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https://github.com/Mauler125/r5sdk.git
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Working AI reachability tables
* Set reachability table count to 1. * Don't divide reachability write size by 4. * Trim off all unused bytes after building reachability table. * Default cvar 'navmesh_always_reachable' to 0. AI behavior seems to have improved a bit, they attempt to pathfind better, and if they find a certain route they attempt another route where originally they would become stuck in such situation. If you build the SDK after this commit, you need to rebuild all navmeshes, else the game would segfault in dtNavMesh::isPolyReachable().
This commit is contained in:
Kawe Mazidjatari
parent
dad356b0c3
commit
0ec03a62b1
@ -185,7 +185,6 @@ hulldef hulls[5] = {
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};
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void Sample::handleCommonSettings()
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{
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bool is_human = true;
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for (auto& h : hulls)
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{
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if (imguiButton(h.name))
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@ -193,11 +192,8 @@ void Sample::handleCommonSettings()
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m_agentRadius = h.radius;
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m_agentMaxClimb = h.climb_height;
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m_agentHeight = h.height;
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if (is_human)
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m_reachabilityTableCount = 4;
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m_navmeshName = h.name;
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}
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is_human = false;
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}
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imguiLabel("Rasterization");
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imguiSlider("Cell Size", &m_cellSize, 0.1f, 100.0f, 0.01f);
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@ -656,7 +652,30 @@ void Sample::saveAll(std::string path, dtNavMesh* mesh)
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}
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memcpy(&header.params, mesh->getParams(), sizeof(dtNavMeshParams));
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header.params.disjointPolyGroupCount = 3;
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header.params.reachabilityTableSize = ((header.params.disjointPolyGroupCount + 31) / 32) * header.params.disjointPolyGroupCount * 32;
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LinkTableData link_data;
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build_link_table(mesh, link_data);
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int table_size = ((link_data.setCount + 31) / 32) * link_data.setCount * 32;
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std::vector<int> reachability(table_size, 0);
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for (int i = 0; i < link_data.setCount; i++)
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set_reachable(reachability, link_data.setCount, i, i, true);
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size_t del = 0;
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for (size_t i = reachability.size() - 1; i >= 0; i--)
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{
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if (reachability[i] == 0)
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{
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reachability.erase(reachability.begin() + i);
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table_size--;
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}
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else
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break;
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}
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header.params.disjointPolyGroupCount = link_data.setCount;
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header.params.reachabilityTableCount = m_reachabilityTableCount;
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header.params.reachabilityTableSize = table_size;
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if (*is_tf2)unpatch_headertf2(header);
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fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
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@ -677,85 +696,13 @@ void Sample::saveAll(std::string path, dtNavMesh* mesh)
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if (*is_tf2)patch_tiletf2(const_cast<dtMeshTile*>(tile));
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}
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int header_sth[3] = { 0,0,0 };
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fwrite(header_sth, sizeof(int), 3, fp);
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unsigned int reachability[32 * 3];
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for (int i = 0; i < 32 * 3; i++)
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reachability[i] = 0xffffffff;
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//still dont know what this thing is...
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int header_sth = 0;
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for (int i = 0; i < link_data.setCount; i++)
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fwrite(&header_sth, sizeof(int), 1, fp);
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for (int i = 0; i < header.params.reachabilityTableCount; i++)
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fwrite(reachability, sizeof(int), (header.params.reachabilityTableSize / 4), fp);
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fclose(fp);
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}
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fwrite(reachability.data(), sizeof(int), table_size, fp);
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//void Sample::saveAll(std::string path, dtNavMesh* mesh)
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//{
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// if (!mesh) return;
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//
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// std::filesystem::path p = "..\\maps\\navmesh\\";
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//
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// if (std::filesystem::is_directory(p))
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// {
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// path.insert(0, p.string());
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// }
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//
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// char buffer[256];
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// sprintf(buffer, "%s_%s.nm", path.c_str(), m_navmeshName);
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//
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// FILE* fp = fopen(buffer, "wb");
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// if (!fp)
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// return;
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//
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// // Store header.
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// NavMeshSetHeader header;
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// header.magic = NAVMESHSET_MAGIC;
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// header.version = NAVMESHSET_VERSION;
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// header.numTiles = 0;
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//
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// for (int i = 0; i < mesh->getMaxTiles(); ++i)
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// {
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// dtMeshTile* tile = mesh->getTile(i);
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// if (!tile || !tile->header || !tile->dataSize) continue;
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// header.numTiles++;
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// }
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// memcpy(&header.params, mesh->getParams(), sizeof(dtNavMeshParams));
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// header.params.disjointPolyGroupCount = 3;
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//
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// LinkTableData link_data;
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// build_link_table(mesh, link_data);
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// int table_size = ((link_data.setCount + 31) / 32) * link_data.setCount * 32;
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// header.params.disjointPolyGroupCount = link_data.setCount;
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// header.params.reachabilityTableCount = m_reachabilityTableCount;
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// header.params.reachabilityTableSize = table_size;
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//
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// if (*is_tf2)unpatch_headertf2(header);
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// fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
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//
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// // Store tiles.
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// for (int i = 0; i < mesh->getMaxTiles(); ++i)
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// {
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// dtMeshTile* tile = mesh->getTile(i);
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// if (!tile || !tile->header || !tile->dataSize) continue;
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//
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// NavMeshTileHeader tileHeader;
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// tileHeader.tileRef = mesh->getTileRef(tile);
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// tileHeader.dataSize = tile->dataSize;
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// fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
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//
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// if (*is_tf2)unpatch_tiletf2(const_cast<dtMeshTile*>(tile));
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// fwrite(tile->data, tile->dataSize, 1, fp);
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// if (*is_tf2)patch_tiletf2(const_cast<dtMeshTile*>(tile));
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// }
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//
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// //still dont know what this thing is...
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// int header_sth = 0;
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// for (int i = 0; i < link_data.setCount; i++)
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// fwrite(&header_sth, sizeof(int), 1, fp);
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//
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// std::vector<int> reachability(table_size, 0);
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// for (int i = 0; i < link_data.setCount; i++)
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// set_reachable(reachability, link_data.setCount, i, i, true);
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// for (int i = 0; i < header.params.reachabilityTableCount; i++)
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// fwrite(reachability.data(), sizeof(int), (table_size / 4), fp);
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// fclose(fp);
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//}
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fclose(fp);
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}
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@ -770,16 +770,12 @@ void Sample_TileMesh::removeAllTiles()
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void Sample_TileMesh::buildAllHulls()
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{
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bool is_human = true;
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for (auto& h : hulls)
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{
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m_agentRadius = h.radius;
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m_agentMaxClimb = h.climb_height;
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m_agentHeight = h.height;
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if (is_human)
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m_reachabilityTableCount = 4;
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m_navmeshName = h.name;
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is_human = false;
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handleSettings();
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handleBuild();
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@ -64,7 +64,7 @@ void ConVar::Init(void) const
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ai_ainDumpOnLoad = new ConVar("ai_ainDumpOnLoad" , "0", FCVAR_DEVELOPMENTONLY, "Dumps AIN data from node graphs loaded from the disk on load.", false, 0.f, false, 0.f, nullptr, nullptr);
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ai_ainDebugConnect = new ConVar("ai_ainDebugConnect" , "0", FCVAR_DEVELOPMENTONLY, "Debug AIN node connections.", false, 0.f, false, 0.f, nullptr, nullptr);
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ai_script_nodes_draw_index = new ConVar("ai_script_nodes_draw_index", "0", FCVAR_DEVELOPMENTONLY, "Start index for drawing script nodes.", false, 0.f, false, 0.f, nullptr, nullptr);
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navmesh_always_reachable = new ConVar("navmesh_always_reachable" , "1", FCVAR_DEVELOPMENTONLY, "Marks poly from agent to target on navmesh as reachable regardless of table data ( !slower! ).", false, 0.f, false, 0.f, nullptr, nullptr); // !TODO: Default to '0' once the reachability table gets properly parsed.
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navmesh_always_reachable = new ConVar("navmesh_always_reachable" , "0", FCVAR_DEVELOPMENTONLY, "Marks poly from agent to target on navmesh as reachable regardless of table data ( !slower! ).", false, 0.f, false, 0.f, nullptr, nullptr);
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sv_showconnecting = new ConVar("sv_showconnecting" , "1", FCVAR_RELEASE, "Logs information about the connecting client to the console.", false, 0.f, false, 0.f, nullptr, nullptr);
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sv_pylonVisibility = new ConVar("sv_pylonVisibility", "0", FCVAR_RELEASE, "Determines the visiblity to the Pylon master server, 0 = Offline, 1 = Hidden, 2 = Public.", false, 0.f, false, 0.f, nullptr, nullptr);
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