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-rw-r--r--modules/navigation/navigation_mesh_generator.cpp122
1 files changed, 116 insertions, 6 deletions
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index e430f5fd59..f0d3e329ce 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -42,6 +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"
@@ -208,6 +209,9 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
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++) {
+ if (static_body->is_shape_owner_disabled(i)) {
+ continue;
+ }
Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, i);
if (s.is_null()) {
continue;
@@ -262,10 +266,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
if (err == OK) {
PackedVector3Array faces;
- for (int j = 0; j < md.faces.size(); ++j) {
- Geometry3D::MeshData::Face face = md.faces[j];
+ for (uint32_t j = 0; j < md.faces.size(); ++j) {
+ const Geometry3D::MeshData::Face &face = md.faces[j];
- for (int k = 2; k < face.indices.size(); ++k) {
+ 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]]);
@@ -275,6 +279,50 @@ 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);
+ }
+ }
+ }
}
}
}
@@ -344,10 +392,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
if (err == OK) {
PackedVector3Array faces;
- for (int j = 0; j < md.faces.size(); ++j) {
- Geometry3D::MeshData::Face face = md.faces[j];
+ for (uint32_t j = 0; j < md.faces.size(); ++j) {
+ const Geometry3D::MeshData::Face &face = md.faces[j];
- for (int k = 2; k < face.indices.size(); ++k) {
+ 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]]);
@@ -362,6 +410,50 @@ 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;
@@ -482,6 +574,17 @@ 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();
+ if (baking_aabb.has_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);
@@ -631,6 +734,13 @@ 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));
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-15 16:40:32 +0000