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Optimize navmesh building and reduce scene lock time

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This commit is contained in:
Wojtek Figat
2024-05-09 18:58:47 +02:00
parent dc1f15f18d
commit f6aabf2d14
10 changed files with 245 additions and 148 deletions
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293
Source/Engine/Navigation/NavMeshBuilder.cpp
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@@ -23,7 +23,6 @@
#include "Engine/Profiler/ProfilerCPU.h"
#include "Engine/Level/Scene/Scene.h"
#include "Engine/Level/Level.h"
#include "Engine/Level/SceneQuery.h"
#include <ThirdParty/recastnavigation/Recast.h>
#include <ThirdParty/recastnavigation/DetourNavMeshBuilder.h>
#include <ThirdParty/recastnavigation/DetourNavMesh.h>
@@ -68,7 +67,7 @@ struct Modifier
NavAreaProperties* NavArea;
};
struct NavigationSceneRasterization
struct NavSceneRasterizer
{
NavMesh* NavMesh;
BoundingBox TileBoundsNavMesh;
@@ -83,7 +82,7 @@ struct NavigationSceneRasterization
Array<Modifier>* Modifiers;
const bool IsWorldToNavMeshIdentity;
NavigationSceneRasterization(::NavMesh* navMesh, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, rcContext* context, rcConfig* config, rcHeightfield* heightfield, Array<OffMeshLink>* offMeshLinks, Array<Modifier>* modifiers)
NavSceneRasterizer(::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())
@@ -103,35 +102,20 @@ struct NavigationSceneRasterization
auto& ib = IndexBuffer;
if (vb.IsEmpty() || ib.IsEmpty())
return;
PROFILE_CPU();
// Rasterize triangles
const Float3* vbData = vb.Get();
const int32* ibData = ib.Get();
Float3 v0, v1, v2;
if (IsWorldToNavMeshIdentity)
{
// Faster path
for (int32 i0 = 0; i0 < ib.Count();)
{
auto v0 = vb[ib[i0++]];
auto v1 = vb[ib[i0++]];
auto v2 = vb[ib[i0++]];
#if NAV_MESH_BUILD_DEBUG_DRAW_GEOMETRY
DEBUG_DRAW_TRIANGLE(v0, v1, v2, Color::Orange.AlphaMultiplied(0.3f), 1.0f, true);
#endif
auto n = Float3::Cross(v0 - v1, v0 - v2);
n.Normalize();
const char area = n.Y > WalkableThreshold ? RC_WALKABLE_AREA : 0;
rcRasterizeTriangle(Context, &v0.X, &v1.X, &v2.X, area, *Heightfield);
}
}
else
{
// Transform vertices from world space into the navmesh space
const Matrix worldToNavMesh = WorldToNavMesh;
for (int32 i0 = 0; i0 < ib.Count();)
{
auto v0 = Float3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v1 = Float3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v2 = Float3::Transform(vb[ib[i0++]], worldToNavMesh);
v0 = vbData[ibData[i0++]];
v1 = vbData[ibData[i0++]];
v2 = vbData[ibData[i0++]];
#if NAV_MESH_BUILD_DEBUG_DRAW_GEOMETRY
DEBUG_DRAW_TRIANGLE(v0, v1, v2, Color::Orange.AlphaMultiplied(0.3f), 1.0f, true);
#endif
@@ -142,6 +126,29 @@ struct NavigationSceneRasterization
rcRasterizeTriangle(Context, &v0.X, &v1.X, &v2.X, area, *Heightfield);
}
}
else
{
// Transform vertices from world space into the navmesh space
const Matrix worldToNavMesh = WorldToNavMesh;
for (int32 i0 = 0; i0 < ib.Count();)
{
Float3::Transform(vbData[ibData[i0++]], worldToNavMesh, v0);
Float3::Transform(vbData[ibData[i0++]], worldToNavMesh, v1);
Float3::Transform(vbData[ibData[i0++]], worldToNavMesh, v2);
#if NAV_MESH_BUILD_DEBUG_DRAW_GEOMETRY
DEBUG_DRAW_TRIANGLE(v0, v1, v2, Color::Orange.AlphaMultiplied(0.3f), 1.0f, true);
#endif
auto n = Float3::Cross(v0 - v1, v0 - v2);
n.Normalize();
const char area = n.Y > WalkableThreshold ? RC_WALKABLE_AREA : RC_NULL_AREA;
rcRasterizeTriangle(Context, &v0.X, &v1.X, &v2.X, area, *Heightfield);
}
}
// Clear after use
vb.Clear();
ib.Clear();
}
static void TriangulateBox(Array<Float3>& vb, Array<int32>& ib, const OrientedBoundingBox& box)
@@ -215,88 +222,67 @@ struct NavigationSceneRasterization
}
}
static bool Walk(Actor* actor, NavigationSceneRasterization& e)
void Rasterize(Actor* actor)
{
// Early out if object is not intersecting with the tile bounds or is not using navigation
if (!actor->GetIsActive() || !(actor->GetStaticFlags() & StaticFlags::Navigation))
return true;
BoundingBox actorBoxNavMesh;
BoundingBox::Transform(actor->GetBox(), e.WorldToNavMesh, actorBoxNavMesh);
if (!actorBoxNavMesh.Intersects(e.TileBoundsNavMesh))
return true;
// Prepare buffers (for triangles)
auto& vb = e.VertexBuffer;
auto& ib = e.IndexBuffer;
vb.Clear();
ib.Clear();
// Extract data from the actor
if (const auto* boxCollider = dynamic_cast<BoxCollider*>(actor))
{
if (boxCollider->GetIsTrigger())
return true;
return;
PROFILE_CPU_NAMED("BoxCollider");
const OrientedBoundingBox box = boxCollider->GetOrientedBox();
TriangulateBox(vb, ib, box);
e.RasterizeTriangles();
TriangulateBox(VertexBuffer, IndexBuffer, box);
RasterizeTriangles();
}
else if (const auto* sphereCollider = dynamic_cast<SphereCollider*>(actor))
{
if (sphereCollider->GetIsTrigger())
return true;
return;
PROFILE_CPU_NAMED("SphereCollider");
const BoundingSphere sphere = sphereCollider->GetSphere();
TriangulateSphere(vb, ib, sphere);
e.RasterizeTriangles();
TriangulateSphere(VertexBuffer, IndexBuffer, sphere);
RasterizeTriangles();
}
else if (const auto* capsuleCollider = dynamic_cast<CapsuleCollider*>(actor))
{
if (capsuleCollider->GetIsTrigger())
return true;
return;
PROFILE_CPU_NAMED("CapsuleCollider");
const BoundingBox box = capsuleCollider->GetBox();
TriangulateBox(vb, ib, box);
e.RasterizeTriangles();
TriangulateBox(VertexBuffer, IndexBuffer, box);
RasterizeTriangles();
}
else if (const auto* meshCollider = dynamic_cast<MeshCollider*>(actor))
{
if (meshCollider->GetIsTrigger())
return true;
return;
PROFILE_CPU_NAMED("MeshCollider");
auto collisionData = meshCollider->CollisionData.Get();
if (!collisionData || collisionData->WaitForLoaded())
return true;
collisionData->ExtractGeometry(vb, ib);
return;
collisionData->ExtractGeometry(VertexBuffer, IndexBuffer);
Matrix meshColliderToWorld;
meshCollider->GetLocalToWorldMatrix(meshColliderToWorld);
for (auto& v : vb)
for (auto& v : VertexBuffer)
Float3::Transform(v, meshColliderToWorld, v);
e.RasterizeTriangles();
RasterizeTriangles();
}
else if (const auto* splineCollider = dynamic_cast<SplineCollider*>(actor))
{
if (splineCollider->GetIsTrigger())
return true;
return;
PROFILE_CPU_NAMED("SplineCollider");
auto collisionData = splineCollider->CollisionData.Get();
if (!collisionData || collisionData->WaitForLoaded())
return true;
return;
splineCollider->ExtractGeometry(vb, ib);
e.RasterizeTriangles();
splineCollider->ExtractGeometry(VertexBuffer, IndexBuffer);
RasterizeTriangles();
}
else if (const auto* terrain = dynamic_cast<Terrain*>(actor))
{
@@ -306,13 +292,13 @@ struct NavigationSceneRasterization
{
const auto patch = terrain->GetPatch(patchIndex);
BoundingBox patchBoundsNavMesh;
BoundingBox::Transform(patch->GetBounds(), e.WorldToNavMesh, patchBoundsNavMesh);
if (!patchBoundsNavMesh.Intersects(e.TileBoundsNavMesh))
BoundingBox::Transform(patch->GetBounds(), WorldToNavMesh, patchBoundsNavMesh);
if (!patchBoundsNavMesh.Intersects(TileBoundsNavMesh))
continue;
patch->ExtractCollisionGeometry(vb, ib);
e.RasterizeTriangles();
// TODO: get collision only from tile area
patch->ExtractCollisionGeometry(VertexBuffer, IndexBuffer);
RasterizeTriangles();
}
}
else if (const auto* navLink = dynamic_cast<NavLink*>(actor))
@@ -321,44 +307,33 @@ struct NavigationSceneRasterization
OffMeshLink link;
link.Start = navLink->GetTransform().LocalToWorld(navLink->Start);
Float3::Transform(link.Start, e.WorldToNavMesh, link.Start);
Float3::Transform(link.Start, WorldToNavMesh, link.Start);
link.End = navLink->GetTransform().LocalToWorld(navLink->End);
Float3::Transform(link.End, e.WorldToNavMesh, link.End);
Float3::Transform(link.End, WorldToNavMesh, link.End);
link.Radius = navLink->Radius;
link.BiDir = navLink->BiDirectional;
link.Id = GetHash(navLink->GetID());
e.OffMeshLinks->Add(link);
OffMeshLinks->Add(link);
}
else if (const auto* navModifierVolume = dynamic_cast<NavModifierVolume*>(actor))
{
if (navModifierVolume->AgentsMask.IsNavMeshSupported(e.NavMesh->Properties))
if (navModifierVolume->AgentsMask.IsNavMeshSupported(NavMesh->Properties))
{
PROFILE_CPU_NAMED("NavModifierVolume");
Modifier modifier;
OrientedBoundingBox bounds = navModifierVolume->GetOrientedBox();
bounds.Transform(e.WorldToNavMesh);
bounds.Transform(WorldToNavMesh);
bounds.GetBoundingBox(modifier.Bounds);
modifier.NavArea = navModifierVolume->GetNavArea();
e.Modifiers->Add(modifier);
Modifiers->Add(modifier);
}
}
return true;
}
};
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(navMesh, tileBoundsNavMesh, worldToNavMesh, context, config, heightfield, offMeshLinks, modifiers);
Function<bool(Actor*, NavigationSceneRasterization&)> treeWalkFunction(NavigationSceneRasterization::Walk);
SceneQuery::TreeExecute<NavigationSceneRasterization&>(treeWalkFunction, rasterization);
}
// 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)
@@ -455,11 +430,44 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
Array<OffMeshLink> offMeshLinks;
Array<Modifier> modifiers;
RasterizeGeometry(navMesh, tileBoundsNavMesh, worldToNavMesh, &context, &config, heightfield, &offMeshLinks, &modifiers);
{
PROFILE_CPU_NAMED("RasterizeGeometry");
NavSceneRasterizer rasterizer(navMesh, tileBoundsNavMesh, worldToNavMesh, &context, &config, heightfield, &offMeshLinks, &modifiers);
rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, *heightfield);
rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, *heightfield);
rcFilterWalkableLowHeightSpans(&context, config.walkableHeight, *heightfield);
// Collect actors to rasterize
Array<Actor*> actors;
{
PROFILE_CPU_NAMED("CollectActors");
ScopeLock lock(Level::ScenesLock);
for (Scene* scene : Level::Scenes)
{
for (Actor* actor : scene->Navigation.Actors)
{
BoundingBox actorBoxNavMesh;
BoundingBox::Transform(actor->GetBox(), rasterizer.WorldToNavMesh, actorBoxNavMesh);
if (actorBoxNavMesh.Intersects(rasterizer.TileBoundsNavMesh) &&
actor->IsActiveInHierarchy() &&
EnumHasAllFlags(actor->GetStaticFlags(), StaticFlags::Navigation))
{
actors.Add(actor);
}
}
}
}
// Rasterize actors
for (Actor* actor : actors)
{
rasterizer.Rasterize(actor);
}
}
{
PROFILE_CPU_NAMED("FilterHeightfield");
rcFilterLowHangingWalkableObstacles(&context, config.walkableClimb, *heightfield);
rcFilterLedgeSpans(&context, config.walkableHeight, config.walkableClimb, *heightfield);
rcFilterWalkableLowHeightSpans(&context, config.walkableHeight, *heightfield);
}
rcCompactHeightfield* compactHeightfield = rcAllocCompactHeightfield();
if (!compactHeightfield)
@@ -467,39 +475,51 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
LOG(Warning, "Could not generate navmesh: Out of memory compact heightfield.");
return true;
}
if (!rcBuildCompactHeightfield(&context, config.walkableHeight, config.walkableClimb, *heightfield, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not build compact data.");
return true;
PROFILE_CPU_NAMED("CompactHeightfield");
if (!rcBuildCompactHeightfield(&context, config.walkableHeight, config.walkableClimb, *heightfield, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not build compact data.");
return true;
}
}
rcFreeHeightField(heightfield);
if (!rcErodeWalkableArea(&context, config.walkableRadius, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not erode.");
return true;
PROFILE_CPU_NAMED("ErodeWalkableArea");
if (!rcErodeWalkableArea(&context, config.walkableRadius, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not erode.");
return true;
}
}
// Mark areas
for (auto& modifier : modifiers)
{
const unsigned char areaId = modifier.NavArea ? modifier.NavArea->Id : RC_NULL_AREA;
Float3 bMin = modifier.Bounds.Minimum;
Float3 bMax = modifier.Bounds.Maximum;
rcMarkBoxArea(&context, &bMin.X, &bMax.X, areaId, *compactHeightfield);
PROFILE_CPU_NAMED("MarkModifiers");
for (auto& modifier : modifiers)
{
const unsigned char areaId = modifier.NavArea ? modifier.NavArea->Id : RC_NULL_AREA;
Float3 bMin = modifier.Bounds.Minimum;
Float3 bMax = modifier.Bounds.Maximum;
rcMarkBoxArea(&context, &bMin.X, &bMax.X, areaId, *compactHeightfield);
}
}
if (!rcBuildDistanceField(&context, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not build distance field.");
return true;
PROFILE_CPU_NAMED("BuildDistanceField");
if (!rcBuildDistanceField(&context, *compactHeightfield))
{
LOG(Warning, "Could not generate navmesh: Could not build distance field.");
return true;
}
}
if (!rcBuildRegions(&context, *compactHeightfield, config.borderSize, config.minRegionArea, config.mergeRegionArea))
{
LOG(Warning, "Could not generate navmesh: Could not build regions.");
return true;
PROFILE_CPU_NAMED("BuildRegions");
if (!rcBuildRegions(&context, *compactHeightfield, config.borderSize, config.minRegionArea, config.mergeRegionArea))
{
LOG(Warning, "Could not generate navmesh: Could not build regions.");
return true;
}
}
rcContourSet* contourSet = rcAllocContourSet();
@@ -508,10 +528,13 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
LOG(Warning, "Could not generate navmesh: Out of memory for contour set.");
return true;
}
if (!rcBuildContours(&context, *compactHeightfield, config.maxSimplificationError, config.maxEdgeLen, *contourSet))
{
LOG(Warning, "Could not generate navmesh: Could not create contours.");
return true;
PROFILE_CPU_NAMED("BuildContours");
if (!rcBuildContours(&context, *compactHeightfield, config.maxSimplificationError, config.maxEdgeLen, *contourSet))
{
LOG(Warning, "Could not generate navmesh: Could not create contours.");
return true;
}
}
rcPolyMesh* polyMesh = rcAllocPolyMesh();
@@ -520,10 +543,13 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
LOG(Warning, "Could not generate navmesh: Out of memory for poly mesh.");
return true;
}
if (!rcBuildPolyMesh(&context, *contourSet, config.maxVertsPerPoly, *polyMesh))
{
LOG(Warning, "Could not generate navmesh: Could not triangulate contours.");
return true;
PROFILE_CPU_NAMED("BuildPolyMesh");
if (!rcBuildPolyMesh(&context, *contourSet, config.maxVertsPerPoly, *polyMesh))
{
LOG(Warning, "Could not generate navmesh: Could not triangulate contours.");
return true;
}
}
rcPolyMeshDetail* detailMesh = rcAllocPolyMeshDetail();
@@ -532,20 +558,20 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
LOG(Warning, "Could not generate navmesh: Out of memory for detail mesh.");
return true;
}
if (!rcBuildPolyMeshDetail(&context, *polyMesh, *compactHeightfield, config.detailSampleDist, config.detailSampleMaxError, *detailMesh))
{
LOG(Warning, "Could not generate navmesh: Could not build detail mesh.");
return true;
PROFILE_CPU_NAMED("BuildPolyMeshDetail");
if (!rcBuildPolyMeshDetail(&context, *polyMesh, *compactHeightfield, config.detailSampleDist, config.detailSampleMaxError, *detailMesh))
{
LOG(Warning, "Could not generate navmesh: Could not build detail mesh.");
return true;
}
}
rcFreeCompactHeightfield(compactHeightfield);
rcFreeContourSet(contourSet);
for (int i = 0; i < polyMesh->npolys; i++)
{
polyMesh->flags[i] = polyMesh->areas[i] != RC_NULL_AREA ? 1 : 0;
}
if (polyMesh->nverts == 0)
{
// Empty tile
@@ -623,15 +649,18 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
// Generate navmesh tile data
unsigned char* navData = nullptr;
int navDataSize = 0;
if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
{
LOG(Warning, "Could not build Detour navmesh.");
return true;
PROFILE_CPU_NAMED("CreateNavMeshData");
if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
{
LOG(Warning, "Could not build Detour navmesh.");
return true;
}
}
ASSERT_LOW_LAYER(navDataSize > 4 && *(uint32*)navData == DT_NAVMESH_MAGIC); // Sanity check for Detour header
{
PROFILE_CPU_NAMED("Navigation.CreateTile");
PROFILE_CPU_NAMED("CreateTiles");
ScopeLock lock(runtime->Locker);
@@ -729,17 +758,13 @@ public:
bool Run() override
{
PROFILE_CPU_NAMED("BuildNavMeshTile");
const auto navMesh = NavMesh.Get();
if (!navMesh)
{
return false;
}
if (GenerateTile(NavMesh, Runtime, X, Y, TileBoundsNavMesh, WorldToNavMesh, TileSize, Config))
{
LOG(Warning, "Failed to generate navmesh tile at {0}x{1}.", X, Y);
}
return false;
}
@@ -776,7 +801,7 @@ void OnSceneUnloading(Scene* scene, const Guid& sceneId)
{
NavBuildTasksLocker.Unlock();
// Cancel task but without locking queue from this thread to prevent dead-locks
// Cancel task but without locking queue from this thread to prevent deadlocks
task->Cancel();
NavBuildTasksLocker.Lock();
@@ -815,7 +840,7 @@ float NavMeshBuilder::GetNavMeshBuildingProgress()
return result;
}
void BuildTileAsync(NavMesh* navMesh, int32 x, int32 y, rcConfig& config, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, float tileSize)
void BuildTileAsync(NavMesh* navMesh, const int32 x, const int32 y, const rcConfig& config, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, float tileSize)
{
NavMeshRuntime* runtime = navMesh->GetRuntime();
NavBuildTasksLocker.Lock();
@@ -1108,7 +1133,7 @@ void NavMeshBuilder::Build(Scene* scene, const BoundingBox& dirtyBounds, float t
if (!scene)
{
LOG(Warning, "Could not generate navmesh without scene.");
return;
return;
}
// Early out if scene is not using navigation