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Optimize NavMesh builder when updating a large number of tiles

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This commit is contained in:
Wojtek Figat
2025-06-18 22:41:26 +02:00
parent 9cfcbfa9d2
commit e41c48f9e5
2 changed files with 176 additions and 84 deletions
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227
Source/Engine/Navigation/NavMeshBuilder.cpp
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@@ -68,6 +68,11 @@ struct Modifier
NavAreaProperties* NavArea;
};
struct TileId
{
int32 X, Y, Layer;
};
struct NavSceneRasterizer
{
NavMesh* NavMesh;
@@ -198,13 +203,15 @@ struct NavSceneRasterizer
// Transform vertices into world space vertex buffer
vb.Resize(vertexCount);
Float3* vbData = vb.Get();
for (int32 i = 0; i < vertexCount; i++)
vb[i] = sphere.Center + vertices[i] * sphere.Radius;
vbData[i] = sphere.Center + vertices[i] * sphere.Radius;
// Generate index buffer
const int32 stride = horizontalSegments + 1;
int32 indexCount = 0;
ib.Resize(verticalSegments * (horizontalSegments + 1) * 6);
int32* ibData = ib.Get();
for (int32 i = 0; i < verticalSegments; i++)
{
const int32 nextI = i + 1;
@@ -212,13 +219,13 @@ struct NavSceneRasterizer
{
const int32 nextJ = (j + 1) % stride;
ib[indexCount++] = i * stride + j;
ib[indexCount++] = nextI * stride + j;
ib[indexCount++] = i * stride + nextJ;
ibData[indexCount++] = i * stride + j;
ibData[indexCount++] = nextI * stride + j;
ibData[indexCount++] = i * stride + nextJ;
ib[indexCount++] = i * stride + nextJ;
ib[indexCount++] = nextI * stride + j;
ib[indexCount++] = nextI * stride + nextJ;
ibData[indexCount++] = i * stride + nextJ;
ibData[indexCount++] = nextI * stride + j;
ibData[indexCount++] = nextI * stride + nextJ;
}
}
}
@@ -335,54 +342,8 @@ struct NavSceneRasterizer
}
};
// 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(Scene* scene, NavMesh* navMesh, int32 x, int32 y, float tileSize, BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh)
{
// Build initial tile bounds (with infinite extent)
tileBoundsNavMesh.Minimum.X = (float)x * tileSize;
tileBoundsNavMesh.Minimum.Y = -NAV_MESH_TILE_MAX_EXTENT;
tileBoundsNavMesh.Minimum.Z = (float)y * tileSize;
tileBoundsNavMesh.Maximum.X = tileBoundsNavMesh.Minimum.X + tileSize;
tileBoundsNavMesh.Maximum.Y = NAV_MESH_TILE_MAX_EXTENT;
tileBoundsNavMesh.Maximum.Z = tileBoundsNavMesh.Minimum.Z + tileSize;
// Check if any navmesh volume intersects with the tile
bool foundAnyVolume = false;
Vector2 rangeY;
for (int32 i = 0; i < scene->Navigation.Volumes.Count(); i++)
{
const auto volume = scene->Navigation.Volumes[i];
if (!volume->AgentsMask.IsNavMeshSupported(navMesh->Properties))
continue;
const auto& volumeBounds = volume->GetBox();
BoundingBox volumeBoundsNavMesh;
BoundingBox::Transform(volumeBounds, worldToNavMesh, volumeBoundsNavMesh);
if (volumeBoundsNavMesh.Intersects(tileBoundsNavMesh))
{
if (foundAnyVolume)
{
rangeY.X = Math::Min(rangeY.X, volumeBoundsNavMesh.Minimum.Y);
rangeY.Y = Math::Max(rangeY.Y, volumeBoundsNavMesh.Maximum.Y);
}
else
{
rangeY.X = volumeBoundsNavMesh.Minimum.Y;
rangeY.Y = volumeBoundsNavMesh.Maximum.Y;
}
foundAnyVolume = true;
}
}
if (foundAnyVolume)
{
// Build proper tile bounds
tileBoundsNavMesh.Minimum.Y = rangeY.X;
tileBoundsNavMesh.Maximum.Y = rangeY.Y;
}
return foundAnyVolume;
}
void CancelNavMeshTileBuildTasks(NavMeshRuntime* runtime);
void CancelNavMeshTileBuildTasks(NavMeshRuntime* runtime, int32 x, int32 y);
void RemoveTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, int32 layer)
{
@@ -404,9 +365,10 @@ void RemoveTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, int
runtime->RemoveTile(x, y, layer);
}
bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, float tileSize, rcConfig& config)
bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, float tileSize, rcConfig& config, Task* task)
{
rcContext context;
context.enableLog(false);
int32 layer = 0;
// Expand tile bounds by a certain margin
@@ -464,6 +426,9 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
}
}
if (task->IsCancelRequested())
return false;
{
PROFILE_CPU_NAMED("FilterHeightfield");
rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, *heightfield);
@@ -507,6 +472,9 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
}
}
if (task->IsCancelRequested())
return false;
{
PROFILE_CPU_NAMED("BuildDistanceField");
if (!rcBuildDistanceField(&context, *compactHeightfield))
@@ -648,6 +616,9 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
params.offMeshConUserID = offMeshId.Get();
}
if (task->IsCancelRequested())
return false;
// Generate navmesh tile data
unsigned char* navData = nullptr;
int navDataSize = 0;
@@ -661,6 +632,7 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
}
ASSERT_LOW_LAYER(navDataSize > 4 && *(uint32*)navData == DT_NAVMESH_MAGIC); // Sanity check for Detour header
if (!task->IsCancelRequested())
{
PROFILE_CPU_NAMED("CreateTiles");
ScopeLock lock(runtime->Locker);
@@ -762,7 +734,7 @@ public:
const auto navMesh = NavMesh.Get();
if (!navMesh)
return false;
if (GenerateTile(NavMesh, Runtime, X, Y, TileBoundsNavMesh, WorldToNavMesh, TileSize, Config))
if (GenerateTile(NavMesh, Runtime, X, Y, TileBoundsNavMesh, WorldToNavMesh, TileSize, Config, this))
{
LOG(Warning, "Failed to generate navmesh tile at {0}x{1}.", X, Y);
}
@@ -779,6 +751,50 @@ public:
}
};
void CancelNavMeshTileBuildTasks(NavMeshRuntime* runtime)
{
NavBuildTasksLocker.Lock();
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
auto task = NavBuildTasks[i];
if (task->Runtime == runtime)
{
NavBuildTasksLocker.Unlock();
// Cancel task but without locking queue from this thread to prevent deadlocks
task->Cancel();
NavBuildTasksLocker.Lock();
i--;
if (NavBuildTasks.IsEmpty())
break;
}
}
NavBuildTasksLocker.Unlock();
}
void CancelNavMeshTileBuildTasks(NavMeshRuntime* runtime, int32 x, int32 y)
{
NavBuildTasksLocker.Lock();
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
auto task = NavBuildTasks[i];
if (task->Runtime == runtime && task->X == x && task->Y == y)
{
NavBuildTasksLocker.Unlock();
// Cancel task but without locking queue from this thread to prevent deadlocks
task->Cancel();
NavBuildTasksLocker.Lock();
i--;
if (NavBuildTasks.IsEmpty())
break;
}
}
NavBuildTasksLocker.Unlock();
}
void OnSceneUnloading(Scene* scene, const Guid& sceneId)
{
// Cancel pending build requests
@@ -843,14 +859,15 @@ float NavMeshBuilder::GetNavMeshBuildingProgress()
void BuildTileAsync(NavMesh* navMesh, const int32 x, const int32 y, const rcConfig& config, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, float tileSize)
{
PROFILE_CPU();
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 && task->Runtime == runtime)
const auto task = NavBuildTasks.Get()[i];
if (task->GetState() == TaskState::Queued && task->X == x && task->Y == y && task->Runtime == runtime)
{
NavBuildTasksLocker.Unlock();
return;
@@ -899,11 +916,16 @@ void BuildDirtyBounds(Scene* scene, NavMesh* navMesh, const BoundingBox& dirtyBo
{
PROFILE_CPU_NAMED("Prepare");
runtime->Locker.Lock();
// Prepare scene data and navmesh
rebuild |= Math::NotNearEqual(navMesh->Data.TileSize, tileSize);
if (rebuild)
{
runtime->Locker.Unlock();
CancelNavMeshTileBuildTasks(runtime);
runtime->Locker.Lock();
// Remove all tiles from navmesh runtime
runtime->RemoveTiles(navMesh);
runtime->SetTileSize(tileSize);
@@ -918,9 +940,10 @@ void BuildDirtyBounds(Scene* scene, NavMesh* navMesh, const BoundingBox& dirtyBo
else
{
// Ensure to have enough memory for tiles
runtime->SetTileSize(tileSize);
runtime->EnsureCapacity(tilesX * tilesY);
}
runtime->Locker.Unlock();
}
// Initialize nav mesh configuration
@@ -931,21 +954,93 @@ void BuildDirtyBounds(Scene* scene, NavMesh* navMesh, const BoundingBox& dirtyBo
{
PROFILE_CPU_NAMED("StartBuildingTiles");
// Cache navmesh volumes
Array<BoundingBox, InlinedAllocation<8>> volumes;
for (int32 i = 0; i < scene->Navigation.Volumes.Count(); i++)
{
const auto volume = scene->Navigation.Volumes.Get()[i];
if (!volume->AgentsMask.IsNavMeshSupported(navMesh->Properties) ||
!volume->GetBox().Intersects(dirtyBoundsAligned))
continue;
auto& bounds = volumes.AddOne();
BoundingBox::Transform(volume->GetBox(), worldToNavMesh, bounds);
}
Array<TileId> unusedTiles;
Array<Pair<TileId, BoundingBox>> usedTiles;
for (int32 y = tilesMin.Z; y < tilesMax.Z; y++)
{
for (int32 x = tilesMin.X; x < tilesMax.X; x++)
{
// Build initial tile bounds (with infinite extent)
BoundingBox tileBoundsNavMesh;
if (GetNavMeshTileBounds(scene, navMesh, x, y, tileSize, tileBoundsNavMesh, worldToNavMesh))
tileBoundsNavMesh.Minimum.X = (float)x * tileSize;
tileBoundsNavMesh.Minimum.Y = -NAV_MESH_TILE_MAX_EXTENT;
tileBoundsNavMesh.Minimum.Z = (float)y * tileSize;
tileBoundsNavMesh.Maximum.X = tileBoundsNavMesh.Minimum.X + tileSize;
tileBoundsNavMesh.Maximum.Y = NAV_MESH_TILE_MAX_EXTENT;
tileBoundsNavMesh.Maximum.Z = tileBoundsNavMesh.Minimum.Z + tileSize;
// Check if any navmesh volume intersects with the tile
bool foundAnyVolume = false;
Vector2 rangeY;
for (const auto& bounds : volumes)
{
BuildTileAsync(navMesh, x, y, config, tileBoundsNavMesh, worldToNavMesh, tileSize);
if (bounds.Intersects(tileBoundsNavMesh))
{
if (foundAnyVolume)
{
rangeY.X = Math::Min(rangeY.X, bounds.Minimum.Y);
rangeY.Y = Math::Max(rangeY.Y, bounds.Maximum.Y);
}
else
{
rangeY.X = bounds.Minimum.Y;
rangeY.Y = bounds.Maximum.Y;
foundAnyVolume = true;
}
}
}
// Check if tile is intersecting with any navmesh bounds volume actor - which means tile is in use
if (foundAnyVolume)
{
// Setup proper tile bounds
tileBoundsNavMesh.Minimum.Y = rangeY.X;
tileBoundsNavMesh.Maximum.Y = rangeY.Y;
usedTiles.Add({ { x, y, 0 }, tileBoundsNavMesh });
}
else
{
RemoveTile(navMesh, runtime, x, y, 0);
unusedTiles.Add({ x, y, 0 });
}
}
}
// Remove unused tiles
{
PROFILE_CPU_NAMED("RemoveUnused");
for (const auto& tile : unusedTiles)
{
// Wait for any async tasks that are producing this tile
CancelNavMeshTileBuildTasks(runtime, tile.X, tile.Y);
}
runtime->Locker.Lock();
for (const auto& tile : unusedTiles)
{
RemoveTile(navMesh, runtime, tile.X, tile.Y, 0);
}
runtime->Locker.Unlock();
}
// Build used tiles
{
PROFILE_CPU_NAMED("AddNew");
for (const auto& e : usedTiles)
{
BuildTileAsync(navMesh, e.First.X, e.First.Y, config, e.Second, worldToNavMesh, tileSize);
}
}
}
}
@@ -1025,7 +1120,7 @@ void BuildDirtyBounds(Scene* scene, const BoundingBox& dirtyBounds, bool rebuild
NavBuildTasksLocker.Lock();
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
if (NavBuildTasks[i]->NavMesh == navMesh)
if (NavBuildTasks.Get()[i]->NavMesh == navMesh)
usageCount++;
}
NavBuildTasksLocker.Unlock();
@@ -1064,7 +1159,7 @@ void NavMeshBuilder::Update()
const auto now = DateTime::NowUTC();
for (int32 i = 0; NavBuildQueue.HasItems() && i < NavBuildQueue.Count(); i++)
{
auto req = NavBuildQueue[i];
auto req = NavBuildQueue.Get()[i];
if (now - req.Time >= 0)
{
NavBuildQueue.RemoveAt(i--);
@@ -1118,7 +1213,7 @@ void NavMeshBuilder::Build(Scene* scene, float timeoutMs)
for (int32 i = 0; i < NavBuildQueue.Count(); i++)
{
auto& e = NavBuildQueue[i];
auto& e = NavBuildQueue.Get()[i];
if (e.Scene == scene && e.DirtyBounds == req.DirtyBounds)
{
e = req;

33
Source/Engine/Navigation/NavMeshRuntime.cpp
View File

@@ -15,6 +15,19 @@
#define USE_DATA_LINK 0
#define USE_NAV_MESH_ALLOC 0
#if USE_NAV_MESH_ALLOC
#define GET_NAV_TILE_DATA(tile) \
const int32 dataSize = (tile).Data.Length(); \
const auto flags = DT_TILE_FREE_DATA; \
const auto data = (byte*)dtAlloc(dataSize, DT_ALLOC_PERM); \
Platform::MemoryCopy(data, (tile).Data.Get(), dataSize)
#else
#define GET_NAV_TILE_DATA(tile) \
const int32 dataSize = (tile).Data.Length(); \
const auto flags = 0; \
const auto data = (tile).Data.Get()
#endif
namespace
{
FORCE_INLINE void InitFilter(dtQueryFilter& filter)
@@ -353,15 +366,7 @@ void NavMeshRuntime::EnsureCapacity(int32 tilesToAddCount)
// 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
GET_NAV_TILE_DATA(tile);
const auto result = _navMesh->addTile(data, dataSize, flags, 0, nullptr);
if (dtStatusFailed(result))
{
@@ -661,15 +666,7 @@ void NavMeshRuntime::AddTileInternal(NavMesh* navMesh, NavMeshTileData& tileData
#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
GET_NAV_TILE_DATA(*tile);
const auto result = _navMesh->addTile(data, dataSize, flags, 0, nullptr);
if (dtStatusFailed(result))
{