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Recast: fix static path builder bug and improve algorithm

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Prior to this patch we only set poly's that are on the same group as reachable, but we never explicitly marked unlinked groups unreachable from each other, causing issues in-game where an AI is still trying to reach a goal poly that's on a completely separate island from the AI, causing the AI to become hard stuck on its current poly island's boundary.

The builder now also remaps all polygroups to a contiguous range of ID's, this optimization drops all gaps between the disjoint sets and thus results in a major drop in output file size (40mb navmesh is now a 15mb one with this optimization, while being functionally identical).
This commit is contained in:
Kawe Mazidjatari 2024-07-04 16:43:10 +02:00
parent 3c8dc10b50
commit e3bca38a0e
1 changed files with 51 additions and 12 deletions
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63
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored
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@ -20,6 +20,7 @@
#include <stdlib.h>
#include <string.h>
#include <float.h>
#include <map>
#include "Detour/Include/DetourNavMesh.h"
#include "Detour/Include/DetourCommon.h"
#include "Detour/Include/DetourMath.h"
@ -269,16 +270,15 @@ static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, co
}
static void setReachable(int* const tableData, const int numPolyGroups,
const int polyGroup, const bool isReachable)
const int polyGroup1, const int polyGroup2, const bool isReachable)
{
const int w = ((numPolyGroups + 31) / 32);
const unsigned int valueMask = ~(1 << (polyGroup & 0x1f));
const int index = polyGroup1*((numPolyGroups+31)/32)+(polyGroup2/32);
const int value = 1<<(polyGroup2 & 31);
int& cell = tableData[polyGroup * w + polyGroup / 32];
cell = isReachable
? (cell & valueMask) | (1 << (polyGroup & 0x1f))
: (cell & valueMask);
if (isReachable)
tableData[index] |= value;
else
tableData[index] &= ~value;
}
bool dtBuildStaticPathingData(dtNavMesh* mesh)
@ -356,12 +356,45 @@ bool dtBuildStaticPathingData(dtNavMesh* mesh)
for (int j = 0; j < pcount; j++)
{
dtPoly& poly = tile->polys[j];
int id = data.find(poly.disjointSetId);
poly.disjointSetId = (unsigned short)id;
if (poly.disjointSetId != DT_STRAY_POLY_GROUP)
{
int id = data.find(poly.disjointSetId);
poly.disjointSetId = (unsigned short)id;
}
}
}
// 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!
for (int i = 0; i < mesh->getMaxTiles(); ++i)
{
dtMeshTile* tile = mesh->getTile(i);
if (!tile || !tile->header || !tile->dataSize) continue;
const int pcount = tile->header->polyCount;
for (int j = 0; j < pcount; j++)
{
dtPoly& poly = tile->polys[j];
unsigned short oldId = poly.disjointSetId;
if (oldId != DT_STRAY_POLY_GROUP && groupMap.find(oldId) == groupMap.end())
groupMap[oldId] = numPolyGroups++;
}
}
// Third pass to apply the new mapping to all polys.
for (int i = 0; i < mesh->getMaxTiles(); ++i)
{
dtMeshTile* tile = mesh->getTile(i);
if (!tile || !tile->header || !tile->dataSize) continue;
const int pcount = tile->header->polyCount;
for (int j = 0; j < pcount; j++)
{
dtPoly& poly = tile->polys[j];
if (poly.disjointSetId != DT_STRAY_POLY_GROUP)
poly.disjointSetId = groupMap[poly.disjointSetId];
}
}
const int numPolyGroups = data.getSetCount();
const int tableSize = calcStaticPathingTableSize(numPolyGroups);
const int tableCount = DT_NUM_REACHABILITY_TABLES;
@ -382,7 +415,13 @@ bool dtBuildStaticPathingData(dtNavMesh* mesh)
memset(reachabilityTable, 0, sizeof(int)*tableSize);
for (int j = 0; j < numPolyGroups; j++)
setReachable(reachabilityTable, numPolyGroups, j, true);
{
for (int k = 0; k < numPolyGroups; k++)
{
const bool isReachable = j == k || data.find(j) == data.find(k);
setReachable(reachabilityTable, numPolyGroups, j, k, isReachable);
}
}
}
mesh->m_params.disjointPolyGroupCount = numPolyGroups;