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Merge branch 'fix_big_object_navmesh_update' into 'master'

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Fix overwhelming recast mesh and navmesh updates for big rotating objects (#6060)

Closes #6060

See merge request OpenMW/openmw!911
This commit is contained in:
psi29a 2021-05-27 21:08:33 +00:00
commit 9dfba37ce9
15 changed files with 180 additions and 36 deletions
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2
apps/openmw/mwworld/scene.cpp
View file

@ -500,7 +500,7 @@ namespace MWWorld
{
const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
navigator->update(player.getRefData().getPosition().asVec3());
navigator->updatePlayerPosition(player.getRefData().getPosition().asVec3());
if (!mCurrentCell || !mCurrentCell->isExterior())
return;

87
apps/openmw_test_suite/detournavigator/tilecachedrecastmeshmanager.cpp
View file

@ -54,7 +54,7 @@ namespace
{
TileCachedRecastMeshManager manager(mSettings);
std::size_t calls = 0;
manager.forEachTilePosition([&] (const TilePosition&) { ++calls; });
manager.forEachTile([&] (const TilePosition&, const CachedRecastMeshManager&) { ++calls; });
EXPECT_EQ(calls, 0);
}
@ -73,6 +73,16 @@ namespace
EXPECT_FALSE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_object_should_add_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
for (int x = -1; x < 1; ++x)
for (int y = -1; y < 1; ++y)
ASSERT_TRUE(manager.hasTile(TilePosition(x, y)));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, update_object_for_changed_object_should_return_changed_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
@ -238,4 +248,79 @@ namespace
manager.removeObject(ObjectId(&manager));
EXPECT_EQ(manager.getRevision(), beforeRemoveRevision);
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_water_for_new_water_should_return_true)
{
TileCachedRecastMeshManager manager(mSettings);
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 8192;
EXPECT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_water_for_not_max_int_should_add_new_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 8192;
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
for (int x = -6; x < 6; ++x)
for (int y = -6; y < 6; ++y)
ASSERT_TRUE(manager.hasTile(TilePosition(x, y)));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_water_for_max_int_should_not_add_new_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const osg::Vec2i cellPosition(0, 0);
const int cellSize = std::numeric_limits<int>::max();
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
for (int x = -6; x < 6; ++x)
for (int y = -6; y < 6; ++y)
ASSERT_EQ(manager.hasTile(TilePosition(x, y)), -1 <= x && x <= 0 && -1 <= y && y <= 0);
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_absent_cell_should_return_nullopt)
{
TileCachedRecastMeshManager manager(mSettings);
EXPECT_EQ(manager.removeWater(osg::Vec2i(0, 0)), std::nullopt);
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_existing_cell_should_return_removed_water)
{
TileCachedRecastMeshManager manager(mSettings);
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 8192;
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
const auto result = manager.removeWater(cellPosition);
ASSERT_TRUE(result.has_value());
EXPECT_EQ(result->mCellSize, cellSize);
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_existing_cell_should_remove_empty_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 8192;
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
ASSERT_TRUE(manager.removeWater(cellPosition));
for (int x = -6; x < 6; ++x)
for (int y = -6; y < 6; ++y)
ASSERT_FALSE(manager.hasTile(TilePosition(x, y)));
}
TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_existing_cell_should_leave_not_empty_tiles)
{
TileCachedRecastMeshManager manager(mSettings);
const btBoxShape boxShape(btVector3(20, 20, 100));
ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
const osg::Vec2i cellPosition(0, 0);
const int cellSize = 8192;
ASSERT_TRUE(manager.addWater(cellPosition, cellSize, btTransform::getIdentity()));
ASSERT_TRUE(manager.removeWater(cellPosition));
for (int x = -6; x < 6; ++x)
for (int y = -6; y < 6; ++y)
ASSERT_EQ(manager.hasTile(TilePosition(x, y)), -1 <= x && x <= 0 && -1 <= y && y <= 0);
}
}

5
components/detournavigator/cachedrecastmeshmanager.cpp
View file

@ -66,4 +66,9 @@ namespace DetourNavigator
{
mImpl.reportNavMeshChange(recastMeshVersion, navMeshVersion);
}
Version CachedRecastMeshManager::getVersion() const
{
return mImpl.getVersion();
}
}

2
components/detournavigator/cachedrecastmeshmanager.hpp
View file

@ -28,6 +28,8 @@ namespace DetourNavigator
void reportNavMeshChange(Version recastMeshVersion, Version navMeshVersion);
Version getVersion() const;
private:
RecastMeshManager mImpl;
std::shared_ptr<RecastMesh> mCached;

8
components/detournavigator/navigator.hpp
View file

@ -155,11 +155,17 @@ namespace DetourNavigator
virtual void removePathgrid(const ESM::Pathgrid& pathgrid) = 0;
/**
* @brief update start background navmesh update using current scene state.
* @brief update starts background navmesh update using current scene state.
* @param playerPosition setup initial point to order build tiles of navmesh.
*/
virtual void update(const osg::Vec3f& playerPosition) = 0;
/**
* @brief updatePlayerPosition starts background navmesh update using current scene state only when player position has been changed.
* @param playerPosition setup initial point to order build tiles of navmesh.
*/
virtual void updatePlayerPosition(const osg::Vec3f& playerPosition) = 0;
/**
* @brief disable navigator updates
*/

9
components/detournavigator/navigatorimpl.cpp
View file

@ -146,6 +146,15 @@ namespace DetourNavigator
mNavMeshManager.update(playerPosition, v.first);
}
void NavigatorImpl::updatePlayerPosition(const osg::Vec3f& playerPosition)
{
const TilePosition tilePosition = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition));
if (mLastPlayerPosition.has_value() && *mLastPlayerPosition == tilePosition)
return;
update(playerPosition);
mLastPlayerPosition = tilePosition;
}
void NavigatorImpl::setUpdatesEnabled(bool enabled)
{
mUpdatesEnabled = enabled;

3
components/detournavigator/navigatorimpl.hpp
View file

@ -46,6 +46,8 @@ namespace DetourNavigator
void update(const osg::Vec3f& playerPosition) override;
void updatePlayerPosition(const osg::Vec3f& playerPosition) override;
void setUpdatesEnabled(bool enabled) override;
void wait(Loading::Listener& listener, WaitConditionType waitConditionType) override;
@ -66,6 +68,7 @@ namespace DetourNavigator
Settings mSettings;
NavMeshManager mNavMeshManager;
bool mUpdatesEnabled;
std::optional<TilePosition> mLastPlayerPosition;
std::map<osg::Vec3f, std::size_t> mAgents;
std::unordered_map<ObjectId, ObjectId> mAvoidIds;
std::unordered_map<ObjectId, ObjectId> mWaterIds;

2
components/detournavigator/navigatorstub.hpp
View file

@ -71,6 +71,8 @@ namespace DetourNavigator
void update(const osg::Vec3f& /*playerPosition*/) override {}
void updatePlayerPosition(const osg::Vec3f& /*playerPosition*/) override {};
void setUpdatesEnabled(bool /*enabled*/) override {}
void wait(Loading::Listener& /*listener*/, WaitConditionType /*waitConditionType*/) override {}

8
components/detournavigator/navmeshmanager.cpp
View file

@ -171,7 +171,7 @@ namespace DetourNavigator
}
}
const auto maxTiles = std::min(mSettings.mMaxTilesNumber, navMesh.getParams()->maxTiles);
mRecastMeshManager.forEachTilePosition([&] (const TilePosition& tile)
mRecastMeshManager.forEachTile([&] (const TilePosition& tile, CachedRecastMeshManager& recastMeshManager)
{
if (tilesToPost.count(tile))
return;
@ -181,6 +181,8 @@ namespace DetourNavigator
tilesToPost.insert(std::make_pair(tile, ChangeType::add));
else if (!shouldAdd && presentInNavMesh)
tilesToPost.insert(std::make_pair(tile, ChangeType::mixed));
else
recastMeshManager.reportNavMeshChange(recastMeshManager.getVersion(), Version {0, 0});
});
}
mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost);
@ -214,8 +216,8 @@ namespace DetourNavigator
RecastMeshTiles NavMeshManager::getRecastMeshTiles()
{
std::vector<TilePosition> tiles;
mRecastMeshManager.forEachTilePosition(
[&tiles] (const TilePosition& tile) { tiles.push_back(tile); });
mRecastMeshManager.forEachTile(
[&tiles] (const TilePosition& tile, const CachedRecastMeshManager&) { tiles.push_back(tile); });
RecastMeshTiles result;
std::transform(tiles.begin(), tiles.end(), std::inserter(result, result.end()),
[this] (const TilePosition& tile) { return std::make_pair(tile, mRecastMeshManager.getMesh(tile)); });

17
components/detournavigator/oscillatingrecastmeshobject.cpp
View file

@ -1,9 +1,23 @@
#include "oscillatingrecastmeshobject.hpp"
#include "tilebounds.hpp"
#include <components/bullethelpers/aabb.hpp>
#include <algorithm>
namespace DetourNavigator
{
namespace
{
void limitBy(btAABB& aabb, const TileBounds& bounds)
{
aabb.m_min.setX(std::max(aabb.m_min.x(), static_cast<btScalar>(bounds.mMin.x())));
aabb.m_min.setY(std::max(aabb.m_min.y(), static_cast<btScalar>(bounds.mMin.y())));
aabb.m_max.setX(std::min(aabb.m_max.x(), static_cast<btScalar>(bounds.mMax.x())));
aabb.m_max.setY(std::min(aabb.m_max.y(), static_cast<btScalar>(bounds.mMax.y())));
}
}
OscillatingRecastMeshObject::OscillatingRecastMeshObject(RecastMeshObject&& impl, std::size_t lastChangeRevision)
: mImpl(std::move(impl))
, mLastChangeRevision(lastChangeRevision)
@ -19,7 +33,7 @@ namespace DetourNavigator
}
bool OscillatingRecastMeshObject::update(const btTransform& transform, const AreaType areaType,
std::size_t lastChangeRevision)
std::size_t lastChangeRevision, const TileBounds& bounds)
{
const btTransform oldTransform = mImpl.getTransform();
if (!mImpl.update(transform, areaType))
@ -37,6 +51,7 @@ namespace DetourNavigator
}
const btAABB currentAabb = mAabb;
mAabb.merge(BulletHelpers::getAabb(mImpl.getShape(), transform));
limitBy(mAabb, bounds);
return currentAabb != mAabb;
}
}

4
components/detournavigator/oscillatingrecastmeshobject.hpp
View file

@ -3,6 +3,7 @@
#include "areatype.hpp"
#include "recastmeshobject.hpp"
#include "tilebounds.hpp"
#include <LinearMath/btTransform.h>
#include <BulletCollision/Gimpact/btBoxCollision.h>
@ -15,7 +16,8 @@ namespace DetourNavigator
explicit OscillatingRecastMeshObject(RecastMeshObject&& impl, std::size_t lastChangeRevision);
explicit OscillatingRecastMeshObject(const RecastMeshObject& impl, std::size_t lastChangeRevision);
bool update(const btTransform& transform, const AreaType areaType, std::size_t lastChangeRevision);
bool update(const btTransform& transform, const AreaType areaType, std::size_t lastChangeRevision,
const TileBounds& bounds);
const RecastMeshObject& getImpl() const { return mImpl; }

17
components/detournavigator/recastmeshmanager.cpp
View file

@ -5,19 +5,19 @@ namespace DetourNavigator
RecastMeshManager::RecastMeshManager(const Settings& settings, const TileBounds& bounds, std::size_t generation)
: mGeneration(generation)
, mMeshBuilder(settings, bounds)
, mTileBounds(bounds)
{
}
bool RecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
const AreaType areaType)
{
const auto object = mObjects.lower_bound(id);
if (object != mObjects.end() && object->first == id)
return false;
const auto iterator = mObjectsOrder.emplace(mObjectsOrder.end(),
OscillatingRecastMeshObject(RecastMeshObject(shape, transform, areaType), mRevision + 1));
if (!mObjects.emplace(id, iterator).second)
{
mObjectsOrder.erase(iterator);
return false;
}
mObjects.emplace_hint(object, id, iterator);
++mRevision;
return true;
}
@ -29,7 +29,7 @@ namespace DetourNavigator
return false;
const std::size_t lastChangeRevision = mLastNavMeshReportedChange.has_value()
? mLastNavMeshReportedChange->mRevision : mRevision;
if (!object->second->update(transform, areaType, lastChangeRevision))
if (!object->second->update(transform, areaType, lastChangeRevision, mTileBounds))
return false;
++mRevision;
return true;
@ -95,6 +95,11 @@ namespace DetourNavigator
mLastNavMeshReportedChange = mLastNavMeshReport;
}
Version RecastMeshManager::getVersion() const
{
return Version {mGeneration, mRevision};
}
void RecastMeshManager::rebuild()
{
mMeshBuilder.reset();

6
components/detournavigator/recastmeshmanager.hpp
View file

@ -13,7 +13,6 @@
#include <list>
#include <map>
#include <optional>
#include <unordered_map>
class btCollisionShape;
@ -53,6 +52,8 @@ namespace DetourNavigator
void reportNavMeshChange(Version recastMeshVersion, Version navMeshVersion);
Version getVersion() const;
private:
struct Report
{
@ -63,8 +64,9 @@ namespace DetourNavigator
std::size_t mRevision = 0;
std::size_t mGeneration;
RecastMeshBuilder mMeshBuilder;
TileBounds mTileBounds;
std::list<OscillatingRecastMeshObject> mObjectsOrder;
std::unordered_map<ObjectId, std::list<OscillatingRecastMeshObject>::iterator> mObjects;
std::map<ObjectId, std::list<OscillatingRecastMeshObject>::iterator> mObjects;
std::list<Water> mWaterOrder;
std::map<osg::Vec2i, std::list<Water>::iterator> mWater;
std::optional<Report> mLastNavMeshReportedChange;

18
components/detournavigator/tilecachedrecastmeshmanager.cpp
View file

@ -3,6 +3,9 @@
#include "gettilespositions.hpp"
#include "settingsutils.hpp"
#include <algorithm>
#include <vector>
namespace DetourNavigator
{
TileCachedRecastMeshManager::TileCachedRecastMeshManager(const Settings& settings)
@ -12,23 +15,22 @@ namespace DetourNavigator
bool TileCachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape,
const btTransform& transform, const AreaType areaType)
{
bool result = false;
auto& tilesPositions = mObjectsTilesPositions[id];
std::vector<TilePosition> tilesPositions;
const auto border = getBorderSize(mSettings);
{
auto tiles = mTiles.lock();
getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& tilePosition)
{
if (addTile(id, shape, transform, areaType, tilePosition, border, tiles.get()))
{
tilesPositions.insert(tilePosition);
result = true;
}
tilesPositions.push_back(tilePosition);
});
}
if (result)
if (tilesPositions.empty())
return false;
std::sort(tilesPositions.begin(), tilesPositions.end());
mObjectsTilesPositions.insert_or_assign(id, std::move(tilesPositions));
++mRevision;
return result;
return true;
}
std::optional<RemovedRecastMeshObject> TileCachedRecastMeshManager::removeObject(const ObjectId id)

26
components/detournavigator/tilecachedrecastmeshmanager.hpp
View file

@ -9,9 +9,10 @@
#include <components/misc/guarded.hpp>
#include <algorithm>
#include <map>
#include <mutex>
#include <set>
#include <vector>
namespace DetourNavigator
{
@ -33,14 +34,14 @@ namespace DetourNavigator
auto& currentTiles = object->second;
const auto border = getBorderSize(mSettings);
bool changed = false;
std::set<TilePosition> newTiles;
std::vector<TilePosition> newTiles;
{
auto tiles = mTiles.lock();
const auto onTilePosition = [&] (const TilePosition& tilePosition)
{
if (currentTiles.count(tilePosition))
if (std::binary_search(currentTiles.begin(), currentTiles.end(), tilePosition))
{
newTiles.insert(tilePosition);
newTiles.push_back(tilePosition);
if (updateTile(id, transform, areaType, tilePosition, tiles.get()))
{
onChangedTile(tilePosition);
@ -49,24 +50,27 @@ namespace DetourNavigator
}
else if (addTile(id, shape, transform, areaType, tilePosition, border, tiles.get()))
{
newTiles.insert(tilePosition);
newTiles.push_back(tilePosition);
onChangedTile(tilePosition);
changed = true;
}
};
getTilesPositions(shape, transform, mSettings, onTilePosition);
std::sort(newTiles.begin(), newTiles.end());
for (const auto& tile : currentTiles)
{
if (!newTiles.count(tile) && removeTile(id, tile, tiles.get()))
if (!std::binary_search(newTiles.begin(), newTiles.end(), tile) && removeTile(id, tile, tiles.get()))
{
onChangedTile(tile);
changed = true;
}
}
}
std::swap(currentTiles, newTiles);
if (changed)
{
currentTiles = std::move(newTiles);
++mRevision;
}
return changed;
}
@ -81,10 +85,10 @@ namespace DetourNavigator
bool hasTile(const TilePosition& tilePosition);
template <class Function>
void forEachTilePosition(Function&& function)
void forEachTile(Function&& function)
{
for (const auto& tile : *mTiles.lock())
function(tile.first);
for (auto& [tilePosition, recastMeshManager] : *mTiles.lock())
function(tilePosition, recastMeshManager);
}
std::size_t getRevision() const;
@ -94,7 +98,7 @@ namespace DetourNavigator
private:
const Settings& mSettings;
Misc::ScopeGuarded<std::map<TilePosition, CachedRecastMeshManager>> mTiles;
std::unordered_map<ObjectId, std::set<TilePosition>> mObjectsTilesPositions;
std::unordered_map<ObjectId, std::vector<TilePosition>> mObjectsTilesPositions;
std::map<osg::Vec2i, std::vector<TilePosition>> mWaterTilesPositions;
std::size_t mRevision = 0;
std::size_t mTilesGeneration = 0;