526 lines
21 KiB
C++
526 lines
21 KiB
C++
/**************************************************************************/
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/* nav_mesh_generator_2d.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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#ifdef CLIPPER2_ENABLED
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#include "nav_mesh_generator_2d.h"
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#include "core/config/project_settings.h"
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#include "scene/resources/2d/navigation_mesh_source_geometry_data_2d.h"
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#include "scene/resources/2d/navigation_polygon.h"
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#include "thirdparty/clipper2/include/clipper2/clipper.h"
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#include "thirdparty/misc/polypartition.h"
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NavMeshGenerator2D *NavMeshGenerator2D::singleton = nullptr;
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Mutex NavMeshGenerator2D::baking_navmesh_mutex;
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Mutex NavMeshGenerator2D::generator_task_mutex;
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RWLock NavMeshGenerator2D::generator_parsers_rwlock;
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bool NavMeshGenerator2D::use_threads = true;
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bool NavMeshGenerator2D::baking_use_multiple_threads = true;
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bool NavMeshGenerator2D::baking_use_high_priority_threads = true;
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HashSet<Ref<NavigationPolygon>> NavMeshGenerator2D::baking_navmeshes;
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HashMap<WorkerThreadPool::TaskID, NavMeshGenerator2D::NavMeshGeneratorTask2D *> NavMeshGenerator2D::generator_tasks;
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LocalVector<NavMeshGeometryParser2D *> NavMeshGenerator2D::generator_parsers;
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NavMeshGenerator2D *NavMeshGenerator2D::get_singleton() {
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return singleton;
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}
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NavMeshGenerator2D::NavMeshGenerator2D() {
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ERR_FAIL_COND(singleton != nullptr);
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singleton = this;
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baking_use_multiple_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_multiple_threads");
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baking_use_high_priority_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_high_priority_threads");
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// Using threads might cause problems on certain exports or with the Editor on certain devices.
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// This is the main switch to turn threaded navmesh baking off should the need arise.
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use_threads = baking_use_multiple_threads;
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}
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NavMeshGenerator2D::~NavMeshGenerator2D() {
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cleanup();
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}
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void NavMeshGenerator2D::sync() {
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if (generator_tasks.size() == 0) {
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return;
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}
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MutexLock baking_navmesh_lock(baking_navmesh_mutex);
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{
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MutexLock generator_task_lock(generator_task_mutex);
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LocalVector<WorkerThreadPool::TaskID> finished_task_ids;
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for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> &E : generator_tasks) {
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if (WorkerThreadPool::get_singleton()->is_task_completed(E.key)) {
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WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
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finished_task_ids.push_back(E.key);
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NavMeshGeneratorTask2D *generator_task = E.value;
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DEV_ASSERT(generator_task->status == NavMeshGeneratorTask2D::TaskStatus::BAKING_FINISHED);
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baking_navmeshes.erase(generator_task->navigation_mesh);
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if (generator_task->callback.is_valid()) {
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generator_emit_callback(generator_task->callback);
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}
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memdelete(generator_task);
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}
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}
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for (WorkerThreadPool::TaskID finished_task_id : finished_task_ids) {
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generator_tasks.erase(finished_task_id);
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}
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}
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}
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void NavMeshGenerator2D::cleanup() {
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MutexLock baking_navmesh_lock(baking_navmesh_mutex);
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{
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MutexLock generator_task_lock(generator_task_mutex);
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baking_navmeshes.clear();
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for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> &E : generator_tasks) {
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WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
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NavMeshGeneratorTask2D *generator_task = E.value;
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memdelete(generator_task);
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}
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generator_tasks.clear();
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generator_parsers_rwlock.write_lock();
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generator_parsers.clear();
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generator_parsers_rwlock.write_unlock();
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}
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}
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void NavMeshGenerator2D::finish() {
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cleanup();
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}
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void NavMeshGenerator2D::parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
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ERR_FAIL_COND(!Thread::is_main_thread());
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ERR_FAIL_COND(p_navigation_mesh.is_null());
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ERR_FAIL_NULL(p_root_node);
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ERR_FAIL_COND(!p_root_node->is_inside_tree());
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ERR_FAIL_COND(p_source_geometry_data.is_null());
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generator_parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node);
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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}
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void NavMeshGenerator2D::bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback) {
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ERR_FAIL_COND(p_navigation_mesh.is_null());
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ERR_FAIL_COND(p_source_geometry_data.is_null());
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if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
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p_navigation_mesh->clear();
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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return;
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}
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if (is_baking(p_navigation_mesh)) {
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ERR_FAIL_MSG("NavigationPolygon is already baking. Wait for current bake to finish.");
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}
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baking_navmesh_mutex.lock();
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baking_navmeshes.insert(p_navigation_mesh);
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baking_navmesh_mutex.unlock();
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generator_bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data);
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baking_navmesh_mutex.lock();
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baking_navmeshes.erase(p_navigation_mesh);
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baking_navmesh_mutex.unlock();
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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}
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void NavMeshGenerator2D::bake_from_source_geometry_data_async(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback) {
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ERR_FAIL_COND(p_navigation_mesh.is_null());
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ERR_FAIL_COND(p_source_geometry_data.is_null());
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if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
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p_navigation_mesh->clear();
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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return;
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}
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if (!use_threads) {
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bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
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return;
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}
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if (is_baking(p_navigation_mesh)) {
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ERR_FAIL_MSG("NavigationPolygon is already baking. Wait for current bake to finish.");
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}
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baking_navmesh_mutex.lock();
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baking_navmeshes.insert(p_navigation_mesh);
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baking_navmesh_mutex.unlock();
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MutexLock generator_task_lock(generator_task_mutex);
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NavMeshGeneratorTask2D *generator_task = memnew(NavMeshGeneratorTask2D);
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generator_task->navigation_mesh = p_navigation_mesh;
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generator_task->source_geometry_data = p_source_geometry_data;
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generator_task->callback = p_callback;
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generator_task->status = NavMeshGeneratorTask2D::TaskStatus::BAKING_STARTED;
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generator_task->thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavMeshGenerator2D::generator_thread_bake, generator_task, NavMeshGenerator2D::baking_use_high_priority_threads, "NavMeshGeneratorBake2D");
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generator_tasks.insert(generator_task->thread_task_id, generator_task);
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}
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bool NavMeshGenerator2D::is_baking(Ref<NavigationPolygon> p_navigation_polygon) {
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MutexLock baking_navmesh_lock(baking_navmesh_mutex);
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return baking_navmeshes.has(p_navigation_polygon);
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}
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void NavMeshGenerator2D::generator_thread_bake(void *p_arg) {
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NavMeshGeneratorTask2D *generator_task = static_cast<NavMeshGeneratorTask2D *>(p_arg);
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generator_bake_from_source_geometry_data(generator_task->navigation_mesh, generator_task->source_geometry_data);
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generator_task->status = NavMeshGeneratorTask2D::TaskStatus::BAKING_FINISHED;
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}
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void NavMeshGenerator2D::generator_parse_geometry_node(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node, bool p_recurse_children) {
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generator_parsers_rwlock.read_lock();
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for (const NavMeshGeometryParser2D *parser : generator_parsers) {
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if (!parser->callback.is_valid()) {
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continue;
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}
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parser->callback.call(p_navigation_mesh, p_source_geometry_data, p_node);
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}
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generator_parsers_rwlock.read_unlock();
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if (p_recurse_children) {
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for (int i = 0; i < p_node->get_child_count(); i++) {
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generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, p_node->get_child(i), p_recurse_children);
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}
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}
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}
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void NavMeshGenerator2D::set_generator_parsers(LocalVector<NavMeshGeometryParser2D *> p_parsers) {
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RWLockWrite write_lock(generator_parsers_rwlock);
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generator_parsers = p_parsers;
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}
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void NavMeshGenerator2D::generator_parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node) {
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List<Node *> parse_nodes;
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if (p_navigation_mesh->get_source_geometry_mode() == NavigationPolygon::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) {
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parse_nodes.push_back(p_root_node);
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} else {
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p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_geometry_group_name(), &parse_nodes);
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}
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Transform2D root_node_transform = Transform2D();
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if (Object::cast_to<Node2D>(p_root_node)) {
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root_node_transform = Object::cast_to<Node2D>(p_root_node)->get_global_transform().affine_inverse();
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}
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p_source_geometry_data->clear();
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p_source_geometry_data->root_node_transform = root_node_transform;
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bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationPolygon::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
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for (Node *E : parse_nodes) {
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generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, E, recurse_children);
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}
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}
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static void generator_recursive_process_polytree_items(List<TPPLPoly> &p_tppl_in_polygon, const Clipper2Lib::PolyPathD *p_polypath_item) {
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using namespace Clipper2Lib;
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TPPLPoly tp;
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int size = p_polypath_item->Polygon().size();
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tp.Init(size);
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int j = 0;
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for (const PointD &polypath_point : p_polypath_item->Polygon()) {
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tp[j] = Vector2(static_cast<real_t>(polypath_point.x), static_cast<real_t>(polypath_point.y));
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++j;
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}
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if (p_polypath_item->IsHole()) {
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tp.SetOrientation(TPPL_ORIENTATION_CW);
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tp.SetHole(true);
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} else {
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tp.SetOrientation(TPPL_ORIENTATION_CCW);
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}
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p_tppl_in_polygon.push_back(tp);
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for (size_t i = 0; i < p_polypath_item->Count(); i++) {
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const PolyPathD *polypath_item = p_polypath_item->Child(i);
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generator_recursive_process_polytree_items(p_tppl_in_polygon, polypath_item);
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}
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}
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bool NavMeshGenerator2D::generator_emit_callback(const Callable &p_callback) {
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ERR_FAIL_COND_V(!p_callback.is_valid(), false);
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Callable::CallError ce;
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Variant result;
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p_callback.callp(nullptr, 0, result, ce);
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return ce.error == Callable::CallError::CALL_OK;
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}
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void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data) {
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if (p_navigation_mesh.is_null() || p_source_geometry_data.is_null()) {
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return;
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}
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using namespace Clipper2Lib;
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PathsD traversable_polygon_paths;
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PathsD obstruction_polygon_paths;
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bool empty_projected_obstructions = true;
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{
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RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);
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const Vector<Vector<Vector2>> &traversable_outlines = p_source_geometry_data->traversable_outlines;
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int outline_count = p_navigation_mesh->get_outline_count();
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if (outline_count == 0 && (!p_source_geometry_data->has_data() || (traversable_outlines.is_empty()))) {
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return;
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}
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const Vector<Vector<Vector2>> &obstruction_outlines = p_source_geometry_data->obstruction_outlines;
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const Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> &projected_obstructions = p_source_geometry_data->_projected_obstructions;
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traversable_polygon_paths.reserve(outline_count + traversable_outlines.size());
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obstruction_polygon_paths.reserve(obstruction_outlines.size());
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for (int i = 0; i < outline_count; i++) {
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const Vector<Vector2> &traversable_outline = p_navigation_mesh->get_outline(i);
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PathD subject_path;
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subject_path.reserve(traversable_outline.size());
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for (const Vector2 &traversable_point : traversable_outline) {
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subject_path.emplace_back(traversable_point.x, traversable_point.y);
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}
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traversable_polygon_paths.push_back(std::move(subject_path));
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}
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for (const Vector<Vector2> &traversable_outline : traversable_outlines) {
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PathD subject_path;
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subject_path.reserve(traversable_outline.size());
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for (const Vector2 &traversable_point : traversable_outline) {
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subject_path.emplace_back(traversable_point.x, traversable_point.y);
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}
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traversable_polygon_paths.push_back(std::move(subject_path));
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}
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empty_projected_obstructions = projected_obstructions.is_empty();
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if (!empty_projected_obstructions) {
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for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
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if (projected_obstruction.carve) {
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continue;
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}
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if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
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continue;
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}
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PathD clip_path;
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clip_path.reserve(projected_obstruction.vertices.size() / 2);
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for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
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clip_path.emplace_back(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
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}
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if (!IsPositive(clip_path)) {
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std::reverse(clip_path.begin(), clip_path.end());
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}
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obstruction_polygon_paths.push_back(std::move(clip_path));
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}
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}
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for (const Vector<Vector2> &obstruction_outline : obstruction_outlines) {
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PathD clip_path;
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clip_path.reserve(obstruction_outline.size());
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for (const Vector2 &obstruction_point : obstruction_outline) {
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clip_path.emplace_back(obstruction_point.x, obstruction_point.y);
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}
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obstruction_polygon_paths.push_back(std::move(clip_path));
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}
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}
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Rect2 baking_rect = p_navigation_mesh->get_baking_rect();
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if (baking_rect.has_area()) {
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Vector2 baking_rect_offset = p_navigation_mesh->get_baking_rect_offset();
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const int rect_begin_x = baking_rect.position[0] + baking_rect_offset.x;
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const int rect_begin_y = baking_rect.position[1] + baking_rect_offset.y;
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const int rect_end_x = baking_rect.position[0] + baking_rect.size[0] + baking_rect_offset.x;
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const int rect_end_y = baking_rect.position[1] + baking_rect.size[1] + baking_rect_offset.y;
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RectD clipper_rect = RectD(rect_begin_x, rect_begin_y, rect_end_x, rect_end_y);
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traversable_polygon_paths = RectClip(clipper_rect, traversable_polygon_paths);
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obstruction_polygon_paths = RectClip(clipper_rect, obstruction_polygon_paths);
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}
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// first merge all traversable polygons according to user specified fill rule
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PathsD dummy_clip_path;
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traversable_polygon_paths = Union(traversable_polygon_paths, dummy_clip_path, FillRule::NonZero);
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// merge all obstruction polygons, don't allow holes for what is considered "solid" 2D geometry
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obstruction_polygon_paths = Union(obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);
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PathsD path_solution = Difference(traversable_polygon_paths, obstruction_polygon_paths, FillRule::NonZero);
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real_t agent_radius_offset = p_navigation_mesh->get_agent_radius();
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if (agent_radius_offset > 0.0) {
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path_solution = InflatePaths(path_solution, -agent_radius_offset, JoinType::Miter, EndType::Polygon);
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}
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// Apply obstructions that are not affected by agent radius, the ones with carve enabled.
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if (!empty_projected_obstructions) {
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RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);
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const Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> &projected_obstructions = p_source_geometry_data->_projected_obstructions;
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obstruction_polygon_paths.resize(0);
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for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
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if (!projected_obstruction.carve) {
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continue;
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}
|
|
if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
|
|
continue;
|
|
}
|
|
|
|
PathD clip_path;
|
|
clip_path.reserve(projected_obstruction.vertices.size() / 2);
|
|
for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
|
|
clip_path.emplace_back(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
|
|
}
|
|
if (!IsPositive(clip_path)) {
|
|
std::reverse(clip_path.begin(), clip_path.end());
|
|
}
|
|
obstruction_polygon_paths.push_back(std::move(clip_path));
|
|
}
|
|
if (obstruction_polygon_paths.size() > 0) {
|
|
path_solution = Difference(path_solution, obstruction_polygon_paths, FillRule::NonZero);
|
|
}
|
|
}
|
|
|
|
//path_solution = RamerDouglasPeucker(path_solution, 0.025); //
|
|
|
|
real_t border_size = p_navigation_mesh->get_border_size();
|
|
if (baking_rect.has_area() && border_size > 0.0) {
|
|
Vector2 baking_rect_offset = p_navigation_mesh->get_baking_rect_offset();
|
|
|
|
const int rect_begin_x = baking_rect.position[0] + baking_rect_offset.x + border_size;
|
|
const int rect_begin_y = baking_rect.position[1] + baking_rect_offset.y + border_size;
|
|
const int rect_end_x = baking_rect.position[0] + baking_rect.size[0] + baking_rect_offset.x - border_size;
|
|
const int rect_end_y = baking_rect.position[1] + baking_rect.size[1] + baking_rect_offset.y - border_size;
|
|
|
|
RectD clipper_rect = RectD(rect_begin_x, rect_begin_y, rect_end_x, rect_end_y);
|
|
|
|
path_solution = RectClip(clipper_rect, path_solution);
|
|
}
|
|
|
|
if (path_solution.size() == 0) {
|
|
p_navigation_mesh->clear();
|
|
return;
|
|
}
|
|
|
|
ClipType clipper_cliptype = ClipType::Union;
|
|
|
|
List<TPPLPoly> tppl_in_polygon, tppl_out_polygon;
|
|
|
|
PolyTreeD polytree;
|
|
ClipperD clipper_D;
|
|
|
|
clipper_D.AddSubject(path_solution);
|
|
clipper_D.Execute(clipper_cliptype, FillRule::NonZero, polytree);
|
|
|
|
for (size_t i = 0; i < polytree.Count(); i++) {
|
|
const PolyPathD *polypath_item = polytree[i];
|
|
generator_recursive_process_polytree_items(tppl_in_polygon, polypath_item);
|
|
}
|
|
|
|
TPPLPartition tpart;
|
|
|
|
NavigationPolygon::SamplePartitionType sample_partition_type = p_navigation_mesh->get_sample_partition_type();
|
|
|
|
switch (sample_partition_type) {
|
|
case NavigationPolygon::SamplePartitionType::SAMPLE_PARTITION_CONVEX_PARTITION:
|
|
if (tpart.ConvexPartition_HM(&tppl_in_polygon, &tppl_out_polygon) == 0) {
|
|
ERR_PRINT("NavigationPolygon polygon convex partition failed. Unable to create a valid navigation mesh polygon layout from provided source geometry.");
|
|
p_navigation_mesh->set_vertices(Vector<Vector2>());
|
|
p_navigation_mesh->clear_polygons();
|
|
return;
|
|
}
|
|
break;
|
|
case NavigationPolygon::SamplePartitionType::SAMPLE_PARTITION_TRIANGULATE:
|
|
if (tpart.Triangulate_EC(&tppl_in_polygon, &tppl_out_polygon) == 0) {
|
|
ERR_PRINT("NavigationPolygon polygon triangulation failed. Unable to create a valid navigation mesh polygon layout from provided source geometry.");
|
|
p_navigation_mesh->set_vertices(Vector<Vector2>());
|
|
p_navigation_mesh->clear_polygons();
|
|
return;
|
|
}
|
|
break;
|
|
default: {
|
|
ERR_PRINT("NavigationPolygon polygon partitioning failed. Unrecognized partition type.");
|
|
p_navigation_mesh->set_vertices(Vector<Vector2>());
|
|
p_navigation_mesh->clear_polygons();
|
|
return;
|
|
}
|
|
}
|
|
|
|
Vector<Vector2> new_vertices;
|
|
Vector<Vector<int>> new_polygons;
|
|
|
|
HashMap<Vector2, int> points;
|
|
for (List<TPPLPoly>::Element *I = tppl_out_polygon.front(); I; I = I->next()) {
|
|
TPPLPoly &tp = I->get();
|
|
|
|
Vector<int> new_polygon;
|
|
|
|
for (int64_t i = 0; i < tp.GetNumPoints(); i++) {
|
|
HashMap<Vector2, int>::Iterator E = points.find(tp[i]);
|
|
if (!E) {
|
|
E = points.insert(tp[i], new_vertices.size());
|
|
new_vertices.push_back(tp[i]);
|
|
}
|
|
new_polygon.push_back(E->value);
|
|
}
|
|
|
|
new_polygons.push_back(new_polygon);
|
|
}
|
|
|
|
p_navigation_mesh->set_data(new_vertices, new_polygons);
|
|
}
|
|
|
|
#endif // CLIPPER2_ENABLED
|