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629 lines
26 KiB
C++
629 lines
26 KiB
C++
#include "makenavmesh.hpp"
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#include "debug.hpp"
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#include "exceptions.hpp"
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#include "flags.hpp"
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#include "navmeshdata.hpp"
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#include "navmeshdb.hpp"
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#include "navmeshtilescache.hpp"
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#include "offmeshconnection.hpp"
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#include "preparednavmeshdata.hpp"
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#include "recastcontext.hpp"
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#include "recastmesh.hpp"
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#include "recastmeshbuilder.hpp"
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#include "recastparams.hpp"
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#include "settings.hpp"
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#include "settingsutils.hpp"
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#include "components/debug/debuglog.hpp"
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#include <DetourNavMesh.h>
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#include <DetourNavMeshBuilder.h>
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#include <Recast.h>
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#include <algorithm>
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#include <array>
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#include <iomanip>
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#include <limits>
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namespace DetourNavigator
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{
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namespace
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{
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constexpr int walkableRadiusUpperLimit = 255;
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struct Rectangle
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{
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TileBounds mBounds;
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float mHeight;
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};
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std::vector<float> getOffMeshVerts(const std::vector<OffMeshConnection>& connections)
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{
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std::vector<float> result;
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result.reserve(connections.size() * 6);
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const auto add = [&](const osg::Vec3f& v) {
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result.push_back(v.x());
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result.push_back(v.y());
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result.push_back(v.z());
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};
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for (const auto& v : connections)
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{
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add(v.mStart);
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add(v.mEnd);
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}
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return result;
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}
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Flag getFlag(AreaType areaType)
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{
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switch (areaType)
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{
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case AreaType_null:
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return Flag_none;
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case AreaType_ground:
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return Flag_walk;
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case AreaType_water:
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return Flag_swim;
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case AreaType_door:
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return Flag_openDoor;
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case AreaType_pathgrid:
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return Flag_usePathgrid;
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}
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return Flag_none;
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}
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std::vector<unsigned char> getOffMeshConAreas(const std::vector<OffMeshConnection>& connections)
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{
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std::vector<unsigned char> result;
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result.reserve(connections.size());
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std::transform(connections.begin(), connections.end(), std::back_inserter(result),
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[](const OffMeshConnection& v) { return v.mAreaType; });
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return result;
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}
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std::vector<unsigned short> getOffMeshFlags(const std::vector<OffMeshConnection>& connections)
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{
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std::vector<unsigned short> result;
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result.reserve(connections.size());
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std::transform(connections.begin(), connections.end(), std::back_inserter(result),
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[](const OffMeshConnection& v) { return getFlag(v.mAreaType); });
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return result;
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}
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float getHeight(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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return getAgentHeight(agentBounds) * settings.mRecastScaleFactor;
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}
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float getMaxClimb(const RecastSettings& settings)
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{
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return settings.mMaxClimb * settings.mRecastScaleFactor;
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}
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float getRadius(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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return getAgentRadius(agentBounds) * settings.mRecastScaleFactor;
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}
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float getSwimLevel(const RecastSettings& settings, const float waterLevel, const float agentHalfExtentsZ)
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{
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return waterLevel - settings.mSwimHeightScale * agentHalfExtentsZ - agentHalfExtentsZ;
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}
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int getWalkableHeight(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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return static_cast<int>(std::ceil(getHeight(settings, agentBounds) / settings.mCellHeight));
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}
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int getWalkableRadius(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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return static_cast<int>(std::ceil(getRadius(settings, agentBounds) / settings.mCellSize));
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}
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struct RecastParams
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{
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float mSampleDist = 0;
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float mSampleMaxError = 0;
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int mMaxEdgeLen = 0;
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int mWalkableClimb = 0;
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int mWalkableHeight = 0;
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int mWalkableRadius = 0;
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};
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RecastParams makeRecastParams(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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RecastParams result;
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result.mWalkableHeight = getWalkableHeight(settings, agentBounds);
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result.mWalkableClimb = static_cast<int>(std::floor(getMaxClimb(settings) / settings.mCellHeight));
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result.mWalkableRadius = getWalkableRadius(settings, agentBounds);
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result.mMaxEdgeLen
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= static_cast<int>(std::round(static_cast<float>(settings.mMaxEdgeLen) / settings.mCellSize));
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result.mSampleDist
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= settings.mDetailSampleDist < 0.9f ? 0 : settings.mCellSize * settings.mDetailSampleDist;
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result.mSampleMaxError = settings.mCellHeight * settings.mDetailSampleMaxError;
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return result;
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}
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[[nodiscard]] bool initHeightfield(RecastContext& context, const TilePosition& tilePosition, float minZ,
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float maxZ, const RecastSettings& settings, rcHeightfield& solid)
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{
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const int size = settings.mTileSize + settings.mBorderSize * 2;
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const int width = size;
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const int height = size;
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const float halfBoundsSize = size * settings.mCellSize * 0.5f;
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const osg::Vec2f shift
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= osg::Vec2f(tilePosition.x() + 0.5f, tilePosition.y() + 0.5f) * getTileSize(settings);
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const osg::Vec3f bmin(shift.x() - halfBoundsSize, minZ, shift.y() - halfBoundsSize);
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const osg::Vec3f bmax(shift.x() + halfBoundsSize, maxZ, shift.y() + halfBoundsSize);
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if (size < 0)
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{
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Log(Debug::Warning) << context.getPrefix() << "Invalid size to init heightfield: " << size;
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return false;
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}
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if (settings.mCellHeight <= 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid cell height to init heightfield: " << settings.mCellHeight;
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return false;
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}
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if (settings.mCellSize <= 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid cell size to init heightfield: " << settings.mCellSize;
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return false;
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}
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return rcCreateHeightfield(
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&context, solid, width, height, bmin.ptr(), bmax.ptr(), settings.mCellSize, settings.mCellHeight);
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}
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bool isSupportedCoordinate(float value)
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{
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constexpr float maxVertexCoordinate = static_cast<float>(1 << 22);
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return -maxVertexCoordinate < value && value < maxVertexCoordinate;
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}
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template <class Iterator>
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bool isSupportedCoordinates(Iterator begin, Iterator end)
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{
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return std::all_of(begin, end, isSupportedCoordinate);
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}
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[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const Mesh& mesh, const RecastSettings& settings,
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const RecastParams& params, rcHeightfield& solid)
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{
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std::vector<unsigned char> areas(mesh.getAreaTypes().begin(), mesh.getAreaTypes().end());
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std::vector<float> vertices = mesh.getVertices();
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constexpr std::size_t verticesPerTriangle = 3;
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for (std::size_t i = 0; i < vertices.size(); i += verticesPerTriangle)
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{
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for (std::size_t j = 0; j < verticesPerTriangle; ++j)
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{
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const float coordinate = toNavMeshCoordinates(settings, vertices[i + j]);
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if (!isSupportedCoordinate(coordinate))
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return false;
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vertices[i + j] = coordinate;
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}
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std::swap(vertices[i + 1], vertices[i + 2]);
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}
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rcClearUnwalkableTriangles(&context, settings.mMaxSlope, vertices.data(),
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static_cast<int>(mesh.getVerticesCount()), mesh.getIndices().data(), static_cast<int>(areas.size()),
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areas.data());
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return rcRasterizeTriangles(&context, vertices.data(), static_cast<int>(mesh.getVerticesCount()),
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mesh.getIndices().data(), areas.data(), static_cast<int>(areas.size()), solid, params.mWalkableClimb);
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}
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[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const Rectangle& rectangle, AreaType areaType,
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const RecastParams& params, rcHeightfield& solid)
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{
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const std::array vertices{
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rectangle.mBounds.mMin.x(), rectangle.mHeight, rectangle.mBounds.mMin.y(), // vertex 0
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rectangle.mBounds.mMin.x(), rectangle.mHeight, rectangle.mBounds.mMax.y(), // vertex 1
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rectangle.mBounds.mMax.x(), rectangle.mHeight, rectangle.mBounds.mMax.y(), // vertex 2
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rectangle.mBounds.mMax.x(), rectangle.mHeight, rectangle.mBounds.mMin.y(), // vertex 3
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};
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if (!isSupportedCoordinates(vertices.begin(), vertices.end()))
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return false;
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const std::array indices{
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0, 1, 2, // triangle 0
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0, 2, 3, // triangle 1
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};
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const std::array<unsigned char, 2> areas{ areaType, areaType };
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return rcRasterizeTriangles(&context, vertices.data(), static_cast<int>(vertices.size() / 3),
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indices.data(), areas.data(), static_cast<int>(areas.size()), solid, params.mWalkableClimb);
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}
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[[nodiscard]] bool rasterizeTriangles(RecastContext& context, float agentHalfExtentsZ,
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const std::vector<CellWater>& water, const RecastSettings& settings, const RecastParams& params,
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const TileBounds& realTileBounds, rcHeightfield& solid)
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{
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for (const CellWater& cellWater : water)
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{
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const TileBounds cellTileBounds
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= maxCellTileBounds(cellWater.mCellPosition, cellWater.mWater.mCellSize);
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if (auto intersection = getIntersection(realTileBounds, cellTileBounds))
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{
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const Rectangle rectangle{ toNavMeshCoordinates(settings, *intersection),
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toNavMeshCoordinates(
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settings, getSwimLevel(settings, cellWater.mWater.mLevel, agentHalfExtentsZ)) };
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if (!rasterizeTriangles(context, rectangle, AreaType_water, params, solid))
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return false;
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}
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}
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return true;
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}
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[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const TileBounds& realTileBounds,
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const std::vector<FlatHeightfield>& heightfields, const RecastSettings& settings,
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const RecastParams& params, rcHeightfield& solid)
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{
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for (const FlatHeightfield& heightfield : heightfields)
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{
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const TileBounds cellTileBounds = maxCellTileBounds(heightfield.mCellPosition, heightfield.mCellSize);
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if (auto intersection = getIntersection(realTileBounds, cellTileBounds))
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{
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const Rectangle rectangle{ toNavMeshCoordinates(settings, *intersection),
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toNavMeshCoordinates(settings, heightfield.mHeight) };
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if (!rasterizeTriangles(context, rectangle, AreaType_ground, params, solid))
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return false;
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}
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}
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return true;
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}
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[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const std::vector<Heightfield>& heightfields,
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const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
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{
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for (const Heightfield& heightfield : heightfields)
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{
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const Mesh mesh = makeMesh(heightfield);
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if (!rasterizeTriangles(context, mesh, settings, params, solid))
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return false;
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}
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return true;
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}
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[[nodiscard]] bool rasterizeTriangles(RecastContext& context, const TilePosition& tilePosition,
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float agentHalfExtentsZ, const RecastMesh& recastMesh, const RecastSettings& settings,
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const RecastParams& params, rcHeightfield& solid)
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{
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const TileBounds realTileBounds = makeRealTileBoundsWithBorder(settings, tilePosition);
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return rasterizeTriangles(context, recastMesh.getMesh(), settings, params, solid)
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&& rasterizeTriangles(
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context, agentHalfExtentsZ, recastMesh.getWater(), settings, params, realTileBounds, solid)
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&& rasterizeTriangles(context, recastMesh.getHeightfields(), settings, params, solid)
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&& rasterizeTriangles(
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context, realTileBounds, recastMesh.getFlatHeightfields(), settings, params, solid);
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}
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bool isValidWalkableHeight(int value)
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{
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return value >= 3;
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}
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[[nodiscard]] bool buildCompactHeightfield(RecastContext& context, const int walkableHeight,
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const int walkableClimb, rcHeightfield& solid, rcCompactHeightfield& compact)
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{
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if (!isValidWalkableHeight(walkableHeight))
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid walkableHeight to build compact heightfield: " << walkableHeight;
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return false;
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}
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if (walkableClimb < 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid walkableClimb to build compact heightfield: " << walkableClimb;
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return false;
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}
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return rcBuildCompactHeightfield(&context, walkableHeight, walkableClimb, solid, compact);
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}
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bool isValidWalkableRadius(int value)
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{
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return 0 < value && value < walkableRadiusUpperLimit;
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}
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[[nodiscard]] bool erodeWalkableArea(RecastContext& context, int walkableRadius, rcCompactHeightfield& compact)
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{
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if (!isValidWalkableRadius(walkableRadius))
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid walkableRadius to erode walkable area: " << walkableRadius;
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return false;
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}
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return rcErodeWalkableArea(&context, walkableRadius, compact);
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}
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[[nodiscard]] bool buildDistanceField(RecastContext& context, rcCompactHeightfield& compact)
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{
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return rcBuildDistanceField(&context, compact);
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}
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[[nodiscard]] bool buildRegions(RecastContext& context, rcCompactHeightfield& compact, const int borderSize,
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const int minRegionArea, const int mergeRegionArea)
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{
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if (borderSize < 0)
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{
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Log(Debug::Warning) << context.getPrefix() << "Invalid borderSize to build regions: " << borderSize;
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return false;
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}
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if (minRegionArea < 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid minRegionArea to build regions: " << minRegionArea;
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return false;
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}
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if (mergeRegionArea < 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid mergeRegionArea to build regions: " << mergeRegionArea;
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return false;
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}
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return rcBuildRegions(&context, compact, borderSize, minRegionArea, mergeRegionArea);
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}
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[[nodiscard]] bool buildContours(RecastContext& context, rcCompactHeightfield& compact, const float maxError,
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const int maxEdgeLen, rcContourSet& contourSet, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES)
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{
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if (maxError < 0)
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{
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Log(Debug::Warning) << context.getPrefix() << "Invalid maxError to build contours: " << maxError;
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return false;
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}
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if (maxEdgeLen < 0)
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{
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Log(Debug::Warning) << context.getPrefix() << "Invalid maxEdgeLen to build contours: " << maxEdgeLen;
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return false;
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}
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return rcBuildContours(&context, compact, maxError, maxEdgeLen, contourSet, buildFlags);
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}
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[[nodiscard]] bool buildPolyMesh(
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RecastContext& context, rcContourSet& contourSet, const int maxVertsPerPoly, rcPolyMesh& polyMesh)
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{
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if (maxVertsPerPoly < 3)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid maxVertsPerPoly to build poly mesh: " << maxVertsPerPoly;
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return false;
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}
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return rcBuildPolyMesh(&context, contourSet, maxVertsPerPoly, polyMesh);
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}
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[[nodiscard]] bool buildPolyMeshDetail(RecastContext& context, const rcPolyMesh& polyMesh,
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const rcCompactHeightfield& compact, const float sampleDist, const float sampleMaxError,
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rcPolyMeshDetail& polyMeshDetail)
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{
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if (sampleDist < 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid sampleDist to build poly mesh detail: " << sampleDist;
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return false;
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}
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if (sampleMaxError < 0)
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{
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Log(Debug::Warning) << context.getPrefix()
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<< "Invalid sampleMaxError to build poly mesh detail: " << sampleMaxError;
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return false;
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}
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return rcBuildPolyMeshDetail(&context, polyMesh, compact, sampleDist, sampleMaxError, polyMeshDetail);
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}
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void setPolyMeshFlags(rcPolyMesh& polyMesh)
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{
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for (int i = 0; i < polyMesh.npolys; ++i)
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polyMesh.flags[i] = getFlag(static_cast<AreaType>(polyMesh.areas[i]));
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}
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[[nodiscard]] bool fillPolyMesh(RecastContext& context, const RecastSettings& settings,
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const RecastParams& params, rcHeightfield& solid, rcPolyMesh& polyMesh, rcPolyMeshDetail& polyMeshDetail)
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{
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rcCompactHeightfield compact;
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if (!buildCompactHeightfield(context, params.mWalkableHeight, params.mWalkableClimb, solid, compact))
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return false;
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if (!erodeWalkableArea(context, params.mWalkableRadius, compact))
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return false;
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if (!buildDistanceField(context, compact))
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return false;
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if (!buildRegions(
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context, compact, settings.mBorderSize, settings.mRegionMinArea, settings.mRegionMergeArea))
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return false;
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rcContourSet contourSet;
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if (!buildContours(context, compact, settings.mMaxSimplificationError, params.mMaxEdgeLen, contourSet))
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return false;
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if (contourSet.nconts == 0)
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return false;
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if (!buildPolyMesh(context, contourSet, settings.mMaxVertsPerPoly, polyMesh))
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return false;
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if (!buildPolyMeshDetail(
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context, polyMesh, compact, params.mSampleDist, params.mSampleMaxError, polyMeshDetail))
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return false;
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setPolyMeshFlags(polyMesh);
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return true;
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}
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std::pair<float, float> getBoundsByZ(
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const RecastMesh& recastMesh, float agentHalfExtentsZ, const RecastSettings& settings)
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{
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float minZ = 0;
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float maxZ = 0;
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const std::vector<float>& vertices = recastMesh.getMesh().getVertices();
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for (std::size_t i = 0, n = vertices.size(); i < n; i += 3)
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{
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minZ = std::min(minZ, vertices[i + 2]);
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maxZ = std::max(maxZ, vertices[i + 2]);
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}
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for (const CellWater& water : recastMesh.getWater())
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{
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const float swimLevel = getSwimLevel(settings, water.mWater.mLevel, agentHalfExtentsZ);
|
|
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 };
|
|
}
|
|
}
|
|
|
|
std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh, ESM::RefId worldspace,
|
|
const TilePosition& tilePosition, const AgentBounds& agentBounds, const RecastSettings& settings)
|
|
{
|
|
RecastContext context(worldspace, tilePosition, agentBounds, recastMesh.getVersion(), settings.mMaxLogLevel);
|
|
|
|
const auto [minZ, maxZ] = getBoundsByZ(recastMesh, agentBounds.mHalfExtents.z(), settings);
|
|
|
|
rcHeightfield solid;
|
|
if (!initHeightfield(context, tilePosition, toNavMeshCoordinates(settings, minZ),
|
|
toNavMeshCoordinates(settings, maxZ), settings, solid))
|
|
return nullptr;
|
|
|
|
const RecastParams params = makeRecastParams(settings, agentBounds);
|
|
|
|
if (!rasterizeTriangles(
|
|
context, tilePosition, agentBounds.mHalfExtents.z(), recastMesh, settings, params, solid))
|
|
return nullptr;
|
|
|
|
rcFilterLowHangingWalkableObstacles(&context, params.mWalkableClimb, solid);
|
|
rcFilterLedgeSpans(&context, params.mWalkableHeight, params.mWalkableClimb, solid);
|
|
rcFilterWalkableLowHeightSpans(&context, params.mWalkableHeight, solid);
|
|
|
|
std::unique_ptr<PreparedNavMeshData> result = std::make_unique<PreparedNavMeshData>();
|
|
|
|
if (!fillPolyMesh(context, settings, params, solid, result->mPolyMesh, result->mPolyMeshDetail))
|
|
return nullptr;
|
|
|
|
result->mCellSize = settings.mCellSize;
|
|
result->mCellHeight = settings.mCellHeight;
|
|
|
|
return result;
|
|
}
|
|
|
|
NavMeshData makeNavMeshTileData(const PreparedNavMeshData& data,
|
|
const std::vector<OffMeshConnection>& offMeshConnections, const AgentBounds& agentBounds,
|
|
const TilePosition& tile, const RecastSettings& settings)
|
|
{
|
|
const auto offMeshConVerts = getOffMeshVerts(offMeshConnections);
|
|
const std::vector<float> offMeshConRad(offMeshConnections.size(), getRadius(settings, agentBounds));
|
|
const std::vector<unsigned char> offMeshConDir(offMeshConnections.size(), 0);
|
|
const std::vector<unsigned char> offMeshConAreas = getOffMeshConAreas(offMeshConnections);
|
|
const std::vector<unsigned short> offMeshConFlags = getOffMeshFlags(offMeshConnections);
|
|
|
|
dtNavMeshCreateParams params;
|
|
params.verts = data.mPolyMesh.verts;
|
|
params.vertCount = data.mPolyMesh.nverts;
|
|
params.polys = data.mPolyMesh.polys;
|
|
params.polyAreas = data.mPolyMesh.areas;
|
|
params.polyFlags = data.mPolyMesh.flags;
|
|
params.polyCount = data.mPolyMesh.npolys;
|
|
params.nvp = data.mPolyMesh.nvp;
|
|
params.detailMeshes = data.mPolyMeshDetail.meshes;
|
|
params.detailVerts = data.mPolyMeshDetail.verts;
|
|
params.detailVertsCount = data.mPolyMeshDetail.nverts;
|
|
params.detailTris = data.mPolyMeshDetail.tris;
|
|
params.detailTriCount = data.mPolyMeshDetail.ntris;
|
|
params.offMeshConVerts = offMeshConVerts.data();
|
|
params.offMeshConRad = offMeshConRad.data();
|
|
params.offMeshConDir = offMeshConDir.data();
|
|
params.offMeshConAreas = offMeshConAreas.data();
|
|
params.offMeshConFlags = offMeshConFlags.data();
|
|
params.offMeshConUserID = nullptr;
|
|
params.offMeshConCount = static_cast<int>(offMeshConnections.size());
|
|
params.walkableHeight = getHeight(settings, agentBounds);
|
|
params.walkableRadius = getRadius(settings, agentBounds);
|
|
params.walkableClimb = getMaxClimb(settings);
|
|
rcVcopy(params.bmin, data.mPolyMesh.bmin);
|
|
rcVcopy(params.bmax, data.mPolyMesh.bmax);
|
|
params.cs = data.mCellSize;
|
|
params.ch = data.mCellHeight;
|
|
params.buildBvTree = true;
|
|
params.userId = data.mUserId;
|
|
params.tileX = tile.x();
|
|
params.tileY = tile.y();
|
|
params.tileLayer = 0;
|
|
|
|
unsigned char* navMeshData;
|
|
int navMeshDataSize;
|
|
const auto navMeshDataCreated = dtCreateNavMeshData(¶ms, &navMeshData, &navMeshDataSize);
|
|
|
|
if (!navMeshDataCreated)
|
|
throw NavigatorException("Failed to create navmesh tile data");
|
|
|
|
return NavMeshData(navMeshData, navMeshDataSize);
|
|
}
|
|
|
|
void initEmptyNavMesh(const Settings& settings, dtNavMesh& navMesh)
|
|
{
|
|
dtNavMeshParams params;
|
|
std::fill_n(params.orig, 3, 0.0f);
|
|
params.tileWidth = settings.mRecast.mTileSize * settings.mRecast.mCellSize;
|
|
params.tileHeight = settings.mRecast.mTileSize * settings.mRecast.mCellSize;
|
|
params.maxTiles = settings.mMaxTilesNumber;
|
|
params.maxPolys = settings.mDetour.mMaxPolys;
|
|
|
|
const auto status = navMesh.init(¶ms);
|
|
|
|
if (!dtStatusSucceed(status))
|
|
throw NavigatorException("Failed to init navmesh");
|
|
}
|
|
|
|
bool isSupportedAgentBounds(const RecastSettings& settings, const AgentBounds& agentBounds)
|
|
{
|
|
return isValidWalkableHeight(getWalkableHeight(settings, agentBounds))
|
|
&& isValidWalkableRadius(getWalkableRadius(settings, agentBounds));
|
|
}
|
|
}
|