GoaLitiuM/FlaxEngine
1
0
Fork 0
Code Issues Pull Requests Actions 7 Packages Projects Releases Wiki Activity

Refactor NavMesh into NavMeshRuntime and make it internal

Browse Source
This commit is contained in:
Wojtek Figat
2020-12-15 15:48:42 +01:00
parent 3c3e0b93f0
commit 4a79df860d
7 changed files with 65 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files

340
Source/Engine/Navigation/NavMesh.cpp
View File

@@ -1,340 +0,0 @@
// Copyright (c) 2012-2020 Wojciech Figat. All rights reserved.
#include "NavMesh.h"
#include "Engine/Core/Log.h"
#include "NavigationScene.h"
#include "Engine/Profiler/ProfilerCPU.h"
#include "Engine/Threading/Threading.h"
#include <ThirdParty/recastnavigation/DetourNavMesh.h>
#include <ThirdParty/recastnavigation/DetourNavMeshQuery.h>
#define MAX_NODES 2048
#define USE_DATA_LINK 0
#define USE_NAV_MESH_ALLOC 1
NavMesh::NavMesh()
{
_navMesh = nullptr;
_navMeshQuery = dtAllocNavMeshQuery();
_tileSize = 0;
}
NavMesh::~NavMesh()
{
dtFreeNavMesh(_navMesh);
dtFreeNavMeshQuery(_navMeshQuery);
}
int32 NavMesh::GetTilesCapacity() const
{
return _navMesh ? _navMesh->getMaxTiles() : 0;
}
void NavMesh::SetTileSize(float tileSize)
{
ScopeLock lock(Locker);
// Skip if the same or invalid
if (Math::NearEqual(_tileSize, tileSize) || tileSize < 1)
return;
// Dispose the existing mesh (its invalid)
if (_navMesh)
{
dtFreeNavMesh(_navMesh);
_navMesh = nullptr;
_tiles.Clear();
}
_tileSize = tileSize;
}
void NavMesh::EnsureCapacity(int32 tilesToAddCount)
{
ScopeLock lock(Locker);
const int32 newTilesCount = _tiles.Count() + tilesToAddCount;
const int32 capacity = GetTilesCapacity();
if (newTilesCount <= capacity)
return;
PROFILE_CPU_NAMED("NavMesh.EnsureCapacity");
// Navmesh tiles capacity growing rule
int32 newCapacity = 0;
if (capacity)
{
while (newCapacity < newTilesCount)
{
newCapacity = Math::RoundUpToPowerOf2(newCapacity);
}
}
else
{
newCapacity = 32;
}
LOG(Info, "Resizing navmesh from {0} to {1} tiles capacity", capacity, newCapacity);
// Ensure to have size assigned
ASSERT(_tileSize != 0);
// Fre previous data (if any)
if (_navMesh)
{
dtFreeNavMesh(_navMesh);
}
// Allocate new navmesh
_navMesh = dtAllocNavMesh();
if (dtStatusFailed(_navMeshQuery->init(_navMesh, MAX_NODES)))
{
LOG(Fatal, "Failed to initialize nav mesh.");
}
// Prepare parameters
dtNavMeshParams params;
params.orig[0] = 0.0f;
params.orig[1] = 0.0f;
params.orig[2] = 0.0f;
params.tileWidth = _tileSize;
params.tileHeight = _tileSize;
params.maxTiles = newCapacity;
const int32 tilesBits = (int32)Math::Log2((float)Math::RoundUpToPowerOf2(params.maxTiles));
params.maxPolys = 1 << (22 - tilesBits);
// Initialize nav mesh
if (dtStatusFailed(_navMesh->init(&params)))
{
LOG(Fatal, "Navmesh init failed.");
return;
}
// Prepare tiles container
_tiles.EnsureCapacity(newCapacity);
// Restore previous tiles
for (auto& tile : _tiles)
{
const int32 dataSize = tile.Data.Length();
#if USE_NAV_MESH_ALLOC
const auto flags = DT_TILE_FREE_DATA;
const auto data = (byte*)dtAlloc(dataSize, DT_ALLOC_PERM);
Platform::MemoryCopy(data, tile.Data.Get(), dataSize);
#else
const auto flags = 0;
const auto data = tile.Data.Get();
#endif
if (dtStatusFailed(_navMesh->addTile(data, dataSize, flags, 0, nullptr)))
{
LOG(Warning, "Could not add tile to navmesh.");
}
}
}
void NavMesh::AddTiles(NavigationScene* scene)
{
// Skip if no data
ASSERT(scene);
if (scene->Data.Tiles.IsEmpty())
return;
auto& data = scene->Data;
PROFILE_CPU_NAMED("NavMesh.AddTiles");
ScopeLock lock(Locker);
// Validate data (must match navmesh) or init navmesh to match the tiles options
if (_navMesh)
{
if (Math::NotNearEqual(data.TileSize, _tileSize))
{
LOG(Warning, "Cannot add navigation scene tiles to the navmesh. Navmesh tile size: {0}, input tiles size: {1}", _tileSize, data.TileSize);
return;
}
}
else
{
_tileSize = data.TileSize;
}
// Ensure to have space for new tiles
EnsureCapacity(data.Tiles.Count());
// Add new tiles
for (auto& tileData : data.Tiles)
{
AddTileInternal(scene, tileData);
}
}
void NavMesh::AddTile(NavigationScene* scene, NavMeshTileData& tileData)
{
ASSERT(scene);
auto& data = scene->Data;
PROFILE_CPU_NAMED("NavMesh.AddTile");
ScopeLock lock(Locker);
// Validate data (must match navmesh) or init navmesh to match the tiles options
if (_navMesh)
{
if (Math::NotNearEqual(data.TileSize, _tileSize))
{
LOG(Warning, "Cannot add navigation scene tile to the navmesh. Navmesh tile size: {0}, input tile size: {1}", _tileSize, data.TileSize);
return;
}
}
else
{
_tileSize = data.TileSize;
}
// Ensure to have space for new tile
EnsureCapacity(1);
// Add new tile
AddTileInternal(scene, tileData);
}
bool IsTileFromScene(const NavMesh* navMesh, const NavMeshTile& tile, void* customData)
{
return tile.Scene == (NavigationScene*)customData;
}
void NavMesh::RemoveTiles(NavigationScene* scene)
{
RemoveTiles(IsTileFromScene, scene);
}
void NavMesh::RemoveTile(int32 x, int32 y, int32 layer)
{
ScopeLock lock(Locker);
// Skip if no data
if (!_navMesh)
return;
PROFILE_CPU_NAMED("NavMesh.RemoveTile");
const auto tileRef = _navMesh->getTileRefAt(x, y, layer);
if (tileRef == 0)
{
return;
}
if (dtStatusFailed(_navMesh->removeTile(tileRef, nullptr, nullptr)))
{
LOG(Warning, "Failed to remove tile from navmesh.");
}
for (int32 i = 0; i < _tiles.Count(); i++)
{
auto& tile = _tiles[i];
if (tile.X == x && tile.Y == y && tile.Layer == layer)
{
_tiles.RemoveAt(i);
break;
}
}
}
void NavMesh::RemoveTiles(bool (* prediction)(const NavMesh* navMesh, const NavMeshTile& tile, void* customData), void* userData)
{
ScopeLock lock(Locker);
// Skip if no data
ASSERT(prediction);
if (!_navMesh)
return;
PROFILE_CPU_NAMED("NavMesh.RemoveTiles");
for (int32 i = 0; i < _tiles.Count(); i++)
{
auto& tile = _tiles[i];
if (prediction(this, tile, userData))
{
const auto tileRef = _navMesh->getTileRefAt(tile.X, tile.Y, tile.Layer);
if (tileRef == 0)
{
LOG(Warning, "Missing navmesh tile at {0}x{1}, layer: {2}", tile.X, tile.Y, tile.Layer);
}
else
{
if (dtStatusFailed(_navMesh->removeTile(tileRef, nullptr, nullptr)))
{
LOG(Warning, "Failed to remove tile from navmesh.");
}
}
_tiles.RemoveAt(i--);
}
}
}
void NavMesh::Dispose()
{
if (_navMesh)
{
dtFreeNavMesh(_navMesh);
_navMesh = nullptr;
}
_tiles.Resize(0);
}
void NavMesh::AddTileInternal(NavigationScene* scene, NavMeshTileData& tileData)
{
// Check if that tile has been added to navmesh
NavMeshTile* tile = nullptr;
const auto tileRef = _navMesh->getTileRefAt(tileData.PosX, tileData.PosY, tileData.Layer);
if (tileRef)
{
// Remove any existing tile at that location
_navMesh->removeTile(tileRef, nullptr, nullptr);
// Reuse tile data container
for (int32 i = 0; i < _tiles.Count(); i++)
{
auto& e = _tiles[i];
if (e.X == tileData.PosX && e.Y == tileData.PosY && e.Layer == tileData.Layer)
{
tile = &e;
break;
}
}
}
else
{
// Add tile
tile = &_tiles.AddOne();
}
ASSERT(tile);
// Copy tile properties
tile->Scene = scene;
tile->X = tileData.PosX;
tile->Y = tileData.PosY;
tile->Layer = tileData.Layer;
#if USE_DATA_LINK
tile->Data.Link(tileData.Data);
#else
tile->Data.Copy(tileData.Data);
#endif
// Add tile to navmesh
const int32 dataSize = tile->Data.Length();
#if USE_NAV_MESH_ALLOC
const auto flags = DT_TILE_FREE_DATA;
const auto data = (byte*)dtAlloc(dataSize, DT_ALLOC_PERM);
Platform::MemoryCopy(data, tile->Data.Get(), dataSize);
#else
const auto flags = 0;
const auto data = tile->Data.Get();
#endif
if (dtStatusFailed(_navMesh->addTile(data, dataSize, flags, 0, nullptr)))
{
LOG(Warning, "Could not add tile to navmesh.");
}
}