Recast: several large improvements

The dtNavMesh structure members were marked as public, but they should be private. Made them private. Also, dtNavMesh::addTile was reconstructing all links, even when we add tiles with pre-existing links. The link building logic has been moved to a new member function 'dtNavMesh::connectTile'. This should only be called once the navmesh tile has been added succesfully during build. If we load a navmesh now, the existing links will be used from now on. The dtNavMesh::m_tileCount member is now also correctly incremented and decremented in addTile/removetile.

src/naveditor/Editor.cpp

@@ -624,7 +624,7 @@ dtNavMesh* Editor::loadAll(std::string path)
 				return 0;
 			}
 
-			mesh->m_traversalTables[i] = traversalTable;
+			mesh->setTraverseTable(i, traversalTable);
 		}
 	}
 
@@ -665,7 +665,9 @@ void Editor::saveAll(std::string path, const dtNavMesh* mesh)
 		header.numTiles++;
 	}
 
-	memcpy(&header.params, mesh->getParams(), sizeof(dtNavMeshParams));
+	const dtNavMeshParams* params = mesh->getParams();
+
+	memcpy(&header.params, params, sizeof(dtNavMeshParams));
 	fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
 
 	// Store tiles.
@@ -684,13 +686,15 @@ void Editor::saveAll(std::string path, const dtNavMesh* mesh)
 	}
 
 	// Only store if we have 3 or more poly groups.
-	if (mesh->m_params.polyGroupCount >= DT_MIN_POLY_GROUP_COUNT)
+	if (params->polyGroupCount >= DT_MIN_POLY_GROUP_COUNT)
 	{
-		rdAssert(mesh->m_traversalTables);
+		int** traverseTables = mesh->getTraverseTables();
+
+		rdAssert(traverseTables);
 
 		for (int i = 0; i < header.params.traversalTableCount; i++)
 		{
-			const int* const tableData = mesh->m_traversalTables[i];
+			const int* const tableData = traverseTables[i];
 			rdAssert(tableData);
 
 			fwrite(tableData, sizeof(int), (header.params.traversalTableSize/4), fp);

src/naveditor/Editor_Common.cpp

@@ -432,10 +432,10 @@ void Editor_StaticTileMeshCommon::renderIntermediateTileMeshOptions()
 
 	if (m_navMesh)
 	{
-		const dtNavMeshParams& params = m_navMesh->m_params;
-		const float* origin = m_navMesh->m_orig;
+		const dtNavMeshParams& params = *m_navMesh->getParams();
+		//const float* origin = m_navMesh->m_orig;
 
-		ImGui::Text("Mesh Origin: \n\tX: %g \n\tY: %g \n\tZ: %g", origin[0], origin[1], origin[2]);
+		//ImGui::Text("Mesh Origin: \n\tX: %g \n\tY: %g \n\tZ: %g", origin[0], origin[1], origin[2]);
 		ImGui::Text("Tile Dimensions: %g x %g", params.tileWidth, params.tileHeight);
 		ImGui::Text("Poly Group Count: %d", params.polyGroupCount);
 		ImGui::Text("Traversal Table Size: %d", params.traversalTableSize);

src/naveditor/Editor_TempObstacles.cpp

@@ -850,10 +850,10 @@ void Editor_TempObstacles::handleSettings()
 
 	if (m_navMesh)
 	{
-		const dtNavMeshParams& params = m_navMesh->m_params;
-		const float* origin = m_navMesh->m_orig;
+		const dtNavMeshParams& params = *m_navMesh->getParams();
+		//const float* origin = m_navMesh->m_orig;
 
-		ImGui::Text("Mesh Origin: \n\tX: %g \n\tY: %g \n\tZ: %g", origin[0], origin[1], origin[2]);
+		//ImGui::Text("Mesh Origin: \n\tX: %g \n\tY: %g \n\tZ: %g", origin[0], origin[1], origin[2]);
 		ImGui::Text("Tile Dimensions: %g x %g", params.tileWidth, params.tileHeight);
 		ImGui::Text("Poly Group Count: %d", params.polyGroupCount);
 		ImGui::Text("Traversal Table Size: %d", params.traversalTableSize);

src/naveditor/Editor_TileMesh.cpp

@@ -455,9 +455,12 @@ void Editor_TileMesh::buildTile(const float* pos)
 	if (data)
 	{
 		// Let the navmesh own the data.
-		dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0);
+		dtTileRef tileRef = 0;
+		dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,&tileRef);
 		if (dtStatusFailed(status))
 			rdFree(data);
+		else
+			m_navMesh->connectTile(tileRef);
 	}
 	
 	m_ctx->dumpLog("Build Tile (%d,%d):", tx,ty);
@@ -531,9 +534,13 @@ void Editor_TileMesh::buildAllTiles()
 				// Remove any previous data (navmesh owns and deletes the data).
 				m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y,0),0,0);
 				// Let the navmesh own the data.
-				dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0);
+
+				dtTileRef tileRef = 0;
+				dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,&tileRef);
 				if (dtStatusFailed(status))
 					rdFree(data);
+				else
+					m_navMesh->connectTile(tileRef);
 			}
 		}
 	}

src/thirdparty/recast/Detour/Include/DetourNavMesh.h

@@ -387,7 +387,7 @@ struct dtMeshTile
 	int dataSize;							///< Size of the tile data.
 	int flags;								///< Tile flags. (See: #dtTileFlags)
 	dtMeshTile* next;						///< The next free tile, or the next tile in the spatial grid.
-	void* unknownVTableInstance; // See [r5apex_ds + F437D9] for usage
+	void* deleteCallback;					///< Custom destruction callback, called after free. (See [r5apex_ds + F437D9] for usage.)
 private:
 	dtMeshTile(const dtMeshTile&);
 	dtMeshTile& operator=(const dtMeshTile&);
@@ -449,7 +449,9 @@ public:
 	dtStatus init(unsigned char* data, const int dataSize, const int tableCount, const int flags);
 
 	/// The navigation mesh initialization params.
-	const dtNavMeshParams* getParams() const;
+	/// @note The parameters are created automatically when the single tile
+	/// initialization is performed.
+	const dtNavMeshParams* getParams() const { return &m_params; }
 
 	/// Adds a tile to the navigation mesh.
 	///  @param[in]		data		Data for the new tile mesh. (See: #dtCreateNavMeshData)
@@ -467,6 +469,11 @@ public:
 	/// @return The status flags for the operation.
 	dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
 
+	/// Connects the specified tile to the navigation mesh.
+	///  @param[in]		ref			The reference of the tile to connect.
+	/// @return The status flags for the operation.
+	dtStatus connectTile(const dtTileRef tileRef);
+
 	/// @}
 
 	/// @{
@@ -570,6 +577,18 @@ public:
 	/// @return The specified off-mesh connection, or null if the polygon reference is not valid.
 	const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
 
+	/// The navigation mesh traversal tables.
+	int** getTraverseTables() const { return m_traversalTables; }
+	
+	/// Sets the traverse table slot.
+	///  @param[in]	index	The index of the traverse table.
+	///  @param[in]	table	The traverse table data.
+	void setTraverseTable(const int index, int* const table);
+
+	/// Sets the size of the traverse table.
+	///  @param[in]	size	The size of the traverse table.
+	void setTraverseTableSize(const int size) { m_params.traversalTableSize = size; }
+
 	/// @}
 
 	/// @{
@@ -600,6 +619,14 @@ public:
 	/// @return The status flags for the operation.
 	dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
 
+	/// Gets the polygon group count.
+	/// @return The total number of polygon groups.
+	int getPolyGroupCount() const { return m_params.polyGroupCount; }
+
+	/// Sets the polygon group count.
+	///  @param[in]		count		The polygon group count.
+	void setPolyGroupcount(const int count) { m_params.polyGroupCount = count; }
+
 	/// Gets the size of the buffer required by #storeTileState to store the specified tile's state.
 	///  @param[in]	tile	The tile.
 	/// @return The size of the buffer required to store the state.
@@ -713,7 +740,7 @@ public:
 	/// @}
 	/// Returns pointer to tile in the tile array.
 	dtMeshTile* getTile(int i);
-public:
+private:
 	// Explicitly disabled copy constructor and copy assignment operator.
 	dtNavMesh(const dtNavMesh&);
 	dtNavMesh& operator=(const dtNavMesh&);

src/thirdparty/recast/Detour/Source/DetourNavMesh.cpp

@@ -194,6 +194,7 @@ Notes:
 dtNavMesh::dtNavMesh() :
 	m_tileWidth(0),
 	m_tileHeight(0),
+	m_tileCount(0),
 	m_maxTiles(0),
 	m_tileLutSize(0),
 	m_tileLutMask(0),
@@ -322,16 +323,13 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int tabl
 	if (dtStatusFailed(status))
 		return status;
 
-	return addTile(data, dataSize, flags, 0, 0);
-}
+	dtTileRef tileRef;
+	status = addTile(data,dataSize,flags,0,&tileRef);
 
-/// @par
-///
-/// @note The parameters are created automatically when the single tile
-/// initialization is performed.
-const dtNavMeshParams* dtNavMesh::getParams() const
-{
-	return &m_params;
+	if (dtStatusFailed(status))
+		return status;
+
+	return connectTile(tileRef);
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////
@@ -531,9 +529,10 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
 				
 		// Link off-mesh connection to target poly.
 		unsigned int idx = allocLink(target);
+		dtLink* link = nullptr;
 		if (idx != DT_NULL_LINK)
 		{
-			dtLink* link = &target->links[idx];
+			link = &target->links[idx];
 			link->ref = ref;
 			link->edge = (unsigned char)1;
 			link->side = oppositeSide;
@@ -547,26 +546,37 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
 		}
 		
 		// Link target poly to off-mesh connection.
+		unsigned int tidx = DT_NULL_LINK;
+		dtLink* tlink = nullptr;
 		if (targetCon->flags & DT_OFFMESH_CON_BIDIR)
 		{
-			unsigned int tidx = allocLink(tile);
+			tidx = allocLink(tile);
 			if (tidx != DT_NULL_LINK)
 			{
 				const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
 				dtPoly* landPoly = &tile->polys[landPolyIdx];
-				dtLink* link = &tile->links[tidx];
-				link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly);
-				link->edge = 0xff;
-				link->side = (unsigned char)(side == -1 ? 0xff : side);
-				link->bmin = link->bmax = 0;
+				tlink = &tile->links[tidx];
+				tlink->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly);
+				tlink->edge = 0xff;
+				tlink->side = (unsigned char)(side == -1 ? 0xff : side);
+				tlink->bmin = tlink->bmax = 0;
 				// Add to linked list.
-				link->next = landPoly->firstLink;
+				tlink->next = landPoly->firstLink;
 				landPoly->firstLink = tidx;
-				link->jumpType = 0xFF;
-				link->otherUnk = 0;
-				link->reverseLinkIndex = 0xFFFF;
+				tlink->jumpType = 0xFF;
+				tlink->otherUnk = 0;
+				tlink->reverseLinkIndex = 0xFFFF;
 			}
 		}
+
+		// Set the reverse link indices if there is a possibility to reverse.
+		// NOTE: it appears that Titanfall 2 doesn't seem to do this on their
+		// navmeshes, so we probably shouldn't do it either. Commented for now.
+		//if (link && tlink)
+		//{
+		//	link->reverseLinkIndex = (unsigned short)tidx;
+		//	tlink->reverseLinkIndex = (unsigned short)idx;
+		//}
 	}
 }
 
@@ -1026,6 +1036,8 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
 	// Make sure we could allocate a tile.
 	if (!tile)
 		return DT_FAILURE | DT_OUT_OF_MEMORY;
+
+	tile->deleteCallback = nullptr;
 	
 	// Insert tile into the position lut.
 	int h = computeTileHash(header->x, header->y, m_tileLutMask);
@@ -1064,18 +1076,34 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
 	if (!bvtreeSize)
 		tile->bvTree = 0;
 
-	// Build links freelist
-	tile->linksFreeList = 0;
-	tile->links[header->maxLinkCount-1].next = DT_NULL_LINK;
-	for (int i = 0; i < header->maxLinkCount-1; ++i)
-		tile->links[i].next = i+1;
-
 	// Init tile.
 	tile->header = header;
 	tile->data = data;
 	tile->dataSize = dataSize;
 	tile->flags = flags;
-	tile->unknownVTableInstance = nullptr;
+
+	m_tileCount++;
+
+	if (result)
+		*result = getTileRef(tile);
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMesh::connectTile(const dtTileRef tileRef)
+{
+	const int tileIndex = (int)decodePolyIdTile((dtPolyRef)tileRef);
+	if (tileIndex >= m_maxTiles)
+		return DT_FAILURE | DT_OUT_OF_MEMORY;
+
+	dtMeshTile* tile = &m_tiles[tileIndex];
+	const dtMeshHeader* header = tile->header;
+
+	// Build links freelist
+	tile->linksFreeList = 0;
+	tile->links[header->maxLinkCount - 1].next = DT_NULL_LINK;
+	for (int i = 0; i < header->maxLinkCount - 1; ++i)
+		tile->links[i].next = i + 1;
 
 	connectIntLinks(tile);
 
@@ -1113,10 +1141,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
 			connectExtOffMeshLinks(neis[j], tile, rdOppositeTile(i));
 		}
 	}
-	
-	if (result)
-		*result = getTileRef(tile);
-	
+
 	return DT_SUCCESS;
 }
 
@@ -1436,6 +1461,8 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
 	tile->next = m_nextFree;
 	m_nextFree = tile;
 
+	m_tileCount--;
+
 	return DT_SUCCESS;
 }
 
@@ -1631,6 +1658,14 @@ const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) c
 }
 
 
+void dtNavMesh::setTraverseTable(const int index, int* const table)
+{
+	rdAssert(index >= 0 && index < m_params.traversalTableCount);
+	rdAssert(m_traversalTables);
+
+	m_traversalTables[index] = table;
+}
+
 dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
 {
 	if (!ref) return DT_FAILURE;

src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp

@@ -455,18 +455,16 @@ bool dtCreateDisjointPolyGroups(dtNavMesh* nav, dtDisjointSet& disjoint)
 		}
 	}
 
-	nav->m_params.polyGroupCount = disjoint.getSetCount();
+	nav->setPolyGroupcount(disjoint.getSetCount());
 	return true;
 }
 
 // todo(amos): remove param 'tableCount' and make struct 'dtTraversalTableCreateParams'
 bool dtCreateTraversalTableData(dtNavMesh* nav, const dtDisjointSet& disjoint, const int tableCount)
 {
-	const int polyGroupCount = nav->m_params.polyGroupCount;
+	const int polyGroupCount = nav->getPolyGroupCount();
 	const int tableSize = calcTraversalTableSize(polyGroupCount);
 
-	rdAssert(nav->m_traversalTables);
-
 	// TODO: currently we allocate 5 buffers and just copy the same traversal
 	// tables in, this works fine since we don't generate jump links and
 	// therefore all poly islands should be marked unreachable from each other.
@@ -491,7 +489,7 @@ bool dtCreateTraversalTableData(dtNavMesh* nav, const dtDisjointSet& disjoint, c
 		if (!traversalTable)
 			return false;
 
-		nav->m_traversalTables[i] = traversalTable;
+		nav->setTraverseTable(i, traversalTable);
 		memset(traversalTable, 0, sizeof(int)*tableSize);
 
 		for (unsigned short j = 0; j < polyGroupCount; j++)
@@ -505,8 +503,7 @@ bool dtCreateTraversalTableData(dtNavMesh* nav, const dtDisjointSet& disjoint, c
 		}
 	}
 
-	nav->m_params.traversalTableSize = tableSize;
-	nav->m_params.traversalTableCount = tableCount;
+	nav->setTraverseTableSize(tableSize);
 
 	return true;
 }

src/thirdparty/recast/DetourTileCache/Source/DetourTileCache.cpp

@@ -762,12 +762,15 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
 	if (navData)
 	{
 		// Let the navmesh own the data.
-		status = navmesh->addTile(navData,navDataSize,DT_TILE_FREE_DATA,0,0);
+		dtTileRef tileRef = 0;
+		status = navmesh->addTile(navData,navDataSize,DT_TILE_FREE_DATA,0,&tileRef);
 		if (dtStatusFailed(status))
 		{
 			rdFree(navData);
 			return status;
 		}
+		else
+			navmesh->connectTile(tileRef);
 	}
 	
 	return DT_SUCCESS;