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Recast: editor improvements

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- Separate disjoint set and traversal table building code
- Use game types and data to determine what to build into the traversal tables (e.g., 5 traversal tables for _small and only 1  for the rest).
- Automatically initialize the editor using the _small navmesh parameters instead of the broken defaults.
This commit is contained in:
Kawe Mazidjatari 2024-07-06 19:51:31 +02:00
parent b456825016
commit 602fa7d1ec
8 changed files with 82 additions and 37 deletions
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2
src/naveditor/Editor.cpp
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@ -62,6 +62,8 @@ Editor::Editor() :
m_filterLowHangingObstacles(true),
m_filterLedgeSpans(true),
m_filterWalkableLowHeightSpans(true),
m_navMeshType(NAVMESH_SMALL),
m_navmeshName(NavMesh_GetNameForType(NAVMESH_SMALL)),
m_tool(0),
m_ctx(0)
{

48
src/naveditor/Editor_TileMesh.cpp
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@ -33,7 +33,6 @@
#include "NavEditor/Include/Editor.h"
#include "NavEditor/Include/Editor_TileMesh.h"
#include "tier0/commonmacros.h"
#include "game/server/ai_navmesh.h"
#include "game/server/ai_hull.h"
@ -185,6 +184,8 @@ Editor_TileMesh::Editor_TileMesh() :
m_tileTriCount(0)
{
resetCommonSettings();
selectNavMeshType(NAVMESH_SMALL);
memset(m_lastBuiltTileBmin, 0, sizeof(m_lastBuiltTileBmin));
memset(m_lastBuiltTileBmax, 0, sizeof(m_lastBuiltTileBmax));
@ -220,19 +221,32 @@ const hulldef hulls[NAVMESH_COUNT] = {
{ g_navMeshNames[NAVMESH_LARGE] , NAI_Hull::Width(HULL_TITAN) , NAI_Hull::Height(HULL_TITAN) * NAI_Hull::Scale(HULL_TITAN) , 60, 64.0f },
{ g_navMeshNames[NAVMESH_EXTRA_LARGE], NAI_Hull::Width(HULL_GOLIATH), NAI_Hull::Height(HULL_GOLIATH) * NAI_Hull::Scale(HULL_GOLIATH), 65, 64.0f },
};
void Editor_TileMesh::selectNavMeshType(const NavMeshType_e navMeshType)
{
const hulldef& h = hulls[navMeshType];
m_agentRadius = h.radius;
m_agentMaxClimb = h.climbHeight;
m_agentHeight = h.height;
m_navmeshName = h.name;
m_tileSize = h.tileSize;
m_navMeshType = navMeshType;
}
void Editor_TileMesh::handleSettings()
{
for (const hulldef& h : hulls)
for (int i = 0; i < NAVMESH_COUNT; i++)
{
if (imguiButton(h.name))
const NavMeshType_e navMeshType = NavMeshType_e(i);
if (imguiButton(NavMesh_GetNameForType(navMeshType)))
{
m_agentRadius = h.radius;
m_agentMaxClimb = h.climbHeight;
m_agentHeight = h.height;
m_navmeshName = h.name;
m_tileSize = h.tileSize;
selectNavMeshType(navMeshType);
}
}
Editor::handleCommonSettings();
if (imguiCheck("Keep Intermediate Results", m_keepInterResults))
@ -654,7 +668,7 @@ bool Editor_TileMesh::handleBuild()
params.maxPolys = m_maxPolysPerTile;
params.polyGroupCount = 0;
params.traversalTableSize = 0;
params.traversalTableCount = DT_NUM_TRAVERSAL_TABLES;
params.traversalTableCount = NavMesh_GetTraversalTableCountForNavMeshType(m_navMeshType);
params.magicDataCount = 0;
dtStatus status;
@ -662,7 +676,7 @@ bool Editor_TileMesh::handleBuild()
status = m_navMesh->init(&params);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh.");
return false;
}
@ -796,9 +810,19 @@ void Editor_TileMesh::buildAllTiles()
}
}
if (!dtCreateStaticPathingData(m_navMesh))
// Reserve the first poly groups
// 0 = technically usable for normal poly groups, but for possible internal usage we reserve it for now.
// 1 = DT_STRAY_POLY_GROUP.
dtDisjointSet data(DT_FIRST_USABLE_POLY_GROUP);
if (!dtCreateDisjointPolyGroups(m_navMesh, data))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Failed to build static pathing data.");
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Failed to build disjoint poly groups.");
}
if (!dtCreateTraversalTableData(m_navMesh, data, NavMesh_GetTraversalTableCountForNavMeshType(m_navMeshType)))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Failed to build traversal table data.");
}
// Start the build process.

6
src/naveditor/include/Editor.h
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@ -22,6 +22,8 @@
#include "Recast/Include/Recast.h"
#include "NavEditor/Include/EditorInterfaces.h"
#include "game/server/ai_navmesh.h"
struct hulldef
{
const char* name;
@ -132,7 +134,9 @@ protected:
float m_detailSampleDist;
float m_detailSampleMaxError;
int m_partitionType;
const char* m_navmeshName = "unnamed";
NavMeshType_e m_navMeshType;
const char* m_navmeshName;
EditorTool* m_tool;
EditorToolState* m_toolStates[MAX_TOOLS];

2
src/naveditor/include/Editor_TileMesh.h
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@ -94,6 +94,8 @@ public:
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
virtual void collectSettings(struct BuildSettings& settings);
void selectNavMeshType(const NavMeshType_e navMeshType);
void getTilePos(const float* pos, int& tx, int& ty);
void getTileExtents(int tx, int ty, float* bmin, float* bmax);

7
src/thirdparty/recast/Detour/Include/DetourNavMesh.h vendored
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@ -68,6 +68,9 @@ static const int DT_VERTS_PER_POLYGON = 6;
/// For reference, Titanfall 2 single player NavMeshes also marked everything unconnected as '1'.
static const unsigned short DT_STRAY_POLY_GROUP = 1;
/// The first non-reserved poly group; DT_STRAY_POLY_GROUP and below are reserved.
static const unsigned short DT_FIRST_USABLE_POLY_GROUP = 2;
/// The minimum required number of poly groups for static pathing logic to work.
/// (E.g. if we have 2 poly groups, group id 1 (DT_STRAY_POLY_GROUP), and group
/// id 2, then 1 is never reachable as its considered 'trash' by design, and 2
@ -76,8 +79,8 @@ static const unsigned short DT_STRAY_POLY_GROUP = 1;
/// on the same (or connected) poly island before trying to compute a path).
static const int DT_MIN_POLY_GROUP_COUNT = 3;
/// The number of traversal tables that will be used for static pathing.
static const int DT_NUM_TRAVERSAL_TABLES = 5;
/// The maximum number of traversal tables per navmesh that will be used for static pathing.
static const int DT_MAX_TRAVERSAL_TABLES = 5;
/// @{
/// @name Tile Serialization Constants

16
src/thirdparty/recast/Detour/Include/DetourNavMeshBuilder.h vendored
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@ -168,11 +168,19 @@ private:
rdIntArray parent;
};
/// Builds navigation mesh static pathing data from the provided navmesh.
/// Builds navigation mesh disjoint poly groups from the provided navmesh.
/// @ingroup detour
/// @param[in] nav The navigation mesh to use.
/// @return True if the static pathing data was successfully created.
bool dtCreateStaticPathingData(dtNavMesh* nav);
/// @param[in] nav The navigation mesh to use.
/// @param[Out] disjoint The disjoint set data.
/// @return True if the disjoint set data was successfully created.
bool dtCreateDisjointPolyGroups(dtNavMesh* nav, dtDisjointSet& disjoint);
/// Builds navigation mesh static traversal table from the provided navmesh.
/// @ingroup detour
/// @param[in] nav The navigation mesh to use.
/// @param[in] disjoint The disjoint set data.
/// @return True if the static traversal table was successfully created.
bool dtCreateTraversalTableData(dtNavMesh* nav, const dtDisjointSet& disjoint, const int tableCount);
/// Builds navigation mesh tile data from the provided tile creation data.
/// @ingroup detour

3
src/thirdparty/recast/Detour/Source/DetourNavMesh.cpp vendored
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@ -263,6 +263,7 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params)
const int traversalTableCount = params->traversalTableCount;
if (traversalTableCount)
{
rdAssert(traversalTableCount > 0 && traversalTableCount <= DT_MAX_TRAVERSAL_TABLES);
const int setTableBufSize = sizeof(int**)*traversalTableCount;
m_traversalTables = (int**)rdAlloc(setTableBufSize, RD_ALLOC_PERM);
@ -308,7 +309,7 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flag
params.maxPolys = header->polyCount;
params.polyGroupCount = 0;
params.traversalTableSize = 0;
params.traversalTableCount = DT_NUM_TRAVERSAL_TABLES;
params.traversalTableCount = 0;
params.magicDataCount = 0;
dtStatus status = init(&params);

35
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored
View File

@ -281,15 +281,10 @@ static void setPolyGroupsTraversalReachability(int* const tableData, const int n
tableData[index] &= ~value;
}
bool dtCreateStaticPathingData(dtNavMesh* nav)
bool dtCreateDisjointPolyGroups(dtNavMesh* nav, dtDisjointSet& disjoint)
{
rdAssert(nav);
// Reserve the first 2 poly groups
// 0 = technically usable for normal poly groups, but for simplicity we reserve it for now.
// 1 = DT_STRAY_POLY_GROUP.
dtDisjointSet data(2);
// Clear all labels.
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
@ -353,7 +348,7 @@ bool dtCreateStaticPathingData(dtNavMesh* nav)
if (poly.firstLink == DT_NULL_LINK)
poly.groupId = DT_STRAY_POLY_GROUP;
else
poly.groupId = (unsigned short)data.insertNew();
poly.groupId = (unsigned short)disjoint.insertNew();
}
else
{
@ -361,7 +356,7 @@ bool dtCreateStaticPathingData(dtNavMesh* nav)
poly.groupId = (unsigned short)l;
for (const int nl : nlabels)
data.setUnion(l, nl);
disjoint.setUnion(l, nl);
}
if (!noLabels)
@ -380,7 +375,7 @@ bool dtCreateStaticPathingData(dtNavMesh* nav)
dtPoly& poly = tile->polys[j];
if (poly.groupId != DT_STRAY_POLY_GROUP)
{
int id = data.find(poly.groupId);
int id = disjoint.find(poly.groupId);
poly.groupId = (unsigned short)id;
}
}
@ -388,7 +383,7 @@ bool dtCreateStaticPathingData(dtNavMesh* nav)
// Gather all unique polygroups and map them to a contiguous range.
std::map<unsigned short, unsigned short> groupMap;
unsigned short numPolyGroups = DT_STRAY_POLY_GROUP+1; // Anything <= DT_STRAY_POLY_GROUP is reserved!
unsigned short numPolyGroups = DT_FIRST_USABLE_POLY_GROUP; // Anything <= DT_STRAY_POLY_GROUP is reserved!
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
dtMeshTile* tile = nav->getTile(i);
@ -417,8 +412,15 @@ bool dtCreateStaticPathingData(dtNavMesh* nav)
}
}
const int tableSize = calcTraversalTableSize(numPolyGroups);
const int tableCount = DT_NUM_TRAVERSAL_TABLES;
nav->m_params.polyGroupCount = numPolyGroups;
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 tableSize = calcTraversalTableSize(polyGroupCount);
rdAssert(nav->m_traversalTables);
@ -449,18 +451,17 @@ bool dtCreateStaticPathingData(dtNavMesh* nav)
nav->m_traversalTables[i] = traversalTable;
memset(traversalTable, 0, sizeof(int)*tableSize);
for (unsigned short j = 0; j < numPolyGroups; j++)
for (unsigned short j = 0; j < polyGroupCount; j++)
{
for (unsigned short k = 0; k < numPolyGroups; k++)
for (unsigned short k = 0; k < polyGroupCount; k++)
{
// Only reachable if its the same polygroup or if they are linked!
const bool isReachable = j == k || data.find(j) == data.find(k);
setPolyGroupsTraversalReachability(traversalTable, numPolyGroups, j, k, isReachable);
const bool isReachable = j == k || disjoint.find(j) == disjoint.find(k);
setPolyGroupsTraversalReachability(traversalTable, polyGroupCount, j, k, isReachable);
}
}
}
nav->m_params.polyGroupCount = numPolyGroups;
nav->m_params.traversalTableSize = tableSize;
nav->m_params.traversalTableCount = tableCount;