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Recast: BVTree build bug fix and large optimization

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dtMeshHeader::bvNodeCount is always set to polycount*2, but when we have null bv nodes, then these will also be used during dtNavMeshQuery::queryPolygonsInTile, which can yield incorrect results when the null nodes overlaps query box. Also added an additional optimization to only store non-null BV nodes which can save a significant amount of memory during the runtime. After this bug fix and optimization, the resulting mesh still works as intended in-game.
This commit is contained in:
Kawe Mazidjatari 2024-09-02 15:20:59 +02:00
parent 05cc26dfe5
commit 7071de1643
1 changed files with 32 additions and 18 deletions

50
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored

@ -106,12 +106,13 @@ inline int longestAxis(unsigned short x, unsigned short y, unsigned short z)
return axis;
}
static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes)
static void subdivide(BVItem* items, int nitems, int imin, int imax, rdTempVector<BVItem>& nodes)
{
const int inum = imax - imin;
const int icur = curNode;
dtBVNode& node = nodes[curNode++];
const int icur = (int)nodes.size();
nodes.resize(icur+1);
BVItem& node = nodes[icur];
if (inum == 1)
{
@ -154,11 +155,11 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNod
const int isplit = imin+inum/2;
// Left
subdivide(items, nitems, imin, isplit, curNode, nodes);
subdivide(items, nitems, imin, isplit, nodes);
// Right
subdivide(items, nitems, isplit, imax, curNode, nodes);
subdivide(items, nitems, isplit, imax, nodes);
int iescape = curNode - icur;
int iescape = (int)nodes.size() - icur;
// Negative index means escape.
node.i = -iescape;
}
@ -173,7 +174,7 @@ static int countPolyVerts(const unsigned short* p, const int nvp) // todo(amos):
return nvp;
}
static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/)
static void createBVTree(dtNavMeshCreateParams* params, rdTempVector<BVItem>& nodes)
{
// Build tree
float quantFactor = 1 / params->cs;
@ -238,12 +239,11 @@ static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nn
it.bmax[2] = (unsigned short)rdClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff);
}
int curNode = 0;
subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes);
// note(amos): reserve enough memory here to avoid reallocation during subdivisions.
nodes.reserve(params->polyCount*2);
subdivide(items, params->polyCount, 0, params->polyCount, nodes);
rdFree(items);
return curNode;
}
static void setPolyGroupsTraversalReachability(int* const tableData, const int numPolyGroups,
@ -850,6 +850,11 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
}
}
// Create BVtree.
rdTempVector<BVItem> treeItems;
if (params->buildBvTree)
createBVTree(params, treeItems);
#if DT_NAVMESH_SET_VERSION >= 8
rdTempVector<CellItem> cellItems;
createPolyMeshCells(params, cellItems);
@ -863,7 +868,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
const int detailMeshesSize = rdAlign4(sizeof(dtPolyDetail)*params->polyCount);
const int detailVertsSize = rdAlign4(sizeof(float)*3*uniqueDetailVertCount);
const int detailTrisSize = rdAlign4(sizeof(unsigned char)*4*detailTriCount);
const int bvTreeSize = params->buildBvTree ? rdAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
const int bvTreeSize = rdAlign4(sizeof(dtBVNode)*(int)treeItems.size());
const int offMeshConsSize = rdAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
#if DT_NAVMESH_SET_VERSION >= 8
const int cellsSize = rdAlign4(sizeof(dtCell)*(int)cellItems.size());
@ -938,7 +943,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
header->walkableRadius = params->walkableRadius;
header->walkableClimb = params->walkableClimb;
header->offMeshConCount = storedOffMeshConCount;
header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
header->bvNodeCount = (int)treeItems.size();
const int offMeshVertsBase = params->vertCount;
const int offMeshPolyBase = params->polyCount;
@ -1082,10 +1087,19 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
}
}
// Store and create BVtree.
if (params->buildBvTree)
// Store BVTree.
for (int i = 0; i < (int)treeItems.size(); i++)
{
createBVTree(params, navBvtree, 2*params->polyCount);
dtBVNode& node = navBvtree[i];
BVItem& item = treeItems[i];
node.bmin[0] = item.bmin[0];
node.bmin[1] = item.bmin[1];
node.bmin[2] = item.bmin[2];
node.bmax[0] = item.bmax[0];
node.bmax[1] = item.bmax[1];
node.bmax[2] = item.bmax[2];
node.i = item.i;
}
// Store Off-Mesh connections.