Merge pull request #2225 from elsid/retry_async_navmesh_update_job

Support explicit limit of navmesh tiles for scene

apps/openmw_test_suite/detournavigator/navigator.cpp

@@ -61,6 +61,7 @@ namespace
             mSettings.mMaxSmoothPathSize = 1024;
             mSettings.mTrianglesPerChunk = 256;
             mSettings.mMaxPolys = 4096;
+            mSettings.mMaxTilesNumber = 512;
             mNavigator.reset(new NavigatorImpl(mSettings));
         }
     };

components/detournavigator/asyncnavmeshupdater.cpp

@@ -1,4 +1,4 @@
-#include "asyncnavmeshupdater.hpp"
+#include "asyncnavmeshupdater.hpp"
 #include "debug.hpp"
 #include "makenavmesh.hpp"
 #include "settings.hpp"
@@ -14,16 +14,6 @@ namespace
     {
         return std::abs(lhs.x() - rhs.x()) + std::abs(lhs.y() - rhs.y());
     }
-
-    std::tuple<ChangeType, int, int> makePriority(const TilePosition& position, const ChangeType changeType,
-                                                    const TilePosition& playerTile)
-    {
-        return std::make_tuple(
-            changeType,
-            getManhattanDistance(position, playerTile),
-            getManhattanDistance(position, TilePosition {0, 0})
-        );
-    }
 }
 
 namespace DetourNavigator
@@ -32,14 +22,18 @@ namespace DetourNavigator
     {
         switch (value)
         {
-            case UpdateNavMeshStatus::ignore:
+            case UpdateNavMeshStatus::ignored:
                 return stream << "ignore";
             case UpdateNavMeshStatus::removed:
                 return stream << "removed";
-            case UpdateNavMeshStatus::add:
+            case UpdateNavMeshStatus::added:
                 return stream << "add";
             case UpdateNavMeshStatus::replaced:
                 return stream << "replaced";
+            case UpdateNavMeshStatus::failed:
+                return stream << "failed";
+            case UpdateNavMeshStatus::lost:
+                return stream << "lost";
         }
         return stream << "unknown";
     }
@@ -81,13 +75,25 @@ namespace DetourNavigator
         for (const auto& changedTile : changedTiles)
         {
             if (mPushed[agentHalfExtents].insert(changedTile.first).second)
-                mJobs.push(Job {agentHalfExtents, navMeshCacheItem, changedTile.first,
+            {
-                                makePriority(changedTile.first, changedTile.second, playerTile)});
+                Job job;
+
+                job.mAgentHalfExtents = agentHalfExtents;
+                job.mNavMeshCacheItem = navMeshCacheItem;
+                job.mChangedTile = changedTile.first;
+                job.mTryNumber = 0;
+                job.mChangeType = changedTile.second;
+                job.mDistanceToPlayer = getManhattanDistance(changedTile.first, playerTile);
+                job.mDistanceToOrigin = getManhattanDistance(changedTile.first, TilePosition {0, 0});
+
+                mJobs.push(std::move(job));
+            }
         }
 
         log("posted ", mJobs.size(), " jobs");
 
-        mHasJob.notify_all();
+        if (!mJobs.empty())
+            mHasJob.notify_all();
     }
 
     void AsyncNavMeshUpdater::wait()
@@ -103,8 +109,9 @@ namespace DetourNavigator
         {
             try
             {
-                if (const auto job = getNextJob())
+                if (auto job = getNextJob())
-                    processJob(*job);
+                    if (!processJob(*job))
+                        repost(std::move(*job));
             }
             catch (const std::exception& e)
             {
@@ -114,7 +121,7 @@ namespace DetourNavigator
         log("stop process jobs");
     }
 
-    void AsyncNavMeshUpdater::processJob(const Job& job)
+    bool AsyncNavMeshUpdater::processJob(const Job& job)
     {
         log("process job for agent=", job.mAgentHalfExtents);
 
@@ -135,12 +142,16 @@ namespace DetourNavigator
 
         using FloatMs = std::chrono::duration<float, std::milli>;
 
-        const auto locked = job.mNavMeshCacheItem.lockConst();
+        {
-        log("cache updated for agent=", job.mAgentHalfExtents, " status=", status,
+            const auto locked = job.mNavMeshCacheItem.lockConst();
-            " generation=", locked->getGeneration(),
+            log("cache updated for agent=", job.mAgentHalfExtents, " status=", status,
-            " revision=", locked->getNavMeshRevision(),
+                " generation=", locked->getGeneration(),
-            " time=", std::chrono::duration_cast<FloatMs>(finish - start).count(), "ms",
+                " revision=", locked->getNavMeshRevision(),
-            " total_time=", std::chrono::duration_cast<FloatMs>(finish - firstStart).count(), "ms");
+                " time=", std::chrono::duration_cast<FloatMs>(finish - start).count(), "ms",
+                " total_time=", std::chrono::duration_cast<FloatMs>(finish - firstStart).count(), "ms");
+        }
+
+        return isSuccess(status);
     }
 
     boost::optional<AsyncNavMeshUpdater::Job> AsyncNavMeshUpdater::getNextJob()
@@ -193,4 +204,19 @@ namespace DetourNavigator
             *locked = value;
         return *locked.get();
     }
+
+    void AsyncNavMeshUpdater::repost(Job&& job)
+    {
+        if (mShouldStop || job.mTryNumber > 2)
+            return;
+
+        const std::lock_guard<std::mutex> lock(mMutex);
+
+        if (mPushed[job.mAgentHalfExtents].insert(job.mChangedTile).second)
+        {
+            ++job.mTryNumber;
+            mJobs.push(std::move(job));
+            mHasJob.notify_all();
+        }
+    }
 }

components/detournavigator/asyncnavmeshupdater.hpp

@@ -50,11 +50,19 @@ namespace DetourNavigator
             osg::Vec3f mAgentHalfExtents;
             SharedNavMeshCacheItem mNavMeshCacheItem;
             TilePosition mChangedTile;
-            std::tuple<ChangeType, int, int> mPriority;
+            unsigned mTryNumber;
+            ChangeType mChangeType;
+            int mDistanceToPlayer;
+            int mDistanceToOrigin;
+
+            std::tuple<unsigned, ChangeType, int, int> getPriority() const
+            {
+                return std::make_tuple(mTryNumber, mChangeType, mDistanceToPlayer, mDistanceToOrigin);
+            }
 
             friend inline bool operator <(const Job& lhs, const Job& rhs)
             {
-                return lhs.mPriority > rhs.mPriority;
+                return lhs.getPriority() > rhs.getPriority();
             }
         };
 
@@ -76,13 +84,15 @@ namespace DetourNavigator
 
         void process() throw();
 
-        void processJob(const Job& job);
+        bool processJob(const Job& job);
 
         boost::optional<Job> getNextJob();
 
         void writeDebugFiles(const Job& job, const RecastMesh* recastMesh) const;
 
         std::chrono::steady_clock::time_point setFirstStart(const std::chrono::steady_clock::time_point& value);
+
+        void repost(Job&& job);
     };
 }
 

components/detournavigator/makenavmesh.cpp

@@ -441,17 +441,56 @@ namespace
         return NavMeshData(navMeshData, navMeshDataSize);
     }
 
-    UpdateNavMeshStatus makeUpdateNavMeshStatus(bool removed, bool add)
+    class UpdateNavMeshStatusBuilder
     {
-        if (removed && add)
+    public:
-            return UpdateNavMeshStatus::replaced;
+        UpdateNavMeshStatusBuilder() = default;
-        else if (removed)
+
-            return UpdateNavMeshStatus::removed;
+        UpdateNavMeshStatusBuilder removed(bool value)
-        else if (add)
+        {
-            return UpdateNavMeshStatus::add;
+            if (value)
-        else
+                set(UpdateNavMeshStatus::removed);
-            return UpdateNavMeshStatus::ignore;
+            else
-    }
+                unset(UpdateNavMeshStatus::removed);
+            return *this;
+        }
+
+        UpdateNavMeshStatusBuilder added(bool value)
+        {
+            if (value)
+                set(UpdateNavMeshStatus::added);
+            else
+                unset(UpdateNavMeshStatus::added);
+            return *this;
+        }
+
+        UpdateNavMeshStatusBuilder failed(bool value)
+        {
+            if (value)
+                set(UpdateNavMeshStatus::failed);
+            else
+                unset(UpdateNavMeshStatus::failed);
+            return *this;
+        }
+
+        UpdateNavMeshStatus getResult() const
+        {
+            return mResult;
+        }
+
+    private:
+        UpdateNavMeshStatus mResult = UpdateNavMeshStatus::ignored;
+
+        void set(UpdateNavMeshStatus value)
+        {
+            mResult = static_cast<UpdateNavMeshStatus>(static_cast<unsigned>(mResult) | static_cast<unsigned>(value));
+        }
+
+        void unset(UpdateNavMeshStatus value)
+        {
+            mResult = static_cast<UpdateNavMeshStatus>(static_cast<unsigned>(mResult) & ~static_cast<unsigned>(value));
+        }
+    };
 
     template <class T>
     unsigned long getMinValuableBitsNumber(const T value)
@@ -461,6 +500,49 @@ namespace
             ++power;
         return power;
     }
+
+    dtStatus addTile(dtNavMesh& navMesh, const NavMeshData& navMeshData)
+    {
+        const dtTileRef lastRef = 0;
+        dtTileRef* const result = nullptr;
+        return navMesh.addTile(navMeshData.mValue.get(), navMeshData.mSize,
+                               doNotTransferOwnership, lastRef, result);
+    }
+
+    dtStatus addTile(dtNavMesh& navMesh, const NavMeshTilesCache::Value& cachedNavMeshData)
+    {
+        const dtTileRef lastRef = 0;
+        dtTileRef* const result = nullptr;
+        return navMesh.addTile(cachedNavMeshData.get().mValue, cachedNavMeshData.get().mSize,
+                               doNotTransferOwnership, lastRef, result);
+    }
+
+    template <class T>
+    UpdateNavMeshStatus replaceTile(const SharedNavMeshCacheItem& navMeshCacheItem,
+        const TilePosition& changedTile, T&& navMeshData)
+    {
+        const auto locked = navMeshCacheItem.lock();
+        auto& navMesh = locked->getValue();
+        const int layer = 0;
+        const auto tileRef = navMesh.getTileRefAt(changedTile.x(), changedTile.y(), layer);
+        unsigned char** const data = nullptr;
+        int* const dataSize = nullptr;
+        const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, data, dataSize));
+        const auto addStatus = addTile(navMesh, navMeshData);
+
+        if (dtStatusSucceed(addStatus))
+        {
+            locked->setUsedTile(changedTile, std::forward<T>(navMeshData));
+            return UpdateNavMeshStatusBuilder().added(true).removed(removed).getResult();
+        }
+        else
+        {
+            if (removed)
+                locked->removeUsedTile(changedTile);
+            log("failed to add tile with status=", WriteDtStatus {addStatus});
+            return UpdateNavMeshStatusBuilder().removed(removed).failed((addStatus & DT_OUT_OF_MEMORY) != 0).getResult();
+        }
+    }
 }
 
 namespace DetourNavigator
@@ -522,7 +604,7 @@ namespace DetourNavigator
             const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, nullptr, nullptr));
             if (removed)
                 locked->removeUsedTile(changedTile);
-            return makeUpdateNavMeshStatus(removed, false);
+            return UpdateNavMeshStatusBuilder().removed(removed).getResult();
         };
 
         if (!recastMesh)
@@ -546,7 +628,7 @@ namespace DetourNavigator
             return removeTile();
         }
 
-        if (!shouldAddTile(changedTile, playerTile, params.maxTiles))
+        if (!shouldAddTile(changedTile, playerTile, std::min(settings.mMaxTilesNumber, params.maxTiles)))
         {
             log("ignore add tile: too far from player");
             return removeTile();
@@ -583,47 +665,10 @@ namespace DetourNavigator
             if (!cachedNavMeshData)
             {
                 log("cache overflow");
-
+                return replaceTile(navMeshCacheItem, changedTile, std::move(navMeshData));
-                const auto locked = navMeshCacheItem.lock();
-                auto& navMesh = locked->getValue();
-                const auto tileRef = navMesh.getTileRefAt(x, y, 0);
-                const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, nullptr, nullptr));
-                const auto addStatus = navMesh.addTile(navMeshData.mValue.get(), navMeshData.mSize,
-                                                       doNotTransferOwnership, 0, 0);
-
-                if (dtStatusSucceed(addStatus))
-                {
-                    locked->setUsedTile(changedTile, std::move(navMeshData));
-                    return makeUpdateNavMeshStatus(removed, true);
-                }
-                else
-                {
-                    if (removed)
-                        locked->removeUsedTile(changedTile);
-                    log("failed to add tile with status=", WriteDtStatus {addStatus});
-                    return makeUpdateNavMeshStatus(removed, false);
-                }
             }
         }
 
-        const auto locked = navMeshCacheItem.lock();
+        return replaceTile(navMeshCacheItem, changedTile, std::move(cachedNavMeshData));
-        auto& navMesh = locked->getValue();
-        const auto tileRef = navMesh.getTileRefAt(x, y, 0);
-        const auto removed = dtStatusSucceed(navMesh.removeTile(tileRef, nullptr, nullptr));
-        const auto addStatus = navMesh.addTile(cachedNavMeshData.get().mValue, cachedNavMeshData.get().mSize,
-                                               doNotTransferOwnership, 0, 0);
-
-        if (dtStatusSucceed(addStatus))
-        {
-            locked->setUsedTile(changedTile, std::move(cachedNavMeshData));
-            return makeUpdateNavMeshStatus(removed, true);
-        }
-        else
-        {
-            if (removed)
-                locked->removeUsedTile(changedTile);
-            log("failed to add tile with status=", WriteDtStatus {addStatus});
-            return makeUpdateNavMeshStatus(removed, false);
-        }
     }
 }

components/detournavigator/makenavmesh.hpp

@@ -20,14 +20,21 @@ namespace DetourNavigator
     class RecastMesh;
     struct Settings;
 
-    enum class UpdateNavMeshStatus
+    enum class UpdateNavMeshStatus : unsigned
     {
-        ignore,
+        ignored = 0,
-        removed,
+        removed = 1 << 0,
-        add,
+        added = 1 << 1,
-        replaced
+        replaced = removed | added,
+        failed = 1 << 2,
+        lost = removed | failed,
     };
 
+    inline bool isSuccess(UpdateNavMeshStatus value)
+    {
+        return (static_cast<unsigned>(value) & static_cast<unsigned>(UpdateNavMeshStatus::failed)) == 0;
+    }
+
     inline float getLength(const osg::Vec2i& value)
     {
         return std::sqrt(float(osg::square(value.x()) + osg::square(value.y())));
@@ -41,7 +48,7 @@ namespace DetourNavigator
     inline bool shouldAddTile(const TilePosition& changedTile, const TilePosition& playerTile, int maxTiles)
     {
         const auto expectedTilesCount = std::ceil(osg::PI * osg::square(getDistance(changedTile, playerTile)));
-        return expectedTilesCount * 3 <= maxTiles;
+        return expectedTilesCount <= maxTiles;
     }
 
     NavMeshPtr makeEmptyNavMesh(const Settings& settings);

components/detournavigator/navmeshmanager.cpp

@@ -157,7 +157,7 @@ namespace DetourNavigator
                 if (changedTiles->second.empty())
                     mChangedTiles.erase(changedTiles);
             }
-            const auto maxTiles = navMesh.getParams()->maxTiles;
+            const auto maxTiles = std::min(mSettings.mMaxTilesNumber, navMesh.getParams()->maxTiles);
             mRecastMeshManager.forEachTilePosition([&] (const TilePosition& tile)
             {
                 if (tilesToPost.count(tile))

components/detournavigator/navmeshtilescache.cpp

@@ -62,8 +62,8 @@ namespace DetourNavigator
             return Value();
 
         // TODO: use different function to make key to avoid unnecessary std::string allocation
-        const auto tile = tileValues->second.Map.find(makeNavMeshKey(recastMesh, offMeshConnections));
+        const auto tile = tileValues->second.mMap.find(makeNavMeshKey(recastMesh, offMeshConnections));
-        if (tile == tileValues->second.Map.end())
+        if (tile == tileValues->second.mMap.end())
             return Value();
 
         acquireItemUnsafe(tile->second);
@@ -96,7 +96,7 @@ namespace DetourNavigator
 
         const auto iterator = mFreeItems.emplace(mFreeItems.end(), agentHalfExtents, changedTile, navMeshKey);
         // TODO: use std::string_view or some alternative to avoid navMeshKey copy into both mFreeItems and mValues
-        const auto emplaced = mValues[agentHalfExtents][changedTile].Map.emplace(navMeshKey, iterator);
+        const auto emplaced = mValues[agentHalfExtents][changedTile].mMap.emplace(navMeshKey, iterator);
 
         if (!emplaced.second)
         {
@@ -125,16 +125,16 @@ namespace DetourNavigator
         if (tileValues == agentValues->second.end())
             return;
 
-        const auto value = tileValues->second.Map.find(item.mNavMeshKey);
+        const auto value = tileValues->second.mMap.find(item.mNavMeshKey);
-        if (value == tileValues->second.Map.end())
+        if (value == tileValues->second.mMap.end())
             return;
 
         mUsedNavMeshDataSize -= getSize(item);
         mFreeNavMeshDataSize -= getSize(item);
         mFreeItems.pop_back();
 
-        tileValues->second.Map.erase(value);
+        tileValues->second.mMap.erase(value);
-        if (!tileValues->second.Map.empty())
+        if (!tileValues->second.mMap.empty())
             return;
 
         agentValues->second.erase(tileValues);

components/detournavigator/navmeshtilescache.hpp

@@ -108,7 +108,7 @@ namespace DetourNavigator
 
         struct TileMap
         {
-            std::map<std::string, ItemIterator> Map;
+            std::map<std::string, ItemIterator> mMap;
         };
 
         std::mutex mMutex;

components/detournavigator/settings.cpp

@@ -24,6 +24,7 @@ namespace DetourNavigator
         navigatorSettings.mMaxEdgeLen = ::Settings::Manager::getInt("max edge len", "Navigator");
         navigatorSettings.mMaxNavMeshQueryNodes = ::Settings::Manager::getInt("max nav mesh query nodes", "Navigator");
         navigatorSettings.mMaxPolys = ::Settings::Manager::getInt("max polygons per tile", "Navigator");
+        navigatorSettings.mMaxTilesNumber = ::Settings::Manager::getInt("max tiles number", "Navigator");
         navigatorSettings.mMaxVertsPerPoly = ::Settings::Manager::getInt("max verts per poly", "Navigator");
         navigatorSettings.mRegionMergeSize = ::Settings::Manager::getInt("region merge size", "Navigator");
         navigatorSettings.mRegionMinSize = ::Settings::Manager::getInt("region min size", "Navigator");

components/detournavigator/settings.hpp

@@ -26,6 +26,7 @@ namespace DetourNavigator
         int mMaxEdgeLen = 0;
         int mMaxNavMeshQueryNodes = 0;
         int mMaxPolys = 0;
+        int mMaxTilesNumber = 0;
         int mMaxVertsPerPoly = 0;
         int mRegionMergeSize = 0;
         int mRegionMinSize = 0;

docs/source/reference/modding/settings/navigator.rst

@@ -24,6 +24,24 @@ Moving across external world, entering/exiting location produce nav mesh update.
 NPC and creatures may not be able to find path before nav mesh is built around them.
 Try to disable this if you want to have old fashioned AI which doesn't know where to go when you stand behind that stone and casting a firebolt.
 
+max tiles number
+----------------
+
+:Type:		integer
+:Range:		>= 0
+:Default:	512
+
+Number of tiles at nav mesh.
+Nav mesh covers circle area around player.
+This option allows to set an explicit limit for nav mesh size, how many tiles should fit into circle.
+If actor is inside this area it able to find path over nav mesh.
+Increasing this value may decrease performance.
+
+.. note::
+    Don't expect infinite nav mesh size increasing.
+    This condition is always true: ``max tiles number * max polygons per tile <= 4194304``.
+    It's a limitation of `Recastnavigation <https://github.com/recastnavigation/recastnavigation>`_ library.
+
 Advanced settings
 *****************
 
@@ -322,6 +340,12 @@ Maximum number of polygons per nav mesh tile. Maximum number of nav mesh tiles d
 this value. 22 bits is a limit to store both tile identifier and polygon identifier (tiles = 2^(22 - log2(polygons))).
 See `recastnavigation <https://github.com/recastnavigation/recastnavigation>`_ for more details.
 
+.. Warning::
+    Lower value may lead to ignored world geometry on nav mesh.
+    Greater value will reduce number of nav mesh tiles.
+    This condition is always true: ``max tiles number * max polygons per tile <= 4194304``.
+    It's a limitation of `Recastnavigation <https://github.com/recastnavigation/recastnavigation>`_ library.
+
 max verts per poly
 ------------------
 

files/settings-default.cfg

@@ -670,6 +670,9 @@ enable nav mesh render = false
 # Render agents paths (true, false)
 enable agents paths render = false
 
+# Max number of navmesh tiles (value >= 0)
+max tiles number = 512
+
 [Shadows]
 
 # Enable or disable shadows. Bear in mind that this will force OpenMW to use shaders as if "[Shaders]/force shaders" was set to true.