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FlaxEngine/Source/Engine/Navigation/NavMeshBuilder.cpp
Wojtek Figat 0e78d13146 Add support for navmesh on spline collider
2021-02-12 11:15:51 +01:00

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// Copyright (c) 2012-2021 Wojciech Figat. All rights reserved.
#if COMPILE_WITH_NAV_MESH_BUILDER
#include "NavMeshBuilder.h"
#include "NavMesh.h"
#include "NavigationSettings.h"
#include "NavMeshBoundsVolume.h"
#include "NavLink.h"
#include "NavModifierVolume.h"
#include "NavMeshRuntime.h"
#include "Engine/Core/Log.h"
#include "Engine/Core/Math/BoundingBox.h"
#include "Engine/Core/Math/Int3.h"
#include "Engine/Physics/Colliders/BoxCollider.h"
#include "Engine/Physics/Colliders/SphereCollider.h"
#include "Engine/Physics/Colliders/CapsuleCollider.h"
#include "Engine/Physics/Colliders/MeshCollider.h"
#include "Engine/Physics/Colliders/SplineCollider.h"
#include "Engine/Threading/ThreadPoolTask.h"
#include "Engine/Terrain/TerrainPatch.h"
#include "Engine/Terrain/Terrain.h"
#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>
int32 BoxTrianglesIndicesCache[] =
{
// @formatter:off
3, 1, 2,
3, 0, 1,
7, 0, 3,
7, 4, 0,
7, 6, 5,
7, 5, 4,
6, 2, 1,
6, 1, 5,
1, 0, 4,
1, 4, 5,
7, 2, 6,
7, 3, 2,
// @formatter:on
};
#define NAV_MESH_TILE_MAX_EXTENT 100000000
struct OffMeshLink
{
Vector3 Start;
Vector3 End;
float Radius;
bool BiDir;
int32 Id;
};
struct Modifier
{
BoundingBox Bounds;
NavAreaProperties* NavArea;
};
struct NavigationSceneRasterization
{
NavMesh* NavMesh;
BoundingBox TileBoundsNavMesh;
Matrix WorldToNavMesh;
rcContext* Context;
rcConfig* Config;
rcHeightfield* Heightfield;
float WalkableThreshold;
Array<Vector3> VertexBuffer;
Array<int32> IndexBuffer;
Array<OffMeshLink>* OffMeshLinks;
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)
: TileBoundsNavMesh(tileBoundsNavMesh)
, WorldToNavMesh(worldToNavMesh)
, IsWorldToNavMeshIdentity(worldToNavMesh.IsIdentity())
{
NavMesh = navMesh;
Context = context;
Config = config;
Heightfield = heightfield;
WalkableThreshold = Math::Cos(config->walkableSlopeAngle * DegreesToRadians);
OffMeshLinks = offMeshLinks;
Modifiers = modifiers;
}
void RasterizeTriangles()
{
auto& vb = VertexBuffer;
auto& ib = IndexBuffer;
if (vb.IsEmpty() || ib.IsEmpty())
return;
// Rasterize triangles
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++]];
auto n = Vector3::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 = Vector3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v1 = Vector3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v2 = Vector3::Transform(vb[ib[i0++]], worldToNavMesh);
auto n = Vector3::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);
}
}
}
static void TriangulateBox(Array<Vector3>& vb, Array<int32>& ib, const OrientedBoundingBox& box)
{
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
}
static void TriangulateBox(Array<Vector3>& vb, Array<int32>& ib, const BoundingBox& box)
{
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
}
static void TriangulateSphere(Array<Vector3>& vb, Array<int32>& ib, const BoundingSphere& sphere)
{
const int32 sphereResolution = 12;
const int32 verticalSegments = sphereResolution;
const int32 horizontalSegments = sphereResolution * 2;
// Generate vertices for unit sphere
Vector3 vertices[(verticalSegments + 1) * (horizontalSegments + 1)];
int32 vertexCount = 0;
for (int32 j = 0; j <= horizontalSegments; j++)
vertices[vertexCount++] = Vector3(0, -1, 0);
for (int32 i = 1; i < verticalSegments; i++)
{
const float latitude = (float)i * PI / verticalSegments - PI / 2.0f;
const float dy = Math::Sin(latitude);
const float dxz = Math::Cos(latitude);
auto& firstHorizontalVertex = vertices[vertexCount++];
firstHorizontalVertex = Vector3(0, dy, dxz);
for (int32 j = 1; j < horizontalSegments; j++)
{
const float longitude = (float)j * 2.0f * PI / horizontalSegments;
const float dx = Math::Sin(longitude) * dxz;
const float dz = Math::Cos(longitude) * dxz;
vertices[vertexCount++] = Vector3(dx, dy, dz);
}
vertices[vertexCount++] = firstHorizontalVertex;
}
for (int32 j = 0; j <= horizontalSegments; j++)
vertices[vertexCount++] = Vector3(0, 1, 0);
// Transform vertices into world space vertex buffer
vb.Resize(vertexCount);
for (int32 i = 0; i < vertexCount; i++)
vb[i] = sphere.Center + vertices[i] * sphere.Radius;
// Generate index buffer
const int32 stride = horizontalSegments + 1;
int32 indexCount = 0;
ib.Resize(verticalSegments * (horizontalSegments + 1) * 6);
for (int32 i = 0; i < verticalSegments; i++)
{
const int32 nextI = i + 1;
for (int32 j = 0; j <= horizontalSegments; j++)
{
const int32 nextJ = (j + 1) % stride;
ib[indexCount++] = i * stride + j;
ib[indexCount++] = nextI * stride + j;
ib[indexCount++] = i * stride + nextJ;
ib[indexCount++] = i * stride + nextJ;
ib[indexCount++] = nextI * stride + j;
ib[indexCount++] = nextI * stride + nextJ;
}
}
}
static bool Walk(Actor* actor, NavigationSceneRasterization& e)
{
// 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))
{
PROFILE_CPU_NAMED("BoxCollider");
const OrientedBoundingBox box = boxCollider->GetOrientedBox();
TriangulateBox(vb, ib, box);
e.RasterizeTriangles();
}
else if (const auto* sphereCollider = dynamic_cast<SphereCollider*>(actor))
{
PROFILE_CPU_NAMED("SphereCollider");
const BoundingSphere sphere = sphereCollider->GetSphere();
TriangulateSphere(vb, ib, sphere);
e.RasterizeTriangles();
}
else if (const auto* capsuleCollider = dynamic_cast<CapsuleCollider*>(actor))
{
PROFILE_CPU_NAMED("CapsuleCollider");
const BoundingBox box = capsuleCollider->GetBox();
TriangulateBox(vb, ib, box);
e.RasterizeTriangles();
}
else if (const auto* meshCollider = dynamic_cast<MeshCollider*>(actor))
{
PROFILE_CPU_NAMED("MeshCollider");
auto collisionData = meshCollider->CollisionData.Get();
if (!collisionData || collisionData->WaitForLoaded())
return true;
collisionData->ExtractGeometry(vb, ib);
e.RasterizeTriangles();
}
else if (const auto* splineCollider = dynamic_cast<SplineCollider*>(actor))
{
PROFILE_CPU_NAMED("SplineCollider");
auto collisionData = splineCollider->CollisionData.Get();
if (!collisionData || collisionData->WaitForLoaded())
return true;
splineCollider->ExtractGeometry(vb, ib);
e.RasterizeTriangles();
}
else if (const auto* terrain = dynamic_cast<Terrain*>(actor))
{
PROFILE_CPU_NAMED("Terrain");
for (int32 patchIndex = 0; patchIndex < terrain->GetPatchesCount(); patchIndex++)
{
const auto patch = terrain->GetPatch(patchIndex);
BoundingBox patchBoundsNavMesh;
BoundingBox::Transform(patch->GetBounds(), e.WorldToNavMesh, patchBoundsNavMesh);
if (!patchBoundsNavMesh.Intersects(e.TileBoundsNavMesh))
continue;
patch->ExtractCollisionGeometry(vb, ib);
e.RasterizeTriangles();
}
}
else if (const auto* navLink = dynamic_cast<NavLink*>(actor))
{
PROFILE_CPU_NAMED("NavLink");
OffMeshLink link;
link.Start = navLink->GetTransform().LocalToWorld(navLink->Start);
Vector3::Transform(link.Start, e.WorldToNavMesh, link.Start);
link.End = navLink->GetTransform().LocalToWorld(navLink->End);
Vector3::Transform(link.End, e.WorldToNavMesh, link.End);
link.Radius = navLink->Radius;
link.BiDir = navLink->BiDirectional;
link.Id = GetHash(navLink->GetID());
e.OffMeshLinks->Add(link);
}
else if (const auto* navModifierVolume = dynamic_cast<NavModifierVolume*>(actor))
{
if (navModifierVolume->AgentsMask.IsNavMeshSupported(e.NavMesh->Properties))
{
PROFILE_CPU_NAMED("NavModifierVolume");
Modifier modifier;
OrientedBoundingBox bounds = navModifierVolume->GetOrientedBox();
bounds.Transform(e.WorldToNavMesh);
bounds.GetBoundingBox(modifier.Bounds);
modifier.NavArea = navModifierVolume->GetNavArea();
e.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)
{
// 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->NavigationVolumes.Count(); i++)
{
const auto volume = scene->NavigationVolumes[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 RemoveTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, int32 layer)
{
ScopeLock lock(runtime->Locker);
// Find tile data and remove it
for (int32 i = 0; i < navMesh->Data.Tiles.Count(); i++)
{
auto& tile = navMesh->Data.Tiles[i];
if (tile.PosX == x && tile.PosY == y && tile.Layer == layer)
{
navMesh->Data.Tiles.RemoveAt(i);
navMesh->IsDataDirty = true;
break;
}
}
// Remove tile from navmesh
runtime->RemoveTile(x, y, layer);
}
bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, float tileSize, rcConfig& config)
{
rcContext context;
int32 layer = 0;
// Expand tile bounds by a certain margin
const float tileBorderSize = (1.0f + (float)config.borderSize) * config.cs;
tileBoundsNavMesh.Minimum -= tileBorderSize;
tileBoundsNavMesh.Maximum += tileBorderSize;
rcVcopy(config.bmin, &tileBoundsNavMesh.Minimum.X);
rcVcopy(config.bmax, &tileBoundsNavMesh.Maximum.X);
rcHeightfield* heightfield = rcAllocHeightfield();
if (!heightfield)
{
LOG(Warning, "Could not generate navmesh: Out of memory for heightfield.");
return true;
}
if (!rcCreateHeightfield(&context, *heightfield, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch))
{
LOG(Warning, "Could not generate navmesh: Could not create solid heightfield.");
return true;
}
Array<OffMeshLink> offMeshLinks;
Array<Modifier> modifiers;
RasterizeGeometry(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);
rcCompactHeightfield* compactHeightfield = rcAllocCompactHeightfield();
if (!compactHeightfield)
{
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;
}
rcFreeHeightField(heightfield);
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;
rcMarkBoxArea(&context, &modifier.Bounds.Minimum.X, &modifier.Bounds.Maximum.X, areaId, *compactHeightfield);
}
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;
}
rcContourSet* contourSet = rcAllocContourSet();
if (!contourSet)
{
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;
}
rcPolyMesh* polyMesh = rcAllocPolyMesh();
if (!polyMesh)
{
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;
}
rcPolyMeshDetail* detailMesh = rcAllocPolyMeshDetail();
if (!detailMesh)
{
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;
}
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
RemoveTile(navMesh, runtime, x, y, layer);
return false;
}
dtNavMeshCreateParams params;
Platform::MemoryClear(&params, sizeof(params));
params.verts = polyMesh->verts;
params.vertCount = polyMesh->nverts;
params.polys = polyMesh->polys;
params.polyAreas = polyMesh->areas;
params.polyFlags = polyMesh->flags;
params.polyCount = polyMesh->npolys;
params.nvp = polyMesh->nvp;
params.detailMeshes = detailMesh->meshes;
params.detailVerts = detailMesh->verts;
params.detailVertsCount = detailMesh->nverts;
params.detailTris = detailMesh->tris;
params.detailTriCount = detailMesh->ntris;
params.walkableHeight = (float)config.walkableHeight * config.ch;
params.walkableRadius = (float)config.walkableRadius * config.cs;
params.walkableClimb = (float)config.walkableClimb * config.ch;
params.tileX = x;
params.tileY = y;
params.tileLayer = layer;
rcVcopy(params.bmin, polyMesh->bmin);
rcVcopy(params.bmax, polyMesh->bmax);
params.cs = config.cs;
params.ch = config.ch;
params.buildBvTree = false;
// Prepare navmesh links
Array<Vector3> offMeshStartEnd;
Array<float> offMeshRadius;
Array<unsigned char> offMeshDir;
Array<unsigned char> offMeshArea;
Array<unsigned short> offMeshFlags;
Array<unsigned int> offMeshId;
if (offMeshLinks.HasItems())
{
int32 linksCount = offMeshLinks.Count();
offMeshStartEnd.Resize(linksCount * 2);
offMeshRadius.Resize(linksCount);
offMeshDir.Resize(linksCount);
offMeshArea.Resize(linksCount);
offMeshFlags.Resize(linksCount);
offMeshId.Resize(linksCount);
for (int32 i = 0; i < linksCount; i++)
{
auto& link = offMeshLinks[i];
offMeshStartEnd[i * 2] = link.Start;
offMeshStartEnd[i * 2 + 1] = link.End;
offMeshRadius[i] = link.Radius;
offMeshDir[i] = link.BiDir ? DT_OFFMESH_CON_BIDIR : 0;
offMeshId[i] = link.Id;
offMeshArea[i] = RC_WALKABLE_AREA;
offMeshFlags[i] = 1;
// TODO: support navigation area type for off mesh links
}
params.offMeshConCount = linksCount;
params.offMeshConVerts = (const float*)offMeshStartEnd.Get();
params.offMeshConRad = offMeshRadius.Get();
params.offMeshConDir = offMeshDir.Get();
params.offMeshConAreas = offMeshArea.Get();
params.offMeshConFlags = offMeshFlags.Get();
params.offMeshConUserID = offMeshId.Get();
}
// 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("Navigation.CreateTile");
ScopeLock lock(runtime->Locker);
navMesh->IsDataDirty = true;
NavMeshTileData* tile = nullptr;
for (int32 i = 0; i < navMesh->Data.Tiles.Count(); i++)
{
auto& e = navMesh->Data.Tiles[i];
if (e.PosX == x && e.PosY == y && e.Layer == layer)
{
tile = &e;
break;
}
}
if (!tile)
{
// Add new tile
tile = &navMesh->Data.Tiles.AddOne();
tile->PosX = x;
tile->PosY = y;
tile->Layer = layer;
}
// Copy data to the tile
tile->Data.Copy(navData, navDataSize);
// Add tile to navmesh
runtime->AddTile(navMesh, *tile);
}
dtFree(navData);
return false;
}
float GetTileSize()
{
auto& settings = *NavigationSettings::Get();
return settings.CellSize * settings.TileSize;
}
void InitConfig(rcConfig& config, NavMesh* navMesh)
{
auto& settings = *NavigationSettings::Get();
auto& navMeshProperties = navMesh->Properties;
config.cs = settings.CellSize;
config.ch = settings.CellHeight;
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);
config.mergeRegionArea = rcSqr(settings.MergeRegionArea);
config.maxVertsPerPoly = 6;
config.detailSampleDist = config.cs * settings.DetailSamplingDist;
config.detailSampleMaxError = config.ch * settings.MaxDetailSamplingError;
config.borderSize = config.walkableRadius + 3;
config.tileSize = settings.TileSize;
config.width = config.tileSize + config.borderSize * 2;
config.height = config.tileSize + config.borderSize * 2;
}
struct BuildRequest
{
ScriptingObjectReference<Scene> Scene;
DateTime Time;
BoundingBox DirtyBounds;
};
CriticalSection NavBuildQueueLocker;
Array<BuildRequest> NavBuildQueue;
CriticalSection NavBuildTasksLocker;
int32 NavBuildTasksMaxCount = 0;
Array<class NavMeshTileBuildTask*> NavBuildTasks;
class NavMeshTileBuildTask : public ThreadPoolTask
{
public:
Scene* Scene;
ScriptingObjectReference<NavMesh> NavMesh;
NavMeshRuntime* Runtime;
BoundingBox TileBoundsNavMesh;
Matrix WorldToNavMesh;
int32 X;
int32 Y;
float TileSize;
rcConfig Config;
public:
// [ThreadPoolTask]
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;
}
void OnEnd() override
{
// Remove from tasks list
ScopeLock lock(NavBuildTasksLocker);
NavBuildTasks.Remove(this);
if (NavBuildTasks.IsEmpty())
NavBuildTasksMaxCount = 0;
}
};
void OnSceneUnloading(Scene* scene, const Guid& sceneId)
{
// Cancel pending build requests
NavBuildQueueLocker.Lock();
for (int32 i = 0; i < NavBuildQueue.Count(); i++)
{
if (NavBuildQueue[i].Scene == scene)
{
NavBuildQueue.RemoveAtKeepOrder(i);
break;
}
}
NavBuildQueueLocker.Unlock();
// Cancel active build tasks
NavBuildTasksLocker.Lock();
for (int32 i = 0; i < NavBuildTasks.Count(); i++)
{
auto task = NavBuildTasks[i];
if (task->Scene == scene)
{
NavBuildTasksLocker.Unlock();
// Cancel task but without locking queue from this thread to prevent dead-locks
task->Cancel();
NavBuildTasksLocker.Lock();
i--;
if (NavBuildTasks.IsEmpty())
break;
}
}
NavBuildTasksLocker.Unlock();
}
void NavMeshBuilder::Init()
{
Level::SceneUnloading.Bind<OnSceneUnloading>();
}
bool NavMeshBuilder::IsBuildingNavMesh()
{
NavBuildTasksLocker.Lock();
const bool hasAnyTask = NavBuildTasks.HasItems();
NavBuildTasksLocker.Unlock();
return hasAnyTask;
}
float NavMeshBuilder::GetNavMeshBuildingProgress()
{
NavBuildTasksLocker.Lock();
float result = 1.0f;
if (NavBuildTasksMaxCount != 0)
{
result = (float)(NavBuildTasksMaxCount - NavBuildTasks.Count()) / NavBuildTasksMaxCount;
}
NavBuildTasksLocker.Unlock();
return result;
}
void BuildTileAsync(NavMesh* navMesh, int32 x, int32 y, rcConfig& config, const BoundingBox& tileBoundsNavMesh, const Matrix& worldToNavMesh, 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 && task->Runtime == runtime)
{
NavBuildTasksLocker.Unlock();
return;
}
}
// Create task
auto task = New<NavMeshTileBuildTask>();
task->Scene = navMesh->GetScene();
task->NavMesh = navMesh;
task->Runtime = runtime;
task->X = x;
task->Y = y;
task->TileBoundsNavMesh = tileBoundsNavMesh;
task->WorldToNavMesh = worldToNavMesh;
task->TileSize = tileSize;
task->Config = config;
NavBuildTasks.Add(task);
NavBuildTasksMaxCount++;
NavBuildTasksLocker.Unlock();
// Invoke job
task->Start();
}
void BuildDirtyBounds(Scene* scene, NavMesh* navMesh, const BoundingBox& dirtyBounds, bool rebuild)
{
const float tileSize = GetTileSize();
NavMeshRuntime* runtime = navMesh->GetRuntime();
Matrix worldToNavMesh;
Matrix::RotationQuaternion(runtime->Properties.Rotation, worldToNavMesh);
// Align dirty bounds to tile size
BoundingBox dirtyBoundsNavMesh;
BoundingBox::Transform(dirtyBounds, worldToNavMesh, dirtyBoundsNavMesh);
BoundingBox dirtyBoundsAligned;
dirtyBoundsAligned.Minimum = Vector3::Floor(dirtyBoundsNavMesh.Minimum / tileSize) * tileSize;
dirtyBoundsAligned.Maximum = Vector3::Ceil(dirtyBoundsNavMesh.Maximum / tileSize) * tileSize;
// Calculate tiles range for the given navigation dirty bounds (aligned to tiles size)
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;
{
PROFILE_CPU_NAMED("Prepare");
// Prepare scene data and navmesh
rebuild |= Math::NotNearEqual(navMesh->Data.TileSize, tileSize);
if (rebuild)
{
// Remove all tiles from navmesh runtime
runtime->RemoveTiles(navMesh);
runtime->SetTileSize(tileSize);
runtime->EnsureCapacity(tilesX * tilesY);
// Remove all tiles from navmesh data
navMesh->Data.TileSize = tileSize;
navMesh->Data.Tiles.Clear();
navMesh->Data.Tiles.EnsureCapacity(tilesX * tilesX);
navMesh->IsDataDirty = true;
}
else
{
// Ensure to have enough memory for tiles
runtime->SetTileSize(tileSize);
runtime->EnsureCapacity(tilesX * tilesY);
}
}
// Initialize nav mesh configuration
rcConfig config;
InitConfig(config, navMesh);
// 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 tileBoundsNavMesh;
if (GetNavMeshTileBounds(scene, navMesh, x, y, tileSize, tileBoundsNavMesh, worldToNavMesh))
{
BuildTileAsync(navMesh, x, y, config, tileBoundsNavMesh, worldToNavMesh, tileSize);
}
else
{
RemoveTile(navMesh, runtime, x, y, 0);
}
}
}
}
}
void BuildDirtyBounds(Scene* scene, const BoundingBox& dirtyBounds, bool rebuild)
{
auto settings = NavigationSettings::Get();
// Validate nav areas ids to be unique and in valid range
for (int32 i = 0; i < settings->NavAreas.Count(); i++)
{
auto& a = settings->NavAreas[i];
if (a.Id > RC_WALKABLE_AREA)
{
LOG(Error, "Nav Area {0} uses invalid Id. Valid values are in range 0-63 only.", a.Name);
return;
}
for (int32 j = i + 1; j < settings->NavAreas.Count(); j++)
{
auto& b = settings->NavAreas[j];
if (a.Id == b.Id)
{
LOG(Error, "Nav Area {0} uses the same Id={1} as Nav Area {2}. Each area hast to have unique Id.", a.Name, a.Id, b.Name);
return;
}
}
}
// 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, rebuild);
}
// 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, true);
}
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);
// Process nav mesh building requests and kick the tasks
const auto now = DateTime::NowUTC();
for (int32 i = 0; NavBuildQueue.HasItems() && i < NavBuildQueue.Count(); i++)
{
auto req = NavBuildQueue[i];
if (now - req.Time >= 0)
{
NavBuildQueue.RemoveAt(i--);
const auto scene = req.Scene.Get();
// Early out if scene has no bounds volumes to define nav mesh area
if (scene->NavigationVolumes.IsEmpty())
{
ClearNavigation(scene);
continue;
}
// Check if build a custom dirty bounds or whole scene
if (req.DirtyBounds == BoundingBox::Empty)
{
BuildWholeScene(scene);
}
else
{
BuildDirtyBounds(scene, req.DirtyBounds, false);
}
}
}
}
void NavMeshBuilder::Build(Scene* scene, float timeoutMs)
{
// Early out if scene is not using navigation
if (scene->NavigationVolumes.IsEmpty())
{
ClearNavigation(scene);
return;
}
PROFILE_CPU_NAMED("NavMeshBuilder");
ScopeLock lock(NavBuildQueueLocker);
BuildRequest req;
req.Scene = scene;
req.Time = DateTime::NowUTC() + TimeSpan::FromMilliseconds(timeoutMs);
req.DirtyBounds = BoundingBox::Empty;
for (int32 i = 0; i < NavBuildQueue.Count(); i++)
{
auto& e = NavBuildQueue[i];
if (e.Scene == scene && e.DirtyBounds == req.DirtyBounds)
{
e = req;
return;
}
}
NavBuildQueue.Add(req);
}
void NavMeshBuilder::Build(Scene* scene, const BoundingBox& dirtyBounds, float timeoutMs)
{
// Early out if scene is not using navigation
if (scene->NavigationVolumes.IsEmpty())
{
ClearNavigation(scene);
return;
}
PROFILE_CPU_NAMED("NavMeshBuilder");
ScopeLock lock(NavBuildQueueLocker);
BuildRequest req;
req.Scene = scene;
req.Time = DateTime::NowUTC() + TimeSpan::FromMilliseconds(timeoutMs);
req.DirtyBounds = dirtyBounds;
NavBuildQueue.Add(req);
}
#endif
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