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Recast: start of navmesh query modifications

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Start of implementing changes of Titanfall 2 and Apex into dtNavMeshQuery.
This commit is contained in:
Kawe Mazidjatari 2024-08-31 15:13:24 +02:00
parent 7fb9a2d48b
commit 54f1e217de
5 changed files with 102 additions and 69 deletions
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3
src/thirdparty/recast/Detour/Include/DetourNavMesh.h vendored
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@ -300,6 +300,9 @@ inline int dtGetDetailTriEdgeFlags(unsigned char triFlags, int edgeIndex)
/// @see dtMeshTile
struct dtLink
{
inline bool hasTraverseType() const { return traverseType != DT_NULL_TRAVERSE_TYPE; }
inline unsigned char getTraverseType() const {return traverseType & (DT_MAX_TRAVERSE_TYPES-1); }
dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.)
unsigned int next; ///< Index of the next link.
unsigned char edge; ///< Index of the polygon edge that owns this link.

54
src/thirdparty/recast/Detour/Include/DetourNavMeshQuery.h vendored
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@ -34,10 +34,10 @@
/// @ingroup detour
class dtQueryFilter
{
float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.)
unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.)
unsigned short m_excludeFlags; ///< Flags for polygons that should not be visited. (Used by default implementation.)
unsigned int m_traverseFlags; ///< Flags for links dictating which traverse types are allowed to be used. (See [r5apex_ds + CA6FE9.])
float m_traverseCost[DT_MAX_TRAVERSE_TYPES]; ///< Cost per traverse type. (Used by default implementation.)
unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.)
unsigned short m_excludeFlags; ///< Flags for polygons that should not be visited. (Used by default implementation.)
unsigned int m_traverseFlags; ///< Flags for links dictating which traverse types are allowed to be used. (See [r5apex_ds + CA6FE9.])
public:
dtQueryFilter();
@ -51,14 +51,19 @@ public:
/// @param[in] tile The tile containing the polygon.
/// @param[in] poly The polygon to test.
#ifdef DT_VIRTUAL_QUERYFILTER
virtual bool passFilter(const dtPolyRef ref,
virtual
#endif
bool passFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
#else
bool passFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
#ifdef DT_VIRTUAL_QUERYFILTER
virtual
#endif
bool traverseFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
/// Returns cost to move from the beginning to the end of a line segment
/// that is fully contained within a polygon.
@ -74,16 +79,12 @@ public:
/// @param[in] nextTile The tile containing the next polygon. [opt]
/// @param[in] nextPoly The next polygon. [opt]
#ifdef DT_VIRTUAL_QUERYFILTER
virtual float getCost(const float* pa, const float* pb,
virtual
#endif
float getCost(const float* pa, const float* pb, const dtLink* link,
const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
#else
float getCost(const float* pa, const float* pb,
const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
#endif
/// @name Getters and setters for the default implementation data.
///@{
@ -91,12 +92,12 @@ public:
/// Returns the traversal cost of the area.
/// @param[in] i The id of the area.
/// @returns The traversal cost of the area.
inline float getAreaCost(const int i) const { return m_areaCost[i]; }
inline float getAreaCost(const int i) const { return m_traverseCost[i]; }
/// Sets the traversal cost of the area.
/// @param[in] i The id of the area.
/// @param[in] cost The new cost of traversing the area.
inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; }
inline void setAreaCost(const int i, const float cost) { m_traverseCost[i] = cost; }
/// Returns the include flags for the filter.
/// Any polygons that include one or more of these flags will be
@ -125,17 +126,14 @@ public:
/// @ingroup detour
struct dtRaycastHit
{
/// Pointer to an array of reference ids of the visited polygons. [opt]
dtPolyRef* path;
/// The hit parameter. (FLT_MAX if no wall hit.)
float t;
/// hitNormal The normal of the nearest wall hit. [(x, y, z)]
float hitNormal[3];
/// The index of the edge on the final polygon where the wall was hit.
int hitEdgeIndex;
/// Pointer to an array of reference ids of the visited polygons. [opt]
dtPolyRef* path;
/// The number of visited polygons. [opt]
int pathCount;
@ -145,6 +143,9 @@ struct dtRaycastHit
/// The cost of the path until hit.
float pathCost;
/// The reference of the start polygon.
dtPolyRef startRef;
};
/// Provides information about straight path generation
@ -552,6 +553,11 @@ public:
/// @returns The node pool.
class dtNodePool* getNodePool() const { return m_nodePool; }
/// Sets the navigation mesh the query object is using.
/// Only use this directly after init, before the query has been used!
/// @param[in] nav The navigation mesh to attach.
const void attachNavMeshUnsafe(const dtNavMesh* nav) { m_nav = nav; }
/// Gets the navigation mesh the query object is using.
/// @return The navigation mesh the query object is using.
const dtNavMesh* getAttachedNavMesh() const { return m_nav; }

5
src/thirdparty/recast/Detour/Include/DetourNode.h vendored
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@ -33,6 +33,8 @@ static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;
static const int DT_NODE_PARENT_BITS = 19;
static const int DT_NODE_STATE_BITS = 2;
static const int DT_NODE_FLAGS_BITS = 3;
static const int DT_NODE_JUMPT_BITS = 8;
struct dtNode
{
float pos[3]; ///< Position of the node.
@ -40,7 +42,8 @@ struct dtNode
float total; ///< Cost up to the node.
unsigned int pidx : DT_NODE_PARENT_BITS; ///< Index to parent node.
unsigned int state : DT_NODE_STATE_BITS; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags.
unsigned int flags : DT_NODE_FLAGS_BITS; ///< Node flags. A combination of dtNodeFlags.
unsigned int jumpt : DT_NODE_JUMPT_BITS; ///< Node jump type.
dtPolyRef id; ///< Polygon ref the node corresponds to.
};

107
src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp vendored
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@ -59,43 +59,54 @@
dtQueryFilter::dtQueryFilter() :
m_includeFlags(0xffff),
m_excludeFlags(0)
m_excludeFlags(0),
m_traverseFlags(0)
{
for (int i = 0; i < DT_MAX_AREAS; ++i)
m_areaCost[i] = 1.0f;
for (int i = 0; i < DT_MAX_TRAVERSE_TYPES; ++i)
m_traverseCost[i] = 1.0f;
}
#ifdef DT_VIRTUAL_QUERYFILTER
#ifndef DT_VIRTUAL_QUERYFILTER
rdForceInline
#endif
bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/,
const dtMeshTile* /*tile*/,
const dtPoly* poly) const
{
return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0;
}
float dtQueryFilter::getCost(const float* pa, const float* pb,
const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/,
const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly,
const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const
{
return rdVdist(pa, pb) * m_areaCost[curPoly->getArea()];
}
#else
inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/,
const dtMeshTile* /*tile*/,
const dtPoly* poly) const
{
return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0;
}
inline float dtQueryFilter::getCost(const float* pa, const float* pb,
#ifndef DT_VIRTUAL_QUERYFILTER
rdForceInline
#endif
bool dtQueryFilter::traverseFilter(const dtPolyRef /*ref*/,
const dtMeshTile* tile,
const dtPoly* poly) const
{
const dtLink* link = &tile->links[poly->firstLink];
if (link->hasTraverseType())
{
if (!(rdBitCellBit(link->getTraverseType()) & m_traverseFlags))
return false;
}
return true;
}
#ifndef DT_VIRTUAL_QUERYFILTER
rdForceInline
#endif
float dtQueryFilter::getCost(const float* pa, const float* pb, const dtLink* link,
const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/,
const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly,
const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* /*curPoly*/,
const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const
{
return rdVdist(pa, pb) * m_areaCost[curPoly->getArea()];
if (link && link->hasTraverseType())
return m_traverseCost[link->getTraverseType()];
return rdVdist(pa, pb);
}
#endif
static const float H_SCALE = 0.999f; // Search heuristic scale.
@ -400,6 +411,9 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
// Do not advance if the polygon is excluded by the filter.
if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
continue;
if (!filter->traverseFilter(bestRef, bestTile, bestPoly))
continue;
// Find edge and calc distance to the edge.
float va[3], vb[3];
@ -1015,14 +1029,15 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
{
dtPolyRef neighbourRef = bestTile->links[i].ref;
const dtLink& bestLink = bestTile->links[i];
dtPolyRef neighbourRef = bestLink.ref;
// Skip invalid ids and do not expand back to where we came from.
if (!neighbourRef || neighbourRef == parentRef)
continue;
// Get neighbour poly and tile.
// The API input has been cheked already, skip checking internal data.
// The API input has been checked already, skip checking internal data.
const dtMeshTile* neighbourTile = 0;
const dtPoly* neighbourPoly = 0;
m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
@ -1032,8 +1047,8 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
// deal explicitly with crossing tile boundaries
unsigned char crossSide = 0;
if (bestTile->links[i].side != 0xff)
crossSide = bestTile->links[i].side >> 1;
if (bestLink.side != 0xff)
crossSide = bestLink.side >> 1;
// get the node
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
@ -1059,11 +1074,11 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
if (neighbourRef == endRef)
{
// Cost
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, &bestLink,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
const float endCost = filter->getCost(neighbourNode->pos, endPos,
const float endCost = filter->getCost(neighbourNode->pos, endPos, 0,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
@ -1074,7 +1089,7 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
else
{
// Cost
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, &bestLink,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
@ -1332,7 +1347,8 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters,
for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
{
dtPolyRef neighbourRef = bestTile->links[i].ref;
const dtLink& bestLink = bestTile->links[i];
dtPolyRef neighbourRef = bestLink.ref;
// Skip invalid ids and do not expand back to where we came from.
if (!neighbourRef || neighbourRef == parentRef)
@ -1349,8 +1365,8 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters,
unsigned char crossSide = 0; // See https://github.com/recastnavigation/recastnavigation/issues/438
if (bestTile->links[i].side != 0xff)
crossSide = bestTile->links[i].side >> 1;
if (bestLink.side != 0xff)
crossSide = bestLink.side >> 1;
// get the neighbor node
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
@ -1394,7 +1410,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters,
else
{
// No shortcut found.
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, &bestLink,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
@ -1404,7 +1420,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters,
// Special case for last node.
if (neighbourRef == m_query.endRef)
{
const float endCost = filter->getCost(neighbourNode->pos, m_query.endPos,
const float endCost = filter->getCost(neighbourNode->pos, m_query.endPos, 0,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
@ -2529,7 +2545,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
return status;
}
hit->hitEdgeIndex = segMax;
hit->startRef = startRef;
// Keep track of furthest t so far.
if (tmax > hit->t)
@ -2549,7 +2565,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
// add the cost
if (options & DT_RAYCAST_USE_COSTS)
hit->pathCost += filter->getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly);
hit->pathCost += filter->getCost(curPos, endPos, 0, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly);
return status;
}
@ -2561,7 +2577,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
const dtLink* link = &tile->links[i];
// Find link which contains this edge.
if ((int)link->edge != segMax)
if ((int)link->edge != segMax || link->hasTraverseType())
continue;
// Get pointer to the next polygon.
@ -2649,7 +2665,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
float s = rdSqr(eDir[0]) > rdSqr(eDir[1]) ? diff[0] / eDir[0] : diff[1] / eDir[1];
curPos[2] = e1[2] + eDir[2] * s;
hit->pathCost += filter->getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly);
hit->pathCost += filter->getCost(lastPos, curPos, 0, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly);
}
if (!nextRef)
@ -2663,9 +2679,9 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
const float* vb = &verts[b*3];
const float dx = vb[0] - va[0];
const float dy = vb[1] - va[1];
hit->hitNormal[0] = -dy;
hit->hitNormal[1] = dx;
hit->hitNormal[2] = 0;
hit->hitNormal[0] = dy;
hit->hitNormal[1] = 0.0f;
hit->hitNormal[2] = -dx;
rdVnormalize(hit->hitNormal);
hit->pathCount = n;
@ -2835,7 +2851,7 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
rdVlerp(neighbourNode->pos, va, vb, 0.5f);
float cost = filter->getCost(
bestNode->pos, neighbourNode->pos,
bestNode->pos, neighbourNode->pos, link,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
@ -3018,7 +3034,7 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
rdVlerp(neighbourNode->pos, va, vb, 0.5f);
float cost = filter->getCost(
bestNode->pos, neighbourNode->pos,
bestNode->pos, neighbourNode->pos, link,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
@ -3183,6 +3199,9 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
// Do not advance if the polygon is excluded by the filter.
if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
continue;
if (!filter->traverseFilter(curRef, curTile, curPoly))
continue;
// Find edge and calc distance to the edge.
float va[3], vb[3];

2
src/thirdparty/recast/Shared/Include/SharedCommon.h vendored
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@ -21,6 +21,8 @@
#include "Shared/Include/SharedMath.h"
#define rdForceInline __forceinline
/// The total number of bits in an bit cell integer.
static const int RD_BITS_PER_BIT_CELL = 32;