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Update NavMesh one by one tile in order from nearest to player

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pull/1633/head
elsid 7 years ago
parent 41caca24ee
commit d1d034a1ec
No known key found for this signature in database
GPG Key ID: B845CB9FEE18AB40
13 changed files with 224 additions and 178 deletions
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3
apps/openmw/mwworld/scene.cpp
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@ -363,7 +363,8 @@ namespace MWWorld
else
mPhysics->disableWater();
navigator->update();
const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
navigator->update(player.getRefData().getPosition().asVec3());
if (!cell->isExterior() && !(cell->getCell()->mData.mFlags & ESM::Cell::QuasiEx))
mRendering.configureAmbient(cell->getCell());

1
apps/openmw/mwworld/worldimp.cpp
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@ -19,6 +19,7 @@
#include <components/sceneutil/positionattitudetransform.hpp>
#include <components/detournavigator/debug.hpp>
#include <components/detournavigator/navigator.hpp>
#include <components/detournavigator/debug.hpp>

30
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -56,6 +56,32 @@ namespace
}
};
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_throw_exception)
{
EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument);
}
TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
{
mNavigator->addAgent(mAgentHalfExtents);
EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException);
}
TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_throw_exception)
{
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->removeAgent(mAgentHalfExtents);
EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument);
}
TEST_F(DetourNavigatorNavigatorTest, add_agent_should_count_each_agent)
{
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->removeAgent(mAgentHalfExtents);
EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException);
}
TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path)
{
const std::array<btScalar, 5 * 5> heightfieldData {{
@ -70,7 +96,7 @@ namespace
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(1, shape, btTransform::getIdentity());
mNavigator->update();
mNavigator->update(mPlayerPosition);
mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
@ -127,7 +153,7 @@ namespace
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addObject(1, shape, btTransform::getIdentity());
mNavigator->addObject(2, shape2, btTransform::getIdentity());
mNavigator->update();
mNavigator->update(mPlayerPosition);
mNavigator->wait();
mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);

44
components/detournavigator/asyncnavmeshupdater.cpp
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@ -7,6 +7,21 @@
#include <iostream>
namespace
{
using DetourNavigator::TilePosition;
int getDistance(const TilePosition& lhs, const TilePosition& rhs)
{
return std::abs(lhs.x() - rhs.x()) + std::abs(lhs.y() - rhs.y());
}
std::pair<int, int> makePriority(const TilePosition& changedTile, const TilePosition& playerTile)
{
return std::make_pair(getDistance(changedTile, playerTile), getDistance(changedTile, TilePosition {0, 0}));
}
}
namespace DetourNavigator
{
AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings)
@ -20,25 +35,21 @@ namespace DetourNavigator
{
mShouldStop = true;
std::unique_lock<std::mutex> lock(mMutex);
mJobs.clear();
mJobs = decltype(mJobs)();
mHasJob.notify_all();
lock.unlock();
mThread.join();
}
void AsyncNavMeshUpdater::post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr<RecastMesh>& recastMesh,
const std::shared_ptr<NavMeshCacheItem>& navMeshCacheItem, std::set<TilePosition>&& changedTiles)
const std::shared_ptr<NavMeshCacheItem>& navMeshCacheItem, const TilePosition& playerTile,
const std::set<TilePosition>& changedTiles)
{
const std::lock_guard<std::mutex> lock(mMutex);
const auto job = mJobs.find(agentHalfExtents);
if (job == mJobs.end() || job->second.mChangedTiles.empty())
{
mJobs[agentHalfExtents] = Job {agentHalfExtents, recastMesh, navMeshCacheItem, std::move(changedTiles)};
}
else
for (const auto& changedTile : changedTiles)
{
job->second.mRecastMesh = recastMesh;
job->second.mChangedTiles.insert(changedTiles.begin(), changedTiles.end());
mJobs.push(Job {agentHalfExtents, recastMesh, navMeshCacheItem, changedTile,
makePriority(changedTile, playerTile)});
}
mHasJob.notify_all();
}
@ -74,11 +85,8 @@ namespace DetourNavigator
const auto start = std::chrono::steady_clock::now();
if (job.mNavMeshCacheItem->mValue && !job.mChangedTiles.empty())
updateNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, job.mChangedTiles, mSettings,
*job.mNavMeshCacheItem->mValue);
else
job.mNavMeshCacheItem->mValue = makeNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, mSettings);
updateNavMesh(job.mAgentHalfExtents, *job.mRecastMesh, job.mChangedTile, mSettings,
job.mNavMeshCacheItem->mValue);
const auto finish = std::chrono::steady_clock::now();
@ -101,8 +109,8 @@ namespace DetourNavigator
return boost::none;
}
log("got ", mJobs.size(), " jobs");
const auto job = mJobs.begin()->second;
mJobs.erase(mJobs.begin());
const auto job = mJobs.top();
mJobs.pop();
return job;
}
@ -115,6 +123,6 @@ namespace DetourNavigator
if (mSettings.get().mEnableWriteRecastMeshToFile)
writeToFile(*job.mRecastMesh, mSettings.get().mRecastMeshPathPrefix, revision);
if (mSettings.get().mEnableWriteNavMeshToFile)
writeToFile(*job.mNavMeshCacheItem->mValue, mSettings.get().mNavMeshPathPrefix, revision);
writeToFile(*job.mNavMeshCacheItem->mValue.lock(), mSettings.get().mNavMeshPathPrefix, revision);
}
}

19
components/detournavigator/asyncnavmeshupdater.hpp
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@ -2,6 +2,7 @@
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H
#include "recastmesh.hpp"
#include "sharednavmesh.hpp"
#include "tileposition.hpp"
#include <osg/Vec3f>
@ -13,6 +14,7 @@
#include <map>
#include <memory>
#include <mutex>
#include <queue>
#include <set>
#include <thread>
@ -20,11 +22,9 @@ class dtNavMesh;
namespace DetourNavigator
{
using NavMeshPtr = std::shared_ptr<dtNavMesh>;
struct NavMeshCacheItem
{
NavMeshPtr mValue;
SharedNavMesh mValue;
std::size_t mRevision;
};
@ -35,7 +35,8 @@ namespace DetourNavigator
~AsyncNavMeshUpdater();
void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr<RecastMesh>& recastMesh,
const std::shared_ptr<NavMeshCacheItem>& mNavMeshCacheItem, std::set<TilePosition>&& changedTiles);
const std::shared_ptr<NavMeshCacheItem>& navMeshCacheItem, const TilePosition& playerTile,
const std::set<TilePosition>& changedTiles);
void wait();
@ -45,10 +46,16 @@ namespace DetourNavigator
osg::Vec3f mAgentHalfExtents;
std::shared_ptr<RecastMesh> mRecastMesh;
std::shared_ptr<NavMeshCacheItem> mNavMeshCacheItem;
std::set<TilePosition> mChangedTiles;
TilePosition mChangedTile;
std::pair<int, int> mPriority;
friend inline bool operator <(const Job& lhs, const Job& rhs)
{
return lhs.mPriority > rhs.mPriority;
}
};
using Jobs = std::map<osg::Vec3f, Job>;
using Jobs = std::priority_queue<Job, std::deque<Job>>;
std::reference_wrapper<const Settings> mSettings;
std::atomic_bool mShouldStop;

6
components/detournavigator/exceptions.hpp
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@ -10,6 +10,12 @@ namespace DetourNavigator
NavigatorException(const std::string& message) : std::runtime_error(message) {}
NavigatorException(const char* message) : std::runtime_error(message) {}
};
struct InvalidArgument : std::invalid_argument
{
InvalidArgument(const std::string& message) : std::invalid_argument(message) {}
InvalidArgument(const char* message) : std::invalid_argument(message) {}
};
}
#endif

117
components/detournavigator/makenavmesh.cpp
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@ -6,7 +6,7 @@
#include "recastmesh.hpp"
#include "settings.hpp"
#include "settingsutils.hpp"
#include "debug.hpp"
#include "sharednavmesh.hpp"
#include <DetourNavMesh.h>
#include <DetourNavMeshBuilder.h>
@ -218,22 +218,8 @@ namespace
namespace DetourNavigator
{
NavMeshPtr makeEmptyNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const Settings& settings)
NavMeshPtr makeEmptyNavMesh(const Settings& settings)
{
log("build empty NavMesh:",
" agentHeight=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getHeight(settings, agentHalfExtents),
" agentMaxClimb=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getMaxClimb(settings),
" agentRadius=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getRadius(settings, agentHalfExtents));
osg::Vec3f boundsMin;
osg::Vec3f boundsMax;
rcCalcBounds(recastMesh.getVertices().data(), static_cast<int>(recastMesh.getVerticesCount()),
boundsMin.ptr(), boundsMax.ptr());
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
const auto tileBits = 10;
@ -242,7 +228,7 @@ namespace DetourNavigator
const auto maxPolysPerTile = 1 << polyBits;
dtNavMeshParams params;
rcVcopy(params.orig, boundsMin.ptr());
std::fill_n(params.orig, 3, 0.0f);
params.tileWidth = settings.mTileSize * settings.mCellSize;
params.tileHeight = settings.mTileSize * settings.mCellSize;
params.maxTiles = maxTiles;
@ -254,67 +240,8 @@ namespace DetourNavigator
return navMesh;
}
NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const Settings& settings)
{
log("build NavMesh with mutiple tiles:",
" agentHeight=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getHeight(settings, agentHalfExtents),
" agentMaxClimb=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getMaxClimb(settings),
" agentRadius=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getRadius(settings, agentHalfExtents));
osg::Vec3f boundsMin;
osg::Vec3f boundsMax;
rcCalcBounds(recastMesh.getVertices().data(), static_cast<int>(recastMesh.getVerticesCount()),
boundsMin.ptr(), boundsMax.ptr());
const auto minTilePosition = getTilePosition(settings, boundsMin);
const auto maxTilePosition = getTilePosition(settings, boundsMax);
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
const auto tileBits = 10;
const auto polyBits = 22 - tileBits;
const auto maxTiles = 1 << tileBits;
const auto maxPolysPerTile = 1 << polyBits;
dtNavMeshParams params;
std::fill_n(params.orig, 3, 0.0f);
params.tileWidth = getTileSize(settings);
params.tileHeight = getTileSize(settings);
params.maxTiles = maxTiles;
params.maxPolys = maxPolysPerTile;
NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh);
OPENMW_CHECK_DT_STATUS(navMesh->init(&params));
for (int y = minTilePosition.y(); y <= maxTilePosition.y(); ++y)
{
for (int x = minTilePosition.x(); x <= maxTilePosition.x(); ++x)
{
const auto tileBounds = makeTileBounds(settings, TilePosition(x, y));
const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y());
const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y());
auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y,
tileBorderMin, tileBorderMax, settings);
if (!navMeshData.mValue)
continue;
OPENMW_CHECK_DT_STATUS(navMesh->addTile(navMeshData.mValue.get(), navMeshData.mSize,
DT_TILE_FREE_DATA, 0, 0));
navMeshData.mValue.release();
}
}
return navMesh;
}
void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const std::set<TilePosition>& changedTiles, const Settings& settings, dtNavMesh& navMesh)
const TilePosition& changedTile, const Settings& settings, SharedNavMesh& navMesh)
{
log("update NavMesh with mutiple tiles:",
" agentHeight=", std::setprecision(std::numeric_limits<float>::max_exponent10),
@ -323,36 +250,36 @@ namespace DetourNavigator
getMaxClimb(settings),
" agentRadius=", std::setprecision(std::numeric_limits<float>::max_exponent10),
getRadius(settings, agentHalfExtents),
" changedTiles.size()=", changedTiles.size());
" changedTile=", changedTile);
osg::Vec3f boundsMin;
osg::Vec3f boundsMax;
rcCalcBounds(recastMesh.getVertices().data(), int(recastMesh.getVerticesCount()),
boundsMin.ptr(), boundsMax.ptr());
const auto& params = *navMesh.getParams();
const auto& params = *navMesh.lock()->getParams();
const osg::Vec3f origin(params.orig[0], params.orig[1], params.orig[2]);
for (const auto& tilePosition : changedTiles)
{
const auto x = tilePosition.x();
const auto y = tilePosition.y();
const auto x = changedTile.x();
const auto y = changedTile.y();
navMesh.removeTile(navMesh.getTileRefAt(x, y, 0), nullptr, nullptr);
{
const auto locked = navMesh.lock();
locked->removeTile(locked->getTileRefAt(x, y, 0), nullptr, nullptr);
}
const auto tileBounds = makeTileBounds(settings, tilePosition);
const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y());
const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y());
const auto tileBounds = makeTileBounds(settings, changedTile);
const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y());
const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y());
auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y,
tileBorderMin, tileBorderMax, settings);
auto navMeshData = makeNavMeshTileData(agentHalfExtents, recastMesh, x, y,
tileBorderMin, tileBorderMax, settings);
if (!navMeshData.mValue)
continue;
if (!navMeshData.mValue)
return;
OPENMW_CHECK_DT_STATUS(navMesh.addTile(navMeshData.mValue.get(), navMeshData.mSize,
DT_TILE_FREE_DATA, 0, 0));
navMeshData.mValue.release();
}
OPENMW_CHECK_DT_STATUS(navMesh.lock()->addTile(navMeshData.mValue.get(), navMeshData.mSize,
DT_TILE_FREE_DATA, 0, 0));
navMeshData.mValue.release();
}
}

9
components/detournavigator/makenavmesh.hpp
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@ -13,18 +13,15 @@ class dtNavMesh;
namespace DetourNavigator
{
class RecastMesh;
class SharedNavMesh;
struct Settings;
using NavMeshPtr = std::shared_ptr<dtNavMesh>;
NavMeshPtr makeEmptyNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const Settings& settings);
NavMeshPtr makeNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const Settings& settings);
NavMeshPtr makeEmptyNavMesh(const Settings& settings);
void updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
const std::set<TilePosition>& changedTiles, const Settings& settings, dtNavMesh& navMesh);
const TilePosition& changedTile, const Settings& settings, SharedNavMesh& navMesh);
}
#endif

5
components/detournavigator/navigator.cpp
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@ -13,6 +13,7 @@ namespace DetourNavigator
void Navigator::addAgent(const osg::Vec3f& agentHalfExtents)
{
++mAgents[agentHalfExtents];
mNavMeshManager.addAgent(agentHalfExtents);
}
void Navigator::removeAgent(const osg::Vec3f& agentHalfExtents)
@ -29,10 +30,10 @@ namespace DetourNavigator
return mNavMeshManager.removeObject(id);
}
void Navigator::update()
void Navigator::update(const osg::Vec3f& playerPosition)
{
for (const auto& v : mAgents)
mNavMeshManager.update(v.first);
mNavMeshManager.update(playerPosition, v.first);
}
void Navigator::wait()

6
components/detournavigator/navigator.hpp
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@ -25,7 +25,7 @@ namespace DetourNavigator
bool removeObject(std::size_t id);
void update();
void update(const osg::Vec3f& playerPosition);
void wait();
@ -34,9 +34,7 @@ namespace DetourNavigator
const osg::Vec3f& end, OutputIterator out) const
{
const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents);
if (!navMesh)
return out;
return findSmoothPath(*navMesh, toNavMeshCoordinates(mSettings, agentHalfExtents),
return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents),
toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), mSettings, out);
}

91
components/detournavigator/navmeshmanager.cpp
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@ -1,7 +1,9 @@
#include "navmeshmanager.hpp"
#include "debug.hpp"
#include "exceptions.hpp"
#include "makenavmesh.hpp"
#include "settings.hpp"
#include "sharednavmesh.hpp"
#include <DetourNavMesh.h>
@ -27,34 +29,39 @@ namespace DetourNavigator
return true;
}
void NavMeshManager::addAgent(const osg::Vec3f& agentHalfExtents)
{
auto cached = mCache.find(agentHalfExtents);
if (cached != mCache.end())
return;
mCache.insert(std::make_pair(agentHalfExtents,
std::make_shared<NavMeshCacheItem>(NavMeshCacheItem {makeEmptyNavMesh(mSettings), mRevision}))
);
log("cache add for agent=", agentHalfExtents);
}
void NavMeshManager::reset(const osg::Vec3f& agentHalfExtents)
{
mCache.erase(agentHalfExtents);
}
void NavMeshManager::update(const osg::Vec3f& agentHalfExtents)
void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents)
{
auto cached = mCache.find(agentHalfExtents);
if (cached == mCache.end())
cached = mCache.insert(std::make_pair(agentHalfExtents,
std::make_shared<NavMeshCacheItem>(NavMeshCacheItem {
makeEmptyNavMesh(agentHalfExtents, *mRecastMeshManager.getMesh(), mSettings),
mRevision
}))).first;
else if (cached->second->mRevision >= mRevision)
const auto& cached = getCached(agentHalfExtents);
if (cached->mRevision >= mRevision)
return;
cached->second->mRevision = mRevision;
cached->mRevision = mRevision;
const auto changedTiles = mChangedTiles.find(agentHalfExtents);
if (changedTiles == mChangedTiles.end())
if (changedTiles != mChangedTiles.end())
{
mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached->second,
std::set<TilePosition>());
}
else
{
mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached->second,
std::move(changedTiles->second));
TilePosition playerTile;
playerPosition *= mSettings.mRecastScaleFactor;
std::swap(playerPosition.y(), playerPosition.z());
cached->mValue.raw()->calcTileLoc(playerPosition.ptr(), &playerTile.x(), &playerTile.y());
mAsyncNavMeshUpdater.post(agentHalfExtents, mRecastMeshManager.getMesh(), cached, playerTile,
changedTiles->second);
mChangedTiles.erase(changedTiles);
log("cache update posted for agent=", agentHalfExtents);
}
}
@ -63,12 +70,9 @@ namespace DetourNavigator
mAsyncNavMeshUpdater.wait();
}
NavMeshConstPtr NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const
SharedNavMesh NavMeshManager::getNavMesh(const osg::Vec3f& agentHalfExtents) const
{
const auto it = mCache.find(agentHalfExtents);
if (it == mCache.end())
return nullptr;
return it->second->mValue;
return getCached(agentHalfExtents)->mValue;
}
void NavMeshManager::addChangedTiles(const btCollisionShape& shape, const btTransform& transform)
@ -85,29 +89,36 @@ namespace DetourNavigator
{
if (const auto& item = v.second)
{
if (const auto& navMesh = item->mValue)
{
auto& changedTiles = mChangedTiles[v.first];
auto& changedTiles = mChangedTiles[v.first];
int minTileX;
int minTileY;
navMesh->calcTileLoc(min.ptr(), &minTileX, &minTileY);
int minTileX;
int minTileY;
item->mValue.raw()->calcTileLoc(min.ptr(), &minTileX, &minTileY);
int maxTileX;
int maxTileY;
navMesh->calcTileLoc(max.ptr(), &maxTileX, &maxTileY);
int maxTileX;
int maxTileY;
item->mValue.raw()->calcTileLoc(max.ptr(), &maxTileX, &maxTileY);
if (minTileX > maxTileX)
std::swap(minTileX, maxTileX);
if (minTileX > maxTileX)
std::swap(minTileX, maxTileX);
if (minTileY > maxTileY)
std::swap(minTileY, maxTileY);
if (minTileY > maxTileY)
std::swap(minTileY, maxTileY);
for (int tileX = minTileX; tileX <= maxTileX; ++tileX)
for (int tileY = minTileY; tileY <= maxTileY; ++tileY)
changedTiles.insert(TilePosition {tileX, tileY});
}
for (int tileX = minTileX; tileX <= maxTileX; ++tileX)
for (int tileY = minTileY; tileY <= maxTileY; ++tileY)
changedTiles.insert(TilePosition {tileX, tileY});
}
}
}
const std::shared_ptr<NavMeshCacheItem>& NavMeshManager::getCached(const osg::Vec3f& agentHalfExtents) const
{
const auto cached = mCache.find(agentHalfExtents);
if (cached != mCache.end())
return cached->second;
std::ostringstream stream;
stream << "Agent with half extents is not found: " << agentHalfExtents;
throw InvalidArgument(stream.str());
}
}

13
components/detournavigator/navmeshmanager.hpp
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@ -3,6 +3,9 @@
#include "asyncnavmeshupdater.hpp"
#include "cachedrecastmeshmanager.hpp"
#include "sharednavmesh.hpp"
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
@ -15,8 +18,6 @@ class dtNavMesh;
namespace DetourNavigator
{
using NavMeshConstPtr = std::shared_ptr<const dtNavMesh>;
class NavMeshManager
{
public:
@ -34,13 +35,15 @@ namespace DetourNavigator
bool removeObject(std::size_t id);
void addAgent(const osg::Vec3f& agentHalfExtents);
void reset(const osg::Vec3f& agentHalfExtents);
void update(const osg::Vec3f& agentHalfExtents);
void update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents);
void wait();
NavMeshConstPtr getNavMesh(const osg::Vec3f& agentHalfExtents) const;
SharedNavMesh getNavMesh(const osg::Vec3f& agentHalfExtents) const;
private:
std::size_t mRevision = 0;
@ -51,6 +54,8 @@ namespace DetourNavigator
AsyncNavMeshUpdater mAsyncNavMeshUpdater;
void addChangedTiles(const btCollisionShape& shape, const btTransform& transform);
const std::shared_ptr<NavMeshCacheItem>& getCached(const osg::Vec3f& agentHalfExtents) const;
};
}

58
components/detournavigator/sharednavmesh.hpp
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@ -0,0 +1,58 @@
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_SHAREDNAVMESH_H
#include <mutex>
#include <memory>
class dtNavMesh;
namespace DetourNavigator
{
using NavMeshPtr = std::shared_ptr<dtNavMesh>;
class LockedSharedNavMesh
{
public:
LockedSharedNavMesh(std::mutex& mutex, const NavMeshPtr& value)
: mLock(new std::lock_guard<std::mutex>(mutex)), mValue(value)
{}
dtNavMesh* operator ->() const
{
return mValue.get();
}
dtNavMesh& operator *() const
{
return *mValue;
}
private:
std::unique_ptr<const std::lock_guard<std::mutex>> mLock;
NavMeshPtr mValue;
};
class SharedNavMesh
{
public:
SharedNavMesh(const NavMeshPtr& value)
: mMutex(std::make_shared<std::mutex>()), mValue(value)
{}
LockedSharedNavMesh lock() const
{
return LockedSharedNavMesh(*mMutex, mValue);
}
NavMeshPtr raw() const
{
return mValue;
}
private:
std::shared_ptr<std::mutex> mMutex;
NavMeshPtr mValue;
};
}
#endif
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