306 lines
12 KiB
C++
306 lines
12 KiB
C++
/*************************************************************************/
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/* navigation_mesh_generator.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_mesh_generator.h"
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void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies) {
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p_verticies.push_back(p_vec3.x);
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p_verticies.push_back(p_vec3.y);
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p_verticies.push_back(p_vec3.z);
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}
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void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) {
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int current_vertex_count = 0;
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for (int i = 0; i < p_mesh->get_surface_count(); i++) {
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current_vertex_count = p_verticies.size() / 3;
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if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES)
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continue;
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int index_count = 0;
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if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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index_count = p_mesh->surface_get_array_index_len(i);
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} else {
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index_count = p_mesh->surface_get_array_len(i);
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}
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ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
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int face_count = index_count / 3;
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Array a = p_mesh->surface_get_arrays(i);
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PoolVector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX];
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PoolVector<Vector3>::Read vr = mesh_vertices.read();
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if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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PoolVector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
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PoolVector<int>::Read ir = mesh_indices.read();
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for (int j = 0; j < mesh_vertices.size(); j++) {
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_add_vertex(p_xform.xform(vr[j]), p_verticies);
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}
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for (int j = 0; j < face_count; j++) {
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// CCW
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
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}
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} else {
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face_count = mesh_vertices.size() / 3;
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for (int j = 0; j < face_count; j++) {
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_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_verticies);
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_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_verticies);
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_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_verticies);
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p_indices.push_back(current_vertex_count + (j * 3 + 0));
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p_indices.push_back(current_vertex_count + (j * 3 + 1));
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p_indices.push_back(current_vertex_count + (j * 3 + 2));
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}
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}
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}
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}
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void NavigationMeshGenerator::_parse_geometry(const Transform &p_base_inverse, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices) {
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if (Object::cast_to<MeshInstance>(p_node)) {
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MeshInstance *mesh_instance = Object::cast_to<MeshInstance>(p_node);
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Ref<Mesh> mesh = mesh_instance->get_mesh();
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if (mesh.is_valid()) {
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_add_mesh(mesh, p_base_inverse * mesh_instance->get_global_transform(), p_verticies, p_indices);
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}
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}
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for (int i = 0; i < p_node->get_child_count(); i++) {
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_parse_geometry(p_base_inverse, p_node->get_child(i), p_verticies, p_indices);
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}
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}
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void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh) {
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PoolVector<Vector3> nav_vertices;
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for (int i = 0; i < p_detail_mesh->nverts; i++) {
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const float *v = &p_detail_mesh->verts[i * 3];
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nav_vertices.append(Vector3(v[0], v[1], v[2]));
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}
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p_nav_mesh->set_vertices(nav_vertices);
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for (int i = 0; i < p_detail_mesh->nmeshes; i++) {
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const unsigned int *m = &p_detail_mesh->meshes[i * 4];
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const unsigned int bverts = m[0];
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const unsigned int btris = m[2];
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const unsigned int ntris = m[3];
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const unsigned char *tris = &p_detail_mesh->tris[btris * 4];
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for (unsigned int j = 0; j < ntris; j++) {
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Vector<int> nav_indices;
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nav_indices.resize(3);
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// Polygon order in recast is opposite than godot's
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nav_indices.write[0] = ((int)(bverts + tris[j * 4 + 0]));
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nav_indices.write[1] = ((int)(bverts + tris[j * 4 + 2]));
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nav_indices.write[2] = ((int)(bverts + tris[j * 4 + 1]));
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p_nav_mesh->add_polygon(nav_indices);
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}
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}
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}
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void NavigationMeshGenerator::_build_recast_navigation_mesh(Ref<NavigationMesh> p_nav_mesh, EditorProgress *ep,
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rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh, rcPolyMeshDetail *detail_mesh,
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Vector<float> &vertices, Vector<int> &indices) {
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rcContext ctx;
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ep->step(TTR("Setting up Configuration..."), 1);
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const float *verts = vertices.ptr();
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const int nverts = vertices.size() / 3;
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const int *tris = indices.ptr();
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const int ntris = indices.size() / 3;
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float bmin[3], bmax[3];
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rcCalcBounds(verts, nverts, bmin, bmax);
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rcConfig cfg;
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memset(&cfg, 0, sizeof(cfg));
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cfg.cs = p_nav_mesh->get_cell_size();
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cfg.ch = p_nav_mesh->get_cell_height();
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cfg.walkableSlopeAngle = p_nav_mesh->get_agent_max_slope();
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cfg.walkableHeight = (int)Math::ceil(p_nav_mesh->get_agent_height() / cfg.ch);
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cfg.walkableClimb = (int)Math::floor(p_nav_mesh->get_agent_max_climb() / cfg.ch);
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cfg.walkableRadius = (int)Math::ceil(p_nav_mesh->get_agent_radius() / cfg.cs);
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cfg.maxEdgeLen = (int)(p_nav_mesh->get_edge_max_length() / p_nav_mesh->get_cell_size());
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cfg.maxSimplificationError = p_nav_mesh->get_edge_max_error();
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cfg.minRegionArea = (int)(p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size());
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cfg.mergeRegionArea = (int)(p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size());
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cfg.maxVertsPerPoly = (int)p_nav_mesh->get_verts_per_poly();
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cfg.detailSampleDist = p_nav_mesh->get_detail_sample_distance() < 0.9f ? 0 : p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance();
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cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error();
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cfg.bmin[0] = bmin[0];
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cfg.bmin[1] = bmin[1];
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cfg.bmin[2] = bmin[2];
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cfg.bmax[0] = bmax[0];
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cfg.bmax[1] = bmax[1];
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cfg.bmax[2] = bmax[2];
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ep->step(TTR("Calculating grid size..."), 2);
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rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
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ep->step(TTR("Creating heightfield..."), 3);
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hf = rcAllocHeightfield();
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ERR_FAIL_COND(!hf);
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ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
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ep->step(TTR("Marking walkable triangles..."), 4);
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{
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Vector<unsigned char> tri_areas;
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tri_areas.resize(ntris);
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ERR_FAIL_COND(tri_areas.size() == 0);
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memset(tri_areas.ptrw(), 0, ntris * sizeof(unsigned char));
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rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptrw());
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ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb));
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}
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if (p_nav_mesh->get_filter_low_hanging_obstacles())
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rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
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if (p_nav_mesh->get_filter_ledge_spans())
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rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
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if (p_nav_mesh->get_filter_walkable_low_height_spans())
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rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf);
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ep->step(TTR("Constructing compact heightfield..."), 5);
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chf = rcAllocCompactHeightfield();
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ERR_FAIL_COND(!chf);
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ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
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rcFreeHeightField(hf);
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hf = 0;
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ep->step(TTR("Eroding walkable area..."), 6);
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ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
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ep->step(TTR("Partitioning..."), 7);
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if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
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ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
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ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
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} else if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
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ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
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} else {
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ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
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}
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ep->step(TTR("Creating contours..."), 8);
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cset = rcAllocContourSet();
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ERR_FAIL_COND(!cset);
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ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
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ep->step(TTR("Creating polymesh..."), 9);
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poly_mesh = rcAllocPolyMesh();
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ERR_FAIL_COND(!poly_mesh);
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ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh));
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detail_mesh = rcAllocPolyMeshDetail();
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ERR_FAIL_COND(!detail_mesh);
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ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh));
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rcFreeCompactHeightfield(chf);
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chf = 0;
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rcFreeContourSet(cset);
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cset = 0;
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ep->step(TTR("Converting to native navigation mesh..."), 10);
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_convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh);
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rcFreePolyMesh(poly_mesh);
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poly_mesh = 0;
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rcFreePolyMeshDetail(detail_mesh);
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detail_mesh = 0;
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}
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void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) {
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ERR_FAIL_COND(!p_nav_mesh.is_valid());
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EditorProgress ep("bake", TTR("Navigation Mesh Generator Setup:"), 11);
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ep.step(TTR("Parsing Geometry..."), 0);
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Vector<float> vertices;
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Vector<int> indices;
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_parse_geometry(Object::cast_to<Spatial>(p_node)->get_global_transform().affine_inverse(), p_node, vertices, indices);
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if (vertices.size() > 0 && indices.size() > 0) {
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rcHeightfield *hf = NULL;
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rcCompactHeightfield *chf = NULL;
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rcContourSet *cset = NULL;
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rcPolyMesh *poly_mesh = NULL;
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rcPolyMeshDetail *detail_mesh = NULL;
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_build_recast_navigation_mesh(p_nav_mesh, &ep, hf, chf, cset, poly_mesh, detail_mesh, vertices, indices);
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rcFreeHeightField(hf);
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hf = 0;
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rcFreeCompactHeightfield(chf);
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chf = 0;
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rcFreeContourSet(cset);
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cset = 0;
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rcFreePolyMesh(poly_mesh);
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poly_mesh = 0;
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rcFreePolyMeshDetail(detail_mesh);
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detail_mesh = 0;
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}
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ep.step(TTR("Done!"), 11);
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}
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void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_nav_mesh) {
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if (p_nav_mesh.is_valid()) {
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p_nav_mesh->clear_polygons();
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p_nav_mesh->set_vertices(PoolVector<Vector3>());
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}
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}
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