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Recast: improvements to traverse type selection algorithm

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Changed algorithm to use elevation instead of slopes and updated values to newer values which are still somewhat incorrect, but at least now we have full coverage on all types. Will need to be polished further. Also made the selector loop in reverse which causes way better and more coverage than starting from the start of the table.
This commit is contained in:
Kawe Mazidjatari 2024-08-16 12:07:31 +02:00
parent ac0afa6aaa
commit 01507c0bd7
1 changed files with 25 additions and 30 deletions
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55
src/naveditor/Editor.cpp
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@ -409,8 +409,8 @@ enum TraverseType_e // todo(amos): move elsewhere
struct TraverseType_s // todo(amos): move elsewhere struct TraverseType_s // todo(amos): move elsewhere
{ {
float minSlope; // todo(amos): use height difference instead of slope angles. float minElevation;
float maxSlope; // todo(amos): use height difference instead of slope angles. float maxElevation;
unsigned char minDist; unsigned char minDist;
unsigned char maxDist; unsigned char maxDist;
@ -423,38 +423,38 @@ static TraverseType_s s_traverseTypes[NUM_TRAVERSE_TYPES] = // todo(amos): move
{ {
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 67.f, 2, 12, false, false }, {0, 32, 2, 12, false, false }, //1
{5.0f, 78.f, 5, 16, false, false }, {32, 40, 5, 16, false, false }, //2
{0.0f, 38.f, 11, 22, false, false }, {0, 16, 11, 22, false, false },//3
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 6.5f, 80, 107, false, true}, {0, 40, 80, 107, false, true}, //7
{19.0f, 84.0f, 7, 21, false, false}, {40, 128, 7, 21, false, false}, //8
{27.0f, 87.5f, 16, 45, false, false}, {128, 256, 16, 45, false, false}, //9
{44.0f, 89.5f, 33, 225, false, false}, {256, 640, 33, 225, false, false}, //10
{0.0f, 7.0f, 41, 79, false, false}, {0, 40, 41, 79, false, false}, //11
{2.2f, 47.0f, 41, 100, false, false}, {128, 256, 41, 100, false, false}, //12
{5.7f, 58.5f, 81, 179, false, false}, {256, 512, 81, 179, false, false}, //13
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 12.5f, 22, 41, false, false}, {0, 64, 22, 41, false, false}, //16
{4.6f, 53.0f, 21, 58, false, false}, {512, 1024, 21, 58, false, false}, //17
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{29.0f, 47.0f, 16, 40, false, false}, // Maps to type 19 in MSET 5 {256, 640, 16, 40, false, false}, // Maps to type 19 in MSET 5
{46.5f, 89.0f, 33, 199, false, false}, // Maps to type 20 in MSET 5 {640, 1024, 33, 199, false, false}, // Maps to type 20 in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 89.0f, 5, 251, false, false}, // Does not exist in MSET 5 {0, 0, 0, 0, false, false}, // Does not exist in MSET 5 ~ 8.
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
@ -465,23 +465,23 @@ static TraverseType_s s_traverseTypes[NUM_TRAVERSE_TYPES] = // todo(amos): move
{0.0f, 0.0f, 0, 0, false, false}, // Unused {0.0f, 0.0f, 0, 0, false, false}, // Unused
}; };
TraverseType_e GetBestTraverseType(const float slopeAngle, const unsigned char traverseDist, const bool samePolyGroup) TraverseType_e GetBestTraverseType(const float elevation, const unsigned char traverseDist, const bool samePolyGroup)
{ {
TraverseType_e bestTraverseType = INVALID_TRAVERSE_TYPE; TraverseType_e bestTraverseType = INVALID_TRAVERSE_TYPE;
for (int i = 0; i < NUM_TRAVERSE_TYPES; ++i) for (int i = NUM_TRAVERSE_TYPES-1; i >= 0; --i)
{ {
const TraverseType_s& traverseType = s_traverseTypes[i]; const TraverseType_s& traverseType = s_traverseTypes[i];
// Skip unused types... // Skip unused types...
if (traverseType.minSlope == 0.0f && traverseType.maxSlope == 0.0f && if (traverseType.minElevation == 0.0f && traverseType.maxElevation == 0.0f &&
traverseType.minDist == 0 && traverseType.maxDist == 0) traverseType.minDist == 0 && traverseType.maxDist == 0)
{ {
continue; continue;
} }
if (slopeAngle < traverseType.minSlope || if (elevation < traverseType.minElevation ||
slopeAngle > traverseType.maxSlope) elevation > traverseType.maxElevation)
{ {
continue; continue;
} }
@ -507,10 +507,6 @@ TraverseType_e GetBestTraverseType(const float slopeAngle, const unsigned char t
return bestTraverseType; return bestTraverseType;
} }
// todo(amos): find the best threshold...
// todo(amos): use height difference instead of slope angles.
#define TRAVERSE_OVERLAP_SLOPE_THRESHOLD 5.0f
static bool polyEdgeFaceAgainst(const float* v1, const float* v2, const float* n1, const float* n2) static bool polyEdgeFaceAgainst(const float* v1, const float* v2, const float* n1, const float* n2)
{ {
const float delta[2] = { v2[0] - v1[0], v2[1] - v1[1] }; const float delta[2] = { v2[0] - v1[0], v2[1] - v1[1] };
@ -768,11 +764,10 @@ void Editor::connectTileTraverseLinks(dtMeshTile* const baseTile, const bool lin
if (dotProduct > 0) if (dotProduct > 0)
continue; continue;
// todo(amos): should we use height difference instead of slope angles? const float elevation = rdMathFabsf(basePolyEdgeMid[2]-landPolyEdgeMid[2]);
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(basePolyEdgeMid, landPolyEdgeMid));
const bool samePolyGroup = basePoly->groupId == landPoly->groupId; const bool samePolyGroup = basePoly->groupId == landPoly->groupId;
const TraverseType_e traverseType = GetBestTraverseType(slopeAngle, quantDist, samePolyGroup); const TraverseType_e traverseType = GetBestTraverseType(elevation, quantDist, samePolyGroup);
if (traverseType == DT_NULL_TRAVERSE_TYPE) if (traverseType == DT_NULL_TRAVERSE_TYPE)
continue; continue;
@ -784,8 +779,8 @@ void Editor::connectTileTraverseLinks(dtMeshTile* const baseTile, const bool lin
float* const higherEdgeDir = basePolyHigher ? baseEdgeDir : landEdgeDir; float* const higherEdgeDir = basePolyHigher ? baseEdgeDir : landEdgeDir;
const float walkableRadius = basePolyHigher ? baseTile->header->walkableRadius : landTile->header->walkableRadius; const float walkableRadius = basePolyHigher ? baseTile->header->walkableRadius : landTile->header->walkableRadius;
const float heightDiff = higherEdgeMid[2] - lowerEdgeMid[2];
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(basePolyEdgeMid, landPolyEdgeMid));
const float maxAngle = rdCalcMaxLOSAngle(walkableRadius, m_cellHeight); const float maxAngle = rdCalcMaxLOSAngle(walkableRadius, m_cellHeight);
const float offsetAmount = rdCalcLedgeSpanOffsetAmount(walkableRadius, slopeAngle, maxAngle); const float offsetAmount = rdCalcLedgeSpanOffsetAmount(walkableRadius, slopeAngle, maxAngle);