mirror of
https://github.com/Mauler125/r5sdk.git
synced 2025-02-09 19:15:03 +01:00
Recast: implement polygon cell generation algorithm
Fully generates polygon cells for the entire navmesh. Previously we never build this which caused ai to clip into, or walk into each other in-game (this system is an MSET 8 feature).
This commit is contained in:
Amos
parent
0269882bea
commit
ebfc4ec091
@ -151,6 +151,7 @@ void Editor::handleMeshChanged(InputGeom* geom)
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m_edgeMaxLen = buildSettings->edgeMaxLen;
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m_edgeMaxError = buildSettings->edgeMaxError;
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m_vertsPerPoly = buildSettings->vertsPerPoly;
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m_polyCellRes = buildSettings->polyCellRes;
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m_detailSampleDist = buildSettings->detailSampleDist;
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m_detailSampleMaxError = buildSettings->detailSampleMaxError;
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m_partitionType = buildSettings->partitionType;
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@ -170,6 +171,7 @@ void Editor::collectSettings(BuildSettings& settings)
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settings.edgeMaxLen = m_edgeMaxLen;
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settings.edgeMaxError = m_edgeMaxError;
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settings.vertsPerPoly = m_vertsPerPoly;
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settings.polyCellRes = m_polyCellRes;
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settings.detailSampleDist = m_detailSampleDist;
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settings.detailSampleMaxError = m_detailSampleMaxError;
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settings.partitionType = m_partitionType;
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@ -317,6 +319,7 @@ void Editor::handleCommonSettings()
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ImGui::SliderInt("Max Edge Length", &m_edgeMaxLen, 0, 50); // todo(amos): increase due to larger scale maps?
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ImGui::SliderFloat("Max Edge Error", &m_edgeMaxError, 0.1f, 3.0f);
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ImGui::SliderInt("Verts Per Poly", &m_vertsPerPoly, 3, 6);
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ImGui::SliderInt("Poly Cell Resolution", &m_polyCellRes, 1, 16);
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ImGui::Separator();
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ImGui::Text("Detail Mesh");
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@ -524,11 +527,11 @@ void Editor::renderDetourDebugMenu()
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// NOTE: the climb height should never equal or exceed the agent's height, see https://groups.google.com/g/recastnavigation/c/L5rBamxcOBk/m/5xGLj6YP25kJ
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// Quote: "you will get into trouble in cases where there is an overhand which is low enough to step over and high enough for the agent to walk under."
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const hulldef hulls[NAVMESH_COUNT] = {
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{ g_navMeshNames[NAVMESH_SMALL] , NAI_Hull::Width(HULL_HUMAN) * NAI_Hull::Scale(HULL_HUMAN) , NAI_Hull::Height(HULL_HUMAN) , NAI_Hull::Height(HULL_HUMAN) * NAI_Hull::Scale(HULL_HUMAN) , 32 },
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{ g_navMeshNames[NAVMESH_MED_SHORT] , NAI_Hull::Width(HULL_PROWLER) * NAI_Hull::Scale(HULL_PROWLER), NAI_Hull::Height(HULL_PROWLER), NAI_Hull::Height(HULL_PROWLER) * NAI_Hull::Scale(HULL_PROWLER), 32 },
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{ g_navMeshNames[NAVMESH_MEDIUM] , NAI_Hull::Width(HULL_MEDIUM) * NAI_Hull::Scale(HULL_MEDIUM) , NAI_Hull::Height(HULL_MEDIUM) , NAI_Hull::Height(HULL_MEDIUM) * NAI_Hull::Scale(HULL_MEDIUM) , 32 },
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{ g_navMeshNames[NAVMESH_LARGE] , NAI_Hull::Width(HULL_TITAN) * NAI_Hull::Scale(HULL_TITAN) , NAI_Hull::Height(HULL_TITAN) , NAI_Hull::Height(HULL_TITAN) * NAI_Hull::Scale(HULL_TITAN) , 64 },
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{ g_navMeshNames[NAVMESH_EXTRA_LARGE], NAI_Hull::Width(HULL_GOLIATH) * NAI_Hull::Scale(HULL_GOLIATH), NAI_Hull::Height(HULL_GOLIATH), NAI_Hull::Height(HULL_GOLIATH) * NAI_Hull::Scale(HULL_GOLIATH), 64 },
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{ g_navMeshNames[NAVMESH_SMALL] , NAI_Hull::Width(HULL_HUMAN) * NAI_Hull::Scale(HULL_HUMAN) , NAI_Hull::Height(HULL_HUMAN) , NAI_Hull::Height(HULL_HUMAN) * NAI_Hull::Scale(HULL_HUMAN) , 32, 8 },
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{ g_navMeshNames[NAVMESH_MED_SHORT] , NAI_Hull::Width(HULL_PROWLER) * NAI_Hull::Scale(HULL_PROWLER), NAI_Hull::Height(HULL_PROWLER), NAI_Hull::Height(HULL_PROWLER) * NAI_Hull::Scale(HULL_PROWLER), 32, 4 },
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{ g_navMeshNames[NAVMESH_MEDIUM] , NAI_Hull::Width(HULL_MEDIUM) * NAI_Hull::Scale(HULL_MEDIUM) , NAI_Hull::Height(HULL_MEDIUM) , NAI_Hull::Height(HULL_MEDIUM) * NAI_Hull::Scale(HULL_MEDIUM) , 32, 4 },
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{ g_navMeshNames[NAVMESH_LARGE] , NAI_Hull::Width(HULL_TITAN) * NAI_Hull::Scale(HULL_TITAN) , NAI_Hull::Height(HULL_TITAN) , NAI_Hull::Height(HULL_TITAN) * NAI_Hull::Scale(HULL_TITAN) , 64, 2 },
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{ g_navMeshNames[NAVMESH_EXTRA_LARGE], NAI_Hull::Width(HULL_GOLIATH) * NAI_Hull::Scale(HULL_GOLIATH), NAI_Hull::Height(HULL_GOLIATH), NAI_Hull::Height(HULL_GOLIATH) * NAI_Hull::Scale(HULL_GOLIATH), 64, 2 },
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};
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void Editor::selectNavMeshType(const NavMeshType_e navMeshType)
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@ -540,6 +543,7 @@ void Editor::selectNavMeshType(const NavMeshType_e navMeshType)
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m_agentHeight = h.height;
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m_navmeshName = h.name;
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m_tileSize = h.tileSize;
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m_polyCellRes = h.cellResolution;
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m_selectedNavMeshType = navMeshType;
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}
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@ -1011,6 +1011,7 @@ unsigned char* Editor_TileMesh::buildTileMesh(const int tx, const int ty, const
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params.polyFlags = m_pmesh->flags;
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params.polyCount = m_pmesh->npolys;
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params.nvp = m_pmesh->nvp;
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params.cellResolution = m_polyCellRes;
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params.detailMeshes = m_dmesh->meshes;
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params.detailVerts = m_dmesh->verts;
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params.detailVertsCount = m_dmesh->nverts;
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@ -320,7 +320,7 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
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{
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// Settings
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m_hasBuildSettings = true;
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sscanf(row + 1, "%f %f %f %f %f %f %d %d %d %f %d %f %f %d %f %f %f %f %f %f %d",
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sscanf(row + 1, "%f %f %f %f %f %f %d %d %d %f %d %d %f %f %d %f %f %f %f %f %f %d",
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&m_buildSettings.cellSize,
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&m_buildSettings.cellHeight,
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&m_buildSettings.agentHeight,
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@ -332,6 +332,7 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
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&m_buildSettings.edgeMaxLen,
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&m_buildSettings.edgeMaxError,
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&m_buildSettings.vertsPerPoly,
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&m_buildSettings.polyCellRes,
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&m_buildSettings.detailSampleDist,
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&m_buildSettings.detailSampleMaxError,
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&m_buildSettings.partitionType,
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@ -397,7 +398,7 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
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if (settings)
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{
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fprintf(fp,
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"s %f %f %f %f %f %f %d %d %d %f %d %f %f %d %f %f %f %f %f %f %d\n",
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"s %f %f %f %f %f %f %d %d %d %f %d %d %f %f %d %f %f %f %f %f %f %d\n",
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settings->cellSize,
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settings->cellHeight,
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settings->agentHeight,
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@ -409,6 +410,7 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
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settings->edgeMaxLen,
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settings->edgeMaxError,
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settings->vertsPerPoly,
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settings->polyCellRes,
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settings->detailSampleDist,
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settings->detailSampleMaxError,
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settings->partitionType,
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@ -31,6 +31,7 @@ struct hulldef
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float height;
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float climbHeight;
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int tileSize;
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int cellResolution;
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};
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extern const hulldef hulls[5];
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@ -131,6 +132,7 @@ protected:
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int m_edgeMaxLen;
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float m_edgeMaxError;
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int m_vertsPerPoly;
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int m_polyCellRes;
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float m_detailSampleDist;
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float m_detailSampleMaxError;
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int m_partitionType;
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@ -56,6 +56,8 @@ struct BuildSettings
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// Edge max error in voxels
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float edgeMaxError;
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int vertsPerPoly;
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// The polygon cell resolution.
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int polyCellRes;
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// Detail sample distance in voxels
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float detailSampleDist;
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// Detail sample max error in voxel heights.
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@ -38,6 +38,7 @@ struct dtNavMeshCreateParams
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const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount]
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int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1]
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int nvp; ///< Maximum number of vertices per polygon. [Limit: >= 3]
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int cellResolution; ///< The resolution of the diamond cell grid [Limit: >= 1]
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/// @}
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/// @name Height Detail Attributes (Optional)
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@ -508,6 +508,100 @@ bool dtCreateTraversalTableData(dtNavMesh* nav, const dtDisjointSet& disjoint, c
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return true;
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}
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static const unsigned short DT_MESH_NULL_IDX = 0xffff;
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static int countPolyVerts(const unsigned short* p, const int nvp) // todo(amos): deduplicate
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{
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for (int i = 0; i < nvp; ++i)
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if (p[i] == DT_MESH_NULL_IDX)
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return i;
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return nvp;
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}
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struct CellItem
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{
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float pos[3];
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int polyIndex;
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};
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bool createPolyMeshCells(const dtNavMeshCreateParams* params, rdTempVector<CellItem>& cellItems)
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{
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const int nvp = params->nvp;
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const int resolution = params->cellResolution;
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const float stepX = (params->bmax[0]-params->bmin[0]) / resolution;
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const float stepY = (params->bmax[1]-params->bmin[1]) / resolution;
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for (int i = 0; i < params->polyCount; ++i)
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{
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const unsigned short* p = ¶ms->polys[i*2*nvp];
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const int nv = countPolyVerts(p, nvp);
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if (nv < 3) // Don't generate cells for off-mesh connections.
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continue;
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const unsigned int vb = params->detailMeshes[i*4+0];
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const unsigned int ndv = params->detailMeshes[i*4+1];
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const unsigned int tb = params->detailMeshes[i*4+2];
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float polyVerts[DT_VERTS_PER_POLYGON*3];
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for (int j = 0; j < nv; ++j)
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{
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const unsigned short* polyVert = ¶ms->verts[p[j]*3];
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float* flPolyVert = &polyVerts[j*3];
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flPolyVert[0] = params->bmin[0]+polyVert[0]*params->cs;
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flPolyVert[1] = params->bmin[1]+polyVert[1]*params->cs;
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flPolyVert[2] = params->bmin[2]+polyVert[2]*params->ch;
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}
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for (int j = 0; j <= resolution; j++)
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{
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for (int k = 0; k <= resolution; k++)
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{
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const float offsetX = (k % 2 == 0) ? 0.0f : stepX / 2.0f;
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float targetCellPos[3];
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targetCellPos[0] = params->bmin[0]+j*stepX+offsetX;
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targetCellPos[1] = params->bmin[1]+k*stepY;
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targetCellPos[2] = 0; // todo(amos): might need a proper fallback, but so far this never failed.
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if (!rdPointInPolygon(targetCellPos, polyVerts, nv))
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continue;
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for (int l = 0; l < params->detailTriCount; ++l)
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{
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const unsigned char* t = ¶ms->detailTris[(tb+l)*4];
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float storage[3][3];
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const float* v[3];
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for (int m = 0; m < 3; ++m)
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{
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if (t[m] < nv)
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{
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for (int n = 0; n < 3; ++n)
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{
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storage[m][n] = params->bmin[n] + params->verts[p[t[m]]*3+n] * (n == 2 ? params->ch : params->cs);
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}
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v[m] = storage[m];
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}
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else
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{
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v[m] = ¶ms->detailVerts[(vb+t[m])*3];
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}
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}
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if (rdClosestHeightPointTriangle(targetCellPos, v[0],v[1],v[2], targetCellPos[2]))
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break;
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}
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cellItems.push_back({ targetCellPos[0],targetCellPos[1],targetCellPos[2], i });
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}
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}
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}
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return true;
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}
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// TODO: Better error handling.
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/// @par
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@ -663,6 +757,11 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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}
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}
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#if DT_NAVMESH_SET_VERSION >= 8
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rdTempVector<CellItem> cellItems;
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createPolyMeshCells(params, cellItems);
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#endif
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// Calculate data size
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const int headerSize = rdAlign4(sizeof(dtMeshHeader));
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const int vertsSize = rdAlign4(sizeof(float)*3*totVertCount);
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@ -673,13 +772,21 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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const int detailTrisSize = rdAlign4(sizeof(unsigned char)*4*detailTriCount);
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const int bvTreeSize = params->buildBvTree ? rdAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
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const int offMeshConsSize = rdAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
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#if DT_NAVMESH_SET_VERSION >= 8
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const int cellsSize = rdAlign4(sizeof(dtCell)*(int)cellItems.size());
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#endif
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int polyMapCount = 0; // TODO: this data has to be reversed still from the NavMesh!
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const int polyMapSize = polyMapCount * totPolyCount;
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const int dataSize = headerSize + vertsSize + polysSize + linksSize +
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detailMeshesSize + detailVertsSize + detailTrisSize +
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bvTreeSize + offMeshConsSize + polyMapSize;
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const int dataSize = headerSize + vertsSize + polysSize + polyMapSize + linksSize +
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detailMeshesSize + detailVertsSize + detailTrisSize +
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bvTreeSize + offMeshConsSize
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#if DT_NAVMESH_SET_VERSION >= 8
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+ cellsSize;
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#else
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;
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#endif
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//printf("%i %i %i %i(%i links) %i %i %i %i %i\n", headerSize, vertsSize, polysSize, linksSize, maxLinkCount, detailMeshesSize, detailVertsSize, detailTrisSize, bvTreeSize, offMeshConsSize);
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//printf("%i\n", dataSize);
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@ -705,6 +812,9 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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unsigned char* navDTris = rdGetThenAdvanceBufferPointer<unsigned char>(d, detailTrisSize);
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dtBVNode* navBvtree = rdGetThenAdvanceBufferPointer<dtBVNode>(d, bvTreeSize);
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dtOffMeshConnection* offMeshCons = rdGetThenAdvanceBufferPointer<dtOffMeshConnection>(d, offMeshConsSize);
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#if DT_NAVMESH_SET_VERSION >= 8
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dtCell* navCells = rdGetThenAdvanceBufferPointer<dtCell>(d, cellsSize);
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#endif
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rdIgnoreUnused(polyMap);
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//for(int i=0;i<unkPerPoly*totPolyCount;i++)
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@ -718,6 +828,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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header->layer = params->tileLayer;
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header->userId = params->userId;
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header->polyCount = totPolyCount;
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header->polyMapCount = polyMapCount;
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header->vertCount = totVertCount;
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header->maxLinkCount = maxLinkCount;
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rdVcopy(header->bmin, params->bmin);
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@ -727,13 +838,14 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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header->detailTriCount = detailTriCount;
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header->bvQuantFactor = 1.0f / params->cs;
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header->offMeshBase = params->polyCount;
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header->maxCellCount = -1;
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#if DT_NAVMESH_SET_VERSION >= 8
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header->maxCellCount = (int)cellItems.size();
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#endif
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header->walkableHeight = params->walkableHeight;
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header->walkableRadius = params->walkableRadius;
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header->walkableClimb = params->walkableClimb;
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header->offMeshConCount = storedOffMeshConCount;
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header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
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header->polyMapCount = polyMapCount;
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const int offMeshVertsBase = params->vertCount;
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const int offMeshPolyBase = params->polyCount;
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@ -762,13 +874,24 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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n++;
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}
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}
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#if DT_NAVMESH_SET_VERSION >= 8
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// Polygon cells.
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for (int i = 0; i < (int)cellItems.size(); i++)
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{
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const CellItem& cellItem = cellItems[i];
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dtCell& cell = navCells[i];
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rdVcopy(cell.pos, cellItem.pos);
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cell.polyIndex = cellItem.polyIndex;
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}
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#endif
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// Store polygons
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// Mesh polys
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const unsigned short* src = params->polys;
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for (int i = 0; i < params->polyCount; ++i)
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{
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dtPoly* p = &navPolys[i];
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p->vertCount = 0;
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p->flags = params->polyFlags[i];
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@ -806,6 +929,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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src += nvp*2;
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}
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// Off-mesh connection vertices.
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n = 0;
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for (int i = 0; i < params->offMeshConCount; ++i)
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@ -953,6 +1077,9 @@ bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
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rdSwapEndian(&header->bvNodeCount);
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rdSwapEndian(&header->offMeshConCount);
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rdSwapEndian(&header->offMeshBase);
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#if DT_NAVMESH_SET_VERSION >= 8
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rdSwapEndian(&header->maxCellCount);
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#endif
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rdSwapEndian(&header->walkableHeight);
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rdSwapEndian(&header->walkableRadius);
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rdSwapEndian(&header->walkableClimb);
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