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Add NavMesh Modifier Volume actor type

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This commit is contained in:
Wojtek Figat
2021-01-15 16:46:40 +01:00
parent 070faf12da
commit 01a30faa62
8 changed files with 151 additions and 8 deletions
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41
Source/Engine/Navigation/NavMeshBuilder.cpp
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@@ -7,6 +7,7 @@
#include "NavigationSettings.h"
#include "NavMeshBoundsVolume.h"
#include "NavLink.h"
#include "NavModifierVolume.h"
#include "NavMeshRuntime.h"
#include "Engine/Core/Math/BoundingBox.h"
#include "Engine/Core/Math/VectorInt.h"
@@ -55,8 +56,14 @@ struct OffMeshLink
int32 Id;
};
struct Modifier
{
BoundingBox Bounds;
};
struct NavigationSceneRasterization
{
NavMesh* NavMesh;
BoundingBox TileBoundsNavMesh;
Matrix WorldToNavMesh;
rcContext* Context;
@@ -66,18 +73,21 @@ struct NavigationSceneRasterization
Array<Vector3> VertexBuffer;
Array<int32> IndexBuffer;
Array<OffMeshLink>* OffMeshLinks;
Array<Modifier>* Modifiers;
const bool IsWorldToNavMeshIdentity;
NavigationSceneRasterization(const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, rcContext* context, rcConfig* config, rcHeightfield* heightfield, Array<OffMeshLink>* offMeshLinks)
NavigationSceneRasterization(::NavMesh* navMesh, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, rcContext* context, rcConfig* config, rcHeightfield* heightfield, Array<OffMeshLink>* offMeshLinks, Array<Modifier>* modifiers)
: TileBoundsNavMesh(tileBoundsNavMesh)
, WorldToNavMesh(worldToNavMesh)
, IsWorldToNavMeshIdentity(worldToNavMesh.IsIdentity())
{
NavMesh = navMesh;
Context = context;
Config = config;
Heightfield = heightfield;
WalkableThreshold = Math::Cos(config->walkableSlopeAngle * DegreesToRadians);
OffMeshLinks = offMeshLinks;
Modifiers = modifiers;
}
void RasterizeTriangles()
@@ -280,16 +290,30 @@ struct NavigationSceneRasterization
e.OffMeshLinks->Add(link);
}
else if (const auto* navModifierVolume = dynamic_cast<NavModifierVolume*>(actor))
{
if (navModifierVolume->AgentsMask.IsNavMeshSupported(e.NavMesh->Properties))
{
PROFILE_CPU_NAMED("NavModifierVolume");
Modifier modifier;
OrientedBoundingBox bounds = navModifierVolume->GetOrientedBox();
bounds.Transform(e.WorldToNavMesh);
bounds.GetBoundingBox(modifier.Bounds);
e.Modifiers->Add(modifier);
}
}
return true;
}
};
void RasterizeGeometry(const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, rcContext* context, rcConfig* config, rcHeightfield* heightfield, Array<OffMeshLink>* offMeshLinks)
void RasterizeGeometry(NavMesh* navMesh, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, rcContext* context, rcConfig* config, rcHeightfield* heightfield, Array<OffMeshLink>* offMeshLinks, Array<Modifier>* modifiers)
{
PROFILE_CPU_NAMED("RasterizeGeometry");
NavigationSceneRasterization rasterization(tileBoundsNavMesh, worldToNavMesh, context, config, heightfield, offMeshLinks);
NavigationSceneRasterization rasterization(navMesh, tileBoundsNavMesh, worldToNavMesh, context, config, heightfield, offMeshLinks, modifiers);
Function<bool(Actor*, NavigationSceneRasterization&)> treeWalkFunction(NavigationSceneRasterization::Walk);
SceneQuery::TreeExecute<NavigationSceneRasterization&>(treeWalkFunction, rasterization);
}
@@ -389,7 +413,8 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
}
Array<OffMeshLink> offMeshLinks;
RasterizeGeometry(tileBoundsNavMesh, worldToNavMesh, &context, &config, heightfield, &offMeshLinks);
Array<Modifier> modifiers;
RasterizeGeometry(navMesh, tileBoundsNavMesh, worldToNavMesh, &context, &config, heightfield, &offMeshLinks, &modifiers);
rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, *heightfield);
rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, *heightfield);
@@ -415,6 +440,12 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
return true;
}
// Mark areas
for (auto& modifier : modifiers)
{
rcMarkBoxArea(&context, &modifier.Bounds.Minimum.X, &modifier.Bounds.Maximum.X, RC_NULL_AREA, *compactHeightfield);
}
if (!rcBuildDistanceField(&context, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not build distance field.");
@@ -468,7 +499,7 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
for (int i = 0; i < polyMesh->npolys; i++)
{
polyMesh->flags[i] = polyMesh->areas[i] == RC_WALKABLE_AREA ? 1 : 0;
polyMesh->flags[i] = polyMesh->areas[i] != RC_NULL_AREA ? 1 : 0;
}
if (polyMesh->nverts == 0)