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Take detail mesh into account for creating BV-tree (#231)

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In U and A shaped terrain it was possible that polygons extruded their
BV-tree nodes significantly. This happened because all points for the
polygon (when excluding the detail mesh) were either on the high-level
terrain, or on the low-level terrain. This fixes the long-standing todo
about this.

As a result of this change, findNearestPoly and queryPolygons should
return more accurate results.

Fix #230
This commit is contained in:
Jakob Botsch Nielsen 2016-09-09 12:03:37 +02:00 committed by GitHub
parent 88b8d409a7
commit 15ebb8bd25
1 changed files with 57 additions and 32 deletions
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89
Detour/Source/DetourNavMeshBuilder.cpp
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@ -168,45 +168,72 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNod
} }
} }
static int createBVTree(const unsigned short* verts, const int /*nverts*/, static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/)
const unsigned short* polys, const int npolys, const int nvp,
const float cs, const float ch,
const int /*nnodes*/, dtBVNode* nodes)
{ {
// Build tree // Build tree
BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP); float quantFactor = 1 / params->cs;
for (int i = 0; i < npolys; i++) BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*params->polyCount, DT_ALLOC_TEMP);
for (int i = 0; i < params->polyCount; i++)
{ {
BVItem& it = items[i]; BVItem& it = items[i];
it.i = i; it.i = i;
// Calc polygon bounds. // Calc polygon bounds. Use detail meshes if available.
const unsigned short* p = &polys[i*nvp*2]; if (params->detailMeshes)
it.bmin[0] = it.bmax[0] = verts[p[0]*3+0];
it.bmin[1] = it.bmax[1] = verts[p[0]*3+1];
it.bmin[2] = it.bmax[2] = verts[p[0]*3+2];
for (int j = 1; j < nvp; ++j)
{ {
if (p[j] == MESH_NULL_IDX) break; int vb = (int)params->detailMeshes[i*4+0];
unsigned short x = verts[p[j]*3+0]; int ndv = (int)params->detailMeshes[i*4+1];
unsigned short y = verts[p[j]*3+1]; float bmin[3];
unsigned short z = verts[p[j]*3+2]; float bmax[3];
if (x < it.bmin[0]) it.bmin[0] = x; const float* dv = &params->detailVerts[vb*3];
if (y < it.bmin[1]) it.bmin[1] = y; dtVcopy(bmin, dv);
if (z < it.bmin[2]) it.bmin[2] = z; dtVcopy(bmax, dv);
if (x > it.bmax[0]) it.bmax[0] = x; for (int j = 1; j < ndv; j++)
if (y > it.bmax[1]) it.bmax[1] = y; {
if (z > it.bmax[2]) it.bmax[2] = z; dtVmin(bmin, &dv[j * 3]);
dtVmax(bmax, &dv[j * 3]);
}
// BV-tree uses cs for all dimensions
it.bmin[0] = (unsigned short)dtClamp((int)((bmin[0] - params->bmin[0])*quantFactor), 0, 0xffff);
it.bmin[1] = (unsigned short)dtClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff);
it.bmin[2] = (unsigned short)dtClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff);
it.bmax[0] = (unsigned short)dtClamp((int)((bmax[0] - params->bmin[0])*quantFactor), 0, 0xffff);
it.bmax[1] = (unsigned short)dtClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff);
it.bmax[2] = (unsigned short)dtClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff);
}
else
{
const unsigned short* p = &params->polys[i*params->nvp * 2];
it.bmin[0] = it.bmax[0] = params->verts[p[0] * 3 + 0];
it.bmin[1] = it.bmax[1] = params->verts[p[0] * 3 + 1];
it.bmin[2] = it.bmax[2] = params->verts[p[0] * 3 + 2];
for (int j = 1; j < params->nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
unsigned short x = params->verts[p[j] * 3 + 0];
unsigned short y = params->verts[p[j] * 3 + 1];
unsigned short z = params->verts[p[j] * 3 + 2];
if (x < it.bmin[0]) it.bmin[0] = x;
if (y < it.bmin[1]) it.bmin[1] = y;
if (z < it.bmin[2]) it.bmin[2] = z;
if (x > it.bmax[0]) it.bmax[0] = x;
if (y > it.bmax[1]) it.bmax[1] = y;
if (z > it.bmax[2]) it.bmax[2] = z;
}
// Remap y
it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1] * params->ch / params->cs);
it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1] * params->ch / params->cs);
} }
// Remap y
it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs);
it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs);
} }
int curNode = 0; int curNode = 0;
subdivide(items, npolys, 0, npolys, curNode, nodes); subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes);
dtFree(items); dtFree(items);
@ -595,11 +622,9 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
} }
// Store and create BVtree. // Store and create BVtree.
// TODO: take detail mesh into account! use byte per bbox extent?
if (params->buildBvTree) if (params->buildBvTree)
{ {
createBVTree(params->verts, params->vertCount, params->polys, params->polyCount, createBVTree(params, navBvtree, 2*params->polyCount);
nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
} }
// Store Off-Mesh connections. // Store Off-Mesh connections.