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Merge pull request #79643 from smix8/navgenerator_4.x 

Move navigation mesh baking to NavigationServer
This commit is contained in:
Rémi Verschelde 2023-08-07 14:48:15 +02:00
parent 8018b478ca 744fa87da2
commit 7eb047a5ed
No known key found for this signature in database
GPG Key ID: C3336907360768E1
13 changed files with 896 additions and 755 deletions
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2
doc/classes/NavigationMeshGenerator.xml
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="NavigationMeshGenerator" inherits="Object" is_experimental="true" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<class name="NavigationMeshGenerator" inherits="Object" is_deprecated="true" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
Helper class for creating and clearing navigation meshes.
</brief_description>

9
main/main.cpp
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@ -318,6 +318,7 @@ void finalize_display() {
void initialize_navigation_server() {
ERR_FAIL_COND(navigation_server_3d != nullptr);
ERR_FAIL_COND(navigation_server_2d != nullptr);
// Init 3D Navigation Server
navigation_server_3d = NavigationServer3DManager::new_default_server();
@ -330,6 +331,7 @@ void initialize_navigation_server() {
// Should be impossible, but make sure it's not null.
ERR_FAIL_NULL_MSG(navigation_server_3d, "Failed to initialize NavigationServer3D.");
navigation_server_3d->init();
// Init 2D Navigation Server
navigation_server_2d = memnew(NavigationServer2D);
@ -337,9 +339,12 @@ void initialize_navigation_server() {
}
void finalize_navigation_server() {
ERR_FAIL_NULL(navigation_server_3d);
navigation_server_3d->finish();
memdelete(navigation_server_3d);
navigation_server_3d = nullptr;
ERR_FAIL_NULL(navigation_server_2d);
memdelete(navigation_server_2d);
navigation_server_2d = nullptr;
}
@ -581,6 +586,8 @@ Error Main::test_setup() {
theme_db->initialize_theme();
register_scene_singletons();
initialize_navigation_server();
ERR_FAIL_COND_V(TextServerManager::get_singleton()->get_interface_count() == 0, ERR_CANT_CREATE);
/* Use one with the most features available. */
@ -639,6 +646,8 @@ void Main::test_cleanup() {
finalize_theme_db();
finalize_navigation_server();
GDExtensionManager::get_singleton()->deinitialize_extensions(GDExtension::INITIALIZATION_LEVEL_SERVERS);
uninitialize_modules(MODULE_INITIALIZATION_LEVEL_SERVERS);
unregister_server_types();

20
modules/navigation/editor/navigation_mesh_editor_plugin.cpp
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@ -32,12 +32,11 @@
#ifdef TOOLS_ENABLED
#include "../navigation_mesh_generator.h"
#include "core/io/marshalls.h"
#include "core/io/resource_saver.h"
#include "editor/editor_node.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/3d/navigation_region_3d.h"
#include "scene/gui/box_container.h"
#include "scene/gui/button.h"
#include "scene/gui/dialogs.h"
@ -99,18 +98,16 @@ void NavigationMeshEditor::_bake_pressed() {
}
}
NavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh());
Ref<NavigationMeshSourceGeometryData3D> source_geometry_data;
source_geometry_data.instantiate();
NavigationMeshGenerator::get_singleton()->parse_source_geometry_data(node->get_navigation_mesh(), source_geometry_data, node);
NavigationMeshGenerator::get_singleton()->bake_from_source_geometry_data(node->get_navigation_mesh(), source_geometry_data);
node->bake_navigation_mesh(false);
node->update_gizmos();
}
void NavigationMeshEditor::_clear_pressed() {
if (node) {
NavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh());
if (node->get_navigation_mesh().is_valid()) {
node->get_navigation_mesh()->clear();
}
}
button_bake->set_pressed(false);
@ -139,14 +136,15 @@ NavigationMeshEditor::NavigationMeshEditor() {
button_bake->set_flat(true);
bake_hbox->add_child(button_bake);
button_bake->set_toggle_mode(true);
button_bake->set_text(TTR("Bake NavMesh"));
button_bake->set_text(TTR("Bake NavigationMesh"));
button_bake->set_tooltip_text(TTR("Bakes the NavigationMesh by first parsing the scene for source geometry and then creating the navigation mesh vertices and polygons."));
button_bake->connect("pressed", callable_mp(this, &NavigationMeshEditor::_bake_pressed));
button_reset = memnew(Button);
button_reset->set_flat(true);
bake_hbox->add_child(button_reset);
// No button text, we only use a revert icon which is set when entering the tree.
button_reset->set_tooltip_text(TTR("Clear the navigation mesh."));
button_reset->set_text(TTR("Clear NavigationMesh"));
button_reset->set_tooltip_text(TTR("Clears the internal NavigationMesh vertices and polygons."));
button_reset->connect("pressed", callable_mp(this, &NavigationMeshEditor::_clear_pressed));
bake_info = memnew(Label);

55
modules/navigation/godot_navigation_server.cpp
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@ -31,8 +31,8 @@
#include "godot_navigation_server.h"
#ifndef _3D_DISABLED
#include "navigation_mesh_generator.h"
#endif
#include "nav_mesh_generator_3d.h"
#endif // _3D_DISABLED
#include "core/os/mutex.h"
@ -468,11 +468,11 @@ void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_na
WARN_PRINT_ONCE("NavigationServer3D::region_bake_navigation_mesh() is deprecated due to core threading changes. To upgrade existing code, first create a NavigationMeshSourceGeometryData3D resource. Use this resource with method parse_source_geometry_data() to parse the SceneTree for nodes that should contribute to the navigation mesh baking. The SceneTree parsing needs to happen on the main thread. After the parsing is finished use the resource with method bake_from_source_geometry_data() to bake a navigation mesh..");
#ifndef _3D_DISABLED
NavigationMeshGenerator::get_singleton()->clear(p_navigation_mesh);
p_navigation_mesh->clear();
Ref<NavigationMeshSourceGeometryData3D> source_geometry_data;
source_geometry_data.instantiate();
NavigationMeshGenerator::get_singleton()->parse_source_geometry_data(p_navigation_mesh, source_geometry_data, p_root_node);
NavigationMeshGenerator::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, source_geometry_data);
parse_source_geometry_data(p_navigation_mesh, source_geometry_data, p_root_node);
bake_from_source_geometry_data(p_navigation_mesh, source_geometry_data);
#endif
}
#endif // DISABLE_DEPRECATED
@ -932,14 +932,34 @@ COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers) {
void GodotNavigationServer::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
#ifndef _3D_DISABLED
NavigationMeshGenerator::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback);
#endif
ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred().");
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
ERR_FAIL_COND_MSG(p_root_node == nullptr, "No parsing root node specified.");
ERR_FAIL_COND_MSG(!p_root_node->is_inside_tree(), "The root node needs to be inside the SceneTree.");
ERR_FAIL_NULL(NavMeshGenerator3D::get_singleton());
NavMeshGenerator3D::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback);
#endif // _3D_DISABLED
}
void GodotNavigationServer::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
#ifndef _3D_DISABLED
NavigationMeshGenerator::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
#endif
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData3D.");
if (!p_source_geometry_data->has_data()) {
p_navigation_mesh->clear();
if (p_callback.is_valid()) {
Callable::CallError ce;
Variant result;
p_callback.callp(nullptr, 0, result, ce);
}
return;
}
ERR_FAIL_NULL(NavMeshGenerator3D::get_singleton());
NavMeshGenerator3D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
#endif // _3D_DISABLED
}
COMMAND_1(free, RID, p_object) {
@ -1117,6 +1137,23 @@ void GodotNavigationServer::process(real_t p_delta_time) {
pm_edge_free_count = _new_pm_edge_free_count;
}
void GodotNavigationServer::init() {
#ifndef _3D_DISABLED
navmesh_generator_3d = memnew(NavMeshGenerator3D);
#endif // _3D_DISABLED
}
void GodotNavigationServer::finish() {
flush_queries();
#ifndef _3D_DISABLED
if (navmesh_generator_3d) {
navmesh_generator_3d->finish();
memdelete(navmesh_generator_3d);
navmesh_generator_3d = nullptr;
}
#endif // _3D_DISABLED
}
PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
PathQueryResult r_query_result;

5
modules/navigation/godot_navigation_server.h
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@ -56,6 +56,7 @@
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
class GodotNavigationServer;
class NavMeshGenerator3D;
struct SetCommand {
virtual ~SetCommand() {}
@ -79,6 +80,8 @@ class GodotNavigationServer : public NavigationServer3D {
LocalVector<NavMap *> active_maps;
LocalVector<uint32_t> active_maps_update_id;
NavMeshGenerator3D *navmesh_generator_3d = nullptr;
// Performance Monitor
int pm_region_count = 0;
int pm_agent_count = 0;
@ -234,6 +237,8 @@ public:
void flush_queries();
virtual void process(real_t p_delta_time) override;
virtual void init() override;
virtual void finish() override;
virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;

728
modules/navigation/nav_mesh_generator_3d.cpp Normal file
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@ -0,0 +1,728 @@
/**************************************************************************/
/* nav_mesh_generator_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#ifndef _3D_DISABLED
#include "nav_mesh_generator_3d.h"
#include "core/math/convex_hull.h"
#include "core/os/thread.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/3d/multimesh_instance_3d.h"
#include "scene/3d/physics_body_3d.h"
#include "scene/resources/box_shape_3d.h"
#include "scene/resources/capsule_shape_3d.h"
#include "scene/resources/concave_polygon_shape_3d.h"
#include "scene/resources/convex_polygon_shape_3d.h"
#include "scene/resources/cylinder_shape_3d.h"
#include "scene/resources/height_map_shape_3d.h"
#include "scene/resources/navigation_mesh_source_geometry_data_3d.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/shape_3d.h"
#include "scene/resources/sphere_shape_3d.h"
#include "scene/resources/world_boundary_shape_3d.h"
#include "modules/modules_enabled.gen.h" // For csg, gridmap.
#ifdef MODULE_CSG_ENABLED
#include "modules/csg/csg_shape.h"
#endif
#ifdef MODULE_GRIDMAP_ENABLED
#include "modules/gridmap/grid_map.h"
#endif
#include <Recast.h>
NavMeshGenerator3D *NavMeshGenerator3D::singleton = nullptr;
Mutex NavMeshGenerator3D::baking_navmesh_mutex;
HashSet<Ref<NavigationMesh>> NavMeshGenerator3D::baking_navmeshes;
NavMeshGenerator3D *NavMeshGenerator3D::get_singleton() {
return singleton;
}
NavMeshGenerator3D::NavMeshGenerator3D() {
ERR_FAIL_COND(singleton != nullptr);
singleton = this;
}
NavMeshGenerator3D::~NavMeshGenerator3D() {
cleanup();
}
void NavMeshGenerator3D::cleanup() {
baking_navmesh_mutex.lock();
baking_navmeshes.clear();
baking_navmesh_mutex.unlock();
}
void NavMeshGenerator3D::finish() {
cleanup();
}
void NavMeshGenerator3D::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
ERR_FAIL_COND(!Thread::is_main_thread());
ERR_FAIL_COND(!p_navigation_mesh.is_valid());
ERR_FAIL_COND(p_root_node == nullptr);
ERR_FAIL_COND(!p_root_node->is_inside_tree());
ERR_FAIL_COND(!p_source_geometry_data.is_valid());
generator_parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node);
if (p_callback.is_valid()) {
generator_emit_callback(p_callback);
}
}
void NavMeshGenerator3D::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
ERR_FAIL_COND(!p_navigation_mesh.is_valid());
ERR_FAIL_COND(!p_source_geometry_data.is_valid());
ERR_FAIL_COND(!p_source_geometry_data->has_data());
baking_navmesh_mutex.lock();
if (baking_navmeshes.has(p_navigation_mesh)) {
baking_navmesh_mutex.unlock();
ERR_FAIL_MSG("NavigationMesh is already baking. Wait for current bake to finish.");
} else {
baking_navmeshes.insert(p_navigation_mesh);
baking_navmesh_mutex.unlock();
}
generator_bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data);
baking_navmesh_mutex.lock();
baking_navmeshes.erase(p_navigation_mesh);
baking_navmesh_mutex.unlock();
if (p_callback.is_valid()) {
generator_emit_callback(p_callback);
}
}
void NavMeshGenerator3D::generator_parse_geometry_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node, bool p_recurse_children) {
generator_parse_meshinstance3d_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_multimeshinstance3d_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_staticbody3d_node(p_navigation_mesh, p_source_geometry_data, p_node);
#ifdef MODULE_CSG_ENABLED
generator_parse_csgshape3d_node(p_navigation_mesh, p_source_geometry_data, p_node);
#endif
#ifdef MODULE_GRIDMAP_ENABLED
generator_parse_gridmap_node(p_navigation_mesh, p_source_geometry_data, p_node);
#endif
if (p_recurse_children) {
for (int i = 0; i < p_node->get_child_count(); i++) {
generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, p_node->get_child(i), p_recurse_children);
}
}
}
void NavMeshGenerator3D::generator_parse_meshinstance3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
MeshInstance3D *mesh_instance = Object::cast_to<MeshInstance3D>(p_node);
if (mesh_instance) {
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
if (parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) {
Ref<Mesh> mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
p_source_geometry_data->add_mesh(mesh, mesh_instance->get_global_transform());
}
}
}
}
void NavMeshGenerator3D::generator_parse_multimeshinstance3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
MultiMeshInstance3D *multimesh_instance = Object::cast_to<MultiMeshInstance3D>(p_node);
if (multimesh_instance) {
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
if (parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) {
Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh();
if (multimesh.is_valid()) {
Ref<Mesh> mesh = multimesh->get_mesh();
if (mesh.is_valid()) {
int n = multimesh->get_visible_instance_count();
if (n == -1) {
n = multimesh->get_instance_count();
}
for (int i = 0; i < n; i++) {
p_source_geometry_data->add_mesh(mesh, multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i));
}
}
}
}
}
}
void NavMeshGenerator3D::generator_parse_staticbody3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node);
if (static_body) {
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
uint32_t parsed_collision_mask = p_navigation_mesh->get_collision_mask();
if ((parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) && (static_body->get_collision_layer() & parsed_collision_mask)) {
List<uint32_t> shape_owners;
static_body->get_shape_owners(&shape_owners);
for (uint32_t shape_owner : shape_owners) {
if (static_body->is_shape_owner_disabled(shape_owner)) {
continue;
}
const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
for (int shape_index = 0; shape_index < shape_count; shape_index++) {
Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, shape_index);
if (s.is_null()) {
continue;
}
const Transform3D transform = static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
BoxShape3D *box = Object::cast_to<BoxShape3D>(*s);
if (box) {
Array arr;
arr.resize(RS::ARRAY_MAX);
BoxMesh::create_mesh_array(arr, box->get_size());
p_source_geometry_data->add_mesh_array(arr, transform);
}
CapsuleShape3D *capsule = Object::cast_to<CapsuleShape3D>(*s);
if (capsule) {
Array arr;
arr.resize(RS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height());
p_source_geometry_data->add_mesh_array(arr, transform);
}
CylinderShape3D *cylinder = Object::cast_to<CylinderShape3D>(*s);
if (cylinder) {
Array arr;
arr.resize(RS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
p_source_geometry_data->add_mesh_array(arr, transform);
}
SphereShape3D *sphere = Object::cast_to<SphereShape3D>(*s);
if (sphere) {
Array arr;
arr.resize(RS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
p_source_geometry_data->add_mesh_array(arr, transform);
}
ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
if (concave_polygon) {
p_source_geometry_data->add_faces(concave_polygon->get_faces(), transform);
}
ConvexPolygonShape3D *convex_polygon = Object::cast_to<ConvexPolygonShape3D>(*s);
if (convex_polygon) {
Vector<Vector3> varr = Variant(convex_polygon->get_points());
Geometry3D::MeshData md;
Error err = ConvexHullComputer::convex_hull(varr, md);
if (err == OK) {
PackedVector3Array faces;
for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
}
}
p_source_geometry_data->add_faces(faces, transform);
}
}
HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s);
if (heightmap_shape) {
int heightmap_depth = heightmap_shape->get_map_depth();
int heightmap_width = heightmap_shape->get_map_width();
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = heightmap_shape->get_map_data();
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
p_source_geometry_data->add_faces(vertex_array, transform);
}
}
}
}
}
}
}
}
#ifdef MODULE_CSG_ENABLED
void NavMeshGenerator3D::generator_parse_csgshape3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
CSGShape3D *csgshape3d = Object::cast_to<CSGShape3D>(p_node);
if (csgshape3d) {
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
uint32_t parsed_collision_mask = p_navigation_mesh->get_collision_mask();
if (parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES || (parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS && csgshape3d->is_using_collision() && (csgshape3d->get_collision_layer() & parsed_collision_mask)) || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) {
CSGShape3D *csg_shape = Object::cast_to<CSGShape3D>(p_node);
Array meshes = csg_shape->get_meshes();
if (!meshes.is_empty()) {
Ref<Mesh> mesh = meshes[1];
if (mesh.is_valid()) {
p_source_geometry_data->add_mesh(mesh, csg_shape->get_global_transform());
}
}
}
}
}
#endif // MODULE_CSG_ENABLED
#ifdef MODULE_GRIDMAP_ENABLED
void NavMeshGenerator3D::generator_parse_gridmap_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
GridMap *gridmap = Object::cast_to<GridMap>(p_node);
if (gridmap) {
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
uint32_t parsed_collision_mask = p_navigation_mesh->get_collision_mask();
if (parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) {
Array meshes = gridmap->get_meshes();
Transform3D xform = gridmap->get_global_transform();
for (int i = 0; i < meshes.size(); i += 2) {
Ref<Mesh> mesh = meshes[i + 1];
if (mesh.is_valid()) {
p_source_geometry_data->add_mesh(mesh, xform * (Transform3D)meshes[i]);
}
}
}
else if ((parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) && (gridmap->get_collision_layer() & parsed_collision_mask)) {
Array shapes = gridmap->get_collision_shapes();
for (int i = 0; i < shapes.size(); i += 2) {
RID shape = shapes[i + 1];
PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
switch (type) {
case PhysicsServer3D::SHAPE_SPHERE: {
real_t radius = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_BOX: {
Vector3 extents = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
BoxMesh::create_mesh_array(arr, extents * 2.0);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_CAPSULE: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, radius, height);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_CYLINDER: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, radius, radius, height);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
PackedVector3Array vertices = data;
Geometry3D::MeshData md;
Error err = ConvexHullComputer::convex_hull(vertices, md);
if (err == OK) {
PackedVector3Array faces;
for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
}
}
p_source_geometry_data->add_faces(faces, shapes[i]);
}
} break;
case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
Dictionary dict = data;
PackedVector3Array faces = Variant(dict["faces"]);
p_source_geometry_data->add_faces(faces, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_HEIGHTMAP: {
Dictionary dict = data;
///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
int heightmap_depth = dict["depth"];
int heightmap_width = dict["width"];
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = dict["heights"];
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
p_source_geometry_data->add_faces(vertex_array, shapes[i]);
}
}
} break;
default: {
WARN_PRINT("Unsupported collision shape type.");
} break;
}
}
}
}
}
#endif // MODULE_GRIDMAP_ENABLED
void NavMeshGenerator3D::generator_parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node) {
List<Node *> parse_nodes;
if (p_navigation_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) {
parse_nodes.push_back(p_root_node);
} else {
p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_group_name(), &parse_nodes);
}
Transform3D root_node_transform = Transform3D();
if (Object::cast_to<Node3D>(p_root_node)) {
root_node_transform = Object::cast_to<Node3D>(p_root_node)->get_global_transform().affine_inverse();
}
p_source_geometry_data->clear();
p_source_geometry_data->root_node_transform = root_node_transform;
bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
for (Node *parse_node : parse_nodes) {
generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, parse_node, recurse_children);
}
};
void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data) {
if (p_navigation_mesh.is_null() || p_source_geometry_data.is_null()) {
return;
}
const Vector<float> vertices = p_source_geometry_data->get_vertices();
const Vector<int> indices = p_source_geometry_data->get_indices();
if (vertices.size() < 3 || indices.size() < 3) {
return;
}
rcHeightfield *hf = nullptr;
rcCompactHeightfield *chf = nullptr;
rcContourSet *cset = nullptr;
rcPolyMesh *poly_mesh = nullptr;
rcPolyMeshDetail *detail_mesh = nullptr;
rcContext ctx;
// added to keep track of steps, no functionality right now
String bake_state = "";
bake_state = "Setting up Configuration..."; // step #1
const float *verts = vertices.ptr();
const int nverts = vertices.size() / 3;
const int *tris = indices.ptr();
const int ntris = indices.size() / 3;
float bmin[3], bmax[3];
rcCalcBounds(verts, nverts, bmin, bmax);
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = p_navigation_mesh->get_cell_size();
cfg.ch = p_navigation_mesh->get_cell_height();
cfg.walkableSlopeAngle = p_navigation_mesh->get_agent_max_slope();
cfg.walkableHeight = (int)Math::ceil(p_navigation_mesh->get_agent_height() / cfg.ch);
cfg.walkableClimb = (int)Math::floor(p_navigation_mesh->get_agent_max_climb() / cfg.ch);
cfg.walkableRadius = (int)Math::ceil(p_navigation_mesh->get_agent_radius() / cfg.cs);
cfg.maxEdgeLen = (int)(p_navigation_mesh->get_edge_max_length() / p_navigation_mesh->get_cell_size());
cfg.maxSimplificationError = p_navigation_mesh->get_edge_max_error();
cfg.minRegionArea = (int)(p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size());
cfg.mergeRegionArea = (int)(p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size());
cfg.maxVertsPerPoly = (int)p_navigation_mesh->get_vertices_per_polygon();
cfg.detailSampleDist = MAX(p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance(), 0.1f);
cfg.detailSampleMaxError = p_navigation_mesh->get_cell_height() * p_navigation_mesh->get_detail_sample_max_error();
if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_navigation_mesh->get_agent_height())) {
WARN_PRINT("Property agent_height is ceiled to cell_height voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.walkableClimb * cfg.ch, p_navigation_mesh->get_agent_max_climb())) {
WARN_PRINT("Property agent_max_climb is floored to cell_height voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.walkableRadius * cfg.cs, p_navigation_mesh->get_agent_radius())) {
WARN_PRINT("Property agent_radius is ceiled to cell_size voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.maxEdgeLen * cfg.cs, p_navigation_mesh->get_edge_max_length())) {
WARN_PRINT("Property edge_max_length is rounded to cell_size voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.minRegionArea, p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size())) {
WARN_PRINT("Property region_min_size is converted to int and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.mergeRegionArea, p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size())) {
WARN_PRINT("Property region_merge_size is converted to int and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.maxVertsPerPoly, p_navigation_mesh->get_vertices_per_polygon())) {
WARN_PRINT("Property vertices_per_polygon is converted to int and loses precision.");
}
if (p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance() < 0.1f) {
WARN_PRINT("Property detail_sample_distance is clamped to 0.1 world units as the resulting value from multiplying with cell_size is too low.");
}
cfg.bmin[0] = bmin[0];
cfg.bmin[1] = bmin[1];
cfg.bmin[2] = bmin[2];
cfg.bmax[0] = bmax[0];
cfg.bmax[1] = bmax[1];
cfg.bmax[2] = bmax[2];
AABB baking_aabb = p_navigation_mesh->get_filter_baking_aabb();
if (baking_aabb.has_volume()) {
Vector3 baking_aabb_offset = p_navigation_mesh->get_filter_baking_aabb_offset();
cfg.bmin[0] = baking_aabb.position[0] + baking_aabb_offset.x;
cfg.bmin[1] = baking_aabb.position[1] + baking_aabb_offset.y;
cfg.bmin[2] = baking_aabb.position[2] + baking_aabb_offset.z;
cfg.bmax[0] = cfg.bmin[0] + baking_aabb.size[0];
cfg.bmax[1] = cfg.bmin[1] + baking_aabb.size[1];
cfg.bmax[2] = cfg.bmin[2] + baking_aabb.size[2];
}
bake_state = "Calculating grid size..."; // step #2
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
// ~30000000 seems to be around sweetspot where Editor baking breaks
if ((cfg.width * cfg.height) > 30000000) {
WARN_PRINT("NavigationMesh baking process will likely fail."
"\nSource geometry is suspiciously big for the current Cell Size and Cell Height in the NavMesh Resource bake settings."
"\nIf baking does not fail, the resulting NavigationMesh will create serious pathfinding performance issues."
"\nIt is advised to increase Cell Size and/or Cell Height in the NavMesh Resource bake settings or reduce the size / scale of the source geometry.");
}
bake_state = "Creating heightfield..."; // step #3
hf = rcAllocHeightfield();
ERR_FAIL_COND(!hf);
ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
bake_state = "Marking walkable triangles..."; // step #4
{
Vector<unsigned char> tri_areas;
tri_areas.resize(ntris);
ERR_FAIL_COND(tri_areas.size() == 0);
memset(tri_areas.ptrw(), 0, ntris * sizeof(unsigned char));
rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptrw());
ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb));
}
if (p_navigation_mesh->get_filter_low_hanging_obstacles()) {
rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
}
if (p_navigation_mesh->get_filter_ledge_spans()) {
rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
}
if (p_navigation_mesh->get_filter_walkable_low_height_spans()) {
rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf);
}
bake_state = "Constructing compact heightfield..."; // step #5
chf = rcAllocCompactHeightfield();
ERR_FAIL_COND(!chf);
ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
rcFreeHeightField(hf);
hf = nullptr;
bake_state = "Eroding walkable area..."; // step #6
ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
bake_state = "Partitioning..."; // step #7
if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
} else if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
} else {
ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
}
bake_state = "Creating contours..."; // step #8
cset = rcAllocContourSet();
ERR_FAIL_COND(!cset);
ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
bake_state = "Creating polymesh..."; // step #9
poly_mesh = rcAllocPolyMesh();
ERR_FAIL_COND(!poly_mesh);
ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh));
detail_mesh = rcAllocPolyMeshDetail();
ERR_FAIL_COND(!detail_mesh);
ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh));
rcFreeCompactHeightfield(chf);
chf = nullptr;
rcFreeContourSet(cset);
cset = nullptr;
bake_state = "Converting to native navigation mesh..."; // step #10
Vector<Vector3> nav_vertices;
for (int i = 0; i < detail_mesh->nverts; i++) {
const float *v = &detail_mesh->verts[i * 3];
nav_vertices.push_back(Vector3(v[0], v[1], v[2]));
}
p_navigation_mesh->set_vertices(nav_vertices);
p_navigation_mesh->clear_polygons();
for (int i = 0; i < detail_mesh->nmeshes; i++) {
const unsigned int *detail_mesh_m = &detail_mesh->meshes[i * 4];
const unsigned int detail_mesh_bverts = detail_mesh_m[0];
const unsigned int detail_mesh_m_btris = detail_mesh_m[2];
const unsigned int detail_mesh_ntris = detail_mesh_m[3];
const unsigned char *detail_mesh_tris = &detail_mesh->tris[detail_mesh_m_btris * 4];
for (unsigned int j = 0; j < detail_mesh_ntris; j++) {
Vector<int> nav_indices;
nav_indices.resize(3);
// Polygon order in recast is opposite than godot's
nav_indices.write[0] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 0]));
nav_indices.write[1] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 2]));
nav_indices.write[2] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 1]));
p_navigation_mesh->add_polygon(nav_indices);
}
}
bake_state = "Cleanup..."; // step #11
rcFreePolyMesh(poly_mesh);
poly_mesh = nullptr;
rcFreePolyMeshDetail(detail_mesh);
detail_mesh = nullptr;
bake_state = "Baking finished."; // step #12
}
bool NavMeshGenerator3D::generator_emit_callback(const Callable &p_callback) {
ERR_FAIL_COND_V(!p_callback.is_valid(), false);
Callable::CallError ce;
Variant result;
p_callback.callp(nullptr, 0, result, ce);
return ce.error == Callable::CallError::CALL_OK;
}
#endif // _3D_DISABLED

81
modules/navigation/nav_mesh_generator_3d.h Normal file
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@ -0,0 +1,81 @@
/**************************************************************************/
/* nav_mesh_generator_3d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#ifndef NAV_MESH_GENERATOR_3D_H
#define NAV_MESH_GENERATOR_3D_H
#ifndef _3D_DISABLED
#include "core/object/class_db.h"
#include "modules/modules_enabled.gen.h" // For csg, gridmap.
class Node;
class NavigationMesh;
class NavigationMeshSourceGeometryData3D;
class NavMeshGenerator3D : public Object {
static NavMeshGenerator3D *singleton;
static Mutex baking_navmesh_mutex;
static HashSet<Ref<NavigationMesh>> baking_navmeshes;
static void generator_parse_geometry_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node, bool p_recurse_children);
static void generator_parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node);
static void generator_bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data);
static void generator_parse_meshinstance3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node);
static void generator_parse_multimeshinstance3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node);
static void generator_parse_staticbody3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node);
#ifdef MODULE_CSG_ENABLED
static void generator_parse_csgshape3d_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node);
#endif // MODULE_CSG_ENABLED
#ifdef MODULE_GRIDMAP_ENABLED
static void generator_parse_gridmap_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node);
#endif // MODULE_GRIDMAP_ENABLED
static bool generator_emit_callback(const Callable &p_callback);
public:
static NavMeshGenerator3D *get_singleton();
static void cleanup();
static void finish();
static void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable());
static void bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable());
NavMeshGenerator3D();
~NavMeshGenerator3D();
};
#endif // _3D_DISABLED
#endif // NAV_MESH_GENERATOR_3D_H

720
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@ -32,451 +32,11 @@
#include "navigation_mesh_generator.h"
#include "core/math/convex_hull.h"
#include "core/os/thread.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/3d/multimesh_instance_3d.h"
#include "scene/3d/physics_body_3d.h"
#include "scene/resources/box_shape_3d.h"
#include "scene/resources/capsule_shape_3d.h"
#include "scene/resources/concave_polygon_shape_3d.h"
#include "scene/resources/convex_polygon_shape_3d.h"
#include "scene/resources/cylinder_shape_3d.h"
#include "scene/resources/height_map_shape_3d.h"
#include "scene/resources/navigation_mesh_source_geometry_data_3d.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/shape_3d.h"
#include "scene/resources/sphere_shape_3d.h"
#include "scene/resources/world_boundary_shape_3d.h"
#ifdef TOOLS_ENABLED
#include "editor/editor_node.h"
#endif
#include "modules/modules_enabled.gen.h" // For csg, gridmap.
#ifdef MODULE_CSG_ENABLED
#include "modules/csg/csg_shape.h"
#endif
#ifdef MODULE_GRIDMAP_ENABLED
#include "modules/gridmap/grid_map.h"
#endif
#include "servers/navigation_server_3d.h"
NavigationMeshGenerator *NavigationMeshGenerator::singleton = nullptr;
void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices) {
p_vertices.push_back(p_vec3.x);
p_vertices.push_back(p_vec3.y);
p_vertices.push_back(p_vec3.z);
}
void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
int current_vertex_count;
for (int i = 0; i < p_mesh->get_surface_count(); i++) {
current_vertex_count = p_vertices.size() / 3;
if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
continue;
}
int index_count = 0;
if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
index_count = p_mesh->surface_get_array_index_len(i);
} else {
index_count = p_mesh->surface_get_array_len(i);
}
ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
int face_count = index_count / 3;
Array a = p_mesh->surface_get_arrays(i);
ERR_CONTINUE(a.is_empty() || (a.size() != Mesh::ARRAY_MAX));
Vector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX];
ERR_CONTINUE(mesh_vertices.is_empty());
const Vector3 *vr = mesh_vertices.ptr();
if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
Vector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
ERR_CONTINUE(mesh_indices.is_empty() || (mesh_indices.size() != index_count));
const int *ir = mesh_indices.ptr();
for (int j = 0; j < mesh_vertices.size(); j++) {
_add_vertex(p_xform.xform(vr[j]), p_vertices);
}
for (int j = 0; j < face_count; j++) {
// CCW
p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
}
} else {
ERR_CONTINUE(mesh_vertices.size() != index_count);
face_count = mesh_vertices.size() / 3;
for (int j = 0; j < face_count; j++) {
_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_vertices);
_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_vertices);
_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_vertices);
p_indices.push_back(current_vertex_count + (j * 3 + 0));
p_indices.push_back(current_vertex_count + (j * 3 + 1));
p_indices.push_back(current_vertex_count + (j * 3 + 2));
}
}
}
}
void NavigationMeshGenerator::_add_mesh_array(const Array &p_array, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
ERR_FAIL_COND(p_array.size() != Mesh::ARRAY_MAX);
Vector<Vector3> mesh_vertices = p_array[Mesh::ARRAY_VERTEX];
ERR_FAIL_COND(mesh_vertices.is_empty());
const Vector3 *vr = mesh_vertices.ptr();
Vector<int> mesh_indices = p_array[Mesh::ARRAY_INDEX];
ERR_FAIL_COND(mesh_indices.is_empty());
const int *ir = mesh_indices.ptr();
const int face_count = mesh_indices.size() / 3;
const int current_vertex_count = p_vertices.size() / 3;
for (int j = 0; j < mesh_vertices.size(); j++) {
_add_vertex(p_xform.xform(vr[j]), p_vertices);
}
for (int j = 0; j < face_count; j++) {
// CCW
p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
}
}
void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
ERR_FAIL_COND(p_faces.is_empty());
ERR_FAIL_COND(p_faces.size() % 3 != 0);
int face_count = p_faces.size() / 3;
int current_vertex_count = p_vertices.size() / 3;
for (int j = 0; j < face_count; j++) {
_add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_vertices);
_add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_vertices);
_add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_vertices);
p_indices.push_back(current_vertex_count + (j * 3 + 0));
p_indices.push_back(current_vertex_count + (j * 3 + 2));
p_indices.push_back(current_vertex_count + (j * 3 + 1));
}
}
void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
if (Object::cast_to<MeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MeshInstance3D *mesh_instance = Object::cast_to<MeshInstance3D>(p_node);
Ref<Mesh> mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
_add_mesh(mesh, p_navmesh_transform * mesh_instance->get_global_transform(), p_vertices, p_indices);
}
}
if (Object::cast_to<MultiMeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MultiMeshInstance3D *multimesh_instance = Object::cast_to<MultiMeshInstance3D>(p_node);
Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh();
if (multimesh.is_valid()) {
Ref<Mesh> mesh = multimesh->get_mesh();
if (mesh.is_valid()) {
int n = multimesh->get_visible_instance_count();
if (n == -1) {
n = multimesh->get_instance_count();
}
for (int i = 0; i < n; i++) {
_add_mesh(mesh, p_navmesh_transform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i), p_vertices, p_indices);
}
}
}
}
#ifdef MODULE_CSG_ENABLED
if (Object::cast_to<CSGShape3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
CSGShape3D *csg_shape = Object::cast_to<CSGShape3D>(p_node);
Array meshes = csg_shape->get_meshes();
if (!meshes.is_empty()) {
Ref<Mesh> mesh = meshes[1];
if (mesh.is_valid()) {
_add_mesh(mesh, p_navmesh_transform * csg_shape->get_global_transform(), p_vertices, p_indices);
}
}
}
#endif
if (Object::cast_to<StaticBody3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES) {
StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node);
if (static_body->get_collision_layer() & p_collision_mask) {
List<uint32_t> shape_owners;
static_body->get_shape_owners(&shape_owners);
for (uint32_t shape_owner : shape_owners) {
if (static_body->is_shape_owner_disabled(shape_owner)) {
continue;
}
const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
for (int i = 0; i < shape_count; i++) {
Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, i);
if (s.is_null()) {
continue;
}
const Transform3D transform = p_navmesh_transform * static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
BoxShape3D *box = Object::cast_to<BoxShape3D>(*s);
if (box) {
Array arr;
arr.resize(RS::ARRAY_MAX);
BoxMesh::create_mesh_array(arr, box->get_size());
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
CapsuleShape3D *capsule = Object::cast_to<CapsuleShape3D>(*s);
if (capsule) {
Array arr;
arr.resize(RS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height());
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
CylinderShape3D *cylinder = Object::cast_to<CylinderShape3D>(*s);
if (cylinder) {
Array arr;
arr.resize(RS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
SphereShape3D *sphere = Object::cast_to<SphereShape3D>(*s);
if (sphere) {
Array arr;
arr.resize(RS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
if (concave_polygon) {
_add_faces(concave_polygon->get_faces(), transform, p_vertices, p_indices);
}
ConvexPolygonShape3D *convex_polygon = Object::cast_to<ConvexPolygonShape3D>(*s);
if (convex_polygon) {
Vector<Vector3> varr = Variant(convex_polygon->get_points());
Geometry3D::MeshData md;
Error err = ConvexHullComputer::convex_hull(varr, md);
if (err == OK) {
PackedVector3Array faces;
for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
}
}
_add_faces(faces, transform, p_vertices, p_indices);
}
}
HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s);
if (heightmap_shape) {
int heightmap_depth = heightmap_shape->get_map_depth();
int heightmap_width = heightmap_shape->get_map_width();
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = heightmap_shape->get_map_data();
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
_add_faces(vertex_array, transform, p_vertices, p_indices);
}
}
}
}
}
}
}
#ifdef MODULE_GRIDMAP_ENABLED
GridMap *gridmap = Object::cast_to<GridMap>(p_node);
if (gridmap) {
if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
Array meshes = gridmap->get_meshes();
Transform3D xform = gridmap->get_global_transform();
for (int i = 0; i < meshes.size(); i += 2) {
Ref<Mesh> mesh = meshes[i + 1];
if (mesh.is_valid()) {
_add_mesh(mesh, p_navmesh_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
}
}
}
if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
Array shapes = gridmap->get_collision_shapes();
for (int i = 0; i < shapes.size(); i += 2) {
RID shape = shapes[i + 1];
PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
switch (type) {
case PhysicsServer3D::SHAPE_SPHERE: {
real_t radius = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer3D::SHAPE_BOX: {
Vector3 extents = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
BoxMesh::create_mesh_array(arr, extents * 2.0);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer3D::SHAPE_CAPSULE: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, radius, height);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer3D::SHAPE_CYLINDER: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, radius, radius, height);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
PackedVector3Array vertices = data;
Geometry3D::MeshData md;
Error err = ConvexHullComputer::convex_hull(vertices, md);
if (err == OK) {
PackedVector3Array faces;
for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
}
}
_add_faces(faces, shapes[i], p_vertices, p_indices);
}
} break;
case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
Dictionary dict = data;
PackedVector3Array faces = Variant(dict["faces"]);
_add_faces(faces, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer3D::SHAPE_HEIGHTMAP: {
Dictionary dict = data;
///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
int heightmap_depth = dict["depth"];
int heightmap_width = dict["width"];
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = dict["heights"];
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
_add_faces(vertex_array, shapes[i], p_vertices, p_indices);
}
}
} break;
default: {
WARN_PRINT("Unsupported collision shape type.");
} break;
}
}
}
}
#endif
if (p_recurse_children) {
for (int i = 0; i < p_node->get_child_count(); i++) {
_parse_geometry(p_navmesh_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
}
}
}
NavigationMeshGenerator *NavigationMeshGenerator::get_singleton() {
return singleton;
}
@ -500,285 +60,11 @@ void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_navigation_mesh) {
}
void NavigationMeshGenerator::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred().");
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
ERR_FAIL_COND_MSG(p_root_node == nullptr, "No parsing root node specified.");
ERR_FAIL_COND_MSG(!p_root_node->is_inside_tree(), "The root node needs to be inside the SceneTree.");
Vector<float> vertices;
Vector<int> indices;
List<Node *> parse_nodes;
if (p_navigation_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) {
parse_nodes.push_back(p_root_node);
} else {
p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_group_name(), &parse_nodes);
}
Transform3D navmesh_xform = Transform3D();
if (Object::cast_to<Node3D>(p_root_node)) {
navmesh_xform = Object::cast_to<Node3D>(p_root_node)->get_global_transform().affine_inverse();
}
for (Node *E : parse_nodes) {
NavigationMesh::ParsedGeometryType geometry_type = p_navigation_mesh->get_parsed_geometry_type();
uint32_t collision_mask = p_navigation_mesh->get_collision_mask();
bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
_parse_geometry(navmesh_xform, E, vertices, indices, geometry_type, collision_mask, recurse_children);
}
p_source_geometry_data->set_vertices(vertices);
p_source_geometry_data->set_indices(indices);
if (p_callback.is_valid()) {
Callable::CallError ce;
Variant result;
p_callback.callp(nullptr, 0, result, ce);
if (ce.error == Callable::CallError::CALL_OK) {
//
}
}
NavigationServer3D::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback);
}
void NavigationMeshGenerator::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData3D.");
ERR_FAIL_COND_MSG(!p_source_geometry_data->has_data(), "NavigationMeshSourceGeometryData3D is empty. Parse source geometry first.");
generator_mutex.lock();
if (baking_navmeshes.has(p_navigation_mesh)) {
generator_mutex.unlock();
ERR_FAIL_MSG("NavigationMesh is already baking. Wait for current bake to finish.");
} else {
baking_navmeshes.insert(p_navigation_mesh);
generator_mutex.unlock();
}
#ifndef _3D_DISABLED
const Vector<float> vertices = p_source_geometry_data->get_vertices();
const Vector<int> indices = p_source_geometry_data->get_indices();
if (vertices.size() < 3 || indices.size() < 3) {
return;
}
rcHeightfield *hf = nullptr;
rcCompactHeightfield *chf = nullptr;
rcContourSet *cset = nullptr;
rcPolyMesh *poly_mesh = nullptr;
rcPolyMeshDetail *detail_mesh = nullptr;
rcContext ctx;
// added to keep track of steps, no functionality right now
String bake_state = "";
bake_state = "Setting up Configuration..."; // step #1
const float *verts = vertices.ptr();
const int nverts = vertices.size() / 3;
const int *tris = indices.ptr();
const int ntris = indices.size() / 3;
float bmin[3], bmax[3];
rcCalcBounds(verts, nverts, bmin, bmax);
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = p_navigation_mesh->get_cell_size();
cfg.ch = p_navigation_mesh->get_cell_height();
cfg.walkableSlopeAngle = p_navigation_mesh->get_agent_max_slope();
cfg.walkableHeight = (int)Math::ceil(p_navigation_mesh->get_agent_height() / cfg.ch);
cfg.walkableClimb = (int)Math::floor(p_navigation_mesh->get_agent_max_climb() / cfg.ch);
cfg.walkableRadius = (int)Math::ceil(p_navigation_mesh->get_agent_radius() / cfg.cs);
cfg.maxEdgeLen = (int)(p_navigation_mesh->get_edge_max_length() / p_navigation_mesh->get_cell_size());
cfg.maxSimplificationError = p_navigation_mesh->get_edge_max_error();
cfg.minRegionArea = (int)(p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size());
cfg.mergeRegionArea = (int)(p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size());
cfg.maxVertsPerPoly = (int)p_navigation_mesh->get_vertices_per_polygon();
cfg.detailSampleDist = MAX(p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance(), 0.1f);
cfg.detailSampleMaxError = p_navigation_mesh->get_cell_height() * p_navigation_mesh->get_detail_sample_max_error();
if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_navigation_mesh->get_agent_height())) {
WARN_PRINT("Property agent_height is ceiled to cell_height voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.walkableClimb * cfg.ch, p_navigation_mesh->get_agent_max_climb())) {
WARN_PRINT("Property agent_max_climb is floored to cell_height voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.walkableRadius * cfg.cs, p_navigation_mesh->get_agent_radius())) {
WARN_PRINT("Property agent_radius is ceiled to cell_size voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.maxEdgeLen * cfg.cs, p_navigation_mesh->get_edge_max_length())) {
WARN_PRINT("Property edge_max_length is rounded to cell_size voxel units and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.minRegionArea, p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size())) {
WARN_PRINT("Property region_min_size is converted to int and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.mergeRegionArea, p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size())) {
WARN_PRINT("Property region_merge_size is converted to int and loses precision.");
}
if (!Math::is_equal_approx((float)cfg.maxVertsPerPoly, p_navigation_mesh->get_vertices_per_polygon())) {
WARN_PRINT("Property vertices_per_polygon is converted to int and loses precision.");
}
if (p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance() < 0.1f) {
WARN_PRINT("Property detail_sample_distance is clamped to 0.1 world units as the resulting value from multiplying with cell_size is too low.");
}
cfg.bmin[0] = bmin[0];
cfg.bmin[1] = bmin[1];
cfg.bmin[2] = bmin[2];
cfg.bmax[0] = bmax[0];
cfg.bmax[1] = bmax[1];
cfg.bmax[2] = bmax[2];
AABB baking_aabb = p_navigation_mesh->get_filter_baking_aabb();
if (baking_aabb.has_volume()) {
Vector3 baking_aabb_offset = p_navigation_mesh->get_filter_baking_aabb_offset();
cfg.bmin[0] = baking_aabb.position[0] + baking_aabb_offset.x;
cfg.bmin[1] = baking_aabb.position[1] + baking_aabb_offset.y;
cfg.bmin[2] = baking_aabb.position[2] + baking_aabb_offset.z;
cfg.bmax[0] = cfg.bmin[0] + baking_aabb.size[0];
cfg.bmax[1] = cfg.bmin[1] + baking_aabb.size[1];
cfg.bmax[2] = cfg.bmin[2] + baking_aabb.size[2];
}
bake_state = "Calculating grid size..."; // step #2
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
// ~30000000 seems to be around sweetspot where Editor baking breaks
if ((cfg.width * cfg.height) > 30000000) {
WARN_PRINT("NavigationMesh baking process will likely fail."
"\nSource geometry is suspiciously big for the current Cell Size and Cell Height in the NavMesh Resource bake settings."
"\nIf baking does not fail, the resulting NavigationMesh will create serious pathfinding performance issues."
"\nIt is advised to increase Cell Size and/or Cell Height in the NavMesh Resource bake settings or reduce the size / scale of the source geometry.");
}
bake_state = "Creating heightfield..."; // step #3
hf = rcAllocHeightfield();
ERR_FAIL_COND(!hf);
ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
bake_state = "Marking walkable triangles..."; // step #4
{
Vector<unsigned char> tri_areas;
tri_areas.resize(ntris);
ERR_FAIL_COND(tri_areas.size() == 0);
memset(tri_areas.ptrw(), 0, ntris * sizeof(unsigned char));
rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptrw());
ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb));
}
if (p_navigation_mesh->get_filter_low_hanging_obstacles()) {
rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
}
if (p_navigation_mesh->get_filter_ledge_spans()) {
rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
}
if (p_navigation_mesh->get_filter_walkable_low_height_spans()) {
rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf);
}
bake_state = "Constructing compact heightfield..."; // step #5
chf = rcAllocCompactHeightfield();
ERR_FAIL_COND(!chf);
ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
rcFreeHeightField(hf);
hf = nullptr;
bake_state = "Eroding walkable area..."; // step #6
ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
bake_state = "Partitioning..."; // step #7
if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
} else if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
} else {
ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
}
bake_state = "Creating contours..."; // step #8
cset = rcAllocContourSet();
ERR_FAIL_COND(!cset);
ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
bake_state = "Creating polymesh..."; // step #9
poly_mesh = rcAllocPolyMesh();
ERR_FAIL_COND(!poly_mesh);
ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh));
detail_mesh = rcAllocPolyMeshDetail();
ERR_FAIL_COND(!detail_mesh);
ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh));
rcFreeCompactHeightfield(chf);
chf = nullptr;
rcFreeContourSet(cset);
cset = nullptr;
bake_state = "Converting to native navigation mesh..."; // step #10
Vector<Vector3> nav_vertices;
for (int i = 0; i < detail_mesh->nverts; i++) {
const float *v = &detail_mesh->verts[i * 3];
nav_vertices.push_back(Vector3(v[0], v[1], v[2]));
}
p_navigation_mesh->set_vertices(nav_vertices);
p_navigation_mesh->clear_polygons();
for (int i = 0; i < detail_mesh->nmeshes; i++) {
const unsigned int *detail_mesh_m = &detail_mesh->meshes[i * 4];
const unsigned int detail_mesh_bverts = detail_mesh_m[0];
const unsigned int detail_mesh_m_btris = detail_mesh_m[2];
const unsigned int detail_mesh_ntris = detail_mesh_m[3];
const unsigned char *detail_mesh_tris = &detail_mesh->tris[detail_mesh_m_btris * 4];
for (unsigned int j = 0; j < detail_mesh_ntris; j++) {
Vector<int> nav_indices;
nav_indices.resize(3);
// Polygon order in recast is opposite than godot's
nav_indices.write[0] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 0]));
nav_indices.write[1] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 2]));
nav_indices.write[2] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 1]));
p_navigation_mesh->add_polygon(nav_indices);
}
}
bake_state = "Cleanup..."; // step #11
rcFreePolyMesh(poly_mesh);
poly_mesh = nullptr;
rcFreePolyMeshDetail(detail_mesh);
detail_mesh = nullptr;
bake_state = "Baking finished."; // step #12
#endif // _3D_DISABLED
generator_mutex.lock();
baking_navmeshes.erase(p_navigation_mesh);
generator_mutex.unlock();
if (p_callback.is_valid()) {
Callable::CallError ce;
Variant result;
p_callback.callp(nullptr, 0, result, ce);
if (ce.error == Callable::CallError::CALL_OK) {
//
}
}
NavigationServer3D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
}
void NavigationMeshGenerator::_bind_methods() {

11
modules/navigation/navigation_mesh_generator.h
View File

@ -36,27 +36,16 @@
#include "scene/3d/navigation_region_3d.h"
#include "scene/resources/navigation_mesh.h"
#include <Recast.h>
class NavigationMeshSourceGeometryData3D;
class NavigationMeshGenerator : public Object {
GDCLASS(NavigationMeshGenerator, Object);
Mutex generator_mutex;
static NavigationMeshGenerator *singleton;
HashSet<Ref<NavigationMesh>> baking_navmeshes;
protected:
static void _bind_methods();
static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices);
static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _add_mesh_array(const Array &p_array, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _parse_geometry(const Transform3D &p_navmesh_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
public:
static NavigationMeshGenerator *get_singleton();

8
modules/navigation/register_types.cpp
View File

@ -32,9 +32,11 @@
#include "godot_navigation_server.h"
#ifndef DISABLE_DEPRECATED
#ifndef _3D_DISABLED
#include "navigation_mesh_generator.h"
#endif
#endif // DISABLE_DEPRECATED
#ifdef TOOLS_ENABLED
#include "editor/navigation_mesh_editor_plugin.h"
@ -43,9 +45,11 @@
#include "core/config/engine.h"
#include "servers/navigation_server_3d.h"
#ifndef DISABLE_DEPRECATED
#ifndef _3D_DISABLED
NavigationMeshGenerator *_nav_mesh_generator = nullptr;
#endif
#endif // DISABLE_DEPRECATED
NavigationServer3D *new_server() {
return memnew(GodotNavigationServer);
@ -55,11 +59,13 @@ void initialize_navigation_module(ModuleInitializationLevel p_level) {
if (p_level == MODULE_INITIALIZATION_LEVEL_SERVERS) {
NavigationServer3DManager::set_default_server(new_server);
#ifndef DISABLE_DEPRECATED
#ifndef _3D_DISABLED
_nav_mesh_generator = memnew(NavigationMeshGenerator);
GDREGISTER_CLASS(NavigationMeshGenerator);
Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationMeshGenerator", NavigationMeshGenerator::get_singleton()));
#endif
#endif // DISABLE_DEPRECATED
}
#ifdef TOOLS_ENABLED
@ -74,9 +80,11 @@ void uninitialize_navigation_module(ModuleInitializationLevel p_level) {
return;
}
#ifndef DISABLE_DEPRECATED
#ifndef _3D_DISABLED
if (_nav_mesh_generator) {
memdelete(_nav_mesh_generator);
}
#endif
#endif // DISABLE_DEPRECATED
}

6
scene/3d/navigation_region_3d.cpp
View File

@ -179,10 +179,6 @@ void NavigationRegion3D::_notification(int p_what) {
}
void NavigationRegion3D::set_navigation_mesh(const Ref<NavigationMesh> &p_navigation_mesh) {
if (p_navigation_mesh == navigation_mesh) {
return;
}
if (navigation_mesh.is_valid()) {
navigation_mesh->disconnect_changed(callable_mp(this, &NavigationRegion3D::_navigation_mesh_changed));
}
@ -249,7 +245,7 @@ void _bake_navigation_mesh(void *p_user_data) {
BakeThreadsArgs *args = static_cast<BakeThreadsArgs *>(p_user_data);
if (args->nav_region->get_navigation_mesh().is_valid()) {
Ref<NavigationMesh> nav_mesh = args->nav_region->get_navigation_mesh()->duplicate();
Ref<NavigationMesh> nav_mesh = args->nav_region->get_navigation_mesh();
Ref<NavigationMeshSourceGeometryData3D> source_geometry_data = args->source_geometry_data;
NavigationServer3D::get_singleton()->bake_from_source_geometry_data(nav_mesh, source_geometry_data);

4
servers/navigation_server_3d.h
View File

@ -34,7 +34,7 @@
#include "core/object/class_db.h"
#include "core/templates/rid.h"
#include "scene/3d/navigation_region_3d.h"
#include "scene/resources/navigation_mesh.h"
#include "scene/resources/navigation_mesh_source_geometry_data_3d.h"
#include "servers/navigation/navigation_path_query_parameters_3d.h"
#include "servers/navigation/navigation_path_query_result_3d.h"
@ -301,6 +301,8 @@ public:
/// so this must be called in the main thread.
/// Note: This function is not thread safe.
virtual void process(real_t delta_time) = 0;
virtual void init() = 0;
virtual void finish() = 0;
/// Returns a customized navigation path using a query parameters object
virtual void query_path(const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result) const;

2
servers/navigation_server_3d_dummy.h
View File

@ -150,6 +150,8 @@ public:
void free(RID p_object) override {}
void set_active(bool p_active) override {}
void process(real_t delta_time) override {}
void init() override {}
void finish() override {}
NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override { return NavigationUtilities::PathQueryResult(); }
int get_process_info(ProcessInfo p_info) const override { return 0; }
void set_debug_enabled(bool p_enabled) {}