mirror of https://github.com/OpenMW/openmw.git
Merge branch 'navmesh_ignore' into 'master'
Do not trigger NavMesh update when RecastMesh update should not change NavMesh (#4917) See merge request OpenMW/openmw!762pull/3072/head
psi29a
4 years ago
commit
b645c1f4c0
@ -0,0 +1,29 @@
|
||||
#ifndef OPENMW_COMPONENTS_BULLETHELPERS_AABB_H
|
||||
#define OPENMW_COMPONENTS_BULLETHELPERS_AABB_H
|
||||
|
||||
#include <LinearMath/btVector3.h>
|
||||
#include <LinearMath/btTransform.h>
|
||||
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
|
||||
#include <BulletCollision/Gimpact/btBoxCollision.h>
|
||||
|
||||
inline bool operator==(const btAABB& lhs, const btAABB& rhs)
|
||||
{
|
||||
return lhs.m_min == rhs.m_min && lhs.m_max == rhs.m_max;
|
||||
}
|
||||
|
||||
inline bool operator!=(const btAABB& lhs, const btAABB& rhs)
|
||||
{
|
||||
return !(lhs == rhs);
|
||||
}
|
||||
|
||||
namespace BulletHelpers
|
||||
{
|
||||
inline btAABB getAabb(const btCollisionShape& shape, const btTransform& transform)
|
||||
{
|
||||
btAABB result;
|
||||
shape.getAabb(transform, result.m_min, result.m_max);
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,183 @@
|
||||
#include "navmeshtileview.hpp"
|
||||
|
||||
#include <DetourCommon.h>
|
||||
#include <DetourNavMesh.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <stdexcept>
|
||||
#include <tuple>
|
||||
|
||||
namespace
|
||||
{
|
||||
template <typename T>
|
||||
struct Ref
|
||||
{
|
||||
T& mRef;
|
||||
|
||||
explicit Ref(T& ref) : mRef(ref) {}
|
||||
|
||||
friend bool operator==(const Ref& lhs, const Ref& rhs)
|
||||
{
|
||||
return lhs.mRef == rhs.mRef;
|
||||
}
|
||||
};
|
||||
|
||||
template <typename T, std::size_t size>
|
||||
struct ArrayRef
|
||||
{
|
||||
T (&mRef)[size];
|
||||
|
||||
explicit ArrayRef(T (&ref)[size]) : mRef(ref) {}
|
||||
|
||||
friend bool operator==(const ArrayRef& lhs, const ArrayRef& rhs)
|
||||
{
|
||||
return std::equal(std::begin(lhs.mRef), std::end(lhs.mRef), std::begin(rhs.mRef));
|
||||
}
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
struct Span
|
||||
{
|
||||
T* mBegin;
|
||||
T* mEnd;
|
||||
|
||||
explicit Span(T* data, int size) : mBegin(data), mEnd(data + static_cast<std::size_t>(size)) {}
|
||||
|
||||
friend bool operator==(const Span& lhs, const Span& rhs)
|
||||
{
|
||||
// size is already equal if headers are equal
|
||||
assert((lhs.mEnd - lhs.mBegin) == (rhs.mEnd - rhs.mBegin));
|
||||
return std::equal(lhs.mBegin, lhs.mEnd, rhs.mBegin);
|
||||
}
|
||||
};
|
||||
|
||||
auto makeTuple(const dtMeshHeader& v)
|
||||
{
|
||||
return std::tuple(
|
||||
v.x,
|
||||
v.y,
|
||||
v.layer,
|
||||
v.userId,
|
||||
v.polyCount,
|
||||
v.vertCount,
|
||||
v.maxLinkCount,
|
||||
v.detailMeshCount,
|
||||
v.detailVertCount,
|
||||
v.detailTriCount,
|
||||
v.bvNodeCount,
|
||||
v.offMeshConCount,
|
||||
v.offMeshBase,
|
||||
v.walkableHeight,
|
||||
v.walkableRadius,
|
||||
v.walkableClimb,
|
||||
v.detailVertCount,
|
||||
ArrayRef(v.bmin),
|
||||
ArrayRef(v.bmax),
|
||||
v.bvQuantFactor
|
||||
);
|
||||
}
|
||||
|
||||
auto makeTuple(const dtPoly& v)
|
||||
{
|
||||
return std::tuple(ArrayRef(v.verts), ArrayRef(v.neis), v.flags, v.vertCount, v.areaAndtype);
|
||||
}
|
||||
|
||||
auto makeTuple(const dtPolyDetail& v)
|
||||
{
|
||||
return std::tuple(v.vertBase, v.triBase, v.vertCount, v.triCount);
|
||||
}
|
||||
|
||||
auto makeTuple(const dtBVNode& v)
|
||||
{
|
||||
return std::tuple(ArrayRef(v.bmin), ArrayRef(v.bmax), v.i);
|
||||
}
|
||||
|
||||
auto makeTuple(const dtOffMeshConnection& v)
|
||||
{
|
||||
return std::tuple(ArrayRef(v.pos), v.rad, v.poly, v.flags, v.side, v.userId);
|
||||
}
|
||||
|
||||
auto makeTuple(const DetourNavigator::NavMeshTileConstView& v)
|
||||
{
|
||||
return std::tuple(
|
||||
Ref(*v.mHeader),
|
||||
Span(v.mPolys, v.mHeader->polyCount),
|
||||
Span(v.mVerts, v.mHeader->vertCount),
|
||||
Span(v.mDetailMeshes, v.mHeader->detailMeshCount),
|
||||
Span(v.mDetailVerts, v.mHeader->detailVertCount),
|
||||
Span(v.mDetailTris, v.mHeader->detailTriCount),
|
||||
Span(v.mBvTree, v.mHeader->bvNodeCount),
|
||||
Span(v.mOffMeshCons, v.mHeader->offMeshConCount)
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
inline auto operator==(const T& lhs, const T& rhs)
|
||||
-> std::enable_if_t<std::is_same_v<std::void_t<decltype(makeTuple(lhs))>, void>, bool>
|
||||
{
|
||||
return makeTuple(lhs) == makeTuple(rhs);
|
||||
}
|
||||
|
||||
namespace DetourNavigator
|
||||
{
|
||||
NavMeshTileConstView asNavMeshTileConstView(const unsigned char* data)
|
||||
{
|
||||
const dtMeshHeader* header = reinterpret_cast<const dtMeshHeader*>(data);
|
||||
|
||||
if (header->magic != DT_NAVMESH_MAGIC)
|
||||
throw std::logic_error("Invalid navmesh magic");
|
||||
|
||||
if (header->version != DT_NAVMESH_VERSION)
|
||||
throw std::logic_error("Invalid navmesh version");
|
||||
|
||||
// Similar code to https://github.com/recastnavigation/recastnavigation/blob/c5cbd53024c8a9d8d097a4371215e3342d2fdc87/Detour/Source/DetourNavMesh.cpp#L978-L996
|
||||
const int headerSize = dtAlign4(sizeof(dtMeshHeader));
|
||||
const int vertsSize = dtAlign4(sizeof(float) * 3 * header->vertCount);
|
||||
const int polysSize = dtAlign4(sizeof(dtPoly) * header->polyCount);
|
||||
const int linksSize = dtAlign4(sizeof(dtLink) * (header->maxLinkCount));
|
||||
const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail) * header->detailMeshCount);
|
||||
const int detailVertsSize = dtAlign4(sizeof(float) * 3 * header->detailVertCount);
|
||||
const int detailTrisSize = dtAlign4(sizeof(unsigned char) * 4 * header->detailTriCount);
|
||||
const int bvtreeSize = dtAlign4(sizeof(dtBVNode) * header->bvNodeCount);
|
||||
const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection) * header->offMeshConCount);
|
||||
|
||||
const unsigned char* ptr = data + headerSize;
|
||||
|
||||
NavMeshTileConstView view;
|
||||
|
||||
view.mHeader = header;
|
||||
view.mVerts = dtGetThenAdvanceBufferPointer<const float>(ptr, vertsSize);
|
||||
view.mPolys = dtGetThenAdvanceBufferPointer<const dtPoly>(ptr, polysSize);
|
||||
ptr += linksSize;
|
||||
view.mDetailMeshes = dtGetThenAdvanceBufferPointer<const dtPolyDetail>(ptr, detailMeshesSize);
|
||||
view.mDetailVerts = dtGetThenAdvanceBufferPointer<const float>(ptr, detailVertsSize);
|
||||
view.mDetailTris = dtGetThenAdvanceBufferPointer<const unsigned char>(ptr, detailTrisSize);
|
||||
view.mBvTree = dtGetThenAdvanceBufferPointer<const dtBVNode>(ptr, bvtreeSize);
|
||||
view.mOffMeshCons = dtGetThenAdvanceBufferPointer<const dtOffMeshConnection>(ptr, offMeshLinksSize);
|
||||
|
||||
return view;
|
||||
}
|
||||
|
||||
NavMeshTileConstView asNavMeshTileConstView(const dtMeshTile& tile)
|
||||
{
|
||||
NavMeshTileConstView view;
|
||||
|
||||
view.mHeader = tile.header;
|
||||
view.mPolys = tile.polys;
|
||||
view.mVerts = tile.verts;
|
||||
view.mDetailMeshes = tile.detailMeshes;
|
||||
view.mDetailVerts = tile.detailVerts;
|
||||
view.mDetailTris = tile.detailTris;
|
||||
view.mBvTree = tile.bvTree;
|
||||
view.mOffMeshCons = tile.offMeshCons;
|
||||
|
||||
return view;
|
||||
}
|
||||
|
||||
bool operator==(const NavMeshTileConstView& lhs, const NavMeshTileConstView& rhs)
|
||||
{
|
||||
return makeTuple(lhs) == makeTuple(rhs);
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,31 @@
|
||||
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHTILEVIEW_H
|
||||
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVMESHTILEVIEW_H
|
||||
|
||||
struct dtMeshHeader;
|
||||
struct dtPoly;
|
||||
struct dtPolyDetail;
|
||||
struct dtBVNode;
|
||||
struct dtOffMeshConnection;
|
||||
struct dtMeshTile;
|
||||
|
||||
namespace DetourNavigator
|
||||
{
|
||||
struct NavMeshTileConstView
|
||||
{
|
||||
const dtMeshHeader* mHeader;
|
||||
const dtPoly* mPolys;
|
||||
const float* mVerts;
|
||||
const dtPolyDetail* mDetailMeshes;
|
||||
const float* mDetailVerts;
|
||||
const unsigned char* mDetailTris;
|
||||
const dtBVNode* mBvTree;
|
||||
const dtOffMeshConnection* mOffMeshCons;
|
||||
|
||||
friend bool operator==(const NavMeshTileConstView& lhs, const NavMeshTileConstView& rhs);
|
||||
};
|
||||
|
||||
NavMeshTileConstView asNavMeshTileConstView(const unsigned char* data);
|
||||
NavMeshTileConstView asNavMeshTileConstView(const dtMeshTile& tile);
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,35 @@
|
||||
#include "oscillatingrecastmeshobject.hpp"
|
||||
|
||||
#include <components/bullethelpers/aabb.hpp>
|
||||
|
||||
namespace DetourNavigator
|
||||
{
|
||||
OscillatingRecastMeshObject::OscillatingRecastMeshObject(RecastMeshObject impl, std::size_t lastChangeRevision)
|
||||
: mImpl(std::move(impl))
|
||||
, mLastChangeRevision(lastChangeRevision)
|
||||
, mAabb(BulletHelpers::getAabb(mImpl.getShape(), mImpl.getTransform()))
|
||||
{
|
||||
}
|
||||
|
||||
bool OscillatingRecastMeshObject::update(const btTransform& transform, const AreaType areaType,
|
||||
std::size_t lastChangeRevision)
|
||||
{
|
||||
const btTransform oldTransform = mImpl.getTransform();
|
||||
if (!mImpl.update(transform, areaType))
|
||||
return false;
|
||||
if (transform == oldTransform)
|
||||
return true;
|
||||
if (mLastChangeRevision != lastChangeRevision)
|
||||
{
|
||||
mLastChangeRevision = lastChangeRevision;
|
||||
// btAABB doesn't have copy-assignment operator
|
||||
const btAABB aabb = BulletHelpers::getAabb(mImpl.getShape(), transform);
|
||||
mAabb.m_min = aabb.m_min;
|
||||
mAabb.m_max = aabb.m_max;
|
||||
return true;
|
||||
}
|
||||
const btAABB currentAabb = mAabb;
|
||||
mAabb.merge(BulletHelpers::getAabb(mImpl.getShape(), transform));
|
||||
return currentAabb != mAabb;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,28 @@
|
||||
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OSCILLATINGRECASTMESHOBJECT_H
|
||||
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OSCILLATINGRECASTMESHOBJECT_H
|
||||
|
||||
#include "areatype.hpp"
|
||||
#include "recastmeshobject.hpp"
|
||||
|
||||
#include <LinearMath/btTransform.h>
|
||||
#include <BulletCollision/Gimpact/btBoxCollision.h>
|
||||
|
||||
namespace DetourNavigator
|
||||
{
|
||||
class OscillatingRecastMeshObject
|
||||
{
|
||||
public:
|
||||
explicit OscillatingRecastMeshObject(RecastMeshObject impl, std::size_t lastChangeRevision);
|
||||
|
||||
bool update(const btTransform& transform, const AreaType areaType, std::size_t lastChangeRevision);
|
||||
|
||||
const RecastMeshObject& getImpl() const { return mImpl; }
|
||||
|
||||
private:
|
||||
RecastMeshObject mImpl;
|
||||
std::size_t mLastChangeRevision;
|
||||
btAABB mAabb;
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,21 @@
|
||||
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_VERSION_H
|
||||
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_VERSION_H
|
||||
|
||||
#include <cstddef>
|
||||
#include <tuple>
|
||||
|
||||
namespace DetourNavigator
|
||||
{
|
||||
struct Version
|
||||
{
|
||||
std::size_t mGeneration;
|
||||
std::size_t mRevision;
|
||||
|
||||
friend inline bool operator<(const Version& lhs, const Version& rhs)
|
||||
{
|
||||
return std::tie(lhs.mGeneration, lhs.mRevision) < std::tie(rhs.mGeneration, rhs.mRevision);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue