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Fix hole in heightmap navigation mesh baking

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Fixes hole in heightmap navigation mesh baking.
This commit is contained in:
smix8 2023-10-22 17:07:26 +02:00
parent 8c25a98fdf
commit 9416f0c266
1 changed files with 26 additions and 46 deletions
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72
modules/navigation/nav_mesh_generator_3d.cpp
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@ -384,33 +384,23 @@ void NavMeshGenerator3D::generator_parse_staticbody3d_node(const Ref<NavigationM
const Vector<real_t> &map_data = heightmap_shape->get_map_data(); const Vector<real_t> &map_data = heightmap_shape->get_map_data();
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1); Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5; Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;
Vector<Vector3> vertex_array; Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6); vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0; Vector3 *vertex_array_ptrw = vertex_array.ptrw();
const real_t *map_data_ptr = map_data.ptr();
int vertex_index = 0;
for (int d = 0; d < heightmap_depth; d++) { for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width; w++) { for (int w = 0; w < heightmap_width - 1; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) { vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
float top_left_height = map_data[map_data_current_index]; vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
float top_right_height = map_data[map_data_current_index + 1]; vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
float bottom_left_height = map_data[map_data_current_index + heightmap_depth]; vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth]; vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d); vertex_index += 6;
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
} }
} }
if (vertex_array.size() > 0) { if (vertex_array.size() > 0) {
@ -540,33 +530,23 @@ void NavMeshGenerator3D::generator_parse_gridmap_node(const Ref<NavigationMesh>
const Vector<real_t> &map_data = dict["heights"]; const Vector<real_t> &map_data = dict["heights"];
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1); Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5; Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;
Vector<Vector3> vertex_array; Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6); vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0; Vector3 *vertex_array_ptrw = vertex_array.ptrw();
const real_t *map_data_ptr = map_data.ptr();
int vertex_index = 0;
for (int d = 0; d < heightmap_depth; d++) { for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width; w++) { for (int w = 0; w < heightmap_width - 1; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) { vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
float top_left_height = map_data[map_data_current_index]; vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
float top_right_height = map_data[map_data_current_index + 1]; vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
float bottom_left_height = map_data[map_data_current_index + heightmap_depth]; vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth]; vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d); vertex_index += 6;
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
} }
} }
if (vertex_array.size() > 0) { if (vertex_array.size() > 0) {