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Add support for multiple navmeshes on a scene

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This commit is contained in:
Wojtek Figat
2021-01-13 14:28:46 +01:00
parent dba43c4e9f
commit 27ed23c1b9
15 changed files with 1012 additions and 626 deletions
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274
Source/Engine/Navigation/NavMeshBuilder.cpp
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@@ -3,6 +3,11 @@
#if COMPILE_WITH_NAV_MESH_BUILDER
#include "NavMeshBuilder.h"
#include "NavMesh.h"
#include "NavigationSettings.h"
#include "NavMeshBoundsVolume.h"
#include "NavLink.h"
#include "NavMeshRuntime.h"
#include "Engine/Core/Math/BoundingBox.h"
#include "Engine/Core/Math/VectorInt.h"
#include "Engine/Physics/Colliders/BoxCollider.h"
@@ -15,12 +20,6 @@
#include "Engine/Level/Level.h"
#include "Engine/Level/SceneQuery.h"
#include "Engine/Core/Log.h"
#include "NavigationScene.h"
#include "NavigationSettings.h"
#include "NavMeshBoundsVolume.h"
#include "NavLink.h"
#include "Navigation.h"
#include "NavMeshRuntime.h"
#include <ThirdParty/recastnavigation/Recast.h>
#include <ThirdParty/recastnavigation/DetourNavMeshBuilder.h>
#include <ThirdParty/recastnavigation/DetourNavMesh.h>
@@ -113,11 +112,9 @@ struct NavigationSceneRasterization
{
PROFILE_CPU_NAMED("BoxCollider");
OrientedBoundingBox box = boxCollider->GetOrientedBox();
const OrientedBoundingBox box = boxCollider->GetOrientedBox();
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
e.RasterizeTriangles();
@@ -127,7 +124,7 @@ struct NavigationSceneRasterization
PROFILE_CPU_NAMED("MeshCollider");
auto collisionData = meshCollider->CollisionData.Get();
if (!collisionData || collisionData->WaitForLoaded(1000.0f))
if (!collisionData || collisionData->WaitForLoaded())
return true;
collisionData->ExtractGeometry(vb, ib);
@@ -181,7 +178,7 @@ void RasterizeGeometry(const BoundingBox& tileBounds, rcContext* context, rcConf
// Builds navmesh tile bounds and check if there are any valid navmesh volumes at that tile location
// Returns true if tile is intersecting with any navmesh bounds volume actor - which means tile is in use
bool GetNavMeshTileBounds(NavigationScene* scene, int32 x, int32 y, float tileSize, BoundingBox& tileBounds)
bool GetNavMeshTileBounds(Scene* scene, int32 x, int32 y, float tileSize, BoundingBox& tileBounds)
{
// Build initial tile bounds (with infinite extent)
tileBounds.Minimum.X = (float)x * tileSize;
@@ -194,9 +191,9 @@ bool GetNavMeshTileBounds(NavigationScene* scene, int32 x, int32 y, float tileSi
// Check if any navmesh volume intersects with the tile
bool foundAnyVolume = false;
Vector2 rangeY;
for (int32 i = 0; i < scene->Volumes.Count(); i++)
for (int32 i = 0; i < scene->NavigationVolumes.Count(); i++)
{
const auto volume = scene->Volumes[i];
const auto volume = scene->NavigationVolumes[i];
const auto& volumeBounds = volume->GetBox();
if (volumeBounds.Intersects(tileBounds))
{
@@ -224,27 +221,27 @@ bool GetNavMeshTileBounds(NavigationScene* scene, int32 x, int32 y, float tileSi
return foundAnyVolume;
}
void RemoveTile(NavMeshRuntime* navMesh, NavigationScene* scene, int32 x, int32 y, int32 layer)
void RemoveTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, int32 layer)
{
ScopeLock lock(navMesh->Locker);
ScopeLock lock(runtime->Locker);
// Find tile data and remove it
for (int32 i = 0; i < scene->Data.Tiles.Count(); i++)
for (int32 i = 0; i < navMesh->Data.Tiles.Count(); i++)
{
auto& tile = scene->Data.Tiles[i];
auto& tile = navMesh->Data.Tiles[i];
if (tile.PosX == x && tile.PosY == y && tile.Layer == layer)
{
scene->Data.Tiles.RemoveAt(i);
scene->IsDataDirty = true;
navMesh->Data.Tiles.RemoveAt(i);
navMesh->IsDataDirty = true;
break;
}
}
// Remove tile from navmesh
navMesh->RemoveTile(x, y, layer);
runtime->RemoveTile(x, y, layer);
}
bool GenerateTile(NavigationScene* scene, int32 x, int32 y, BoundingBox& tileBounds, float tileSize, rcConfig& config)
bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, BoundingBox& tileBounds, float tileSize, rcConfig& config)
{
rcContext context;
int32 layer = 0;
@@ -355,7 +352,7 @@ bool GenerateTile(NavigationScene* scene, int32 x, int32 y, BoundingBox& tileBou
if (polyMesh->nverts == 0)
{
// Empty tile
RemoveTile(NavMeshRuntime::Get(), scene, x, y, layer);
RemoveTile(navMesh, runtime, x, y, layer);
return false;
}
@@ -438,11 +435,11 @@ bool GenerateTile(NavigationScene* scene, int32 x, int32 y, BoundingBox& tileBou
{
PROFILE_CPU_NAMED("Navigation.CreateTile");
ScopeLock lock(NavMeshRuntime::Get()->Locker);
ScopeLock lock(runtime->Locker);
// Add tile data
scene->IsDataDirty = true;
auto& tile = scene->Data.Tiles.AddOne();
navMesh->IsDataDirty = true;
auto& tile = navMesh->Data.Tiles.AddOne();
tile.PosX = x;
tile.PosY = y;
tile.Layer = layer;
@@ -451,7 +448,7 @@ bool GenerateTile(NavigationScene* scene, int32 x, int32 y, BoundingBox& tileBou
tile.Data.Copy(navData, navDataSize);
// Add tile to navmesh
NavMeshRuntime::Get()->AddTile(scene, tile);
runtime->AddTile(navMesh, tile);
}
dtFree(navData);
@@ -465,16 +462,17 @@ float GetTileSize()
return settings.CellSize * settings.TileSize;
}
void InitConfig(rcConfig& config)
void InitConfig(rcConfig& config, NavMesh* navMesh)
{
auto& settings = *NavigationSettings::Get();
auto& navMeshProperties = navMesh->Properties;
config.cs = settings.CellSize;
config.ch = settings.CellHeight;
config.walkableSlopeAngle = settings.WalkableMaxSlopeAngle;
config.walkableHeight = (int)(settings.WalkableHeight / config.ch + 0.99f);
config.walkableClimb = (int)(settings.WalkableMaxClimb / config.ch);
config.walkableRadius = (int)(settings.WalkableRadius / config.cs + 0.99f);
config.walkableSlopeAngle = navMeshProperties.Agent.MaxSlopeAngle;
config.walkableHeight = (int)(navMeshProperties.Agent.Height / config.ch + 0.99f);
config.walkableClimb = (int)(navMeshProperties.Agent.StepHeight / config.ch);
config.walkableRadius = (int)(navMeshProperties.Agent.Radius / config.cs + 0.99f);
config.maxEdgeLen = (int)(settings.MaxEdgeLen / config.cs);
config.maxSimplificationError = settings.MaxEdgeError;
config.minRegionArea = rcSqr(settings.MinRegionArea);
@@ -506,7 +504,9 @@ class NavMeshTileBuildTask : public ThreadPoolTask
{
public:
NavigationScene* Scene;
Scene* Scene;
NavMesh* NavMesh;
NavMeshRuntime* Runtime;
BoundingBox TileBounds;
int32 X;
int32 Y;
@@ -520,7 +520,7 @@ public:
{
PROFILE_CPU_NAMED("BuildNavMeshTile");
if (GenerateTile(Scene, X, Y, TileBounds, TileSize, Config))
if (GenerateTile(NavMesh, Runtime, X, Y, TileBounds, TileSize, Config))
{
LOG(Warning, "Failed to generate navmesh tile at {0}x{1}.", X, Y);
}
@@ -557,7 +557,7 @@ void OnSceneUnloading(Scene* scene, const Guid& sceneId)
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
auto task = NavBuildTasks[i];
if (task->Scene == scene->Navigation)
if (task->Scene == scene)
{
NavBuildTasksLocker.Unlock();
@@ -600,15 +600,16 @@ float NavMeshBuilder::GetNavMeshBuildingProgress()
return result;
}
void BuildTileAsync(NavigationScene* scene, int32 x, int32 y, rcConfig& config, const BoundingBox& tileBounds, float tileSize)
void BuildTileAsync(NavMesh* navMesh, int32 x, int32 y, rcConfig& config, const BoundingBox& tileBounds, float tileSize)
{
NavMeshRuntime* runtime = navMesh->GetRuntime();
NavBuildTasksLocker.Lock();
// Skip if this tile is already during cooking
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
const auto task = NavBuildTasks[i];
if (task->X == x && task->Y == y)
if (task->X == x && task->Y == y && task->Runtime == runtime)
{
NavBuildTasksLocker.Unlock();
return;
@@ -617,7 +618,9 @@ void BuildTileAsync(NavigationScene* scene, int32 x, int32 y, rcConfig& config,
// Create task
auto task = New<NavMeshTileBuildTask>();
task->Scene = scene;
task->Scene = navMesh->GetScene();
task->NavMesh = navMesh;
task->Runtime = runtime;
task->X = x;
task->Y = y;
task->TileBounds = tileBounds;
@@ -632,70 +635,10 @@ void BuildTileAsync(NavigationScene* scene, int32 x, int32 y, rcConfig& config,
task->Start();
}
void BuildWholeScene(NavigationScene* scene)
void BuildDirtyBounds(Scene* scene, NavMesh* navMesh, const BoundingBox& dirtyBounds)
{
const float tileSize = GetTileSize();
const auto navMesh = NavMeshRuntime::Get();
// Compute total navigation area bounds
const BoundingBox worldBounds = scene->GetNavigationBounds();
// Align total bounds to tile size
BoundingBox worldBoundsAligned;
worldBoundsAligned.Minimum = Vector3::Floor(worldBounds.Minimum / tileSize) * tileSize;
worldBoundsAligned.Maximum = Vector3::Ceil(worldBounds.Maximum / tileSize) * tileSize;
// Calculate tiles range for the given navigation world bounds (aligned to tiles size)
const Int3 tilesMin = Int3(worldBoundsAligned.Minimum / tileSize);
const Int3 tilesMax = Int3(worldBoundsAligned.Maximum / tileSize);
const int32 tilesX = tilesMax.X - tilesMin.X;
const int32 tilesY = tilesMax.Z - tilesMin.Z;
{
PROFILE_CPU_NAMED("Prepare");
// Prepare navmesh
navMesh->RemoveTiles(scene);
navMesh->SetTileSize(tileSize);
navMesh->EnsureCapacity(tilesX * tilesY);
// Prepare scene data
scene->Data.TileSize = tileSize;
scene->Data.Tiles.Clear();
scene->Data.Tiles.EnsureCapacity(tilesX * tilesX);
scene->IsDataDirty = true;
}
// Initialize nav mesh configuration
rcConfig config;
InitConfig(config);
// Generate all tiles that intersect with the navigation volume bounds
{
PROFILE_CPU_NAMED("StartBuildingTiles");
for (int32 y = tilesMin.Z; y < tilesMax.Z; y++)
{
for (int32 x = tilesMin.X; x < tilesMax.X; x++)
{
BoundingBox tileBounds;
if (GetNavMeshTileBounds(scene, x, y, tileSize, tileBounds))
{
BuildTileAsync(scene, x, y, config, tileBounds, tileSize);
}
else
{
RemoveTile(navMesh, scene, x, y, 0);
}
}
}
}
}
void BuildDirtyBounds(NavigationScene* scene, const BoundingBox& dirtyBounds)
{
const float tileSize = GetTileSize();
const auto navMesh = NavMeshRuntime::Get();
NavMeshRuntime* runtime = navMesh->GetRuntime();
// Align dirty bounds to tile size
BoundingBox dirtyBoundsAligned;
@@ -703,8 +646,8 @@ void BuildDirtyBounds(NavigationScene* scene, const BoundingBox& dirtyBounds)
dirtyBoundsAligned.Maximum = Vector3::Ceil(dirtyBounds.Maximum / tileSize) * tileSize;
// Calculate tiles range for the given navigation dirty bounds (aligned to tiles size)
const Int3 tilesMin = Int3(dirtyBoundsAligned.Minimum / tileSize);
const Int3 tilesMax = Int3(dirtyBoundsAligned.Maximum / tileSize);
const Int3 tilesMin(dirtyBoundsAligned.Minimum / tileSize);
const Int3 tilesMax(dirtyBoundsAligned.Maximum / tileSize);
const int32 tilesX = tilesMax.X - tilesMin.X;
const int32 tilesY = tilesMax.Z - tilesMin.Z;
@@ -712,28 +655,28 @@ void BuildDirtyBounds(NavigationScene* scene, const BoundingBox& dirtyBounds)
PROFILE_CPU_NAMED("Prepare");
// Prepare scene data and navmesh
if (Math::NotNearEqual(scene->Data.TileSize, tileSize))
if (Math::NotNearEqual(navMesh->Data.TileSize, tileSize))
{
navMesh->RemoveTiles(scene);
navMesh->SetTileSize(tileSize);
navMesh->EnsureCapacity(tilesX * tilesY);
runtime->RemoveTiles(navMesh);
runtime->SetTileSize(tileSize);
runtime->EnsureCapacity(tilesX * tilesY);
scene->Data.TileSize = tileSize;
scene->Data.Tiles.Clear();
scene->Data.Tiles.EnsureCapacity(tilesX * tilesX);
scene->IsDataDirty = true;
navMesh->Data.TileSize = tileSize;
navMesh->Data.Tiles.Clear();
navMesh->Data.Tiles.EnsureCapacity(tilesX * tilesX);
navMesh->IsDataDirty = true;
}
else
{
// Prepare navmesh
navMesh->SetTileSize(tileSize);
navMesh->EnsureCapacity(tilesX * tilesY);
runtime->SetTileSize(tileSize);
runtime->EnsureCapacity(tilesX * tilesY);
}
}
// Initialize nav mesh configuration
rcConfig config;
InitConfig(config);
InitConfig(config, navMesh);
// Generate all tiles that intersect with the navigation volume bounds
{
@@ -746,17 +689,103 @@ void BuildDirtyBounds(NavigationScene* scene, const BoundingBox& dirtyBounds)
BoundingBox tileBounds;
if (GetNavMeshTileBounds(scene, x, y, tileSize, tileBounds))
{
BuildTileAsync(scene, x, y, config, tileBounds, tileSize);
BuildTileAsync(navMesh, x, y, config, tileBounds, tileSize);
}
else
{
RemoveTile(navMesh, scene, x, y, 0);
RemoveTile(navMesh, runtime, x, y, 0);
}
}
}
}
}
void BuildDirtyBounds(Scene* scene, const BoundingBox& dirtyBounds)
{
auto settings = NavigationSettings::Get();
// Sync navmeshes
for (auto& navMeshProperties : settings->NavMeshes)
{
NavMesh* navMesh = nullptr;
for (auto e : scene->NavigationMeshes)
{
if (e->Properties.Name == navMeshProperties.Name)
{
navMesh = e;
break;
}
}
if (navMesh)
{
// Sync settings
auto runtime = navMesh->GetRuntime(false);
navMesh->Properties = navMeshProperties;
if (runtime)
runtime->Properties = navMeshProperties;
}
else if (settings->AutoAddMissingNavMeshes)
{
// Spawn missing navmesh
navMesh = New<NavMesh>();
navMesh->SetStaticFlags(StaticFlags::FullyStatic);
navMesh->SetName(TEXT("NavMesh.") + navMeshProperties.Name);
navMesh->Properties = navMeshProperties;
navMesh->SetParent(scene, false);
}
}
// Build all navmeshes on the scene
for (NavMesh* navMesh : scene->NavigationMeshes)
{
BuildDirtyBounds(scene, navMesh, dirtyBounds);
}
// Remove unused navmeshes
if (settings->AutoRemoveMissingNavMeshes)
{
for (NavMesh* navMesh : scene->NavigationMeshes)
{
// Skip used navmeshes
if (navMesh->Data.Tiles.HasItems())
continue;
// Skip navmeshes during async building
int32 usageCount = 0;
NavBuildTasksLocker.Lock();
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
if (NavBuildTasks[i]->NavMesh == navMesh)
usageCount++;
}
NavBuildTasksLocker.Unlock();
if (usageCount != 0)
continue;
navMesh->DeleteObject();
}
}
}
void BuildWholeScene(Scene* scene)
{
// Compute total navigation area bounds
const BoundingBox worldBounds = scene->GetNavigationBounds();
BuildDirtyBounds(scene, worldBounds);
}
void ClearNavigation(Scene* scene)
{
const bool autoRemoveMissingNavMeshes = NavigationSettings::Get()->AutoRemoveMissingNavMeshes;
for (NavMesh* navMesh : scene->NavigationMeshes)
{
navMesh->ClearData();
if (autoRemoveMissingNavMeshes)
navMesh->DeleteObject();
}
}
void NavMeshBuilder::Update()
{
ScopeLock lock(NavBuildQueueLocker);
@@ -769,15 +798,12 @@ void NavMeshBuilder::Update()
if (now - req.Time >= 0)
{
NavBuildQueue.RemoveAt(i--);
auto scene = req.Scene->Navigation;
const auto scene = req.Scene.Get();
// Early out if scene has no bounds volumes to define nav mesh area
if (scene->Volumes.IsEmpty())
if (scene->NavigationVolumes.IsEmpty())
{
// Cleanup if no navigation to use
scene->Data.TileSize = 0;
scene->Data.Tiles.Resize(0);
scene->IsDataDirty = true;
ClearNavigation(scene);
continue;
}
@@ -797,9 +823,9 @@ void NavMeshBuilder::Update()
void NavMeshBuilder::Build(Scene* scene, float timeoutMs)
{
// Early out if scene is not using navigation
if (scene->Navigation->Volumes.IsEmpty())
if (scene->NavigationVolumes.IsEmpty())
{
scene->Navigation->ClearData();
ClearNavigation(scene);
return;
}
@@ -828,9 +854,9 @@ void NavMeshBuilder::Build(Scene* scene, float timeoutMs)
void NavMeshBuilder::Build(Scene* scene, const BoundingBox& dirtyBounds, float timeoutMs)
{
// Early out if scene is not using navigation
if (scene->Navigation->Volumes.IsEmpty())
if (scene->NavigationVolumes.IsEmpty())
{
scene->Navigation->ClearData();
ClearNavigation(scene);
return;
}