/*************************************************************************/ /* navigation_mesh_generator.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "navigation_mesh_generator.h" #ifdef RECAST_ENABLED void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies) { p_verticies.push_back(p_vec3.x); p_verticies.push_back(p_vec3.y); p_verticies.push_back(p_vec3.z); } void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) { int current_vertex_count = 0; for (int i = 0; i < p_mesh->get_surface_count(); i++) { current_vertex_count = p_verticies.size() / 3; if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) continue; int index_count = 0; if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) { index_count = p_mesh->surface_get_array_index_len(i); } else { index_count = p_mesh->surface_get_array_len(i); } ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0)); int face_count = index_count / 3; Array a = p_mesh->surface_get_arrays(i); PoolVector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX]; PoolVector<Vector3>::Read vr = mesh_vertices.read(); if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) { PoolVector<int> mesh_indices = a[Mesh::ARRAY_INDEX]; PoolVector<int>::Read ir = mesh_indices.read(); for (int i = 0; i < mesh_vertices.size(); i++) { _add_vertex(p_xform.xform(vr[i]), p_verticies); } for (int i = 0; i < face_count; i++) { // CCW p_indices.push_back(current_vertex_count + (ir[i * 3 + 0])); p_indices.push_back(current_vertex_count + (ir[i * 3 + 2])); p_indices.push_back(current_vertex_count + (ir[i * 3 + 1])); } } else { face_count = mesh_vertices.size() / 3; for (int i = 0; i < face_count; i++) { _add_vertex(p_xform.xform(vr[i * 3 + 0]), p_verticies); _add_vertex(p_xform.xform(vr[i * 3 + 2]), p_verticies); _add_vertex(p_xform.xform(vr[i * 3 + 1]), p_verticies); p_indices.push_back(current_vertex_count + (i * 3 + 0)); p_indices.push_back(current_vertex_count + (i * 3 + 1)); p_indices.push_back(current_vertex_count + (i * 3 + 2)); } } } } void NavigationMeshGenerator::_parse_geometry(const Transform &p_base_inverse, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices) { if (Object::cast_to<MeshInstance>(p_node)) { MeshInstance *mesh_instance = Object::cast_to<MeshInstance>(p_node); Ref<Mesh> mesh = mesh_instance->get_mesh(); if (mesh.is_valid()) { _add_mesh(mesh, p_base_inverse * mesh_instance->get_global_transform(), p_verticies, p_indices); } } for (int i = 0; i < p_node->get_child_count(); i++) { _parse_geometry(p_base_inverse, p_node->get_child(i), p_verticies, p_indices); } } void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh) { PoolVector<Vector3> nav_vertices; for (int i = 0; i < p_detail_mesh->nverts; i++) { const float *v = &p_detail_mesh->verts[i * 3]; nav_vertices.append(Vector3(v[0], v[1], v[2])); } p_nav_mesh->set_vertices(nav_vertices); for (int i = 0; i < p_detail_mesh->nmeshes; i++) { const unsigned int *m = &p_detail_mesh->meshes[i * 4]; const unsigned int bverts = m[0]; const unsigned int btris = m[2]; const unsigned int ntris = m[3]; const unsigned char *tris = &p_detail_mesh->tris[btris * 4]; for (unsigned int j = 0; j < ntris; j++) { Vector<int> nav_indices; nav_indices.resize(3); nav_indices[0] = ((int)(bverts + tris[j * 4 + 0])); nav_indices[1] = ((int)(bverts + tris[j * 4 + 1])); nav_indices[2] = ((int)(bverts + tris[j * 4 + 2])); p_nav_mesh->add_polygon(nav_indices); } } } void NavigationMeshGenerator::_build_recast_navigation_mesh(Ref<NavigationMesh> p_nav_mesh, EditorProgress *ep, rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh, rcPolyMeshDetail *detail_mesh, Vector<float> &verticies, Vector<int> &indices) { rcContext ctx; ep->step(TTR("Setting up Configuration..."), 1); const float *verts = verticies.ptr(); const int nverts = verticies.size() / 3; const int *tris = indices.ptr(); const int ntris = indices.size() / 3; float bmin[3], bmax[3]; rcCalcBounds(verts, nverts, bmin, bmax); rcConfig cfg; memset(&cfg, 0, sizeof(cfg)); cfg.cs = p_nav_mesh->get_cell_size(); cfg.ch = p_nav_mesh->get_cell_height(); cfg.walkableSlopeAngle = p_nav_mesh->get_agent_max_slope(); cfg.walkableHeight = (int)Math::ceil(p_nav_mesh->get_agent_height() / cfg.ch); cfg.walkableClimb = (int)Math::floor(p_nav_mesh->get_agent_max_climb() / cfg.ch); cfg.walkableRadius = (int)Math::ceil(p_nav_mesh->get_agent_radius() / cfg.cs); cfg.maxEdgeLen = (int)(p_nav_mesh->get_edge_max_length() / p_nav_mesh->get_cell_size()); cfg.maxSimplificationError = p_nav_mesh->get_edge_max_error(); cfg.minRegionArea = (int)(p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size()); cfg.mergeRegionArea = (int)(p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size()); cfg.maxVertsPerPoly = (int)p_nav_mesh->get_verts_per_poly(); cfg.detailSampleDist = p_nav_mesh->get_detail_sample_distance() < 0.9f ? 0 : p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance(); cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error(); cfg.bmin[0] = bmin[0]; cfg.bmin[1] = bmin[1]; cfg.bmin[2] = bmin[2]; cfg.bmax[0] = bmax[0]; cfg.bmax[1] = bmax[1]; cfg.bmax[2] = bmax[2]; ep->step(TTR("Calculating grid size..."), 2); rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height); ep->step(TTR("Creating heightfield..."), 3); hf = rcAllocHeightfield(); ERR_FAIL_COND(!hf); ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch)); ep->step(TTR("Marking walkable triangles..."), 4); { Vector<unsigned char> tri_areas; tri_areas.resize(ntris); ERR_FAIL_COND(tri_areas.size() == 0); memset(tri_areas.ptrw(), 0, ntris * sizeof(unsigned char)); rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptrw()); ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb)); } if (p_nav_mesh->get_filter_low_hanging_obstacles()) rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf); if (p_nav_mesh->get_filter_ledge_spans()) rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf); if (p_nav_mesh->get_filter_walkable_low_height_spans()) rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf); ep->step(TTR("Constructing compact heightfield..."), 5); chf = rcAllocCompactHeightfield(); ERR_FAIL_COND(!chf); ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf)); rcFreeHeightField(hf); hf = 0; ep->step(TTR("Eroding walkable area..."), 6); ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf)); ep->step(TTR("Partitioning..."), 7); if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) { ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf)); ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea)); } else if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) { ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea)); } else { ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea)); } ep->step(TTR("Creating contours..."), 8); cset = rcAllocContourSet(); ERR_FAIL_COND(!cset); ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset)); ep->step(TTR("Creating polymesh..."), 9); poly_mesh = rcAllocPolyMesh(); ERR_FAIL_COND(!poly_mesh); ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh)); detail_mesh = rcAllocPolyMeshDetail(); ERR_FAIL_COND(!detail_mesh); ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh)); rcFreeCompactHeightfield(chf); chf = 0; rcFreeContourSet(cset); cset = 0; ep->step(TTR("Converting to native navigation mesh..."), 10); _convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh); rcFreePolyMesh(poly_mesh); poly_mesh = 0; rcFreePolyMeshDetail(detail_mesh); detail_mesh = 0; } void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) { ERR_FAIL_COND(!p_nav_mesh.is_valid()); EditorProgress ep("bake", TTR("Navigation Mesh Generator Setup:"), 11); ep.step(TTR("Parsing Geometry..."), 0); Vector<float> verticies; Vector<int> indices; _parse_geometry(Object::cast_to<Spatial>(p_node)->get_global_transform().affine_inverse(), p_node, verticies, indices); if (verticies.size() > 0 && indices.size() > 0) { rcHeightfield *hf = NULL; rcCompactHeightfield *chf = NULL; rcContourSet *cset = NULL; rcPolyMesh *poly_mesh = NULL; rcPolyMeshDetail *detail_mesh = NULL; _build_recast_navigation_mesh(p_nav_mesh, &ep, hf, chf, cset, poly_mesh, detail_mesh, verticies, indices); if (hf) { rcFreeHeightField(hf); hf = 0; } if (chf) { rcFreeCompactHeightfield(chf); chf = 0; } if (cset) { rcFreeContourSet(cset); cset = 0; } if (poly_mesh) { rcFreePolyMesh(poly_mesh); poly_mesh = 0; } if (detail_mesh) { rcFreePolyMeshDetail(detail_mesh); detail_mesh = 0; } } ep.step(TTR("Done!"), 11); } void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_nav_mesh) { if (p_nav_mesh.is_valid()) { p_nav_mesh->clear_polygons(); p_nav_mesh->set_vertices(PoolVector<Vector3>()); } } #endif //RECAST_ENABLED