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#include "UnityPrefix.h"
#include "NavMeshCarving.h"
#include "DetourNavMesh.h"
#include "NavMesh.h"
#include "NavMeshSettings.h"
#include "DetourCrowdTypes.h"
#include "NavMeshObstacle.h"
#include "NavMeshProfiler.h"
#include <float.h>
// Performance note:
// The performance of the current implementation will be sub-optimal
// in case of many tiles compared to update count.
// [ e.g. : tileCount >= 10*(newCarveData.size () + m_OldCarveBounds.size ()) ]
//
// Consider letting obstacles push themselves to lists of tiles which they cover.
PROFILER_INFORMATION (gCrowdManagerCarve, "CrowdManager.CarveNavmesh", kProfilerAI)
NavMeshCarving::NavMeshCarving ()
{
}
NavMeshCarving::~NavMeshCarving ()
{
}
#if ENABLE_NAVMESH_CARVING
#include "Runtime/Geometry/AABB.h"
#include "Runtime/Geometry/Intersection.h"
#include "NavMeshTileCarving.h"
static void CalculateCarveBounds (MinMaxAABB& carveBounds, const NavMeshCarveData& carveData)
{
AABB localCarveBounds (Vector3f::zero, carveData.size);
AABB worldCarveBounds;
TransformAABBSlow (localCarveBounds, carveData.transform, worldCarveBounds);
carveBounds = worldCarveBounds;
}
void NavMeshCarving::AddObstacle (NavMeshObstacle& obstacle, int& handle)
{
Assert (handle == -1);
handle = m_ObstacleInfo.size ();
ObstacleCarveInfo& info = m_ObstacleInfo.push_back ();
info.obstacle = &obstacle;
memset (&info.carveData, 0, sizeof (info.carveData));
}
void NavMeshCarving::RemoveObstacle (int& handle)
{
Assert (handle >= 0 && handle < m_ObstacleInfo.size ());
const int last = m_ObstacleInfo.size () - 1;
m_OldCarveBounds.push_back (m_ObstacleInfo[handle].carveBounds);
if (handle != last)
{
m_ObstacleInfo[handle] = m_ObstacleInfo[last];
m_ObstacleInfo[handle].obstacle->SetCarveHandle (handle);
}
handle = -1;
m_ObstacleInfo.pop_back ();
}
bool NavMeshCarving::Carve ()
{
PROFILER_AUTO (gCrowdManagerCarve, NULL)
NavMesh* navmesh = GetNavMeshSettings ().GetNavMesh ();
if (navmesh == NULL)
return false;
// Temporary copy of new data for faster culling
dynamic_array<NavMeshCarveData> newCarveData (m_ObstacleInfo.size (), kMemTempAlloc);
UpdateCarveData (newCarveData);
if (newCarveData.empty () && m_OldCarveBounds.empty ())
return false;
return UpdateTiles (navmesh, newCarveData);
}
// For registered obstacles - collect info for those that need updating
void NavMeshCarving::UpdateCarveData (dynamic_array<NavMeshCarveData>& newCarveData)
{
newCarveData.resize_uninitialized (0);
const size_t obstacleCount = m_ObstacleInfo.size ();
for (size_t i = 0; i < obstacleCount; ++i)
{
if (!m_ObstacleInfo[i].obstacle->NeedsRebuild ())
continue;
// Store previous carved data
m_OldCarveBounds.push_back (m_ObstacleInfo[i].carveBounds);
NavMeshCarveData& data = newCarveData.push_back ();
m_ObstacleInfo[i].obstacle->WillRebuildNavmesh (data);
m_ObstacleInfo[i].carveData = data;
CalculateCarveBounds (m_ObstacleInfo[i].carveBounds, data);
}
}
// Extend the tile bounds by the carving dimensions
// note that the asymmetry in the vertical direction.
static void CalculateExtendedTileBounds (MinMaxAABB& bounds, const dtMeshTile* tile)
{
const Vector3f tileMin = Vector3f (tile->header->bmin);
const Vector3f tileMax = Vector3f (tile->header->bmax);
const float horizontalMargin = tile->header->walkableRadius;
const float depthMargin = tile->header->walkableRadius;
bounds.m_Min = Vector3f (tileMin.x - horizontalMargin, tileMin.y, tileMin.z - horizontalMargin);
bounds.m_Max = Vector3f (tileMax.x + horizontalMargin, tileMax.y + depthMargin, tileMax.z + horizontalMargin);
}
bool NavMeshCarving::UpdateTiles (NavMesh* navmesh, const dynamic_array<NavMeshCarveData>& newCarveData)
{
dtNavMesh* detourNavMesh = navmesh->GetInternalNavMesh ();
const size_t tileCount = detourNavMesh->tileCount ();
const size_t obstacleCount = m_ObstacleInfo.size ();
dynamic_array<Vector3f> sizes (obstacleCount, kMemTempAlloc);
dynamic_array<Matrix4x4f> transforms (obstacleCount, kMemTempAlloc);
dynamic_array<MinMaxAABB> aabbs (obstacleCount, kMemTempAlloc);
int updatedTileCount = 0;
for (size_t i = 0; i < tileCount; ++i)
{
const dtMeshTile* tile = detourNavMesh->getTile (i);
if (!tile || !tile->header)
continue;
MinMaxAABB tileBounds;
CalculateExtendedTileBounds (tileBounds, tile);
const TileCarveStatus status = CollectCarveDataAndStatus (transforms, sizes, aabbs, newCarveData, tileBounds);
DebugAssert (transforms.size () == aabbs.size ());
DebugAssert (transforms.size () == sizes.size ());
if (status == kIgnore)
continue;
// Reinitialize tile since we have either 'kRestore' or 'kCarve' at this point
updatedTileCount++;
detourNavMesh->restoreTile (navmesh->GetMeshData (), navmesh->GetMeshDataSize (), i);
if (status == kCarve)
{
CarveNavMeshTile (tile, detourNavMesh, transforms.size (), transforms.begin (), sizes.begin (), aabbs.begin ());
}
}
m_OldCarveBounds.resize_uninitialized (0);
return updatedTileCount > 0;
}
// Does any of the bounds in 'arrayOfBounds' overlap with 'bounds'
static bool AnyOverlaps (const dynamic_array<MinMaxAABB>& arrayOfBounds, const MinMaxAABB& bounds)
{
const size_t count = arrayOfBounds.size ();
for (size_t i = 0; i < count; ++i)
{
if (IntersectAABBAABB (arrayOfBounds[i], bounds))
return true;
}
return false;
}
NavMeshCarving::TileCarveStatus NavMeshCarving::CollectCarveDataAndStatus (dynamic_array<Matrix4x4f>& transforms, dynamic_array<Vector3f>& sizes, dynamic_array<MinMaxAABB>& aabbs, const dynamic_array<NavMeshCarveData>& newCarveData, const MinMaxAABB& tileBounds) const
{
CollectOverlappingCarveData (transforms, sizes, aabbs, tileBounds);
if (!transforms.empty ())
return kCarve;
if (AnyOverlaps (m_OldCarveBounds, tileBounds))
return kRestore;
return kIgnore;
}
void NavMeshCarving::CollectOverlappingCarveData (dynamic_array<Matrix4x4f>& transforms, dynamic_array<Vector3f>& sizes, dynamic_array<MinMaxAABB>& aabbs, const MinMaxAABB& bounds) const
{
aabbs.resize_uninitialized (0);
sizes.resize_uninitialized (0);
transforms.resize_uninitialized (0);
const size_t count = m_ObstacleInfo.size ();
for (size_t i = 0; i < count; ++i)
{
if (IntersectAABBAABB (m_ObstacleInfo[i].carveBounds, bounds))
{
aabbs.push_back (m_ObstacleInfo[i].carveBounds);
sizes.push_back (m_ObstacleInfo[i].carveData.size);
transforms.push_back (m_ObstacleInfo[i].carveData.transform);
}
}
}
#else
bool NavMeshCarving::Carve () {return false;}
void NavMeshCarving::AddObstacle (NavMeshObstacle& obstacle, int& handle) {}
void NavMeshCarving::RemoveObstacle (int& handle) {}
#endif // ENABLE_NAVMESH_CARVING
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