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Recast: implement proper height fallback for mesh cell generator

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Low res version of the firing range had 1 failure case, kings canyon had 10+. This typically happens if the cell is right on a poly edge. If getting the height from triangle fails, get it from detail edges instead. This fixes pretty much all failure cases with high accuracy (not as high as getting it from the triangle, but with only 10 failures on a map the size of kings canyon is more than good enough).
This commit is contained in:
Kawe Mazidjatari 2024-08-17 01:43:19 +02:00
parent d4c3eb8dcc
commit 5e7fd690c1
1 changed files with 83 additions and 6 deletions
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87
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored
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@ -616,36 +616,113 @@ bool createPolyMeshCells(const dtNavMeshCreateParams* params, rdTempVector<CellI
float targetCellPos[3];
targetCellPos[0] = params->bmin[0]+j*stepX+offsetX;
targetCellPos[1] = params->bmin[1]+k*stepY;
targetCellPos[2] = params->bmax[2]; // note(amos): might need a better fallback, but so far this never failed.
targetCellPos[2] = params->bmax[2];
bool heightPointSet = false;
if (!rdPointInPolygon(targetCellPos, polyVerts, nv))
continue;
for (int l = 0; l < params->detailTriCount; ++l)
{
const unsigned char* t = &params->detailTris[(tb+l)*4];
const unsigned char* tris = &params->detailTris[(tb+l)*4];
float storage[3][3];
const float* v[3];
for (int m = 0; m < 3; ++m)
{
if (t[m] < nv)
if (tris[m] < nv)
{
for (int n = 0; n < 3; ++n)
{
storage[m][n] = params->bmin[n] + params->verts[p[t[m]]*3+n] * (n == 2 ? params->ch : params->cs);
storage[m][n] = params->bmin[n] + params->verts[p[tris[m]]*3+n] * (n == 2 ? params->ch : params->cs);
}
v[m] = storage[m];
}
else
{
v[m] = &params->detailVerts[(vb+t[m])*3];
v[m] = &params->detailVerts[(vb+tris[m])*3];
}
}
if (rdClosestHeightPointTriangle(targetCellPos, v[0], v[1], v[2], targetCellPos[2]))
{
heightPointSet = true;
break;
}
}
// NOTE: this is very rare, but does happen when for example, our target pos
// is right on a poly edge; see call to closestPointOnDetailEdges in
// dtNavMesh::getPolyHeight. This is largely based on the implementation of
// closestPointOnDetailEdges.
if (!heightPointSet)
{
bool onlyBoundary = false;
float dmin = FLT_MAX;
float tmin = 0;
const float* pmin = 0;
const float* pmax = 0;
for (int l = 0; l < params->detailTriCount; l++)
{
const unsigned char* tris = &params->detailTris[(tb + l) * 4];
const int ANY_BOUNDARY_EDGE =
(DT_DETAIL_EDGE_BOUNDARY << 0) |
(DT_DETAIL_EDGE_BOUNDARY << 2) |
(DT_DETAIL_EDGE_BOUNDARY << 4);
if (onlyBoundary && (tris[3] & ANY_BOUNDARY_EDGE) == 0)
continue;
float storage[3][3];
const float* v[3];
for (int m = 0; m < 3; ++m)
{
if (tris[m] < nv)
{
for (int n = 0; n < 3; ++n)
{
storage[m][n] = params->bmin[n] + params->verts[p[tris[m]]*3+n] * (n == 2 ? params->ch : params->cs);
}
v[m] = storage[m];
}
else
{
v[m] = &params->detailVerts[(vb + tris[m]) * 3];
}
}
for (int m = 0, n = 2; m < 3; n = m++)
{
if ((dtGetDetailTriEdgeFlags(tris[3], n) & DT_DETAIL_EDGE_BOUNDARY) == 0 &&
(onlyBoundary || tris[n] < tris[m]))
{
// Only looking at boundary edges and this is internal, or
// this is an inner edge that we will see again or have already seen.
continue;
}
float t;
float d = rdDistancePtSegSqr2D(targetCellPos, v[n], v[m], t);
if (d < dmin)
{
dmin = d;
tmin = t;
pmin = v[n];
pmax = v[m];
}
}
}
float closest[3];
rdVlerp(closest, pmin, pmax, tmin);
targetCellPos[2] = closest[2];
}
cellItems.push_back({ targetCellPos[0],targetCellPos[1],targetCellPos[2], i });
}