diff options
Diffstat (limited to 'modules/navigation/navigation_mesh_generator.cpp')
| -rw-r--r-- | modules/navigation/navigation_mesh_generator.cpp | 182 |
1 files changed, 165 insertions, 17 deletions
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp index 9e2daf3a99..848e554fb0 100644 --- a/modules/navigation/navigation_mesh_generator.cpp +++ b/modules/navigation/navigation_mesh_generator.cpp @@ -34,7 +34,6 @@ #include "core/math/convex_hull.h" #include "core/os/thread.h" -#include "scene/3d/collision_shape_3d.h" #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/multimesh_instance_3d.h" #include "scene/3d/physics_body_3d.h" @@ -43,6 +42,7 @@ #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/primitive_meshes.h" #include "scene/resources/shape_3d.h" #include "scene/resources/sphere_shape_3d.h" @@ -173,14 +173,16 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans 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(); - 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); + 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); + } } } } @@ -202,14 +204,17 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node); if (static_body->get_collision_layer() & p_collision_mask) { - for (int i = 0; i < p_node->get_child_count(); ++i) { - Node *child = p_node->get_child(i); - if (Object::cast_to<CollisionShape3D>(child)) { - CollisionShape3D *col_shape = Object::cast_to<CollisionShape3D>(child); - - Transform3D transform = p_navmesh_transform * static_body->get_global_transform() * col_shape->get_transform(); + List<uint32_t> shape_owners; + static_body->get_shape_owners(&shape_owners); + for (uint32_t shape_owner : shape_owners) { + 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; + } - Ref<Shape3D> s = col_shape->get_shape(); + 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) { @@ -271,6 +276,50 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans _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 - 1; d++) { + for (int w = 0; w < heightmap_width - 1; 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); + } + } + } } } } @@ -358,6 +407,50 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans 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 - 1; d++) { + for (int w = 0; w < heightmap_width - 1; 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; @@ -443,9 +536,34 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( cfg.minRegionArea = (int)(p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size()); cfg.mergeRegionArea = (int)(p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size()); cfg.maxVertsPerPoly = (int)p_nav_mesh->get_verts_per_poly(); - 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(); + cfg.detailSampleDist = MAX(p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance(), 0.1f); cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error(); + if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_nav_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_nav_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_nav_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_nav_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_nav_mesh->get_region_min_size() * p_nav_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_nav_mesh->get_region_merge_size() * p_nav_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_nav_mesh->get_verts_per_poly())) { + WARN_PRINT("Property verts_per_poly is converted to int and loses precision."); + } + if (p_nav_mesh->get_cell_size() * p_nav_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]; @@ -453,6 +571,21 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( cfg.bmax[1] = bmax[1]; cfg.bmax[2] = bmax[2]; + AABB baking_aabb = p_nav_mesh->get_filter_baking_aabb(); + + bool aabb_has_no_volume = baking_aabb.has_no_volume(); + + if (!aabb_has_no_volume) { + Vector3 baking_aabb_offset = p_nav_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]; + } + #ifdef TOOLS_ENABLED if (ep) { ep->step(TTR("Calculating grid size..."), 2); @@ -460,6 +593,14 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( #endif 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."); + } + #ifdef TOOLS_ENABLED if (ep) { ep->step(TTR("Creating heightfield..."), 3); @@ -594,6 +735,13 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) #ifdef TOOLS_ENABLED EditorProgress *ep(nullptr); + // FIXME +#endif +#if 0 + // After discussion on devchat disabled EditorProgress for now as it is not thread-safe and uses hacks and Main::iteration() for steps. + // EditorProgress randomly crashes the Engine when the bake function is used with a thread e.g. inside Editor with a tool script and procedural navigation + // This was not a problem in older versions as previously Godot was unable to (re)bake NavigationMesh at runtime. + // If EditorProgress is fixed and made thread-safe this should be enabled again. if (Engine::get_singleton()->is_editor_hint()) { ep = memnew(EditorProgress("bake", TTR("Navigation Mesh Generator Setup:"), 11)); } |