Fix navmesh baking, fixes #57148
- improved mesh data calculation from standalone static colliders so that no VisualServer calls are performed - and thus no VS mutexes need to be locked in case of on-thread baking - improved the same for GridMap's static colliders
This commit is contained in:
Pawel Lampe
parent
fa9b77dbe3
commit
3035b9c44c
4 changed files with 107 additions and 60 deletions
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@ -126,6 +126,28 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
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}
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}
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void NavigationMeshGenerator::_add_mesh_array(const Array &p_array, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
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PoolVector<Vector3> mesh_vertices = p_array[Mesh::ARRAY_VERTEX];
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PoolVector<Vector3>::Read vr = mesh_vertices.read();
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PoolVector<int> mesh_indices = p_array[Mesh::ARRAY_INDEX];
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PoolVector<int>::Read ir = mesh_indices.read();
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const int face_count = mesh_indices.size() / 3;
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const int current_vertex_count = p_vertices.size() / 3;
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for (int j = 0; j < mesh_vertices.size(); j++) {
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_add_vertex(p_xform.xform(vr[j]), p_vertices);
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}
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for (int j = 0; j < face_count; j++) {
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// CCW
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
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}
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}
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void NavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
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int face_count = p_faces.size() / 3;
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int current_vertex_count = p_vertices.size() / 3;
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@ -189,43 +211,38 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
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Transform transform = p_navmesh_xform * static_body->get_global_transform() * col_shape->get_transform();
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Ref<Mesh> mesh;
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Ref<Shape> s = col_shape->get_shape();
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BoxShape *box = Object::cast_to<BoxShape>(*s);
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if (box) {
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Ref<CubeMesh> cube_mesh;
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cube_mesh.instance();
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cube_mesh->set_size(box->get_extents() * 2.0);
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mesh = cube_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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CubeMesh::create_mesh_array(arr, box->get_extents() * 2.0);
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_add_mesh_array(arr, transform, p_vertices, p_indices);
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}
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CapsuleShape *capsule = Object::cast_to<CapsuleShape>(*s);
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if (capsule) {
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Ref<CapsuleMesh> capsule_mesh;
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capsule_mesh.instance();
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capsule_mesh->set_radius(capsule->get_radius());
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capsule_mesh->set_mid_height(capsule->get_height() / 2.0);
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mesh = capsule_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height() / 2.0);
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_add_mesh_array(arr, transform, p_vertices, p_indices);
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}
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CylinderShape *cylinder = Object::cast_to<CylinderShape>(*s);
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if (cylinder) {
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Ref<CylinderMesh> cylinder_mesh;
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cylinder_mesh.instance();
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cylinder_mesh->set_height(cylinder->get_height());
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cylinder_mesh->set_bottom_radius(cylinder->get_radius());
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cylinder_mesh->set_top_radius(cylinder->get_radius());
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mesh = cylinder_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
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_add_mesh_array(arr, transform, p_vertices, p_indices);
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}
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SphereShape *sphere = Object::cast_to<SphereShape>(*s);
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if (sphere) {
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Ref<SphereMesh> sphere_mesh;
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sphere_mesh.instance();
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sphere_mesh->set_radius(sphere->get_radius());
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sphere_mesh->set_height(sphere->get_radius() * 2.0);
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mesh = sphere_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
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_add_mesh_array(arr, transform, p_vertices, p_indices);
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}
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ConcavePolygonShape *concave_polygon = Object::cast_to<ConcavePolygonShape>(*s);
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@ -256,10 +273,6 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
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_add_faces(faces, transform, p_vertices, p_indices);
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}
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}
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if (mesh.is_valid()) {
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_add_mesh(mesh, transform, p_vertices, p_indices);
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}
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}
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}
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}
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@ -287,44 +300,39 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
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RID shape = shapes[i + 1];
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PhysicsServer::ShapeType type = PhysicsServer::get_singleton()->shape_get_type(shape);
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Variant data = PhysicsServer::get_singleton()->shape_get_data(shape);
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Ref<Mesh> mesh;
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switch (type) {
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case PhysicsServer::SHAPE_SPHERE: {
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real_t radius = data;
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Ref<SphereMesh> sphere_mesh;
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sphere_mesh.instance();
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sphere_mesh->set_radius(radius);
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sphere_mesh->set_height(radius * 2.0);
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mesh = sphere_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
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_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
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} break;
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case PhysicsServer::SHAPE_BOX: {
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Vector3 extents = data;
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Ref<CubeMesh> box_mesh;
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box_mesh.instance();
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box_mesh->set_size(2.0 * extents);
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mesh = box_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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CubeMesh::create_mesh_array(arr, extents * 2.0);
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_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
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} break;
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case PhysicsServer::SHAPE_CAPSULE: {
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Dictionary dict = data;
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real_t radius = dict["radius"];
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real_t height = dict["height"];
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Ref<CapsuleMesh> capsule_mesh;
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capsule_mesh.instance();
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capsule_mesh->set_radius(radius);
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capsule_mesh->set_mid_height(0.5 * height);
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mesh = capsule_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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CapsuleMesh::create_mesh_array(arr, radius, height * 0.5);
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_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
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} break;
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case PhysicsServer::SHAPE_CYLINDER: {
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Dictionary dict = data;
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real_t radius = dict["radius"];
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real_t height = dict["height"];
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Ref<CylinderMesh> cylinder_mesh;
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cylinder_mesh.instance();
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cylinder_mesh->set_height(height);
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cylinder_mesh->set_bottom_radius(radius);
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cylinder_mesh->set_top_radius(radius);
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mesh = cylinder_mesh;
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Array arr;
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arr.resize(VS::ARRAY_MAX);
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CylinderMesh::create_mesh_array(arr, radius, radius, height);
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_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
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} break;
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case PhysicsServer::SHAPE_CONVEX_POLYGON: {
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PoolVector3Array vertices = data;
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@ -356,10 +364,6 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
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WARN_PRINT("Unsupported collision shape type.");
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} break;
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}
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if (mesh.is_valid()) {
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_add_mesh(mesh, shapes[i], p_vertices, p_indices);
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}
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}
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}
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}
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@ -51,6 +51,7 @@ protected:
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static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices);
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static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
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static void _add_mesh_array(const Array &p_array, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
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static void _add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
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static void _parse_geometry(const Transform &p_navmesh_xform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, int p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
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@ -270,6 +270,10 @@ PrimitiveMesh::~PrimitiveMesh() {
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*/
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void CapsuleMesh::_create_mesh_array(Array &p_arr) const {
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create_mesh_array(p_arr, radius, mid_height, radial_segments, rings);
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}
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void CapsuleMesh::create_mesh_array(Array &p_arr, const float radius, const float mid_height, const int radial_segments, const int rings) {
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int i, j, prevrow, thisrow, point;
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float x, y, z, u, v, w;
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float onethird = 1.0 / 3.0;
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@ -472,8 +476,8 @@ CapsuleMesh::CapsuleMesh() {
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// defaults
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radius = 1.0;
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mid_height = 1.0;
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radial_segments = 64;
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rings = 8;
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radial_segments = default_radial_segments;
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rings = default_rings;
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}
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/**
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@ -481,6 +485,10 @@ CapsuleMesh::CapsuleMesh() {
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*/
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void CubeMesh::_create_mesh_array(Array &p_arr) const {
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create_mesh_array(p_arr, size, subdivide_w, subdivide_h, subdivide_d);
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}
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void CubeMesh::create_mesh_array(Array &p_arr, const Vector3 size, const int subdivide_w, const int subdivide_h, const int subdivide_d) {
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int i, j, prevrow, thisrow, point;
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float x, y, z;
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float onethird = 1.0 / 3.0;
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@ -728,9 +736,9 @@ int CubeMesh::get_subdivide_depth() const {
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CubeMesh::CubeMesh() {
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// defaults
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size = Vector3(2.0, 2.0, 2.0);
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subdivide_w = 0;
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subdivide_h = 0;
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subdivide_d = 0;
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subdivide_w = default_subdivide_w;
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subdivide_h = default_subdivide_h;
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subdivide_d = default_subdivide_d;
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}
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/**
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@ -738,6 +746,10 @@ CubeMesh::CubeMesh() {
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*/
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void CylinderMesh::_create_mesh_array(Array &p_arr) const {
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create_mesh_array(p_arr, top_radius, bottom_radius, height, radial_segments, rings);
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}
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void CylinderMesh::create_mesh_array(Array &p_arr, float top_radius, float bottom_radius, float height, int radial_segments, int rings) {
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int i, j, prevrow, thisrow, point;
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float x, y, z, u, v, radius;
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@ -943,8 +955,8 @@ CylinderMesh::CylinderMesh() {
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top_radius = 1.0;
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bottom_radius = 1.0;
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height = 2.0;
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radial_segments = 64;
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rings = 4;
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radial_segments = default_radial_segments;
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rings = default_rings;
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}
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/**
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@ -1453,6 +1465,10 @@ Vector3 QuadMesh::get_center_offset() const {
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*/
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void SphereMesh::_create_mesh_array(Array &p_arr) const {
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create_mesh_array(p_arr, radius, height, radial_segments, rings, is_hemisphere);
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}
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void SphereMesh::create_mesh_array(Array &p_arr, float radius, float height, int radial_segments, int rings, bool is_hemisphere) {
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int i, j, prevrow, thisrow, point;
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float x, y, z;
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@ -1595,9 +1611,9 @@ SphereMesh::SphereMesh() {
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// defaults
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radius = 1.0;
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height = 2.0;
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radial_segments = 64;
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rings = 32;
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is_hemisphere = false;
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radial_segments = default_radial_segments;
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rings = default_rings;
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is_hemisphere = default_is_hemisphere;
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}
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/**
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@ -100,6 +100,10 @@ public:
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class CapsuleMesh : public PrimitiveMesh {
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GDCLASS(CapsuleMesh, PrimitiveMesh);
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private:
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static constexpr int default_radial_segments = 64;
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static constexpr int default_rings = 8;
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private:
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float radius;
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float mid_height;
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@ -111,6 +115,8 @@ protected:
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virtual void _create_mesh_array(Array &p_arr) const;
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public:
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static void create_mesh_array(Array &p_arr, float radius, float mid_height, int radial_segments = default_radial_segments, int rings = default_rings);
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void set_radius(const float p_radius);
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float get_radius() const;
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@ -132,6 +138,11 @@ public:
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class CubeMesh : public PrimitiveMesh {
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GDCLASS(CubeMesh, PrimitiveMesh);
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private:
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static constexpr int default_subdivide_w = 0;
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static constexpr int default_subdivide_h = 0;
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static constexpr int default_subdivide_d = 0;
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private:
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Vector3 size;
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int subdivide_w;
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@ -143,6 +154,8 @@ protected:
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virtual void _create_mesh_array(Array &p_arr) const;
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public:
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static void create_mesh_array(Array &p_arr, Vector3 size, int subdivide_w = default_subdivide_w, int subdivide_h = default_subdivide_h, int subdivide_d = default_subdivide_d);
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void set_size(const Vector3 &p_size);
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Vector3 get_size() const;
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@ -165,6 +178,10 @@ public:
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class CylinderMesh : public PrimitiveMesh {
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GDCLASS(CylinderMesh, PrimitiveMesh);
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private:
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static constexpr int default_radial_segments = 64;
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static constexpr int default_rings = 4;
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private:
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float top_radius;
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float bottom_radius;
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@ -177,6 +194,8 @@ protected:
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virtual void _create_mesh_array(Array &p_arr) const;
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public:
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static void create_mesh_array(Array &p_arr, float top_radius, float bottom_radius, float height, int radial_segments = default_radial_segments, int rings = default_rings);
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void set_top_radius(const float p_radius);
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float get_top_radius() const;
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@ -294,6 +313,11 @@ public:
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class SphereMesh : public PrimitiveMesh {
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GDCLASS(SphereMesh, PrimitiveMesh);
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private:
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static constexpr int default_radial_segments = 64;
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static constexpr int default_rings = 32;
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static constexpr bool default_is_hemisphere = false;
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private:
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float radius;
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float height;
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@ -306,6 +330,8 @@ protected:
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virtual void _create_mesh_array(Array &p_arr) const;
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public:
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static void create_mesh_array(Array &p_arr, float radius, float height, int radial_segments = default_radial_segments, int rings = default_rings, bool is_hemisphere = default_is_hemisphere);
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void set_radius(const float p_radius);
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float get_radius() const;
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