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Recast: move traverse link generation logic to the Editor class

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We need access to the input geometry and other intermediate data to properly generate them.
This commit is contained in:
Kawe Mazidjatari 2024-08-10 01:37:49 +02:00
parent 3090634cbd
commit cad8f043e5
4 changed files with 320 additions and 322 deletions
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317
src/naveditor/Editor.cpp
View File

@ -354,6 +354,321 @@ void Editor::handleUpdate(const float dt)
updateToolStates(dt);
}
enum TraverseType_e // todo(amos): move elsewhere
{
TRAVERSE_UNUSED_0 = 0,
TRAVERSE_CROSS_GAP_SMALL,
TRAVERSE_CLIMB_OBJECT_SMALL,
TRAVERSE_CROSS_GAP_MEDIUM,
TRAVERSE_UNUSED_4,
TRAVERSE_UNUSED_5,
TRAVERSE_UNUSED_6,
TRAVERSE_CROSS_GAP_LARGE,
TRAVERSE_CLIMB_WALL_MEDIUM,
TRAVERSE_CLIMB_WALL_TALL,
TRAVERSE_CLIMB_BUILDING,
TRAVERSE_JUMP_SHORT,
TRAVERSE_JUMP_MEDIUM,
TRAVERSE_JUMP_LARGE,
TRAVERSE_UNUSED_14,
TRAVERSE_UNUSED_15,
TRAVERSE_UNKNOWN_16, // USED!!!
TRAVERSE_UNKNOWN_17, // USED!!!
TRAVERSE_UNKNOWN_18,
TRAVERSE_UNKNOWN_19, // NOTE: does not exists in MSET5!!!
TRAVERSE_CLIMB_TARGET_SMALL,
TRAVERSE_CLIMB_TARGET_LARGE,
TRAVERSE_UNUSED_22,
TRAVERSE_UNUSED_23,
TRAVERSE_UNKNOWN_24,
TRAVERSE_UNUSED_25,
TRAVERSE_UNUSED_26,
TRAVERSE_UNUSED_27,
TRAVERSE_UNUSED_28,
TRAVERSE_UNUSED_29,
TRAVERSE_UNUSED_30,
TRAVERSE_UNUSED_31,
// These aren't traverse type!
NUM_TRAVERSE_TYPES,
INVALID_TRAVERSE_TYPE = DT_NULL_TRAVERSE_TYPE
};
struct TraverseType_s // todo(amos): move elsewhere
{
float minSlope;
float maxSlope;
unsigned char minDist;
unsigned char maxDist;
bool forceSamePolyGroup;
bool forceDifferentPolyGroup;
};
static TraverseType_s s_traverseTypes[NUM_TRAVERSE_TYPES] = // todo(amos): move elsewhere
{
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 67.f, 2, 12, false, false },
{5.0f, 78.f, 5, 16, false, false },
{0.0f, 38.f, 11, 22, false, false },
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 6.5f, 80, 107, false, true},
{19.0f, 84.0f, 7, 21, false, false},
{27.0f, 87.5f, 16, 45, false, false},
{44.0f, 89.5f, 33, 225, false, false},
{0.0f, 7.0f, 41, 79, false, false},
{2.2f, 47.0f, 41, 100, false, false},
{5.7f, 58.5f, 81, 179, false, false},
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 12.5f, 22, 41, false, false},
{4.6f, 53.0f, 21, 58, false, false},
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{29.0f, 47.0f, 16, 40, false, false}, // Maps to type 19 in MSET 5
{46.5f, 89.0f, 33, 199, false, false}, // Maps to type 20 in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 89.0f, 5, 251, false, false}, // Does not exist in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
};
TraverseType_e GetBestTraverseType(const float slopeAngle, const unsigned char traverseDist, const bool samePolyGroup)
{
TraverseType_e bestTraverseType = INVALID_TRAVERSE_TYPE;
for (int i = 0; i < NUM_TRAVERSE_TYPES; ++i)
{
const TraverseType_s& traverseType = s_traverseTypes[i];
// Skip unused types...
if (traverseType.minSlope == 0.0f && traverseType.maxSlope == 0.0f &&
traverseType.minDist == 0 && traverseType.maxDist == 0)
{
continue;
}
if (slopeAngle < traverseType.minSlope ||
slopeAngle > traverseType.maxSlope)
{
continue;
}
if (traverseDist < traverseType.minDist ||
traverseDist > traverseType.maxDist)
{
continue;
}
// NOTE: currently only type 7 is enforced in this check, perhaps we
// should limit some other types on same/diff poly groups as well?
if ((traverseType.forceSamePolyGroup && !samePolyGroup) ||
(traverseType.forceDifferentPolyGroup && samePolyGroup))
{
continue;
}
bestTraverseType = (TraverseType_e)i;
break;
}
return bestTraverseType;
}
bool CanOverlapPoly(const TraverseType_e traverseType)
{
// todo(amos): find the best threshold...
return s_traverseTypes[traverseType].minSlope > 5.0f;
}
// TODO: create lookup table and look for distance + slope to determine the
// correct jumpType.
// TODO: make sure we don't generate duplicate pairs of jump types between
// 2 polygons.
void Editor::connectTileTraverseLinks(dtMeshTile* const tile)
{
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* const startPoly = &tile->polys[i];
for (int j = 0; j < startPoly->vertCount; ++j)
{
// Hard edges only!
if (startPoly->neis[j] != 0)
continue;
// Polygon 1 edge
const float* const startPolySpos = &tile->verts[startPoly->verts[j] * 3];
const float* const startPolyEpos = &tile->verts[startPoly->verts[(j + 1) % startPoly->vertCount] * 3];
float startPolyEdgeMid[3];
rdVsad(startPolyEdgeMid, startPolySpos, startPolyEpos, 0.5f);
float startEdgeDir[3];
rdVsub(startEdgeDir, startPolyEpos, startPolySpos);
for (int k = 0; k < tile->header->polyCount; ++k)
{
if (i == k) continue; // Skip self
dtPoly* const endPoly = &tile->polys[k];
for (int m = 0; m < endPoly->vertCount; ++m)
{
// Hard edges only!
if (endPoly->neis[m] != 0)
continue;
// Polygon 2 edge
const float* const endPolySpos = &tile->verts[endPoly->verts[m] * 3];
const float* const endPolyEpos = &tile->verts[endPoly->verts[(m + 1) % endPoly->vertCount] * 3];
float endPolyEdgeMid[3];
rdVsad(endPolyEdgeMid, endPolySpos, endPolyEpos, 0.5f);
float endEdgeDir[3];
rdVsub(endEdgeDir, endPolyEpos, endPolySpos);
const float dotProduct = rdVdot(startEdgeDir, endEdgeDir);
// Edges facing the same direction should not be linked.
// Doing so causes links to go through from underneath
// geometry. E.g. we have an HVAC on a roof, and we try
// to link our roof poly edge facing north to the edge
// of the poly on the HVAC also facing north, the link
// will go through the HVAC and thus cause the NPC to
// jump through it.
if (dotProduct > 0)
continue;
float t, s;
if (rdIntersectSegSeg2D(startPolySpos, startPolyEpos, endPolySpos, endPolyEpos, t, s))
continue;
const unsigned char distance = dtCalcLinkDistance(startPolyEdgeMid, endPolyEdgeMid);
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPolyEdgeMid, endPolyEdgeMid));
const bool samePolyGroup = startPoly->groupId == endPoly->groupId;
const TraverseType_e traverseType = GetBestTraverseType(slopeAngle, distance, samePolyGroup);
if (!CanOverlapPoly(traverseType))
{
bool overlaps = false;
float linkMidPoint[3];
rdVsad(linkMidPoint, startPolyEdgeMid, endPolyEdgeMid, 0.5f);
for (int e = 0; e < tile->header->polyCount; e++)
{
const dtPoly* posTestPoly = &tile->polys[e];
float polyVerts[DT_VERTS_PER_POLYGON * 3];
const int nverts = posTestPoly->vertCount;
for (int o = 0; o < nverts; ++o)
rdVcopy(&polyVerts[o * 3], &tile->verts[posTestPoly->verts[o] * 3]);
if (rdPointInPolygon(linkMidPoint, polyVerts, nverts))
{
overlaps = true;
break;
}
}
if (overlaps)
continue;
}
if (traverseType != DT_NULL_TRAVERSE_TYPE)
{
// Need at least 2 links
const unsigned int forwardIdx = tile->allocLink();
if (forwardIdx == DT_NULL_LINK) // TODO: should move on to next tile.
continue;
const unsigned int reverseIdx = tile->allocLink();
if (reverseIdx == DT_NULL_LINK) // TODO: should move on to next tile.
{
tile->freeLink(forwardIdx);
continue;
}
dtLink* const forwardLink = &tile->links[forwardIdx];
forwardLink->ref = m_navMesh->getPolyRefBase(tile) | (dtPolyRef)k;
forwardLink->edge = (unsigned char)j;
forwardLink->side = 0xFF;
forwardLink->next = startPoly->firstLink;
startPoly->firstLink = forwardIdx;
forwardLink->traverseType = (unsigned char)traverseType;
forwardLink->traverseDist = distance;
dtLink* const reverseLink = &tile->links[reverseIdx];
reverseLink->ref = m_navMesh->getPolyRefBase(tile) | (dtPolyRef)i;
reverseLink->edge = (unsigned char)m;
reverseLink->side = 0xFF;
reverseLink->next = endPoly->firstLink;
endPoly->firstLink = reverseIdx;
reverseLink->traverseType = (unsigned char)traverseType;
reverseLink->traverseDist = distance;
forwardLink->reverseLink = (unsigned short)reverseIdx;
reverseLink->reverseLink = (unsigned short)forwardIdx;
}
}
}
}
}
}
bool Editor::createTraverseLinks()
{
rdAssert(m_navMesh);
for (int i = 0; i < m_navMesh->getMaxTiles(); i++)
{
dtMeshTile* tile = m_navMesh->getTile(i);
if (!tile->header) continue;
connectTileTraverseLinks(tile);
}
return true;
}
void Editor::buildStaticPathingData()
{
if (!m_navMesh) return;
@ -365,7 +680,7 @@ void Editor::buildStaticPathingData()
m_ctx->log(RC_LOG_ERROR, "buildStaticPathingData: Failed to build disjoint poly groups.");
}
if (!dtCreateTraverseLinks(m_navMesh))
if (!createTraverseLinks())
{
m_ctx->log(RC_LOG_ERROR, "buildStaticPathingData: Failed to build traverse links.");
}

4
src/naveditor/include/Editor.h
View File

@ -24,6 +24,8 @@
#include "game/server/ai_navmesh.h"
struct dtMeshTile;
struct hulldef
{
const char* name;
@ -242,6 +244,8 @@ public:
void resetCommonSettings();
void handleCommonSettings();
void connectTileTraverseLinks(dtMeshTile* const tile); // Make private.
bool createTraverseLinks();
void buildStaticPathingData();
private:

6
src/thirdparty/recast/Detour/Include/DetourNavMeshBuilder.h vendored
View File

@ -182,12 +182,6 @@ private:
/// @return True if the disjoint set data was successfully created.
bool dtCreateDisjointPolyGroups(dtNavMesh* nav, dtDisjointSet& disjoint);
/// Builds navigation mesh traverse links from the provided navmesh.
/// @ingroup detour
/// @param[in] nav The navigation mesh to use.
/// @return True if the traverse links were successfully created.
bool dtCreateTraverseLinks(dtNavMesh* nav);
/// Builds navigation mesh static traverse table from the provided navmesh.
/// @ingroup detour
/// @param[in] nav The navigation mesh to use.

315
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored
View File

@ -461,321 +461,6 @@ bool dtCreateDisjointPolyGroups(dtNavMesh* nav, dtDisjointSet& disjoint)
return true;
}
enum TraverseType_e // todo(amos): move elsewhere
{
TRAVERSE_UNUSED_0 = 0,
TRAVERSE_CROSS_GAP_SMALL,
TRAVERSE_CLIMB_OBJECT_SMALL,
TRAVERSE_CROSS_GAP_MEDIUM,
TRAVERSE_UNUSED_4,
TRAVERSE_UNUSED_5,
TRAVERSE_UNUSED_6,
TRAVERSE_CROSS_GAP_LARGE,
TRAVERSE_CLIMB_WALL_MEDIUM,
TRAVERSE_CLIMB_WALL_TALL,
TRAVERSE_CLIMB_BUILDING,
TRAVERSE_JUMP_SHORT,
TRAVERSE_JUMP_MEDIUM,
TRAVERSE_JUMP_LARGE,
TRAVERSE_UNUSED_14,
TRAVERSE_UNUSED_15,
TRAVERSE_UNKNOWN_16, // USED!!!
TRAVERSE_UNKNOWN_17, // USED!!!
TRAVERSE_UNKNOWN_18,
TRAVERSE_UNKNOWN_19, // NOTE: does not exists in MSET5!!!
TRAVERSE_CLIMB_TARGET_SMALL,
TRAVERSE_CLIMB_TARGET_LARGE,
TRAVERSE_UNUSED_22,
TRAVERSE_UNUSED_23,
TRAVERSE_UNKNOWN_24,
TRAVERSE_UNUSED_25,
TRAVERSE_UNUSED_26,
TRAVERSE_UNUSED_27,
TRAVERSE_UNUSED_28,
TRAVERSE_UNUSED_29,
TRAVERSE_UNUSED_30,
TRAVERSE_UNUSED_31,
// These aren't traverse type!
NUM_TRAVERSE_TYPES,
INVALID_TRAVERSE_TYPE = DT_NULL_TRAVERSE_TYPE
};
struct TraverseType_s // todo(amos): move elsewhere
{
float minSlope;
float maxSlope;
unsigned char minDist;
unsigned char maxDist;
bool forceSamePolyGroup;
bool forceDifferentPolyGroup;
};
static TraverseType_s s_traverseTypes[NUM_TRAVERSE_TYPES] = // todo(amos): move elsewhere
{
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 67.f, 2, 12, false, false },
{5.0f, 78.f, 5, 16, false, false },
{0.0f, 38.f, 11, 22, false, false },
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 6.5f, 80, 107, false, true},
{19.0f, 84.0f, 7, 21, false, false},
{27.0f, 87.5f, 16, 45, false, false},
{44.0f, 89.5f, 33, 225, false, false},
{0.0f, 7.0f, 41, 79, false, false},
{2.2f, 47.0f, 41, 100, false, false},
{5.7f, 58.5f, 81, 179, false, false},
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 12.5f, 22, 41, false, false},
{4.6f, 53.0f, 21, 58, false, false},
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{29.0f, 47.0f, 16, 40, false, false}, // Maps to type 19 in MSET 5
{46.5f, 89.0f, 33, 199, false, false}, // Maps to type 20 in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 89.0f, 5, 251, false, false}, // Does not exist in MSET 5
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
{0.0f, 0.0f, 0, 0, false, false}, // Unused
};
TraverseType_e GetBestTraverseType(const float slopeAngle, const unsigned char traverseDist, const bool samePolyGroup)
{
TraverseType_e bestTraverseType = INVALID_TRAVERSE_TYPE;
for (int i = 0; i < NUM_TRAVERSE_TYPES; ++i)
{
const TraverseType_s& traverseType = s_traverseTypes[i];
// Skip unused types...
if (traverseType.minSlope == 0.0f && traverseType.maxSlope == 0.0f &&
traverseType.minDist == 0 && traverseType.maxDist == 0)
{
continue;
}
if (slopeAngle < traverseType.minSlope ||
slopeAngle > traverseType.maxSlope)
{
continue;
}
if (traverseDist < traverseType.minDist ||
traverseDist > traverseType.maxDist)
{
continue;
}
// NOTE: currently only type 7 is enforced in this check, perhaps we
// should limit some other types on same/diff poly groups as well?
if ((traverseType.forceSamePolyGroup && !samePolyGroup) ||
(traverseType.forceDifferentPolyGroup && samePolyGroup))
{
continue;
}
bestTraverseType = (TraverseType_e)i;
break;
}
return bestTraverseType;
}
bool CanOverlapPoly(const TraverseType_e traverseType)
{
// todo(amos): find the best threshold...
return s_traverseTypes[traverseType].minSlope > 5.0f;
}
// TODO: create lookup table and look for distance + slope to determine the
// correct jumpType.
// TODO: make sure we don't generate duplicate pairs of jump types between
// 2 polygons.
static void connectTileTraverseLinks(dtNavMesh* const nav, dtMeshTile* const tile)
{
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* const startPoly = &tile->polys[i];
for (int j = 0; j < startPoly->vertCount; ++j)
{
// Hard edges only!
if (startPoly->neis[j] != 0)
continue;
// Polygon 1 edge
const float* const startPolySpos = &tile->verts[startPoly->verts[j] * 3];
const float* const startPolyEpos = &tile->verts[startPoly->verts[(j + 1) % startPoly->vertCount] * 3];
float startPolyEdgeMid[3];
rdVsad(startPolyEdgeMid, startPolySpos, startPolyEpos, 0.5f);
float startEdgeDir[3];
rdVsub(startEdgeDir, startPolyEpos, startPolySpos);
for (int k = 0; k < tile->header->polyCount; ++k)
{
if (i == k) continue; // Skip self
dtPoly* const endPoly = &tile->polys[k];
for (int m = 0; m < endPoly->vertCount; ++m)
{
// Hard edges only!
if (endPoly->neis[m] != 0)
continue;
// Polygon 2 edge
const float* const endPolySpos = &tile->verts[endPoly->verts[m] * 3];
const float* const endPolyEpos = &tile->verts[endPoly->verts[(m + 1) % endPoly->vertCount] * 3];
float endPolyEdgeMid[3];
rdVsad(endPolyEdgeMid, endPolySpos, endPolyEpos, 0.5f);
float endEdgeDir[3];
rdVsub(endEdgeDir, endPolyEpos, endPolySpos);
const float dotProduct = rdVdot(startEdgeDir, endEdgeDir);
// Edges facing the same direction should not be linked.
// Doing so causes links to go through from underneath
// geometry. E.g. we have an HVAC on a roof, and we try
// to link our roof poly edge facing north to the edge
// of the poly on the HVAC also facing north, the link
// will go through the HVAC and thus cause the NPC to
// jump through it.
if (dotProduct > 0)
continue;
float t, s;
if (rdIntersectSegSeg2D(startPolySpos, startPolyEpos, endPolySpos, endPolyEpos, t, s))
continue;
const unsigned char distance = dtCalcLinkDistance(startPolyEdgeMid, endPolyEdgeMid);
const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPolyEdgeMid, endPolyEdgeMid));
const bool samePolyGroup = startPoly->groupId == endPoly->groupId;
const TraverseType_e traverseType = GetBestTraverseType(slopeAngle, distance, samePolyGroup);
if (!CanOverlapPoly(traverseType))
{
bool overlaps = false;
float linkMidPoint[3];
rdVsad(linkMidPoint, startPolyEdgeMid, endPolyEdgeMid, 0.5f);
for (int e = 0; e < tile->header->polyCount; e++)
{
const dtPoly* posTestPoly = &tile->polys[e];
float polyVerts[DT_VERTS_PER_POLYGON*3];
const int nverts = posTestPoly->vertCount;
for (int o = 0; o < nverts; ++o)
rdVcopy(&polyVerts[o * 3], &tile->verts[posTestPoly->verts[o] * 3]);
if (rdPointInPolygon(linkMidPoint, polyVerts, nverts))
{
overlaps = true;
break;
}
}
if (overlaps)
continue;
}
if (traverseType != DT_NULL_TRAVERSE_TYPE)
{
// Need at least 2 links
const unsigned int forwardIdx = tile->allocLink();
if (forwardIdx == DT_NULL_LINK) // TODO: should move on to next tile.
continue;
const unsigned int reverseIdx = tile->allocLink();
if (reverseIdx == DT_NULL_LINK) // TODO: should move on to next tile.
{
tile->freeLink(forwardIdx);
continue;
}
dtLink* const forwardLink = &tile->links[forwardIdx];
forwardLink->ref = nav->getPolyRefBase(tile) | (dtPolyRef)k;
forwardLink->edge = (unsigned char)j;
forwardLink->side = 0xFF;
forwardLink->next = startPoly->firstLink;
startPoly->firstLink = forwardIdx;
forwardLink->traverseType = (unsigned char)traverseType;
forwardLink->traverseDist = distance;
dtLink* const reverseLink = &tile->links[reverseIdx];
reverseLink->ref = nav->getPolyRefBase(tile) | (dtPolyRef)i;
reverseLink->edge = (unsigned char)m;
reverseLink->side = 0xFF;
reverseLink->next = endPoly->firstLink;
endPoly->firstLink = reverseIdx;
reverseLink->traverseType = (unsigned char)traverseType;
reverseLink->traverseDist = distance;
forwardLink->reverseLink = (unsigned short)reverseIdx;
reverseLink->reverseLink = (unsigned short)forwardIdx;
}
}
}
}
}
}
bool dtCreateTraverseLinks(dtNavMesh* nav)
{
rdAssert(nav);
for (int i = 0; i < nav->getMaxTiles(); i++)
{
dtMeshTile* tile = nav->getTile(i);
if (!tile->header) continue;
connectTileTraverseLinks(nav, tile);
}
return true;
}
// todo(amos): remove param 'tableCount' and make struct 'dtTraverseTableCreateParams'
bool dtCreateTraverseTableData(dtNavMesh* nav, const dtDisjointSet& disjoint, const int tableCount)
{