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372 lines
16 KiB
C++
372 lines
16 KiB
C++
#include "worldspacedata.hpp"
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#include <components/bullethelpers/aabb.hpp>
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#include <components/debug/debugging.hpp>
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#include <components/debug/debuglog.hpp>
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#include <components/detournavigator/debug.hpp>
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#include <components/detournavigator/gettilespositions.hpp>
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#include <components/detournavigator/objectid.hpp>
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#include <components/detournavigator/recastmesh.hpp>
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#include <components/detournavigator/settings.hpp>
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#include <components/detournavigator/tilecachedrecastmeshmanager.hpp>
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#include <components/esm/refid.hpp>
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#include <components/esm3/cellref.hpp>
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#include <components/esm3/esmreader.hpp>
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#include <components/esm3/loadcell.hpp>
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#include <components/esm3/loadland.hpp>
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#include <components/esm3/readerscache.hpp>
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#include <components/esmloader/esmdata.hpp>
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#include <components/esmloader/lessbyid.hpp>
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#include <components/esmloader/record.hpp>
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#include <components/misc/resourcehelpers.hpp>
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#include <components/misc/strings/conversion.hpp>
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#include <components/misc/strings/lower.hpp>
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#include <components/navmeshtool/protocol.hpp>
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#include <components/resource/bulletshapemanager.hpp>
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#include <components/settings/settings.hpp>
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#include <components/vfs/manager.hpp>
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#include <LinearMath/btVector3.h>
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#include <osg/Vec2i>
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#include <osg/ref_ptr>
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#include <algorithm>
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#include <memory>
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#include <sstream>
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#include <stdexcept>
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#include <string>
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#include <string_view>
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#include <tuple>
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#include <utility>
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#include <vector>
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namespace NavMeshTool
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{
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namespace
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{
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using DetourNavigator::CollisionShape;
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using DetourNavigator::HeightfieldPlane;
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using DetourNavigator::HeightfieldShape;
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using DetourNavigator::HeightfieldSurface;
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using DetourNavigator::ObjectId;
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using DetourNavigator::ObjectTransform;
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struct CellRef
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{
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ESM::RecNameInts mType;
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ESM::RefNum mRefNum;
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ESM::RefId mRefId;
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float mScale;
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ESM::Position mPos;
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CellRef(
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ESM::RecNameInts type, ESM::RefNum refNum, ESM::RefId&& refId, float scale, const ESM::Position& pos)
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: mType(type)
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, mRefNum(refNum)
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, mRefId(std::move(refId))
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, mScale(scale)
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, mPos(pos)
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{
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}
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};
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ESM::RecNameInts getType(const EsmLoader::EsmData& esmData, const ESM::RefId& refId)
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{
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const auto it = std::lower_bound(
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esmData.mRefIdTypes.begin(), esmData.mRefIdTypes.end(), refId, EsmLoader::LessById{});
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if (it == esmData.mRefIdTypes.end() || it->mId != refId)
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return {};
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return it->mType;
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}
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std::vector<CellRef> loadCellRefs(
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const ESM::Cell& cell, const EsmLoader::EsmData& esmData, ESM::ReadersCache& readers)
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{
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std::vector<EsmLoader::Record<CellRef>> cellRefs;
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for (std::size_t i = 0; i < cell.mContextList.size(); i++)
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{
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ESM::ReadersCache::BusyItem reader = readers.get(static_cast<std::size_t>(cell.mContextList[i].index));
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cell.restore(*reader, static_cast<int>(i));
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ESM::CellRef cellRef;
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bool deleted = false;
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while (ESM::Cell::getNextRef(*reader, cellRef, deleted))
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{
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const ESM::RecNameInts type = getType(esmData, cellRef.mRefID);
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if (type == ESM::RecNameInts{})
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continue;
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cellRefs.emplace_back(
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deleted, type, cellRef.mRefNum, std::move(cellRef.mRefID), cellRef.mScale, cellRef.mPos);
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}
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}
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Log(Debug::Debug) << "Loaded " << cellRefs.size() << " cell refs";
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const auto getKey = [](const EsmLoader::Record<CellRef>& v) -> ESM::RefNum { return v.mValue.mRefNum; };
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std::vector<CellRef> result = prepareRecords(cellRefs, getKey);
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Log(Debug::Debug) << "Prepared " << result.size() << " unique cell refs";
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return result;
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}
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template <class F>
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void forEachObject(const ESM::Cell& cell, const EsmLoader::EsmData& esmData, const VFS::Manager& vfs,
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Resource::BulletShapeManager& bulletShapeManager, ESM::ReadersCache& readers, F&& f)
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{
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std::vector<CellRef> cellRefs = loadCellRefs(cell, esmData, readers);
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Log(Debug::Debug) << "Prepared " << cellRefs.size() << " unique cell refs";
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for (CellRef& cellRef : cellRefs)
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{
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std::string model(getModel(esmData, cellRef.mRefId, cellRef.mType));
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if (model.empty())
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continue;
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if (cellRef.mType != ESM::REC_STAT)
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model = Misc::ResourceHelpers::correctActorModelPath(model, &vfs);
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osg::ref_ptr<const Resource::BulletShape> shape = [&] {
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try
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{
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return bulletShapeManager.getShape(
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VFS::Path::toNormalized(Misc::ResourceHelpers::correctMeshPath(model)));
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}
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catch (const std::exception& e)
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{
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Log(Debug::Warning) << "Failed to load cell ref \"" << cellRef.mRefId << "\" model \"" << model
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<< "\": " << e.what();
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return osg::ref_ptr<const Resource::BulletShape>();
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}
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}();
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if (shape == nullptr || shape->mCollisionShape == nullptr)
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continue;
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osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance(
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new Resource::BulletShapeInstance(std::move(shape)));
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switch (cellRef.mType)
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{
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case ESM::REC_ACTI:
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case ESM::REC_CONT:
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case ESM::REC_DOOR:
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case ESM::REC_STAT:
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f(BulletObject(std::move(shapeInstance), cellRef.mPos, cellRef.mScale));
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break;
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default:
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break;
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}
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}
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}
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struct GetXY
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{
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osg::Vec2i operator()(const ESM::Land& value) const { return osg::Vec2i(value.mX, value.mY); }
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};
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struct LessByXY
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{
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bool operator()(const ESM::Land& lhs, const ESM::Land& rhs) const { return GetXY{}(lhs) < GetXY{}(rhs); }
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bool operator()(const ESM::Land& lhs, const osg::Vec2i& rhs) const { return GetXY{}(lhs) < rhs; }
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bool operator()(const osg::Vec2i& lhs, const ESM::Land& rhs) const { return lhs < GetXY{}(rhs); }
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};
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btAABB getAabb(const osg::Vec2i& cellPosition, btScalar minHeight, btScalar maxHeight)
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{
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btAABB aabb;
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aabb.m_min = btVector3(static_cast<btScalar>(cellPosition.x() * ESM::Land::REAL_SIZE),
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static_cast<btScalar>(cellPosition.y() * ESM::Land::REAL_SIZE), minHeight);
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aabb.m_max = btVector3(static_cast<btScalar>((cellPosition.x() + 1) * ESM::Land::REAL_SIZE),
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static_cast<btScalar>((cellPosition.y() + 1) * ESM::Land::REAL_SIZE), maxHeight);
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return aabb;
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}
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void mergeOrAssign(const btAABB& aabb, btAABB& target, bool& initialized)
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{
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if (initialized)
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return target.merge(aabb);
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target.m_min = aabb.m_min;
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target.m_max = aabb.m_max;
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initialized = true;
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}
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std::tuple<HeightfieldShape, float, float> makeHeightfieldShape(const std::optional<ESM::Land>& land,
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const osg::Vec2i& cellPosition, std::vector<std::vector<float>>& heightfields,
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std::vector<std::unique_ptr<ESM::Land::LandData>>& landDatas)
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{
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if (!land.has_value() || osg::Vec2i(land->mX, land->mY) != cellPosition
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|| (land->mDataTypes & ESM::Land::DATA_VHGT) == 0)
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return { HeightfieldPlane{ ESM::Land::DEFAULT_HEIGHT }, ESM::Land::DEFAULT_HEIGHT,
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ESM::Land::DEFAULT_HEIGHT };
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ESM::Land::LandData& landData = *landDatas.emplace_back(std::make_unique<ESM::Land::LandData>());
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land->loadData(ESM::Land::DATA_VHGT, landData);
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heightfields.push_back(std::vector<float>(std::begin(landData.mHeights), std::end(landData.mHeights)));
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HeightfieldSurface surface;
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surface.mHeights = heightfields.back().data();
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surface.mMinHeight = landData.mMinHeight;
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surface.mMaxHeight = landData.mMaxHeight;
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surface.mSize = static_cast<std::size_t>(ESM::Land::LAND_SIZE);
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return { surface, landData.mMinHeight, landData.mMaxHeight };
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}
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template <class T>
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void serializeToStderr(const T& value)
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{
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const std::vector<std::byte> data = serialize(value);
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Debug::getRawStderr().write(
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reinterpret_cast<const char*>(data.data()), static_cast<std::streamsize>(data.size()));
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}
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std::string makeAddObjectErrorMessage(
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ObjectId objectId, DetourNavigator::AreaType areaType, const CollisionShape& shape)
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{
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std::ostringstream stream;
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stream << "Failed to add object to recast mesh objectId=" << objectId.value() << " areaType=" << areaType
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<< " fileName=" << shape.getInstance()->mFileName
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<< " fileHash=" << Misc::StringUtils::toHex(shape.getInstance()->mFileHash);
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return stream.str();
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}
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}
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WorldspaceNavMeshInput::WorldspaceNavMeshInput(
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ESM::RefId worldspace, const DetourNavigator::RecastSettings& settings)
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: mWorldspace(worldspace)
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, mTileCachedRecastMeshManager(settings)
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{
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mAabb.m_min = btVector3(0, 0, 0);
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mAabb.m_max = btVector3(0, 0, 0);
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}
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WorldspaceData gatherWorldspaceData(const DetourNavigator::Settings& settings, ESM::ReadersCache& readers,
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const VFS::Manager& vfs, Resource::BulletShapeManager& bulletShapeManager, const EsmLoader::EsmData& esmData,
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bool processInteriorCells, bool writeBinaryLog)
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{
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Log(Debug::Info) << "Processing " << esmData.mCells.size() << " cells...";
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std::unordered_map<ESM::RefId, std::unique_ptr<WorldspaceNavMeshInput>> navMeshInputs;
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WorldspaceData data;
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std::size_t objectsCounter = 0;
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if (writeBinaryLog)
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serializeToStderr(ExpectedCells{ static_cast<std::uint64_t>(esmData.mCells.size()) });
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for (std::size_t i = 0; i < esmData.mCells.size(); ++i)
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{
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const ESM::Cell& cell = esmData.mCells[i];
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const bool exterior = cell.isExterior();
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if (!exterior && !processInteriorCells)
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{
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if (writeBinaryLog)
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serializeToStderr(ProcessedCells{ static_cast<std::uint64_t>(i + 1) });
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Log(Debug::Info) << "Skipped interior"
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<< " cell (" << (i + 1) << "/" << esmData.mCells.size() << ") \""
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<< cell.getDescription() << "\"";
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continue;
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}
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Log(Debug::Debug) << "Processing " << (exterior ? "exterior" : "interior") << " cell (" << (i + 1) << "/"
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<< esmData.mCells.size() << ") \"" << cell.getDescription() << "\"";
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const osg::Vec2i cellPosition(cell.mData.mX, cell.mData.mY);
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const std::size_t cellObjectsBegin = data.mObjects.size();
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const ESM::RefId cellWorldspace = cell.isExterior() ? ESM::Cell::sDefaultWorldspaceId : cell.mId;
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WorldspaceNavMeshInput& navMeshInput = [&]() -> WorldspaceNavMeshInput& {
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auto it = navMeshInputs.find(cellWorldspace);
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if (it == navMeshInputs.end())
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{
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it = navMeshInputs
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.emplace(cellWorldspace,
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std::make_unique<WorldspaceNavMeshInput>(cellWorldspace, settings.mRecast))
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.first;
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it->second->mTileCachedRecastMeshManager.setWorldspace(cellWorldspace, nullptr);
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}
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return *it->second;
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}();
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const auto guard = navMeshInput.mTileCachedRecastMeshManager.makeUpdateGuard();
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if (exterior)
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{
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const auto it
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= std::lower_bound(esmData.mLands.begin(), esmData.mLands.end(), cellPosition, LessByXY{});
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const auto [heightfieldShape, minHeight, maxHeight]
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= makeHeightfieldShape(it == esmData.mLands.end() ? std::optional<ESM::Land>() : *it, cellPosition,
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data.mHeightfields, data.mLandData);
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mergeOrAssign(
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getAabb(cellPosition, minHeight, maxHeight), navMeshInput.mAabb, navMeshInput.mAabbInitialized);
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navMeshInput.mTileCachedRecastMeshManager.addHeightfield(
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cellPosition, ESM::Land::REAL_SIZE, heightfieldShape, guard.get());
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navMeshInput.mTileCachedRecastMeshManager.addWater(cellPosition, ESM::Land::REAL_SIZE, -1, guard.get());
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}
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else
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{
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if ((cell.mData.mFlags & ESM::Cell::HasWater) != 0)
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navMeshInput.mTileCachedRecastMeshManager.addWater(
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cellPosition, std::numeric_limits<int>::max(), cell.mWater, guard.get());
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}
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forEachObject(cell, esmData, vfs, bulletShapeManager, readers, [&](BulletObject object) {
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if (object.getShapeInstance()->mVisualCollisionType != Resource::VisualCollisionType::None)
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return;
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const btTransform& transform = object.getCollisionObject().getWorldTransform();
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const btAABB aabb = BulletHelpers::getAabb(*object.getCollisionObject().getCollisionShape(), transform);
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mergeOrAssign(aabb, navMeshInput.mAabb, navMeshInput.mAabbInitialized);
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if (const btCollisionShape* avoid = object.getShapeInstance()->mAvoidCollisionShape.get())
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navMeshInput.mAabb.merge(BulletHelpers::getAabb(*avoid, transform));
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const ObjectId objectId(++objectsCounter);
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const CollisionShape shape(object.getShapeInstance(), *object.getCollisionObject().getCollisionShape(),
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object.getObjectTransform());
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if (!navMeshInput.mTileCachedRecastMeshManager.addObject(
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objectId, shape, transform, DetourNavigator::AreaType_ground, guard.get()))
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throw std::logic_error(
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makeAddObjectErrorMessage(objectId, DetourNavigator::AreaType_ground, shape));
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if (const btCollisionShape* avoid = object.getShapeInstance()->mAvoidCollisionShape.get())
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{
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const ObjectId avoidObjectId(++objectsCounter);
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const CollisionShape avoidShape(object.getShapeInstance(), *avoid, object.getObjectTransform());
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if (!navMeshInput.mTileCachedRecastMeshManager.addObject(
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avoidObjectId, avoidShape, transform, DetourNavigator::AreaType_null, guard.get()))
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throw std::logic_error(
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makeAddObjectErrorMessage(avoidObjectId, DetourNavigator::AreaType_null, avoidShape));
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}
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data.mObjects.emplace_back(std::move(object));
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});
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const auto cellDescription = cell.getDescription();
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if (writeBinaryLog)
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serializeToStderr(ProcessedCells{ static_cast<std::uint64_t>(i + 1) });
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Log(Debug::Info) << "Processed " << (exterior ? "exterior" : "interior") << " cell (" << (i + 1) << "/"
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<< esmData.mCells.size() << ") " << cellDescription << " with "
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<< (data.mObjects.size() - cellObjectsBegin) << " objects";
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}
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data.mNavMeshInputs.reserve(navMeshInputs.size());
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std::transform(navMeshInputs.begin(), navMeshInputs.end(), std::back_inserter(data.mNavMeshInputs),
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[](auto& v) { return std::move(v.second); });
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Log(Debug::Info) << "Processed " << esmData.mCells.size() << " cells, added " << data.mObjects.size()
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<< " objects and " << data.mHeightfields.size() << " height fields";
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return data;
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}
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}
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