Merge branch 'navmesh_raw' into 'master'

Add to navigator unmodified water and heightfield data

See merge request OpenMW/openmw!1373

apps/benchmarks/detournavigator/navmeshtilescache.cpp

@@ -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));
+        return osg::Vec2i(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)};
     }
 
     template <typename Random>
@@ -91,8 +83,7 @@ namespace
     {
         std::uniform_real_distribution<float> distribution(0.0, 1.0);
         std::generate_n(out, count, [&] {
-            const osg::Vec3f shift(distribution(random), distribution(random), distribution(random));
+            return CellWater {generateVec2i(1000, random), Water {ESM::Land::REAL_SIZE, distribution(random)}};
-            return Cell {1, shift};
         });
     }
 
@@ -117,16 +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;
     }
 
@@ -135,7 +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;
     }
@@ -144,11 +138,11 @@ 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);
-        std::vector<Cell> water;
+        std::vector<CellWater> water;
         generateWater(std::back_inserter(water), 1, random);
         RecastMesh recastMesh(generation, revision, std::move(mesh), std::move(water),
                               {generateHeightfield(random)}, {generateFlatHeightfield(random)});

apps/openmw/mwworld/scene.cpp

@@ -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);
             }
         }
 
@@ -434,18 +434,11 @@ namespace MWWorld
             if (cell->getCell()->isExterior())
             {
                 if (const auto heightField = mPhysics->getHeightField(cellX, cellY))
-                {
+                    mNavigator.addWater(osg::Vec2i(cellX, cellY), ESM::Land::REAL_SIZE, waterLevel);
-                    const btTransform& transform =heightField->getCollisionObject()->getWorldTransform();
-                    mNavigator.addWater(osg::Vec2i(cellX, cellY), ESM::Land::REAL_SIZE,
-                                        osg::Vec3f(static_cast<float>(transform.getOrigin().x()),
-                                                   static_cast<float>(transform.getOrigin().y()),
-                                                   waterLevel));
-                }
             }
             else
             {
-                mNavigator.addWater(osg::Vec2i(cellX, cellY), std::numeric_limits<int>::max(),
+                mNavigator.addWater(osg::Vec2i(cellX, cellY), std::numeric_limits<int>::max(), waterLevel);
-                                    osg::Vec3f(0, 0, waterLevel));
             }
         }
         else

apps/openmw_test_suite/detournavigator/navmeshtilescache.cpp

@@ -144,14 +144,14 @@ namespace
         const std::size_t mGeneration = 0;
         const std::size_t mRevision = 0;
         const Mesh mMesh {makeMesh()};
-        const std::vector<Cell> mWater {};
+        const std::vector<CellWater> mWater {};
         const std::vector<Heightfield> mHeightfields {};
         const std::vector<FlatHeightfield> mFlatHeightfields {};
         const RecastMesh mRecastMesh {mGeneration, mRevision, mMesh, mWater, mHeightfields, mFlatHeightfields};
         std::unique_ptr<PreparedNavMeshData> mPreparedNavMeshData {makePeparedNavMeshData(3)};
 
         const std::size_t mRecastMeshSize = sizeof(mRecastMesh) + getSize(mRecastMesh);
-        const std::size_t mRecastMeshWithWaterSize = mRecastMeshSize + sizeof(Cell);
+        const std::size_t mRecastMeshWithWaterSize = mRecastMeshSize + sizeof(CellWater);
         const std::size_t mPreparedNavMeshDataSize = sizeof(*mPreparedNavMeshData) + getSize(*mPreparedNavMeshData);
     };
 
@@ -234,7 +234,7 @@ namespace
     {
         const std::size_t maxSize = 1;
         NavMeshTilesCache cache(maxSize);
-        const std::vector<Cell> water {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh unexistentRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
 
         cache.set(mAgentHalfExtents, mTilePosition, mRecastMesh, std::move(mPreparedNavMeshData));
@@ -246,7 +246,7 @@ namespace
         const std::size_t maxSize = mRecastMeshWithWaterSize + mPreparedNavMeshDataSize;
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> water {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
         auto anotherPreparedNavMeshData = makePeparedNavMeshData(3);
         const auto copy = clone(*anotherPreparedNavMeshData);
@@ -264,7 +264,7 @@ namespace
         const std::size_t maxSize = mRecastMeshWithWaterSize + mPreparedNavMeshDataSize;
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> water {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
         auto anotherPreparedNavMeshData = makePeparedNavMeshData(3);
 
@@ -280,12 +280,12 @@ namespace
         NavMeshTilesCache cache(maxSize);
         const auto copy = clone(*mPreparedNavMeshData);
 
-        const std::vector<Cell> leastRecentlySetWater {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> leastRecentlySetWater(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh leastRecentlySetRecastMesh {mGeneration, mRevision, mMesh, leastRecentlySetWater,
                     mHeightfields, mFlatHeightfields};
         auto leastRecentlySetData = makePeparedNavMeshData(3);
 
-        const std::vector<Cell> mostRecentlySetWater {1, Cell {2, osg::Vec3f()}};
+        const std::vector<CellWater> mostRecentlySetWater(1, CellWater {osg::Vec2i(), Water {2, 0.0f}});
         const RecastMesh mostRecentlySetRecastMesh {mGeneration, mRevision, mMesh, mostRecentlySetWater,
                     mHeightfields, mFlatHeightfields};
         auto mostRecentlySetData = makePeparedNavMeshData(3);
@@ -308,13 +308,13 @@ namespace
         const std::size_t maxSize = 2 * (mRecastMeshWithWaterSize + mPreparedNavMeshDataSize);
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> leastRecentlyUsedWater {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> leastRecentlyUsedWater(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh leastRecentlyUsedRecastMesh {mGeneration, mRevision, mMesh, leastRecentlyUsedWater,
                     mHeightfields, mFlatHeightfields};
         auto leastRecentlyUsedData = makePeparedNavMeshData(3);
         const auto leastRecentlyUsedCopy = clone(*leastRecentlyUsedData);
 
-        const std::vector<Cell> mostRecentlyUsedWater {1, Cell {2, osg::Vec3f()}};
+        const std::vector<CellWater> mostRecentlyUsedWater(1, CellWater {osg::Vec2i(), Water {2, 0.0f}});
         const RecastMesh mostRecentlyUsedRecastMesh {mGeneration, mRevision, mMesh, mostRecentlyUsedWater,
                     mHeightfields, mFlatHeightfields};
         auto mostRecentlyUsedData = makePeparedNavMeshData(3);
@@ -349,7 +349,7 @@ namespace
         const std::size_t maxSize = 2 * (mRecastMeshWithWaterSize + mPreparedNavMeshDataSize);
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> water {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh tooLargeRecastMesh {mGeneration, mRevision, mMesh, water,
                     mHeightfields, mFlatHeightfields};
         auto tooLargeData = makePeparedNavMeshData(10);
@@ -364,12 +364,12 @@ namespace
         const std::size_t maxSize = 2 * (mRecastMeshWithWaterSize + mPreparedNavMeshDataSize);
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> anotherWater {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> anotherWater(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, anotherWater,
                     mHeightfields, mFlatHeightfields};
         auto anotherData = makePeparedNavMeshData(3);
 
-        const std::vector<Cell> tooLargeWater {1, Cell {2, osg::Vec3f()}};
+        const std::vector<CellWater> tooLargeWater(1, CellWater {osg::Vec2i(), Water {2, 0.0f}});
         const RecastMesh tooLargeRecastMesh {mGeneration, mRevision, mMesh, tooLargeWater,
                     mHeightfields, mFlatHeightfields};
         auto tooLargeData = makePeparedNavMeshData(10);
@@ -390,7 +390,7 @@ namespace
         const std::size_t maxSize = mRecastMeshWithWaterSize + mPreparedNavMeshDataSize;
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> water {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
         auto anotherData = makePeparedNavMeshData(3);
 
@@ -409,7 +409,7 @@ namespace
         const std::size_t maxSize = mRecastMeshWithWaterSize + mPreparedNavMeshDataSize;
         NavMeshTilesCache cache(maxSize);
 
-        const std::vector<Cell> water {1, Cell {1, osg::Vec3f()}};
+        const std::vector<CellWater> water(1, CellWater {osg::Vec2i(), Water {1, 0.0f}});
         const RecastMesh anotherRecastMesh {mGeneration, mRevision, mMesh, water, mHeightfields, mFlatHeightfields};
         auto anotherData = makePeparedNavMeshData(3);
 

apps/openmw_test_suite/detournavigator/operators.hpp

@@ -48,7 +48,7 @@ namespace testing
     template <>
     inline testing::Message& Message::operator <<(const osg::Vec3f& value)
     {
-        return (*this) << "osg::Vec3f(" << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.x()
+        return (*this) << "Vec3fEq(" << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.x()
             << ", " << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.y()
             << ", " << std::setprecision(std::numeric_limits<float>::max_exponent10) << value.z()
             << ')';

apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp

@@ -23,9 +23,16 @@
 
 namespace DetourNavigator
 {
-    static inline bool operator ==(const Cell& lhs, const Cell& rhs)
+    static inline bool operator ==(const Water& lhs, const Water& rhs)
     {
-        return lhs.mSize == rhs.mSize && lhs.mShift == rhs.mShift;
+        const auto tie = [] (const Water& v) { return std::tie(v.mCellSize, v.mLevel); };
+        return tie(lhs) == tie(rhs);
+    }
+
+    static inline bool operator ==(const CellWater& lhs, const CellWater& rhs)
+    {
+        const auto tie = [] (const CellWater& v) { return std::tie(v.mCellPosition, v.mWater); };
+        return tie(lhs) == tie(rhs);
     }
 
     static inline bool operator==(const Heightfield& lhs, const Heightfield& rhs)
@@ -35,26 +42,40 @@ 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)
+    {
+        return s << "Water {" << v.mCellSize << ", " << v.mLevel << "}";
+    }
+
+    static inline std::ostream& operator<<(std::ostream& s, const CellWater& v)
+    {
+        return s << "CellWater {" << v.mCellPosition << ", " << v.mWater << "}";
     }
 
     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
+        s << "Heightfield {.mCellPosition=" << v.mCellPosition
-          << ", .mLength=" << int(v.mLength)
+          << ", .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 << "}";
     }
 }
 
@@ -435,10 +456,10 @@ namespace
     TEST_F(DetourNavigatorRecastMeshBuilderTest, add_water_then_get_water_should_return_it)
     {
         RecastMeshBuilder builder(mBounds);
-        builder.addWater(1000, osg::Vec3f(100, 200, 300));
+        builder.addWater(osg::Vec2i(1, 2), Water {1000, 300.0f});
         const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
-        EXPECT_EQ(recastMesh->getWater(), std::vector<Cell>({
+        EXPECT_EQ(recastMesh->getWater(), std::vector<CellWater>({
-            Cell {1000, osg::Vec3f(100, 200, 300)}
+            CellWater {osg::Vec2i(1, 2), Water {1000, 300.0f}}
         }));
     }
 
@@ -464,62 +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.mCellPosition = cellPosition;
-        expected.mLength = 3;
+        expected.mCellSize = cellSize;
-        expected.mMinHeight = 0;
+        expected.mLength = size;
-        expected.mMaxHeight = 8;
+        expected.mMinHeight = minHeight;
-        expected.mShift = osg::Vec3f(-499, -498, 3);
+        expected.mMaxHeight = maxHeight;
-        expected.mScale = 500;
         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}));
     }
 }

apps/openmw_test_suite/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -264,7 +264,7 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
-        EXPECT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
+        EXPECT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_water_for_not_max_int_should_add_new_tiles)
@@ -272,9 +272,9 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
-        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
+        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
-        for (int x = -6; x < 6; ++x)
+        for (int x = -1; x < 12; ++x)
-            for (int y = -6; y < 6; ++y)
+            for (int y = -1; y < 12; ++y)
                 ASSERT_NE(manager.getMesh(TilePosition(x, y)), nullptr);
     }
 
@@ -286,7 +286,7 @@ namespace
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, 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, osg::Vec3f()));
+        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         for (int x = -6; x < 6; ++x)
             for (int y = -6; y < 6; ++y)
                 ASSERT_EQ(manager.getMesh(TilePosition(x, y)) != nullptr, -1 <= x && x <= 0 && -1 <= y && y <= 0);
@@ -303,10 +303,10 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
-        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
+        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         const auto result = manager.removeWater(cellPosition);
         ASSERT_TRUE(result.has_value());
-        EXPECT_EQ(result->mSize, cellSize);
+        EXPECT_EQ(result->mCellSize, cellSize);
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, remove_water_for_existing_cell_should_remove_empty_tiles)
@@ -314,7 +314,7 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
-        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
+        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         ASSERT_TRUE(manager.removeWater(cellPosition));
         for (int x = -6; x < 6; ++x)
             for (int y = -6; y < 6; ++y)
@@ -329,7 +329,7 @@ namespace
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
-        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
+        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         ASSERT_TRUE(manager.removeWater(cellPosition));
         for (int x = -6; x < 6; ++x)
             for (int y = -6; y < 6; ++y)
@@ -344,10 +344,10 @@ namespace
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const CollisionShape shape(nullptr, boxShape);
         ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
-        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
+        ASSERT_TRUE(manager.addWater(cellPosition, cellSize, 0.0f));
         ASSERT_TRUE(manager.removeObject(ObjectId(&boxShape)));
-        for (int x = -6; x < 6; ++x)
+        for (int x = -1; x < 12; ++x)
-            for (int y = -6; y < 6; ++y)
+            for (int y = -1; y < 12; ++y)
                 ASSERT_NE(manager.getMesh(TilePosition(x, y)), nullptr);
     }
 }

components/detournavigator/cachedrecastmeshmanager.cpp

@@ -32,16 +32,15 @@ namespace DetourNavigator
         return object;
     }
 
-    bool CachedRecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize,
+    bool CachedRecastMeshManager::addWater(const osg::Vec2i& cellPosition, int cellSize, float level)
-        const osg::Vec3f& shift)
     {
-        if (!mImpl.addWater(cellPosition, cellSize, shift))
+        if (!mImpl.addWater(cellPosition, cellSize, level))
             return false;
         mOutdatedCache = true;
         return true;
     }
 
-    std::optional<Cell> CachedRecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
+    std::optional<Water> CachedRecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
     {
         const auto water = mImpl.removeWater(cellPosition);
         if (water)
@@ -50,20 +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);
+        const auto heightfield = mImpl.removeHeightfield(cellPosition);
-        if (cell)
+        if (heightfield)
             mOutdatedCache = true;
-        return cell;
+        return heightfield;
     }
 
     std::shared_ptr<RecastMesh> CachedRecastMeshManager::getMesh()

components/detournavigator/cachedrecastmeshmanager.hpp

@@ -23,14 +23,13 @@ namespace DetourNavigator
 
         std::optional<RemovedRecastMeshObject> removeObject(const ObjectId id);
 
-        bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift);
+        bool addWater(const osg::Vec2i& cellPosition, int cellSize, float level);
 
-        std::optional<Cell> removeWater(const osg::Vec2i& cellPosition);
+        std::optional<Water> removeWater(const osg::Vec2i& cellPosition);
 
-        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
+        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
-            const HeightfieldShape& shape);
 
-        std::optional<Cell> removeHeightfield(const osg::Vec2i& cellPosition);
+        std::optional<SizedHeightfieldShape> removeHeightfield(const osg::Vec2i& cellPosition);
 
         std::shared_ptr<RecastMesh> getMesh();
 

components/detournavigator/gettilespositions.hpp

@@ -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));
 

components/detournavigator/heightfieldshape.hpp

@@ -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

components/detournavigator/makenavmesh.cpp

@@ -36,29 +36,28 @@ namespace
         float mHeight;
     };
 
-    Rectangle getSwimRectangle(const Cell& water, const Settings& settings,
+    Rectangle getSwimRectangle(const CellWater& water, const Settings& settings, const osg::Vec3f& agentHalfExtents)
-        const osg::Vec3f& agentHalfExtents)
     {
-        if (water.mSize == std::numeric_limits<int>::max())
+        if (water.mWater.mCellSize == std::numeric_limits<int>::max())
         {
             return Rectangle {
                 TileBounds {
                     osg::Vec2f(-std::numeric_limits<float>::max(), -std::numeric_limits<float>::max()),
                     osg::Vec2f(std::numeric_limits<float>::max(), std::numeric_limits<float>::max())
                 },
-                toNavMeshCoordinates(settings, getSwimLevel(settings, water.mShift.z(), agentHalfExtents.z()))
+                toNavMeshCoordinates(settings, getSwimLevel(settings, water.mWater.mLevel, agentHalfExtents.z()))
             };
         }
         else
         {
-            const osg::Vec2f shift(water.mShift.x(), water.mShift.y());
+            const osg::Vec2f shift = getWaterShift2d(water.mCellPosition, water.mWater.mCellSize);
-            const float halfCellSize = water.mSize / 2.0f;
+            const float halfCellSize = water.mWater.mCellSize / 2.0f;
             return Rectangle {
                 TileBounds{
                     toNavMeshCoordinates(settings, shift + osg::Vec2f(-halfCellSize, -halfCellSize)),
                     toNavMeshCoordinates(settings, shift + osg::Vec2f(halfCellSize, halfCellSize))
                 },
-                toNavMeshCoordinates(settings, getSwimLevel(settings, water.mShift.z(), agentHalfExtents.z()))
+                toNavMeshCoordinates(settings, getSwimLevel(settings, water.mWater.mLevel, agentHalfExtents.z()))
             };
         }
     }
@@ -121,7 +120,7 @@ namespace
         return result;
     }
 
-    rcConfig makeConfig(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax,
+    rcConfig makeConfig(const osg::Vec3f& agentHalfExtents, const TilePosition& tile, float minZ, float maxZ,
         const Settings& settings)
     {
         rcConfig config;
@@ -140,15 +139,18 @@ namespace
         config.detailSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : config.cs * settings.mDetailSampleDist;
         config.detailSampleMaxError = config.ch * settings.mDetailSampleMaxError;
         config.borderSize = settings.mBorderSize;
-        config.width = settings.mTileSize + config.borderSize * 2;
-        config.height = settings.mTileSize + config.borderSize * 2;
-        rcVcopy(config.bmin, boundsMin.ptr());
-        rcVcopy(config.bmax, boundsMax.ptr());
-        config.bmin[0] -= getBorderSize(settings);
-        config.bmin[2] -= getBorderSize(settings);
-        config.bmax[0] += getBorderSize(settings);
-        config.bmax[2] += getBorderSize(settings);
         config.tileSize = settings.mTileSize;
+        const int size = config.tileSize + config.borderSize * 2;
+        config.width = size;
+        config.height = size;
+        const float halfBoundsSize = size * config.cs * 0.5f;
+        const osg::Vec2f shift = osg::Vec2f(tile.x() + 0.5f, tile.y() + 0.5f) * getTileSize(settings);
+        config.bmin[0] = shift.x() - halfBoundsSize;
+        config.bmin[1] = minZ;
+        config.bmin[2] = shift.y() - halfBoundsSize;
+        config.bmax[0] = shift.x() + halfBoundsSize;
+        config.bmax[1] = maxZ;
+        config.bmax[2] = shift.y() + halfBoundsSize;
 
         return config;
     }
@@ -238,26 +240,29 @@ namespace
         );
     }
 
-    bool rasterizeTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const std::vector<Cell>& cells,
+    bool rasterizeTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const std::vector<CellWater>& water,
         const Settings& settings, const rcConfig& config, rcHeightfield& solid)
     {
-        for (const Cell& cell : cells)
+        for (const CellWater& cellWater : water)
         {
-            const Rectangle rectangle = getSwimRectangle(cell, settings, agentHalfExtents);
+            const Rectangle rectangle = getSwimRectangle(cellWater, settings, agentHalfExtents);
             if (!rasterizeTriangles(context, rectangle, config, AreaType_water, solid))
                 return false;
         }
         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 (auto intersection = getIntersection(tileBounds, maxCellTileBounds(heightfield.mCellPosition, heightfield.mCellSize)))
-            if (!rasterizeTriangles(context, rectangle, config, AreaType_ground, solid))
+            {
-                return false;
+                const Rectangle rectangle {*intersection, toNavMeshCoordinates(settings, heightfield.mHeight)};
+                if (!rasterizeTriangles(context, rectangle, config, AreaType_ground, solid))
+                    return false;
+            }
         }
         return true;
     }
@@ -276,13 +281,14 @@ namespace
         return true;
     }
 
-    bool rasterizeTriangles(rcContext& context, const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
+    bool rasterizeTriangles(rcContext& context, const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents,
-        const rcConfig& config, const Settings& settings, rcHeightfield& solid)
+        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,
@@ -357,6 +363,7 @@ namespace
         rcPolyMeshDetail& polyMeshDetail)
     {
         rcCompactHeightfield compact;
+        compact.dist = nullptr;
         buildCompactHeightfield(context, config.walkableHeight, config.walkableClimb, solid, compact);
 
         erodeWalkableArea(context, config.walkableRadius, compact);
@@ -387,25 +394,61 @@ namespace
             ++power;
         return power;
     }
+
+    std::pair<float, float> getBoundsByZ(const RecastMesh& recastMesh, const osg::Vec3f& agentHalfExtents, const Settings& settings)
+    {
+        float minZ = 0;
+        float maxZ = 0;
+
+        const std::vector<float>& vertices = recastMesh.getMesh().getVertices();
+        for (std::size_t i = 0, n = vertices.size(); i < n; i += 3)
+        {
+            minZ = std::min(minZ, vertices[i + 2]);
+            maxZ = std::max(maxZ, vertices[i + 2]);
+        }
+
+        for (const CellWater& water : recastMesh.getWater())
+        {
+            const float swimLevel = getSwimLevel(settings, water.mWater.mLevel, agentHalfExtents.z());
+            minZ = std::min(minZ, swimLevel);
+            maxZ = std::max(maxZ, swimLevel);
+        }
+
+        for (const Heightfield& heightfield : recastMesh.getHeightfields())
+        {
+            if (heightfield.mHeights.empty())
+                continue;
+            const auto [minHeight, maxHeight] = std::minmax_element(heightfield.mHeights.begin(), heightfield.mHeights.end());
+            minZ = std::min(minZ, *minHeight);
+            maxZ = std::max(maxZ, *maxHeight);
+        }
+
+        for (const FlatHeightfield& heightfield : recastMesh.getFlatHeightfields())
+        {
+            minZ = std::min(minZ, heightfield.mHeight);
+            maxZ = std::max(maxZ, heightfield.mHeight);
+        }
+
+        return {minZ, maxZ};
+    }
 }
 } // namespace DetourNavigator
 
 namespace DetourNavigator
 {
     std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh,
-        const TilePosition& tile, const Bounds& bounds, const osg::Vec3f& agentHalfExtents, const Settings& settings)
+        const TilePosition& tilePosition, const osg::Vec3f& agentHalfExtents, const Settings& settings)
     {
-        const TileBounds tileBounds = makeTileBounds(settings, tile);
+        const auto [minZ, maxZ] = getBoundsByZ(recastMesh, agentHalfExtents, settings);
-        const osg::Vec3f boundsMin(tileBounds.mMin.x(), bounds.mMin.y() - 1, tileBounds.mMin.y());
-        const osg::Vec3f boundsMax(tileBounds.mMax.x(), bounds.mMax.y() + 1, tileBounds.mMax.y());
 
         rcContext context;
-        const auto config = makeConfig(agentHalfExtents, boundsMin, boundsMax, settings);
+        const auto config = makeConfig(agentHalfExtents, tilePosition, toNavMeshCoordinates(settings, minZ),
+                                       toNavMeshCoordinates(settings, maxZ), settings);
 
         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);
@@ -528,18 +571,8 @@ namespace DetourNavigator
             return navMeshCacheItem->lock()->removeTile(changedTile);
         }
 
-        auto recastMeshBounds = recastMesh->getBounds();
+        if (recastMesh->getMesh().getIndices().empty() && recastMesh->getWater().empty()
-        recastMeshBounds.mMin = toNavMeshCoordinates(settings, recastMeshBounds.mMin);
+                && recastMesh->getHeightfields().empty() && recastMesh->getFlatHeightfields().empty())
-        recastMeshBounds.mMax = toNavMeshCoordinates(settings, recastMeshBounds.mMax);
-
-        for (const auto& water : recastMesh->getWater())
-        {
-            const float height = toNavMeshCoordinates(settings, getSwimLevel(settings, water.mShift.z(), agentHalfExtents.z()));
-            recastMeshBounds.mMin.y() = std::min(recastMeshBounds.mMin.y(), height);
-            recastMeshBounds.mMax.y() = std::max(recastMeshBounds.mMax.y(), height);
-        }
-
-        if (isEmpty(recastMeshBounds))
         {
             Log(Debug::Debug) << "Ignore add tile: recastMesh is empty";
             return navMeshCacheItem->lock()->removeTile(changedTile);
@@ -558,8 +591,7 @@ namespace DetourNavigator
 
         if (!cachedNavMeshData)
         {
-            auto prepared = prepareNavMeshTileData(*recastMesh, changedTile, recastMeshBounds,
+            auto prepared = prepareNavMeshTileData(*recastMesh, changedTile, agentHalfExtents, settings);
-                                                   agentHalfExtents, settings);
 
             if (prepared == nullptr)
             {

components/detournavigator/navigator.hpp

@@ -122,7 +122,7 @@ namespace DetourNavigator
          * at least single object is added to the scene, false if there is already water for given cell or there is no
          * any other objects.
          */
-        virtual bool addWater(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift) = 0;
+        virtual bool addWater(const osg::Vec2i& cellPosition, int cellSize, float level) = 0;
 
         /**
          * @brief removeWater to make it no more available at the scene.
@@ -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,
+        virtual bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape) = 0;
-            const HeightfieldShape& shape) = 0;
 
         virtual bool removeHeightfield(const osg::Vec2i& cellPosition) = 0;
 

components/detournavigator/navigatorimpl.cpp

@@ -97,9 +97,9 @@ namespace DetourNavigator
         return result;
     }
 
-    bool NavigatorImpl::addWater(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift)
+    bool NavigatorImpl::addWater(const osg::Vec2i& cellPosition, int cellSize, float level)
     {
-        return mNavMeshManager.addWater(cellPosition, cellSize, shift);
+        return mNavMeshManager.addWater(cellPosition, cellSize, level);
     }
 
     bool NavigatorImpl::removeWater(const osg::Vec2i& cellPosition)
@@ -107,10 +107,9 @@ namespace DetourNavigator
         return mNavMeshManager.removeWater(cellPosition);
     }
 
-    bool NavigatorImpl::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
+    bool NavigatorImpl::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape)
-        const HeightfieldShape& shape)
     {
-        return mNavMeshManager.addHeightfield(cellPosition, cellSize, shift, shape);
+        return mNavMeshManager.addHeightfield(cellPosition, cellSize, shape);
     }
 
     bool NavigatorImpl::removeHeightfield(const osg::Vec2i& cellPosition)

components/detournavigator/navigatorimpl.hpp

@@ -31,12 +31,11 @@ namespace DetourNavigator
 
         bool removeObject(const ObjectId id) override;
 
-        bool addWater(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift) override;
+        bool addWater(const osg::Vec2i& cellPosition, int cellSize, float level) override;
 
         bool removeWater(const osg::Vec2i& cellPosition) override;
 
-        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
+        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape) override;
-            const HeightfieldShape& shape) override;
 
         bool removeHeightfield(const osg::Vec2i& cellPosition) override;
 

components/detournavigator/navigatorstub.hpp

@@ -44,7 +44,7 @@ namespace DetourNavigator
             return false;
         }
 
-        bool addWater(const osg::Vec2i& /*cellPosition*/, int /*cellSize*/, const osg::Vec3f& /*shift*/) override
+        bool addWater(const osg::Vec2i& /*cellPosition*/, int /*cellSize*/, float /*level*/) override
         {
             return false;
         }
@@ -54,8 +54,7 @@ namespace DetourNavigator
             return false;
         }
 
-        bool addHeightfield(const osg::Vec2i& /*cellPosition*/, int /*cellSize*/, const osg::Vec3f& /*shift*/,
+        bool addHeightfield(const osg::Vec2i& /*cellPosition*/, int /*cellSize*/, const HeightfieldShape& /*height*/) override
-            const HeightfieldShape& /*height*/) override
         {
             return false;
         }

components/detournavigator/navmeshmanager.cpp

@@ -8,6 +8,7 @@
 #include "waitconditiontype.hpp"
 
 #include <components/debug/debuglog.hpp>
+#include <components/bullethelpers/heightfield.hpp>
 
 #include <DetourNavMesh.h>
 
@@ -73,10 +74,11 @@ namespace DetourNavigator
         return true;
     }
 
-    bool NavMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift)
+    bool NavMeshManager::addWater(const osg::Vec2i& cellPosition, int cellSize, float level)
     {
-        if (!mRecastMeshManager.addWater(cellPosition, cellSize, shift))
+        if (!mRecastMeshManager.addWater(cellPosition, cellSize, level))
             return false;
+        const btVector3 shift = Misc::Convert::toBullet(getWaterShift3d(cellPosition, cellSize, level));
         addChangedTiles(cellSize, shift, ChangeType::add);
         return true;
     }
@@ -86,15 +88,16 @@ namespace DetourNavigator
         const auto water = mRecastMeshManager.removeWater(cellPosition);
         if (!water)
             return false;
-        addChangedTiles(water->mSize, water->mShift, ChangeType::remove);
+        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,
+    bool NavMeshManager::addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape)
-        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;
     }
@@ -104,7 +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;
     }
 
@@ -251,7 +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())

components/detournavigator/navmeshmanager.hpp

@@ -34,12 +34,11 @@ namespace DetourNavigator
 
         void addAgent(const osg::Vec3f& agentHalfExtents);
 
-        bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift);
+        bool addWater(const osg::Vec2i& cellPosition, int cellSize, float level);
 
         bool removeWater(const osg::Vec2i& cellPosition);
 
-        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
+        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
-            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);
 

components/detournavigator/navmeshtilescache.hpp

@@ -23,7 +23,7 @@ namespace DetourNavigator
     struct RecastMeshData
     {
         Mesh mMesh;
-        std::vector<Cell> mWater;
+        std::vector<CellWater> mWater;
         std::vector<Heightfield> mHeightfields;
         std::vector<FlatHeightfield> mFlatHeightfields;
     };

components/detournavigator/recastmesh.cpp

@@ -18,7 +18,7 @@ namespace DetourNavigator
         mAreaTypes = std::move(areaTypes);
     }
 
-    RecastMesh::RecastMesh(std::size_t generation, std::size_t revision, Mesh mesh, std::vector<Cell> water,
+    RecastMesh::RecastMesh(std::size_t generation, std::size_t revision, Mesh mesh, std::vector<CellWater> water,
         std::vector<Heightfield> heightfields, std::vector<FlatHeightfield> flatHeightfields)
         : mGeneration(generation)
         , mRevision(revision)
@@ -27,31 +27,9 @@ namespace DetourNavigator
         , mHeightfields(std::move(heightfields))
         , mFlatHeightfields(std::move(flatHeightfields))
     {
-        if (mMesh.getVerticesCount() > 0)
-            rcCalcBounds(mMesh.getVertices().data(), static_cast<int>(mMesh.getVerticesCount()),
-                         mBounds.mMin.ptr(), mBounds.mMax.ptr());
         mWater.shrink_to_fit();
         mHeightfields.shrink_to_fit();
         for (Heightfield& v : mHeightfields)
             v.mHeights.shrink_to_fit();
-        for (const Heightfield& v : mHeightfields)
-        {
-            const auto [min, max] = std::minmax_element(v.mHeights.begin(), v.mHeights.end());
-            mBounds.mMin.x() = std::min(mBounds.mMin.x(), v.mBounds.mMin.x());
-            mBounds.mMin.y() = std::min(mBounds.mMin.y(), v.mBounds.mMin.y());
-            mBounds.mMin.z() = std::min(mBounds.mMin.z(), *min);
-            mBounds.mMax.x() = std::max(mBounds.mMax.x(), v.mBounds.mMax.x());
-            mBounds.mMax.y() = std::max(mBounds.mMax.y(), v.mBounds.mMax.y());
-            mBounds.mMax.z() = std::max(mBounds.mMax.z(), *max);
-        }
-        for (const FlatHeightfield& v : mFlatHeightfields)
-        {
-            mBounds.mMin.x() = std::min(mBounds.mMin.x(), v.mBounds.mMin.x());
-            mBounds.mMin.y() = std::min(mBounds.mMin.y(), v.mBounds.mMin.y());
-            mBounds.mMin.z() = std::min(mBounds.mMin.z(), v.mHeight);
-            mBounds.mMax.x() = std::max(mBounds.mMax.x(), v.mBounds.mMax.x());
-            mBounds.mMax.y() = std::max(mBounds.mMax.y(), v.mBounds.mMax.y());
-            mBounds.mMax.z() = std::max(mBounds.mMax.z(), v.mHeight);
-        }
     }
 }

components/detournavigator/recastmesh.hpp

@@ -8,6 +8,7 @@
 #include <components/bullethelpers/operators.hpp>
 
 #include <osg/Vec3f>
+#include <osg/Vec2i>
 
 #include <memory>
 #include <string>
@@ -47,26 +48,57 @@ namespace DetourNavigator
         }
     };
 
-    struct Cell
+    struct Water
     {
-        int mSize;
+        int mCellSize;
-        osg::Vec3f mShift;
+        float mLevel;
     };
 
+    inline bool operator<(const Water& lhs, const Water& rhs) noexcept
+    {
+        const auto tie = [] (const Water& v) { return std::tie(v.mCellSize, v.mLevel); };
+        return tie(lhs) < tie(rhs);
+    }
+
+    struct CellWater
+    {
+        osg::Vec2i mCellPosition;
+        Water mWater;
+    };
+
+    inline bool operator<(const CellWater& lhs, const CellWater& rhs) noexcept
+    {
+        const auto tie = [] (const CellWater& v) { return std::tie(v.mCellPosition, v.mWater); };
+        return tie(lhs) < tie(rhs);
+    }
+
+    inline osg::Vec2f getWaterShift2d(const osg::Vec2i& cellPosition, int cellSize)
+    {
+        return osg::Vec2f((cellPosition.x() + 0.5f) * cellSize, (cellPosition.y() + 0.5f) * cellSize);
+    }
+
+    inline osg::Vec3f getWaterShift3d(const osg::Vec2i& cellPosition, int cellSize, float level)
+    {
+        return osg::Vec3f(getWaterShift2d(cellPosition, cellSize), level);
+    }
+
     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
@@ -76,19 +108,21 @@ 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
     {
     public:
-        RecastMesh(std::size_t generation, std::size_t revision, Mesh mesh, std::vector<Cell> water,
+        RecastMesh(std::size_t generation, std::size_t revision, Mesh mesh, std::vector<CellWater> water,
             std::vector<Heightfield> heightfields, std::vector<FlatHeightfield> flatHeightfields);
 
         std::size_t getGeneration() const
@@ -103,7 +137,7 @@ namespace DetourNavigator
 
         const Mesh& getMesh() const noexcept { return mMesh; }
 
-        const std::vector<Cell>& getWater() const
+        const std::vector<CellWater>& getWater() const
         {
             return mWater;
         }
@@ -118,34 +152,23 @@ namespace DetourNavigator
             return mFlatHeightfields;
         }
 
-        const Bounds& getBounds() const
-        {
-            return mBounds;
-        }
-
     private:
         std::size_t mGeneration;
         std::size_t mRevision;
         Mesh mMesh;
-        std::vector<Cell> mWater;
+        std::vector<CellWater> mWater;
         std::vector<Heightfield> mHeightfields;
         std::vector<FlatHeightfield> mFlatHeightfields;
-        Bounds mBounds;
 
         friend inline std::size_t getSize(const RecastMesh& value) noexcept
         {
-            return getSize(value.mMesh) + value.mWater.size() * sizeof(Cell)
+            return getSize(value.mMesh) + value.mWater.size() * sizeof(CellWater)
                 + value.mHeightfields.size() * sizeof(Heightfield)
                 + std::accumulate(value.mHeightfields.begin(), value.mHeightfields.end(), std::size_t {0},
                                   [] (std::size_t r, const Heightfield& v) { return r + v.mHeights.size() * sizeof(float); })
                 + 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

components/detournavigator/recastmeshbuilder.cpp

@@ -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 static_cast<float>(cellSize) / (dataSize - 1);
-            return TileBounds {
-                osg::Vec2f(shift.x() - halfCellSize, shift.y() - halfCellSize),
-                osg::Vec2f(shift.x() + halfCellSize, shift.y() + halfCellSize)
-            };
         }
     }
 
@@ -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;
+        const osg::Vec2f aabbShift = (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 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
@@ -200,24 +206,25 @@ namespace DetourNavigator
         }
     }
 
-    void RecastMeshBuilder::addWater(const int cellSize, const osg::Vec3f& shift)
+    void RecastMeshBuilder::addWater(const osg::Vec2i& cellPosition, const Water& water)
     {
-        mWater.push_back(Cell {cellSize, shift});
+        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)))
+        if (const auto intersection = getIntersection(mBounds, maxCellTileBounds(cellPosition, cellSize)))
-            mFlatHeightfields.emplace_back(FlatHeightfield {*intersection, height + shift.z()});
+            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));
     }
 

components/detournavigator/recastmeshbuilder.hpp

@@ -48,11 +48,11 @@ namespace DetourNavigator
 
         void addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType);
 
-        void addWater(const int mCellSize, const osg::Vec3f& shift);
+        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) &&;
@@ -60,7 +60,7 @@ namespace DetourNavigator
     private:
         const TileBounds mBounds;
         std::vector<RecastMeshTriangle> mTriangles;
-        std::vector<Cell> mWater;
+        std::vector<CellWater> mWater;
         std::vector<Heightfield> mHeightfields;
         std::vector<FlatHeightfield> mFlatHeightfields;
 

components/detournavigator/recastmeshmanager.cpp

@@ -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);
         }
     };
 }
@@ -73,45 +75,45 @@ namespace DetourNavigator
         return result;
     }
 
-    bool RecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift)
+    bool RecastMeshManager::addWater(const osg::Vec2i& cellPosition, int cellSize, float level)
     {
         const std::lock_guard lock(mMutex);
-        if (!mWater.emplace(cellPosition, Cell {cellSize, shift}).second)
+        if (!mWater.emplace(cellPosition, Water {cellSize, level}).second)
             return false;
         ++mRevision;
         return true;
     }
 
-    std::optional<Cell> RecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
+    std::optional<Water> RecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
     {
         const std::lock_guard lock(mMutex);
         const auto water = mWater.find(cellPosition);
         if (water == mWater.end())
             return std::nullopt;
         ++mRevision;
-        const Cell result = water->second;
+        Water result = water->second;
         mWater.erase(water);
         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;
     }
@@ -130,9 +132,9 @@ namespace DetourNavigator
         {
             const std::lock_guard lock(mMutex);
             for (const auto& [k, v] : mWater)
-                builder.addWater(v.mSize, v.mShift);
+                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)
             {

components/detournavigator/recastmeshmanager.hpp

@@ -29,6 +29,12 @@ namespace DetourNavigator
         btTransform mTransform;
     };
 
+    struct SizedHeightfieldShape
+    {
+        int mCellSize;
+        HeightfieldShape mShape;
+    };
+
     class RecastMeshManager
     {
     public:
@@ -41,14 +47,13 @@ namespace DetourNavigator
 
         std::optional<RemovedRecastMeshObject> removeObject(const ObjectId id);
 
-        bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift);
+        bool addWater(const osg::Vec2i& cellPosition, int cellSize, float level);
 
-        std::optional<Cell> removeWater(const osg::Vec2i& cellPosition);
+        std::optional<Water> removeWater(const osg::Vec2i& cellPosition);
 
-        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
+        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
-            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, Cell> mWater;
+        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;
     };

components/detournavigator/tilebounds.hpp

@@ -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

components/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -54,8 +54,7 @@ namespace DetourNavigator
         return result;
     }
 
-    bool TileCachedRecastMeshManager::addWater(const osg::Vec2i& cellPosition, const int cellSize,
+    bool TileCachedRecastMeshManager::addWater(const osg::Vec2i& cellPosition, int cellSize, float level)
-        const osg::Vec3f& shift)
     {
         auto& tilesPositions = mWaterTilesPositions[cellPosition];
 
@@ -66,7 +65,7 @@ namespace DetourNavigator
             const auto tiles = mTiles.lock();
             for (auto& tile : *tiles)
             {
-                if (tile.second->addWater(cellPosition, cellSize, shift))
+                if (tile.second->addWater(cellPosition, cellSize, level))
                 {
                     tilesPositions.push_back(tile.first);
                     result = true;
@@ -75,6 +74,7 @@ namespace DetourNavigator
         }
         else
         {
+            const btVector3 shift = Misc::Convert::toBullet(getWaterShift3d(cellPosition, cellSize, level));
             getTilesPositions(cellSize, shift, mSettings, [&] (const TilePosition& tilePosition)
                 {
                     const auto tiles = mTiles.lock();
@@ -85,7 +85,7 @@ namespace DetourNavigator
                         tile = tiles->emplace(tilePosition,
                                 std::make_shared<CachedRecastMeshManager>(tileBounds, mTilesGeneration)).first;
                     }
-                    if (tile->second->addWater(cellPosition, cellSize, shift))
+                    if (tile->second->addWater(cellPosition, cellSize, level))
                     {
                         tilesPositions.push_back(tilePosition);
                         result = true;
@@ -99,12 +99,12 @@ namespace DetourNavigator
         return result;
     }
 
-    std::optional<Cell> TileCachedRecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
+    std::optional<Water> TileCachedRecastMeshManager::removeWater(const osg::Vec2i& cellPosition)
     {
         const auto object = mWaterTilesPositions.find(cellPosition);
         if (object == mWaterTilesPositions.end())
             return std::nullopt;
-        std::optional<Cell> result;
+        std::optional<Water> result;
         for (const auto& tilePosition : object->second)
         {
             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();

components/detournavigator/tilecachedrecastmeshmanager.hpp

@@ -76,14 +76,13 @@ namespace DetourNavigator
 
         std::optional<RemovedRecastMeshObject> removeObject(const ObjectId id);
 
-        bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const osg::Vec3f& shift);
+        bool addWater(const osg::Vec2i& cellPosition, int cellSize, float level);
 
-        std::optional<Cell> removeWater(const osg::Vec2i& cellPosition);
+        std::optional<Water> removeWater(const osg::Vec2i& cellPosition);
 
-        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const osg::Vec3f& shift,
+        bool addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape);
-            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;