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Refactor engine to support double-precision vectors

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This commit is contained in:
Wojtek Figat
2022-06-13 00:40:32 +02:00
parent f82e370392
commit a881c90b2e
744 changed files with 19062 additions and 12467 deletions
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145
Source/Engine/Navigation/NavMeshRuntime.cpp
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@@ -46,19 +46,16 @@ int32 NavMeshRuntime::GetTilesCapacity() const
bool NavMeshRuntime::FindDistanceToWall(const Vector3& startPosition, NavMeshHit& hitInfo, float maxDistance) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent = Properties.DefaultQueryExtent;
Float3 extent = Properties.DefaultQueryExtent;
Vector3 startPositionNavMesh;
Vector3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Float3 startPositionNavMesh;
Float3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
dtPolyRef startPoly = 0;
query->findNearestPoly(&startPositionNavMesh.X, &extent.X, &filter, &startPoly, nullptr);
@@ -67,15 +64,16 @@ bool NavMeshRuntime::FindDistanceToWall(const Vector3& startPosition, NavMeshHit
return false;
}
if (!dtStatusSucceed(query->findDistanceToWall(startPoly, &startPosition.X, maxDistance, &filter, &hitInfo.Distance, &hitInfo.Position.X, &hitInfo.Normal.X)))
Float3 hitPosition, hitNormal;
if (!dtStatusSucceed(query->findDistanceToWall(startPoly, &startPositionNavMesh.X, maxDistance, &filter, &hitInfo.Distance, &hitPosition.X, &hitNormal.X)))
{
return false;
}
Quaternion invRotation;
Quaternion::Invert(Properties.Rotation, invRotation);
Vector3::Transform(hitInfo.Position, invRotation, hitInfo.Position);
Vector3::Transform(hitInfo.Normal, invRotation, hitInfo.Normal);
Vector3::Transform(hitPosition, invRotation, hitInfo.Position);
Vector3::Transform(hitNormal, invRotation, hitInfo.Normal);
return true;
}
@@ -84,20 +82,17 @@ bool NavMeshRuntime::FindPath(const Vector3& startPosition, const Vector3& endPo
{
resultPath.Clear();
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent = Properties.DefaultQueryExtent;
Float3 extent = Properties.DefaultQueryExtent;
Vector3 startPositionNavMesh, endPositionNavMesh;
Vector3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Vector3::Transform(endPosition, Properties.Rotation, endPositionNavMesh);
Float3 startPositionNavMesh, endPositionNavMesh;
Float3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Float3::Transform(endPosition, Properties.Rotation, endPositionNavMesh);
dtPolyRef startPoly = 0;
query->findNearestPoly(&startPositionNavMesh.X, &extent.X, &filter, &startPoly, nullptr);
@@ -128,22 +123,24 @@ bool NavMeshRuntime::FindPath(const Vector3& startPosition, const Vector3& endPo
// TODO: skip adding 2nd end point if it's not reachable (use navmesh raycast check? or physics check? or local Z distance check?)
resultPath.Resize(2);
resultPath[0] = startPosition;
resultPath[1] = startPositionNavMesh;
query->closestPointOnPolyBoundary(startPoly, &endPositionNavMesh.X, &resultPath[1].X);
query->closestPointOnPolyBoundary(startPoly, &endPositionNavMesh.X, &endPositionNavMesh.X);
resultPath[1] = endPositionNavMesh;
Vector3::Transform(resultPath[1], invRotation, resultPath[1]);
}
else
{
int straightPathCount = 0;
resultPath.EnsureCapacity(NAV_MESH_PATH_MAX_SIZE);
const auto findStraightPathStatus = query->findStraightPath(&startPositionNavMesh.X, &endPositionNavMesh.X, path, pathSize, (float*)resultPath.Get(), nullptr, nullptr, &straightPathCount, resultPath.Capacity(), DT_STRAIGHTPATH_AREA_CROSSINGS);
int pathPointsCount = 0;
Float3 pathPoints[NAV_MESH_PATH_MAX_SIZE];
const auto findStraightPathStatus = query->findStraightPath(&startPositionNavMesh.X, &endPositionNavMesh.X, path, pathSize, (float*)&pathPoints, nullptr, nullptr, &pathPointsCount, NAV_MESH_PATH_MAX_SIZE, DT_STRAIGHTPATH_AREA_CROSSINGS);
if (dtStatusFailed(findStraightPathStatus))
{
return false;
}
resultPath.Resize(straightPathCount);
for (auto& pos : resultPath)
Vector3::Transform(pos, invRotation, pos);
resultPath.Resize(pathPointsCount);
for (int32 i = 0; i < pathPointsCount; i++)
{
Vector3::Transform(pathPoints[i], invRotation, resultPath[i]);
}
}
return true;
@@ -152,20 +149,17 @@ bool NavMeshRuntime::FindPath(const Vector3& startPosition, const Vector3& endPo
bool NavMeshRuntime::TestPath(const Vector3& startPosition, const Vector3& endPosition) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent = Properties.DefaultQueryExtent;
Float3 extent = Properties.DefaultQueryExtent;
Vector3 startPositionNavMesh, endPositionNavMesh;
Vector3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Vector3::Transform(endPosition, Properties.Rotation, endPositionNavMesh);
Float3 startPositionNavMesh, endPositionNavMesh;
Float3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Float3::Transform(endPosition, Properties.Rotation, endPositionNavMesh);
dtPolyRef startPoly = 0;
query->findNearestPoly(&startPositionNavMesh.X, &extent.X, &filter, &startPoly, nullptr);
@@ -199,22 +193,20 @@ bool NavMeshRuntime::TestPath(const Vector3& startPosition, const Vector3& endPo
bool NavMeshRuntime::ProjectPoint(const Vector3& point, Vector3& result) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent = Properties.DefaultQueryExtent;
Float3 extent = Properties.DefaultQueryExtent;
Vector3 pointNavMesh;
Vector3::Transform(point, Properties.Rotation, pointNavMesh);
Float3 pointNavMesh;
Float3::Transform(point, Properties.Rotation, pointNavMesh);
dtPolyRef startPoly = 0;
query->findNearestPoly(&pointNavMesh.X, &extent.X, &filter, &startPoly, &result.X);
Float3 nearestPt;
query->findNearestPoly(&pointNavMesh.X, &extent.X, &filter, &startPoly, &nearestPt.X);
if (!startPoly)
{
return false;
@@ -222,7 +214,7 @@ bool NavMeshRuntime::ProjectPoint(const Vector3& point, Vector3& result) const
Quaternion invRotation;
Quaternion::Invert(Properties.Rotation, invRotation);
Vector3::Transform(result, invRotation, result);
Vector3::Transform(nearestPt, invRotation, result);
return true;
}
@@ -230,18 +222,16 @@ bool NavMeshRuntime::ProjectPoint(const Vector3& point, Vector3& result) const
bool NavMeshRuntime::FindRandomPoint(Vector3& result) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
dtPolyRef randomPoly = 0;
query->findRandomPoint(&filter, Random::Rand, &randomPoly, &result.X);
Float3 randomPt;
query->findRandomPoint(&filter, Random::Rand, &randomPoly, &randomPt.X);
if (!randomPoly)
{
return false;
@@ -249,7 +239,7 @@ bool NavMeshRuntime::FindRandomPoint(Vector3& result) const
Quaternion invRotation;
Quaternion::Invert(Properties.Rotation, invRotation);
Vector3::Transform(result, invRotation, result);
Vector3::Transform(randomPt, invRotation, result);
return true;
}
@@ -257,19 +247,16 @@ bool NavMeshRuntime::FindRandomPoint(Vector3& result) const
bool NavMeshRuntime::FindRandomPointAroundCircle(const Vector3& center, float radius, Vector3& result) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent = Properties.DefaultQueryExtent;
Float3 extent = Properties.DefaultQueryExtent;
Vector3 centerNavMesh;
Vector3::Transform(center, Properties.Rotation, centerNavMesh);
Float3 centerNavMesh;
Float3::Transform(center, Properties.Rotation, centerNavMesh);
dtPolyRef centerPoly = 0;
query->findNearestPoly(&centerNavMesh.X, &extent.X, &filter, &centerPoly, nullptr);
@@ -279,7 +266,8 @@ bool NavMeshRuntime::FindRandomPointAroundCircle(const Vector3& center, float ra
}
dtPolyRef randomPoly = 0;
query->findRandomPointAroundCircle(centerPoly, &centerNavMesh.X, radius, &filter, Random::Rand, &randomPoly, &result.X);
Float3 randomPt;
query->findRandomPointAroundCircle(centerPoly, &centerNavMesh.X, radius, &filter, Random::Rand, &randomPoly, &randomPt.X);
if (!randomPoly)
{
return false;
@@ -287,7 +275,7 @@ bool NavMeshRuntime::FindRandomPointAroundCircle(const Vector3& center, float ra
Quaternion invRotation;
Quaternion::Invert(Properties.Rotation, invRotation);
Vector3::Transform(result, invRotation, result);
Vector3::Transform(randomPt, invRotation, result);
return true;
}
@@ -295,20 +283,17 @@ bool NavMeshRuntime::FindRandomPointAroundCircle(const Vector3& center, float ra
bool NavMeshRuntime::RayCast(const Vector3& startPosition, const Vector3& endPosition, NavMeshHit& hitInfo) const
{
ScopeLock lock(Locker);
const auto query = GetNavMeshQuery();
if (!query || !_navMesh)
{
return false;
}
dtQueryFilter filter;
InitFilter(filter);
Vector3 extent = Properties.DefaultQueryExtent;
Float3 extent = Properties.DefaultQueryExtent;
Vector3 startPositionNavMesh, endPositionNavMesh;
Vector3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Vector3::Transform(endPosition, Properties.Rotation, endPositionNavMesh);
Float3 startPositionNavMesh, endPositionNavMesh;
Float3::Transform(startPosition, Properties.Rotation, startPositionNavMesh);
Float3::Transform(endPosition, Properties.Rotation, endPositionNavMesh);
dtPolyRef startPoly = 0;
query->findNearestPoly(&startPositionNavMesh.X, &extent.X, &filter, &startPoly, nullptr);
@@ -331,7 +316,7 @@ bool NavMeshRuntime::RayCast(const Vector3& startPosition, const Vector3& endPos
hitInfo.Position = startPosition + (endPosition - startPosition) * hit.t;
hitInfo.Distance = hit.t;
}
hitInfo.Normal = *(Vector3*)&hit.hitNormal;
hitInfo.Normal = *(Float3*)&hit.hitNormal;
return result;
}
@@ -358,12 +343,10 @@ void NavMeshRuntime::SetTileSize(float tileSize)
void NavMeshRuntime::EnsureCapacity(int32 tilesToAddCount)
{
ScopeLock lock(Locker);
const int32 newTilesCount = _tiles.Count() + tilesToAddCount;
const int32 capacity = GetTilesCapacity();
if (newTilesCount <= capacity)
return;
PROFILE_CPU_NAMED("NavMeshRuntime.EnsureCapacity");
// Navmesh tiles capacity growing rule
@@ -432,14 +415,11 @@ void NavMeshRuntime::EnsureCapacity(int32 tilesToAddCount)
void NavMeshRuntime::AddTiles(NavMesh* navMesh)
{
// Skip if no data
ASSERT(navMesh);
if (navMesh->Data.Tiles.IsEmpty())
return;
auto& data = navMesh->Data;
PROFILE_CPU_NAMED("NavMeshRuntime.AddTiles");
ScopeLock lock(Locker);
// Validate data (must match navmesh) or init navmesh to match the tiles options
@@ -470,9 +450,7 @@ void NavMeshRuntime::AddTile(NavMesh* navMesh, NavMeshTileData& tileData)
{
ASSERT(navMesh);
auto& data = navMesh->Data;
PROFILE_CPU_NAMED("NavMeshRuntime.AddTile");
ScopeLock lock(Locker);
// Validate data (must match navmesh) or init navmesh to match the tiles options
@@ -509,11 +487,8 @@ void NavMeshRuntime::RemoveTiles(NavMesh* navMesh)
void NavMeshRuntime::RemoveTile(int32 x, int32 y, int32 layer)
{
ScopeLock lock(Locker);
// Skip if no data
if (!_navMesh)
return;
PROFILE_CPU_NAMED("NavMeshRuntime.RemoveTile");
const auto tileRef = _navMesh->getTileRefAt(x, y, layer);
@@ -541,12 +516,9 @@ void NavMeshRuntime::RemoveTile(int32 x, int32 y, int32 layer)
void NavMeshRuntime::RemoveTiles(bool (* prediction)(const NavMeshRuntime* navMesh, const NavMeshTile& tile, void* customData), void* userData)
{
ScopeLock lock(Locker);
// Skip if no data
ASSERT(prediction);
if (!_navMesh)
return;
PROFILE_CPU_NAMED("NavMeshRuntime.RemoveTiles");
for (int32 i = 0; i < _tiles.Count(); i++)
@@ -585,22 +557,22 @@ void DrawPoly(NavMeshRuntime* navMesh, const Matrix& navMeshToWorld, const dtMes
const Color color = Color::Lerp(navMesh->Properties.Color, areaColor, areaColor.A);
const float drawOffsetY = 10.0f + ((float)GetHash(color) / (float)MAX_uint32) * 10.0f; // Apply some offset to prevent Z-fighting for different navmeshes
const Color fillColor = color * 0.5f;
const Color edgesColor = Color::FromHSV(color.ToHSV() + Vector3(20.0f, 0, -0.1f), color.A);
const Color edgesColor = Color::FromHSV(color.ToHSV() + Float3(20.0f, 0, -0.1f), color.A);
for (int i = 0; i < pd.triCount; i++)
{
Vector3 v[3];
Float3 v[3];
const unsigned char* t = &tile.detailTris[(pd.triBase + i) * 4];
for (int k = 0; k < 3; k++)
{
if (t[k] < poly.vertCount)
{
v[k] = *(Vector3*)&tile.verts[poly.verts[t[k]] * 3];
v[k] = *(Float3*)&tile.verts[poly.verts[t[k]] * 3];
}
else
{
v[k] = *(Vector3*)&tile.detailVerts[(pd.vertBase + t[k] - poly.vertCount) * 3];
v[k] = *(Float3*)&tile.detailVerts[(pd.vertBase + t[k] - poly.vertCount) * 3];
}
}
@@ -608,9 +580,9 @@ void DrawPoly(NavMeshRuntime* navMesh, const Matrix& navMeshToWorld, const dtMes
v[1].Y += drawOffsetY;
v[2].Y += drawOffsetY;
Vector3::Transform(v[0], navMeshToWorld, v[0]);
Vector3::Transform(v[1], navMeshToWorld, v[1]);
Vector3::Transform(v[2], navMeshToWorld, v[2]);
Float3::Transform(v[0], navMeshToWorld, v[0]);
Float3::Transform(v[1], navMeshToWorld, v[1]);
Float3::Transform(v[2], navMeshToWorld, v[2]);
DEBUG_DRAW_TRIANGLE(v[0], v[1], v[2], fillColor, 0, true);
}
@@ -618,23 +590,23 @@ void DrawPoly(NavMeshRuntime* navMesh, const Matrix& navMeshToWorld, const dtMes
for (int k = 0; k < pd.triCount; k++)
{
const unsigned char* t = &tile.detailTris[(pd.triBase + k) * 4];
Vector3 v[3];
Float3 v[3];
for (int m = 0; m < 3; m++)
{
if (t[m] < poly.vertCount)
v[m] = *(Vector3*)&tile.verts[poly.verts[t[m]] * 3];
v[m] = *(Float3*)&tile.verts[poly.verts[t[m]] * 3];
else
v[m] = *(Vector3*)&tile.detailVerts[(pd.vertBase + (t[m] - poly.vertCount)) * 3];
v[m] = *(Float3*)&tile.detailVerts[(pd.vertBase + (t[m] - poly.vertCount)) * 3];
}
v[0].Y += drawOffsetY;
v[1].Y += drawOffsetY;
v[2].Y += drawOffsetY;
Vector3::Transform(v[0], navMeshToWorld, v[0]);
Vector3::Transform(v[1], navMeshToWorld, v[1]);
Vector3::Transform(v[2], navMeshToWorld, v[2]);
Float3::Transform(v[0], navMeshToWorld, v[0]);
Float3::Transform(v[1], navMeshToWorld, v[1]);
Float3::Transform(v[2], navMeshToWorld, v[2]);
for (int m = 0, n = 2; m < 3; n = m++)
{
@@ -650,7 +622,6 @@ void DrawPoly(NavMeshRuntime* navMesh, const Matrix& navMeshToWorld, const dtMes
void NavMeshRuntime::DebugDraw()
{
ScopeLock lock(Locker);
const dtNavMesh* dtNavMesh = GetNavMesh();
const int tilesCount = dtNavMesh ? dtNavMesh->getMaxTiles() : 0;
if (tilesCount == 0)