition);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
std::optional<Cell> removeHeightfield(const osg::Vec2i& cellPosition);
std::optional<SizedHeightfieldShape> removeHeightfield(const osg::Vec2i& cellPosition);
std::shared_ptr<RecastMesh> getMesh();

4
components/detournavigator/gettilespositions.hpp
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@ -50,13 +50,13 @@ namespace DetourNavigator
}
template <class Callback>
void getTilesPositions(const int cellSize, const osg::Vec3f& shift,
void getTilesPositions(const int cellSize, const btVector3& shift,
const Settings& settings, Callback&& callback)
{
using Misc::Convert::toOsg;
const auto halfCellSize = cellSize / 2;
const btTransform transform(btMatrix3x3::getIdentity(), Misc::Convert::toBullet(shift));
const btTransform transform(btMatrix3x3::getIdentity(), shift);
auto aabbMin = transform(btVector3(-halfCellSize, -halfCellSize, 0));
auto aabbMax = transform(btVector3(halfCellSize, halfCellSize, 0));

19
components/detournavigator/heightfieldshape.hpp
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@ -1,6 +1,10 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_HEIGHFIELDSHAPE_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_HEIGHFIELDSHAPE_H
#include <components/bullethelpers/heightfield.hpp>
#include <osg/Vec2i>
#include <cstddef>
#include <variant>
@ -20,6 +24,21 @@ namespace DetourNavigator
};
using HeightfieldShape = std::variant<HeightfieldPlane, HeightfieldSurface>;
inline btVector3 getHeightfieldShift(const HeightfieldPlane& v, const osg::Vec2i& cellPosition, int cellSize)
{
return BulletHelpers::getHeightfieldShift(cellPosition.x(), cellPosition.y(), cellSize, v.mHeight, v.mHeight);
}
inline btVector3 getHeightfieldShift(const HeightfieldSurface& v, const osg::Vec2i& cellPosition, int cellSize)
{
return BulletHelpers::getHeightfieldShift(cellPosition.x(), cellPosition.y(), cellSize, v.mMinHeight, v.mMaxHeight);
}
inline btVector3 getHeightfieldShift(const HeightfieldShape& v, const osg::Vec2i& cellPosition, int cellSize)
{
return std::visit([&] (const auto& w) { return getHeightfieldShift(w, cellPosition, cellSize); }, v);
}
}
#endif

20
components/detournavigator/makenavmesh.cpp
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@ -252,14 +252,17 @@ namespace
return true;
}
bool rasterizeTriangles(rcContext& context, const std::vector<FlatHeightfield>& heightfields,
bool rasterizeTriangles(rcContext& context, const TileBounds& tileBounds, const std::vector<FlatHeightfield>& heightfields,
const Settings& settings, const rcConfig& config, rcHeightfield& solid)
{
for (const FlatHeightfield& heightfield : heightfields)
{
const Rectangle rectangle {heightfield.mBounds, toNavMeshCoordinates(settings, heightfield.mHeight)};
if (!rasterizeTriangles(context, rectangle, config, AreaType_ground, solid))
return false;
if (auto intersection = getIntersection(tileBounds, maxCellTileBounds(heightfield.mCellPosition, heightfield.mCellSize)))
{
const Rectangle rectangle {*intersection, toNavMeshCoordinates(settings, heightfield.mHeight)};
if (!rasterizeTriangles(context, rectangle, config, AreaType_ground, solid))
return false;
}
}
return true;
}
@ -278,13 +281,14 @@ namespace
return true;
}
bool rasterizeTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const rcConfig& config, const Settings& settings, rcHeightfield& solid)
bool rasterizeTriangles(rcContext& context, const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents,
const RecastMesh& recastMesh, const rcConfig& config, const Settings& settings, rcHeightfield& solid)
{
return rasterizeTriangles(context, recastMesh.getMesh(), settings, config, solid)
&& rasterizeTriangles(context, agentHalfExtents, recastMesh.getWater(), settings, config, solid)
&& rasterizeTriangles(context, recastMesh.getHeightfields(), settings, config, solid)
&& rasterizeTriangles(context, recastMesh.getFlatHeightfields(), settings, config, solid);
&& rasterizeTriangles(context, makeRealTileBoundsWithBorder(settings, tilePosition),
recastMesh.getFlatHeightfields(), settings, config, solid);
}
void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb,
@ -444,7 +448,7 @@ namespace DetourNavigator
rcHeightfield solid;
createHeightfield(context, solid, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch);
if (!rasterizeTriangles(context, agentHalfExtents, recastMesh, config, settings, solid))
if (!rasterizeTriangles(context, tilePosition, agentHalfExtents, recastMesh, config, settings, solid))
return nullptr;
rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, solid);

3
components/detournavigator/navigator.hpp
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@ -131,8 +131,7 @@ namespace DetourNavigator
*/
virtual bool removeWater(const osg::Vec2i& cellPosition) = 0;
virtual bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape) = 0;
virtual bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape) = 0;
virtual bool removeHeightfield(const osg::Vec2i& cellPosition) = 0;

5
components/detournavigator/navigatorimpl.cpp
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@ -107,10 +107,9 @@ namespace DetourNavigator
return mNavMeshManager.removeWater(cellPosition);
}
bool NavigatorImpl::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape)
bool NavigatorImpl::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape)
{
return mNavMeshManager.addHeightfield(cellPosition, cellSize, shift, shape);
return mNavMeshManager.addHeightfield(cellPosition, cellSize, shape);
}
bool NavigatorImpl::removeHeightfield(const osg::Vec2i& cellPosition)

3
components/detournavigator/navigatorimpl.hpp
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@ -35,8 +35,7 @@ namespace DetourNavigator
bool removeWater(const osg::Vec2i& cellPosition) override;
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape) override;
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape) override;
bool removeHeightfield(const osg::Vec2i& cellPosition) override;

3
components/detournavigator/navigatorstub.hpp
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@ -54,8 +54,7 @@ namespace DetourNavigator
return false;
}
bool addHeightfield(const osg::Vec2i& /*cellPosition*/, int /*cellSize*/, const osg::Vec3f& /*shift*/,
const HeightfieldShape& /*height*/) override
bool addHeightfield(const osg::Vec2i& /*cellPosition*/, int /*cellSize*/, const HeightfieldShape& /*height*/) override
{
return false;
}

16
components/detournavigator/navmeshmanager.cpp
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@ -8,6 +8,7 @@
#include "waitconditiontype.hpp"
#include <components/debug/debuglog.hpp>
#include <components/bullethelpers/heightfield.hpp>
#include <DetourNavMesh.h>
@ -77,7 +78,7 @@ namespace DetourNavigator
{
if (!mRecastMeshManager.addWater(cellPosition, cellSize, level))
return false;
const osg::Vec3f shift = getWaterShift3d(cellPosition, cellSize, level);
const btVector3 shift = Misc::Convert::toBullet(getWaterShift3d(cellPosition, cellSize, level));
addChangedTiles(cellSize, shift, ChangeType::add);
return true;
}
@ -87,16 +88,16 @@ namespace DetourNavigator
const auto water = mRecastMeshManager.removeWater(cellPosition);
if (!water)
return false;
const osg::Vec3f shift = getWaterShift3d(cellPosition, water->mCellSize, water->mLevel);
const btVector3 shift = Misc::Convert::toBullet(getWaterShift3d(cellPosition, water->mCellSize, water->mLevel));
addChangedTiles(water->mCellSize, shift, ChangeType::remove);
return true;
}
bool NavMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape)
bool NavMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape)
{
if (!mRecastMeshManager.addHeightfield(cellPosition, cellSize, shift, shape))
if (!mRecastMeshManager.addHeightfield(cellPosition, cellSize, shape))
return false;
const btVector3 shift = getHeightfieldShift(shape, cellPosition, cellSize);
addChangedTiles(cellSize, shift, ChangeType::add);
return true;
}
@ -106,7 +107,8 @@ namespace DetourNavigator
const auto heightfield = mRecastMeshManager.removeHeightfield(cellPosition);
if (!heightfield)
return false;
addChangedTiles(heightfield->mSize, heightfield->mShift, ChangeType::remove);
const btVector3 shift = getHeightfieldShift(heightfield->mShape, cellPosition, heightfield->mCellSize);
addChangedTiles(heightfield->mCellSize, shift, ChangeType::remove);
return true;
}
@ -253,7 +255,7 @@ namespace DetourNavigator
[&] (const TilePosition& v) { addChangedTile(v, changeType); });
}
void NavMeshManager::addChangedTiles(const int cellSize, const osg::Vec3f& shift,
void NavMeshManager::addChangedTiles(const int cellSize, const btVector3& shift,
const ChangeType changeType)
{
if (cellSize == std::numeric_limits<int>::max())

5
components/detournavigator/navmeshmanager.hpp
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@ -38,8 +38,7 @@ namespace DetourNavigator
bool removeWater(const osg::Vec2i& cellPosition);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
bool removeHeightfield(const osg::Vec2i& cellPosition);
@ -74,7 +73,7 @@ namespace DetourNavigator
void addChangedTiles(const btCollisionShape& shape, const btTransform& transform, const ChangeType changeType);
void addChangedTiles(const int cellSize, const osg::Vec3f& shift, const ChangeType changeType);
void addChangedTiles(const int cellSize, const btVector3& shift, const ChangeType changeType);
void addChangedTile(const TilePosition& tilePosition, const ChangeType changeType);

28
components/detournavigator/recastmesh.hpp
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@ -48,12 +48,6 @@ namespace DetourNavigator
}
};
struct Cell
{
int mSize;
osg::Vec3f mShift;
};
struct Water
{
int mCellSize;
@ -90,18 +84,21 @@ namespace DetourNavigator
struct Heightfield
{
TileBounds mBounds;
osg::Vec2i mCellPosition;
int mCellSize;
std::uint8_t mLength;
float mMinHeight;
float mMaxHeight;
osg::Vec3f mShift;
float mScale;
std::vector<float> mHeights;
std::size_t mOriginalSize;
std::uint8_t mMinX;
std::uint8_t mMinY;
};
inline auto makeTuple(const Heightfield& v) noexcept
{
return std::tie(v.mBounds, v.mLength, v.mMinHeight, v.mMaxHeight, v.mShift, v.mScale, v.mHeights);
return std::tie(v.mCellPosition, v.mCellSize, v.mLength, v.mMinHeight, v.mMaxHeight,
v.mHeights, v.mOriginalSize, v.mMinX, v.mMinY);
}
inline bool operator<(const Heightfield& lhs, const Heightfield& rhs) noexcept
@ -111,13 +108,15 @@ namespace DetourNavigator
struct FlatHeightfield
{
TileBounds mBounds;
osg::Vec2i mCellPosition;
int mCellSize;
float mHeight;
};
inline bool operator<(const FlatHeightfield& lhs, const FlatHeightfield& rhs) noexcept
{
return std::tie(lhs.mBounds, lhs.mHeight) < std::tie(rhs.mBounds, rhs.mHeight);
const auto tie = [] (const FlatHeightfield& v) { return std::tie(v.mCellPosition, v.mCellSize, v.mHeight); };
return tie(lhs) < tie(rhs);
}
class RecastMesh
@ -170,11 +169,6 @@ namespace DetourNavigator
+ value.mFlatHeightfields.size() * sizeof(FlatHeightfield);
}
};
inline bool operator<(const Cell& lhs, const Cell& rhs) noexcept
{
return std::tie(lhs.mSize, lhs.mShift) < std::tie(rhs.mSize, rhs.mShift);
}
}
#endif

45
components/detournavigator/recastmeshbuilder.cpp
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@ -6,6 +6,7 @@
#include <components/bullethelpers/processtrianglecallback.hpp>
#include <components/misc/convert.hpp>
#include <components/debug/debuglog.hpp>
#include <components/bullethelpers/heightfield.hpp>
#include <BulletCollision/CollisionShapes/btBoxShape.h>
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
@ -35,13 +36,9 @@ namespace DetourNavigator
return result;
}
TileBounds maxCellTileBounds(int size, const osg::Vec3f& shift)
float getHeightfieldScale(int cellSize, std::size_t dataSize)
{
const float halfCellSize = static_cast<float>(size) / 2;
return TileBounds {
osg::Vec2f(shift.x() - halfCellSize, shift.y() - halfCellSize),
osg::Vec2f(shift.x() + halfCellSize, shift.y() + halfCellSize)
};
return static_cast<float>(cellSize) / (dataSize - 1);
}
}
@ -108,7 +105,8 @@ namespace DetourNavigator
static_cast<int>(heightfield.mLength), heightfield.mHeights.data(),
heightfield.mMinHeight, heightfield.mMaxHeight, upAxis, flipQuadEdges);
#endif
shape.setLocalScaling(btVector3(heightfield.mScale, heightfield.mScale, 1));
const float scale = getHeightfieldScale(heightfield.mCellSize, heightfield.mOriginalSize);
shape.setLocalScaling(btVector3(scale, scale, 1));
btVector3 aabbMin;
btVector3 aabbMax;
shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
@ -118,8 +116,16 @@ namespace DetourNavigator
triangles.emplace_back(makeRecastMeshTriangle(vertices, AreaType_ground));
});
shape.processAllTriangles(&callback, aabbMin, aabbMax);
const osg::Vec2f shift = (osg::Vec2f(aabbMax.x(), aabbMax.y()) - osg::Vec2f(aabbMin.x(), aabbMin.y())) * 0.5;
return makeMesh(std::move(triangles), heightfield.mShift + osg::Vec3f(shift.x(), shift.y(), 0));
const osg::Vec2f aabbShift = (osg::Vec2f(aabbMax.x(), aabbMax.y()) - osg::Vec2f(aabbMin.x(), aabbMin.y())) * 0.5;
const osg::Vec2f tileShift = osg::Vec2f(heightfield.mMinX, heightfield.mMinY) * scale;
const osg::Vec2f localShift = aabbShift + tileShift;
const float cellSize = static_cast<float>(heightfield.mCellSize);
const osg::Vec3f cellShift(
heightfield.mCellPosition.x() * cellSize,
heightfield.mCellPosition.y() * cellSize,
(heightfield.mMinHeight + heightfield.mMaxHeight) * 0.5f
);
return makeMesh(std::move(triangles), cellShift + osg::Vec3f(localShift.x(), localShift.y(), 0));
}
RecastMeshBuilder::RecastMeshBuilder(const TileBounds& bounds) noexcept
@ -205,19 +211,20 @@ namespace DetourNavigator
mWater.push_back(CellWater {cellPosition, water});
}
void RecastMeshBuilder::addHeightfield(int cellSize, const osg::Vec3f& shift, float height)
void RecastMeshBuilder::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, float height)
{
if (const auto intersection = getIntersection(mBounds, maxCellTileBounds(cellSize, shift)))
mFlatHeightfields.emplace_back(FlatHeightfield {*intersection, height + shift.z()});
if (const auto intersection = getIntersection(mBounds, maxCellTileBounds(cellPosition, cellSize)))
mFlatHeightfields.emplace_back(FlatHeightfield {cellPosition, cellSize, height});
}
void RecastMeshBuilder::addHeightfield(int cellSize, const osg::Vec3f& shift, const float* heights,
void RecastMeshBuilder::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const float* heights,
std::size_t size, float minHeight, float maxHeight)
{
const auto intersection = getIntersection(mBounds, maxCellTileBounds(cellSize, shift));
const auto intersection = getIntersection(mBounds, maxCellTileBounds(cellPosition, cellSize));
if (!intersection.has_value())
return;
const float stepSize = static_cast<float>(cellSize) / (size - 1);
const osg::Vec3f shift = Misc::Convert::toOsg(BulletHelpers::getHeightfieldShift(cellPosition.x(), cellPosition.y(), cellSize, minHeight, maxHeight));
const float stepSize = getHeightfieldScale(cellSize, size);
const int halfCellSize = cellSize / 2;
const auto local = [&] (float v, float shift) { return (v - shift + halfCellSize) / stepSize; };
const auto index = [&] (float v, int add) { return std::clamp<int>(static_cast<int>(v) + add, 0, size); };
@ -236,13 +243,15 @@ namespace DetourNavigator
for (std::size_t x = minX; x < endX; ++x)
tileHeights.push_back(heights[x + y * size]);
Heightfield heightfield;
heightfield.mBounds = *intersection;
heightfield.mCellPosition = cellPosition;
heightfield.mCellSize = cellSize;
heightfield.mLength = static_cast<std::uint8_t>(endY - minY);
heightfield.mMinHeight = minHeight;
heightfield.mMaxHeight = maxHeight;
heightfield.mShift = shift + osg::Vec3f(minX, minY, 0) * stepSize - osg::Vec3f(halfCellSize, halfCellSize, 0);
heightfield.mScale = stepSize;
heightfield.mHeights = std::move(tileHeights);
heightfield.mOriginalSize = size;
heightfield.mMinX = static_cast<std::uint8_t>(minX);
heightfield.mMinY = static_cast<std::uint8_t>(minY);
mHeightfields.push_back(std::move(heightfield));
}

4
components/detournavigator/recastmeshbuilder.hpp
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@ -50,9 +50,9 @@ namespace DetourNavigator
void addWater(const osg::Vec2i& cellPosition, const Water& water);
void addHeightfield(int cellSize, const osg::Vec3f& shift, float height);
void addHeightfield(const osg::Vec2i& cellPosition, int cellSize, float height);
void addHeightfield(int cellSize, const osg::Vec3f& shift, const float* heights, std::size_t size,
void addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const float* heights, std::size_t size,
float minHeight, float maxHeight);
std::shared_ptr<RecastMesh> create(std::size_t generation, std::size_t revision) &&;

18
components/detournavigator/recastmeshmanager.cpp
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@ -4,6 +4,7 @@
#include "heightfieldshape.hpp"
#include <components/debug/debuglog.hpp>
#include <components/misc/convert.hpp>
#include <utility>
@ -11,17 +12,18 @@ namespace
{
struct AddHeightfield
{
const DetourNavigator::Cell& mCell;
osg::Vec2i mCellPosition;
int mCellSize;
DetourNavigator::RecastMeshBuilder& mBuilder;
void operator()(const DetourNavigator::HeightfieldSurface& v)
{
mBuilder.addHeightfield(mCell.mSize, mCell.mShift, v.mHeights, v.mSize, v.mMinHeight, v.mMaxHeight);
mBuilder.addHeightfield(mCellPosition, mCellSize, v.mHeights, v.mSize, v.mMinHeight, v.mMaxHeight);
}
void operator()(DetourNavigator::HeightfieldPlane v)
{
mBuilder.addHeightfield(mCell.mSize, mCell.mShift, v.mHeight);
mBuilder.addHeightfield(mCellPosition, mCellSize, v.mHeight);
}
};
}
@ -94,24 +96,24 @@ namespace DetourNavigator
return result;
}
bool RecastMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
bool RecastMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize,
const HeightfieldShape& shape)
{
const std::lock_guard lock(mMutex);
if (!mHeightfields.emplace(cellPosition, Heightfield {Cell {cellSize, shift}, shape}).second)
if (!mHeightfields.emplace(cellPosition, SizedHeightfieldShape {cellSize, shape}).second)
return false;
++mRevision;
return true;
}
std::optional<Cell> RecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
std::optional<SizedHeightfieldShape> RecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
{
const std::lock_guard lock(mMutex);
const auto it = mHeightfields.find(cellPosition);
if (it == mHeightfields.end())
return std::nullopt;
++mRevision;
const auto result = std::make_optional(it->second.mCell);
auto result = std::make_optional(it->second);
mHeightfields.erase(it);
return result;
}
@ -132,7 +134,7 @@ namespace DetourNavigator
for (const auto& [k, v] : mWater)
builder.addWater(k, v);
for (const auto& [cellPosition, v] : mHeightfields)
std::visit(AddHeightfield {v.mCell, builder}, v.mShape);
std::visit(AddHeightfield {cellPosition, v.mCellSize, builder}, v.mShape);
objects.reserve(mObjects.size());
for (const auto& [k, object] : mObjects)
{

19
components/detournavigator/recastmeshmanager.hpp
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@ -29,6 +29,12 @@ namespace DetourNavigator
btTransform mTransform;
};
struct SizedHeightfieldShape
{
int mCellSize;
HeightfieldShape mShape;
};
class RecastMeshManager
{
public:
@ -45,10 +51,9 @@ namespace DetourNavigator
std::optional<Water> removeWater(const osg::Vec2i& cellPosition);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
std::optional<Cell> removeHeightfield(const osg::Vec2i& cellPosition);
std::optional<SizedHeightfieldShape> removeHeightfield(const osg::Vec2i& cellPosition);
std::shared_ptr<RecastMesh> getMesh() const;
@ -65,19 +70,13 @@ namespace DetourNavigator
Version mNavMeshVersion;
};
struct Heightfield
{
Cell mCell;
HeightfieldShape mShape;
};
const std::size_t mGeneration;
const TileBounds mTileBounds;
mutable std::mutex mMutex;
std::size_t mRevision = 0;
std::map<ObjectId, OscillatingRecastMeshObject> mObjects;
std::map<osg::Vec2i, Water> mWater;
std::map<osg::Vec2i, Heightfield> mHeightfields;
std::map<osg::Vec2i, SizedHeightfieldShape> mHeightfields;
std::optional<Report> mLastNavMeshReportedChange;
std::optional<Report> mLastNavMeshReport;
};

9
components/detournavigator/tilebounds.hpp
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@ -2,6 +2,7 @@
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_TILEBOUNDS_H
#include <osg/Vec2f>
#include <osg/Vec2i>
#include <algorithm>
#include <optional>
@ -32,6 +33,14 @@ namespace DetourNavigator
return std::nullopt;
return TileBounds {osg::Vec2f(minX, minY), osg::Vec2f(maxX, maxY)};
}
inline TileBounds maxCellTileBounds(const osg::Vec2i& position, int size)
{
return TileBounds {
osg::Vec2f(position.x(), position.y()) * size,
osg::Vec2f(position.x() + 1, position.y() + 1) * size
};
}
}
#endif

11
components/detournavigator/tilecachedrecastmeshmanager.cpp
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@ -74,7 +74,7 @@ namespace DetourNavigator
}
else
{
const osg::Vec3f shift = getWaterShift3d(cellPosition, cellSize, level);
const btVector3 shift = Misc::Convert::toBullet(getWaterShift3d(cellPosition, cellSize, level));
getTilesPositions(cellSize, shift, mSettings, [&] (const TilePosition& tilePosition)
{
const auto tiles = mTiles.lock();
@ -126,8 +126,9 @@ namespace DetourNavigator
}
bool TileCachedRecastMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize,
const osg::Vec3f& shift, const HeightfieldShape& shape)
const HeightfieldShape& shape)
{
const btVector3 shift = getHeightfieldShift(shape, cellPosition, cellSize);
auto& tilesPositions = mHeightfieldTilesPositions[cellPosition];
bool result = false;
@ -142,7 +143,7 @@ namespace DetourNavigator
tile = tiles->emplace(tilePosition,
std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration)).first;
}
if (tile->second->addHeightfield(cellPosition, cellSize, shift, shape))
if (tile->second->addHeightfield(cellPosition, cellSize, shape))
{
tilesPositions.push_back(tilePosition);
result = true;
@ -155,12 +156,12 @@ namespace DetourNavigator
return result;
}
std::optional<Cell> TileCachedRecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
std::optional<SizedHeightfieldShape> TileCachedRecastMeshManager::removeHeightfield(const osg::Vec2i& cellPosition)
{
const auto object = mHeightfieldTilesPositions.find(cellPosition);
if (object == mHeightfieldTilesPositions.end())
return std::nullopt;
std::optional<Cell> result;
std::optional<SizedHeightfieldShape> result;
for (const auto& tilePosition : object->second)
{
const auto tiles = mTiles.lock();

5
components/detournavigator/tilecachedrecastmeshmanager.hpp
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@ -80,10 +80,9 @@ namespace DetourNavigator
std::optional<Water> removeWater(const osg::Vec2i& cellPosition);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
const HeightfieldShape& shape);
bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
std::optional<Cell> removeHeightfield(const osg::Vec2i& cellPosition);
std::optional<SizedHeightfieldShape> removeHeightfield(const osg::Vec2i& cellPosition);
std::shared_ptr<RecastMesh> getMesh(const TilePosition& tilePosition) const;

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