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Recast: rework raycast algorithm and fix several bugs

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* Only run rcGetChunksOverlappingSegment when we do intersection queries on world geometry (major optimization).
* Always find the closest intersection if caller provided tmin, and skip out if caller didn't while our ray intersected with something (major optimization for larger levels with a high number of primitive volumes).
* Reduce max overlapping chunk indices to 512, this was increased to 4096 during the initial coordinate system conversion but this was not necessary and ultimately bloated the stack.
This commit is contained in:
Kawe Mazidjatari 2024-09-21 21:43:12 +02:00
parent b37a77d547
commit f82c3fcc35
1 changed files with 42 additions and 41 deletions
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83
src/naveditor/InputGeom.cpp
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@ -511,31 +511,20 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
bool InputGeom::raycastMesh(const float* src, const float* dst, float* tmin) const
{
// Prune hit ray.
float btmin, btmax;
float btmin = 0, btmax = 1;
if (!rdIntersectSegmentAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
return false;
float p[2], q[2];
p[0] = src[0] + (dst[0]-src[0])*btmin;
p[1] = src[1] + (dst[1]-src[1])*btmin;
q[0] = src[0] + (dst[0]-src[0])*btmax;
q[1] = src[1] + (dst[1]-src[1])*btmax;
int cid[4096]; //stack is crying for help
const int ncid = rcGetChunksOverlappingSegment(m_chunkyMesh, p, q, cid, 4096);
if (!ncid)
return false;
bool hit = false;
const int nvol = m_volumeCount;
float tsmin = 0.0f, tsmax = 0.0f;
int segMin = 0, segMax = 0;
const bool calcTmin = tmin != nullptr;
float isectTmin = 1.0f;
for (int i = 0; i < nvol; i++)
{
const ShapeVolume& vol = m_volumes[i];
float tsmin = 0.0f, tsmax = 1.0f;
bool isect = false;
if (vol.area != RC_NULL_AREA)
continue; // Clip brushes only.
@ -543,44 +532,52 @@ bool InputGeom::raycastMesh(const float* src, const float* dst, float* tmin) con
if (vol.type == VOLUME_BOX)
{
if (rdIntersectSegmentAABB(src, dst, &vol.verts[0], &vol.verts[3], tsmin, tsmax))
{
hit = true;
break;
}
isect = true;
}
else if (vol.type == VOLUME_CYLINDER)
{
if (rdIntersectSegmentCylinder(src, dst, &vol.verts[0], vol.verts[3], vol.verts[4], tsmin, tsmax))
{
hit = true;
break;
}
isect = true;
}
else if (vol.type == VOLUME_CONVEX)
{
if ((src[2] >= vol.hmin && src[2] <= vol.hmax) ||
(dst[2] >= vol.hmin && dst[2] <= vol.hmax))
{
if (rdIntersectSegmentPoly2D(src, dst, vol.verts, vol.nverts,
tsmin, tsmax, segMin, segMax))
{
hit = true;
break;
}
}
if (rdIntersectSegmentConvexHull(src, dst, vol.verts, vol.nverts, vol.hmin, vol.hmax, tsmin, tsmax))
isect = true;
}
if (isect)
{
hit = true;
// Caller isn't interested in finding the closest intersection; return out.
if (!tmin)
return true;
if (tsmin < isectTmin)
isectTmin = tsmin;
}
}
if (hit)
{
if (calcTmin)
*tmin = tsmin;
if (tmin)
*tmin = isectTmin;
return true;
}
float p[2], q[2];
p[0] = src[0] + (dst[0]-src[0]) * btmin;
p[1] = src[1] + (dst[1]-src[1]) * btmin;
q[0] = src[0] + (dst[0]-src[0]) * btmax;
q[1] = src[1] + (dst[1]-src[1]) * btmax;
int cid[512];
const int ncid = rcGetChunksOverlappingSegment(m_chunkyMesh, p, q, cid, 512);
if (!ncid)
return false;
const float* verts = m_mesh->getVerts();
float localtmin = 1.0f;
for (int i = 0; i < ncid; ++i)
{
@ -594,20 +591,24 @@ bool InputGeom::raycastMesh(const float* src, const float* dst, float* tmin) con
if (intersectSegmentTriangle(src, dst,
&verts[tris[j]*3],
&verts[tris[j+1]*3],
&verts[tris[j+2]*3], t, calcTmin))
&verts[tris[j+2]*3], t, tmin != nullptr))
{
// Caller isn't interested in finding the closest intersection; return out.
if (!tmin)
return true;
hit = true;
if (calcTmin && t < localtmin)
localtmin = t;
if (t < isectTmin)
isectTmin = t;
else
break;
}
}
}
if (calcTmin)
*tmin = localtmin;
if (tmin)
*tmin = isectTmin;
return hit;
}