1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
802 lines
29 KiB
C++
802 lines
29 KiB
C++
/**************************************************************************/
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/* navigation_mesh_generator.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "core/math/convex_hull.h"
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#ifndef _3D_DISABLED
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#include "navigation_mesh_generator.h"
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//#include "core/math/quick_hull.h"
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//#include "core/math/convex_hull.h"
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#include "core/os/thread.h"
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#include "scene/3d/mesh_instance.h"
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#include "scene/3d/multimesh_instance.h"
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#include "scene/3d/physics_body.h"
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#include "scene/resources/box_shape.h"
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#include "scene/resources/capsule_shape.h"
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#include "scene/resources/concave_polygon_shape.h"
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#include "scene/resources/convex_polygon_shape.h"
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#include "scene/resources/cylinder_shape.h"
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#include "scene/resources/height_map_shape.h"
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#include "scene/resources/plane_shape.h"
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#include "scene/resources/primitive_meshes.h"
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#include "scene/resources/shape.h"
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#include "scene/resources/sphere_shape.h"
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#include "modules/modules_enabled.gen.h" // For csg, gridmap.
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#ifdef TOOLS_ENABLED
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#include "editor/editor_node.h"
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#include "editor/editor_settings.h"
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#endif
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#ifdef MODULE_CSG_ENABLED
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#include "modules/csg/csg_shape.h"
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#endif
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#ifdef MODULE_GRIDMAP_ENABLED
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#include "modules/gridmap/grid_map.h"
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#endif
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NavigationMeshGenerator *NavigationMeshGenerator::singleton = NULL;
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void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices) {
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p_vertices.push_back(p_vec3.x);
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p_vertices.push_back(p_vec3.y);
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p_vertices.push_back(p_vec3.z);
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}
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void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
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int current_vertex_count;
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for (int i = 0; i < p_mesh->get_surface_count(); i++) {
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current_vertex_count = p_vertices.size() / 3;
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if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
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continue;
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}
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int index_count = 0;
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if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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index_count = p_mesh->surface_get_array_index_len(i);
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} else {
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index_count = p_mesh->surface_get_array_len(i);
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}
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ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
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int face_count = index_count / 3;
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Array a = p_mesh->surface_get_arrays(i);
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PoolVector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX];
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PoolVector<Vector3>::Read vr = mesh_vertices.read();
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if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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PoolVector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
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PoolVector<int>::Read ir = mesh_indices.read();
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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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} else {
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face_count = mesh_vertices.size() / 3;
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for (int j = 0; j < face_count; j++) {
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_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_vertices);
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_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_vertices);
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_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_vertices);
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p_indices.push_back(current_vertex_count + (j * 3 + 0));
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p_indices.push_back(current_vertex_count + (j * 3 + 1));
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p_indices.push_back(current_vertex_count + (j * 3 + 2));
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}
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}
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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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for (int j = 0; j < face_count; j++) {
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_add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_vertices);
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_add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_vertices);
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_add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_vertices);
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p_indices.push_back(current_vertex_count + (j * 3 + 0));
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p_indices.push_back(current_vertex_count + (j * 3 + 2));
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p_indices.push_back(current_vertex_count + (j * 3 + 1));
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}
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}
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void NavigationMeshGenerator::_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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if (Object::cast_to<MeshInstance>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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MeshInstance *mesh_instance = Object::cast_to<MeshInstance>(p_node);
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Ref<Mesh> mesh = mesh_instance->get_mesh();
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if (mesh.is_valid()) {
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_add_mesh(mesh, p_navmesh_xform * mesh_instance->get_global_transform(), p_vertices, p_indices);
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}
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}
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if (Object::cast_to<MultiMeshInstance>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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MultiMeshInstance *multimesh_instance = Object::cast_to<MultiMeshInstance>(p_node);
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Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh();
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if (multimesh.is_valid()) {
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Ref<Mesh> mesh = multimesh->get_mesh();
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if (mesh.is_valid()) {
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int n = multimesh->get_visible_instance_count();
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if (n == -1) {
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n = multimesh->get_instance_count();
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}
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for (int i = 0; i < n; i++) {
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_add_mesh(mesh, p_navmesh_xform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(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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#ifdef MODULE_CSG_ENABLED
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if (Object::cast_to<CSGShape>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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CSGShape *csg_shape = Object::cast_to<CSGShape>(p_node);
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Array meshes = csg_shape->get_meshes();
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if (!meshes.empty()) {
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Ref<Mesh> mesh = meshes[1];
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if (mesh.is_valid()) {
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_add_mesh(mesh, p_navmesh_xform * csg_shape->get_global_transform(), p_vertices, p_indices);
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}
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}
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}
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#endif
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if (Object::cast_to<StaticBody>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES) {
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StaticBody *static_body = Object::cast_to<StaticBody>(p_node);
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if (static_body->get_collision_layer() & p_collision_mask) {
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List<uint32_t> shape_owners;
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static_body->get_shape_owners(&shape_owners);
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for (List<uint32_t>::Element *E = shape_owners.front(); E; E = E->next()) {
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uint32_t shape_owner = E->get();
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const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
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for (int i = 0; i < shape_count; i++) {
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if (static_body->is_shape_owner_disabled(i)) {
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continue;
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}
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Ref<Shape> s = static_body->shape_owner_get_shape(shape_owner, i);
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if (s.is_null()) {
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continue;
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}
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const Transform transform = p_navmesh_xform * static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
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BoxShape *box = Object::cast_to<BoxShape>(*s);
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if (box) {
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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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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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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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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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if (concave_polygon) {
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_add_faces(concave_polygon->get_faces(), transform, p_vertices, p_indices);
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}
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ConvexPolygonShape *convex_polygon = Object::cast_to<ConvexPolygonShape>(*s);
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if (convex_polygon) {
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Vector<Vector3> varr = Variant(convex_polygon->get_points());
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Geometry::MeshData md;
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Error err = ConvexHullComputer::convex_hull(varr, md);
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if (err == OK) {
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PoolVector3Array faces;
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for (int j = 0; j < md.faces.size(); ++j) {
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Geometry::MeshData::Face face = md.faces[j];
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for (int k = 2; k < face.indices.size(); ++k) {
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faces.push_back(md.vertices[face.indices[0]]);
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faces.push_back(md.vertices[face.indices[k - 1]]);
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faces.push_back(md.vertices[face.indices[k]]);
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}
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}
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_add_faces(faces, transform, p_vertices, p_indices);
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}
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}
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HeightMapShape *heightmap_shape = Object::cast_to<HeightMapShape>(*s);
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if (heightmap_shape) {
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int heightmap_depth = heightmap_shape->get_map_depth();
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int heightmap_width = heightmap_shape->get_map_width();
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if (heightmap_depth >= 2 && heightmap_width >= 2) {
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const PoolRealArray &map_data = heightmap_shape->get_map_data();
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Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
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Vector2 start = heightmap_gridsize * -0.5;
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PoolVector3Array vertex_array;
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vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
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int map_data_current_index = 0;
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for (int d = 0; d < heightmap_depth - 1; d++) {
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for (int w = 0; w < heightmap_width - 1; w++) {
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if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
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float top_left_height = map_data[map_data_current_index];
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float top_right_height = map_data[map_data_current_index + 1];
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float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
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float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
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Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
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Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
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Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
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Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
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vertex_array.push_back(top_right);
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vertex_array.push_back(bottom_left);
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vertex_array.push_back(top_left);
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vertex_array.push_back(top_right);
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vertex_array.push_back(bottom_right);
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vertex_array.push_back(bottom_left);
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}
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map_data_current_index += 1;
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}
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}
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if (vertex_array.size() > 0) {
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_add_faces(vertex_array, 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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}
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}
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}
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#ifdef MODULE_GRIDMAP_ENABLED
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GridMap *gridmap = Object::cast_to<GridMap>(p_node);
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if (gridmap) {
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if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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Array meshes = gridmap->get_meshes();
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Transform xform = gridmap->get_global_transform();
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for (int i = 0; i < meshes.size(); i += 2) {
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Ref<Mesh> mesh = meshes[i + 1];
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if (mesh.is_valid()) {
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Transform mesh_xform = meshes[i];
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_add_mesh(mesh, p_navmesh_xform * xform * mesh_xform, p_vertices, p_indices);
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}
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}
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}
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if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
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Array shapes = gridmap->get_collision_shapes();
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for (int i = 0; i < shapes.size(); i += 2) {
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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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switch (type) {
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case PhysicsServer::SHAPE_SPHERE: {
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real_t radius = data;
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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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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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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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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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Geometry::MeshData md;
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Error err = ConvexHullComputer::convex_hull(vertices, md);
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if (err == OK) {
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PoolVector3Array faces;
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for (int j = 0; j < md.faces.size(); ++j) {
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Geometry::MeshData::Face face = md.faces[j];
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for (int k = 2; k < face.indices.size(); ++k) {
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faces.push_back(md.vertices[face.indices[0]]);
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faces.push_back(md.vertices[face.indices[k - 1]]);
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faces.push_back(md.vertices[face.indices[k]]);
|
|
}
|
|
}
|
|
|
|
_add_faces(faces, shapes[i], p_vertices, p_indices);
|
|
}
|
|
} break;
|
|
case PhysicsServer::SHAPE_CONCAVE_POLYGON: {
|
|
PoolVector3Array faces = data;
|
|
_add_faces(faces, shapes[i], p_vertices, p_indices);
|
|
} break;
|
|
case PhysicsServer::SHAPE_HEIGHTMAP: {
|
|
Dictionary dict = data;
|
|
///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
|
|
int heightmap_depth = dict["depth"];
|
|
int heightmap_width = dict["width"];
|
|
|
|
if (heightmap_depth >= 2 && heightmap_width >= 2) {
|
|
const PoolRealArray &map_data = dict["heights"];
|
|
|
|
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
|
|
Vector2 start = heightmap_gridsize * -0.5;
|
|
|
|
PoolVector3Array vertex_array;
|
|
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
|
|
int map_data_current_index = 0;
|
|
|
|
for (int d = 0; d < heightmap_depth - 1; d++) {
|
|
for (int w = 0; w < heightmap_width - 1; w++) {
|
|
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
|
|
float top_left_height = map_data[map_data_current_index];
|
|
float top_right_height = map_data[map_data_current_index + 1];
|
|
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
|
|
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
|
|
|
|
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
|
|
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) {
|
|
_add_faces(vertex_array, shapes[i], p_vertices, p_indices);
|
|
}
|
|
}
|
|
} break;
|
|
default: {
|
|
WARN_PRINT("Unsupported collision shape type.");
|
|
} break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if (p_recurse_children) {
|
|
for (int i = 0; i < p_node->get_child_count(); i++) {
|
|
_parse_geometry(p_navmesh_xform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
|
|
}
|
|
}
|
|
}
|
|
|
|
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);
|
|
// Polygon order in recast is opposite than godot's
|
|
nav_indices.write[0] = ((int)(bverts + tris[j * 4 + 0]));
|
|
nav_indices.write[1] = ((int)(bverts + tris[j * 4 + 2]));
|
|
nav_indices.write[2] = ((int)(bverts + tris[j * 4 + 1]));
|
|
p_nav_mesh->add_polygon(nav_indices);
|
|
}
|
|
}
|
|
}
|
|
|
|
void NavigationMeshGenerator::_build_recast_navigation_mesh(
|
|
Ref<NavigationMesh> p_nav_mesh,
|
|
#ifdef TOOLS_ENABLED
|
|
EditorProgress *ep,
|
|
#endif
|
|
rcHeightfield *hf,
|
|
rcCompactHeightfield *chf,
|
|
rcContourSet *cset,
|
|
rcPolyMesh *poly_mesh,
|
|
rcPolyMeshDetail *detail_mesh,
|
|
Vector<float> &vertices,
|
|
Vector<int> &indices) {
|
|
rcContext ctx;
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Setting up Configuration..."), 1);
|
|
#endif
|
|
|
|
const float *verts = vertices.ptr();
|
|
const int nverts = vertices.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 = MAX(p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance(), 0.1f);
|
|
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];
|
|
|
|
AABB baking_aabb = p_nav_mesh->get_filter_baking_aabb();
|
|
|
|
bool aabb_has_no_volume = baking_aabb.has_no_area();
|
|
|
|
if (!aabb_has_no_volume) {
|
|
Vector3 baking_aabb_offset = p_nav_mesh->get_filter_baking_aabb_offset();
|
|
|
|
cfg.bmin[0] = baking_aabb.position[0] + baking_aabb_offset.x;
|
|
cfg.bmin[1] = baking_aabb.position[1] + baking_aabb_offset.y;
|
|
cfg.bmin[2] = baking_aabb.position[2] + baking_aabb_offset.z;
|
|
cfg.bmax[0] = cfg.bmin[0] + baking_aabb.size[0];
|
|
cfg.bmax[1] = cfg.bmin[1] + baking_aabb.size[1];
|
|
cfg.bmax[2] = cfg.bmin[2] + baking_aabb.size[2];
|
|
}
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Calculating grid size..."), 2);
|
|
#endif
|
|
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
|
|
|
|
// ~30000000 seems to be around sweetspot where Editor baking breaks
|
|
if ((cfg.width * cfg.height) > 30000000) {
|
|
WARN_PRINT("NavigationMesh baking process will likely fail."
|
|
"\nSource geometry is suspiciously big for the current Cell Size and Cell Height in the NavMesh Resource bake settings."
|
|
"\nIf baking does not fail, the resulting NavigationMesh will create serious pathfinding performance issues."
|
|
"\nIt is advised to increase Cell Size and/or Cell Height in the NavMesh Resource bake settings or reduce the size / scale of the source geometry.");
|
|
}
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Creating heightfield..."), 3);
|
|
#endif
|
|
hf = rcAllocHeightfield();
|
|
|
|
ERR_FAIL_COND(!hf);
|
|
ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Marking walkable triangles..."), 4);
|
|
#endif
|
|
{
|
|
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);
|
|
}
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Constructing compact heightfield..."), 5);
|
|
#endif
|
|
|
|
chf = rcAllocCompactHeightfield();
|
|
|
|
ERR_FAIL_COND(!chf);
|
|
ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
|
|
|
|
rcFreeHeightField(hf);
|
|
hf = 0;
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Eroding walkable area..."), 6);
|
|
#endif
|
|
|
|
ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Partitioning..."), 7);
|
|
#endif
|
|
|
|
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));
|
|
}
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Creating contours..."), 8);
|
|
#endif
|
|
|
|
cset = rcAllocContourSet();
|
|
|
|
ERR_FAIL_COND(!cset);
|
|
ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Creating polymesh..."), 9);
|
|
#endif
|
|
|
|
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;
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Converting to native navigation mesh..."), 10);
|
|
#endif
|
|
|
|
_convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh);
|
|
|
|
rcFreePolyMesh(poly_mesh);
|
|
poly_mesh = 0;
|
|
rcFreePolyMeshDetail(detail_mesh);
|
|
detail_mesh = 0;
|
|
}
|
|
|
|
NavigationMeshGenerator *NavigationMeshGenerator::get_singleton() {
|
|
return singleton;
|
|
}
|
|
|
|
NavigationMeshGenerator::NavigationMeshGenerator() {
|
|
singleton = this;
|
|
}
|
|
|
|
NavigationMeshGenerator::~NavigationMeshGenerator() {
|
|
}
|
|
|
|
void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) {
|
|
ERR_FAIL_COND_MSG(!p_nav_mesh.is_valid(), "Invalid Navigation Mesh");
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
EditorProgress *ep(nullptr);
|
|
// FIXME
|
|
#endif
|
|
#if 0
|
|
// After discussion on devchat disabled EditorProgress for now as it is not thread-safe and uses hacks and Main::iteration() for steps.
|
|
// EditorProgress randomly crashes the Engine when the bake function is used with a thread e.g. inside Editor with a tool script and procedural navigation
|
|
// This was not a problem in older versions as previously Godot was unable to (re)bake NavigationMesh at runtime.
|
|
// If EditorProgress is fixed and made thread-safe this should be enabled again.
|
|
if (Engine::get_singleton()->is_editor_hint()) {
|
|
ep = memnew(EditorProgress("bake", TTR("Navigation Mesh Generator Setup:"), 11));
|
|
}
|
|
|
|
if (ep)
|
|
ep->step(TTR("Parsing Geometry..."), 0);
|
|
#endif
|
|
|
|
Vector<float> vertices;
|
|
Vector<int> indices;
|
|
|
|
List<Node *> parse_nodes;
|
|
|
|
if (p_nav_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_NAVMESH_CHILDREN) {
|
|
parse_nodes.push_back(p_node);
|
|
} else {
|
|
p_node->get_tree()->get_nodes_in_group(p_nav_mesh->get_source_group_name(), &parse_nodes);
|
|
}
|
|
|
|
Transform navmesh_xform = Object::cast_to<Spatial>(p_node)->get_global_transform().affine_inverse();
|
|
for (const List<Node *>::Element *E = parse_nodes.front(); E; E = E->next()) {
|
|
NavigationMesh::ParsedGeometryType geometry_type = p_nav_mesh->get_parsed_geometry_type();
|
|
uint32_t collision_mask = p_nav_mesh->get_collision_mask();
|
|
bool recurse_children = p_nav_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
|
|
_parse_geometry(navmesh_xform, E->get(), vertices, indices, geometry_type, collision_mask, recurse_children);
|
|
}
|
|
|
|
if (vertices.size() > 0 && indices.size() > 0) {
|
|
rcHeightfield *hf = nullptr;
|
|
rcCompactHeightfield *chf = nullptr;
|
|
rcContourSet *cset = nullptr;
|
|
rcPolyMesh *poly_mesh = nullptr;
|
|
rcPolyMeshDetail *detail_mesh = nullptr;
|
|
|
|
_build_recast_navigation_mesh(
|
|
p_nav_mesh,
|
|
#ifdef TOOLS_ENABLED
|
|
ep,
|
|
#endif
|
|
hf,
|
|
chf,
|
|
cset,
|
|
poly_mesh,
|
|
detail_mesh,
|
|
vertices,
|
|
indices);
|
|
|
|
rcFreeHeightField(hf);
|
|
hf = 0;
|
|
|
|
rcFreeCompactHeightfield(chf);
|
|
chf = 0;
|
|
|
|
rcFreeContourSet(cset);
|
|
cset = 0;
|
|
|
|
rcFreePolyMesh(poly_mesh);
|
|
poly_mesh = 0;
|
|
|
|
rcFreePolyMeshDetail(detail_mesh);
|
|
detail_mesh = 0;
|
|
}
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
if (ep)
|
|
ep->step(TTR("Done!"), 11);
|
|
|
|
if (ep)
|
|
memdelete(ep);
|
|
#endif
|
|
|
|
p_nav_mesh->property_list_changed_notify();
|
|
}
|
|
|
|
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>());
|
|
}
|
|
}
|
|
|
|
void NavigationMeshGenerator::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("bake", "nav_mesh", "root_node"), &NavigationMeshGenerator::bake);
|
|
ClassDB::bind_method(D_METHOD("clear", "nav_mesh"), &NavigationMeshGenerator::clear);
|
|
}
|
|
|
|
#endif
|