server_common/recastnavigation_v1.6.0
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- Improved unconnected off-mesh connection debug draw

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- Fixed connecting off-mesh links which connect to the same tile x,y but different layer
- Fixed crash in navmehs query closestPointOnPolyInTile() when the poly is off-mesh connection
This commit is contained in:
Mikko Mononen 2012-06-12 03:28:43 +00:00
parent d2b4b09e16
commit 64802ecd0e
6 changed files with 124 additions and 81 deletions
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25
DebugUtils/Source/DetourDebugDraw.cpp
View File

@ -181,7 +181,7 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMesh
if (p->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) // Skip regular polys.
continue;
unsigned int col;
unsigned int col, col2;
if (query && query->isInClosedList(base | (dtPolyRef)i))
col = duRGBA(255,196,0,220);
else
@ -202,19 +202,16 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMesh
endSet = true;
}
// End points and their on-mesh locations.
if (startSet)
{
dd->vertex(va[0],va[1],va[2], col);
dd->vertex(con->pos[0],con->pos[1],con->pos[2], col);
duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, duRGBA(0,48,64,196));
}
if (endSet)
{
dd->vertex(vb[0],vb[1],vb[2], col);
dd->vertex(con->pos[3],con->pos[4],con->pos[5], col);
duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, duRGBA(0,48,64,196));
}
// End points and their on-mesh locations.
dd->vertex(va[0],va[1],va[2], col);
dd->vertex(con->pos[0],con->pos[1],con->pos[2], col);
col2 = startSet ? col : duRGBA(220,32,16,196);
duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, col2);
dd->vertex(vb[0],vb[1],vb[2], col);
dd->vertex(con->pos[3],con->pos[4],con->pos[5], col);
col2 = endSet ? col : duRGBA(220,32,16,196);
duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, col2);
// End point vertices.
dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196));

2
Detour/Include/DetourNavMesh.h
View File

@ -535,7 +535,7 @@ private:
/// Builds internal polygons links for a tile.
void connectIntLinks(dtMeshTile* tile);
/// Builds internal polygons links for a tile.
void connectIntOffMeshLinks(dtMeshTile* tile);
void baseOffMeshLinks(dtMeshTile* tile);
/// Builds external polygon links for a tile.
void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);

116
Detour/Source/DetourNavMesh.cpp
View File

@ -453,15 +453,18 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
// Connect off-mesh links.
// We are interested on links which land from target tile to this tile.
const unsigned char oppositeSide = (unsigned char)dtOppositeTile(side);
const unsigned char oppositeSide = (side == -1) ? 0xff : (unsigned char)dtOppositeTile(side);
for (int i = 0; i < target->header->offMeshConCount; ++i)
{
dtOffMeshConnection* targetCon = &target->offMeshCons[i];
if (targetCon->side != oppositeSide)
continue;
dtPoly* targetPoly = &target->polys[targetCon->poly];
// Skip off-mesh connections which start location could not be connected at all.
if (targetPoly->firstLink == DT_NULL_LINK)
continue;
const float ext[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad };
@ -469,7 +472,8 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
const float* p = &targetCon->pos[3];
float nearestPt[3];
dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
if (!ref) continue;
if (!ref)
continue;
// findNearestPoly may return too optimistic results, further check to make sure.
if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(targetCon->rad))
continue;
@ -502,7 +506,7 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
dtLink* link = &tile->links[tidx];
link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly);
link->edge = 0xff;
link->side = (unsigned char)side;
link->side = (unsigned char)(side == -1 ? 0xff : side);
link->bmin = link->bmax = 0;
// Add to linked list.
link->next = landPoly->firstLink;
@ -550,13 +554,13 @@ void dtNavMesh::connectIntLinks(dtMeshTile* tile)
}
}
void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
{
if (!tile) return;
dtPolyRef base = getPolyRefBase(tile);
// Find Off-mesh connection end points.
// Base off-mesh connection start points.
for (int i = 0; i < tile->header->offMeshConCount; ++i)
{
dtOffMeshConnection* con = &tile->offMeshCons[i];
@ -564,60 +568,46 @@ void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad };
for (int j = 0; j < 2; ++j)
// Find polygon to connect to.
const float* p = &con->pos[0]; // First vertex
float nearestPt[3];
dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
if (!ref) continue;
// findNearestPoly may return too optimistic results, further check to make sure.
if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad))
continue;
// Make sure the location is on current mesh.
float* v = &tile->verts[poly->verts[0]*3];
dtVcopy(v, nearestPt);
// Link off-mesh connection to target poly.
unsigned int idx = allocLink(tile);
if (idx != DT_NULL_LINK)
{
unsigned char side = j == 0 ? 0xff : con->side;
dtLink* link = &tile->links[idx];
link->ref = ref;
link->edge = (unsigned char)0;
link->side = 0xff;
link->bmin = link->bmax = 0;
// Add to linked list.
link->next = poly->firstLink;
poly->firstLink = idx;
}
if (side == 0xff)
{
// Find polygon to connect to.
const float* p = &con->pos[j*3];
float nearestPt[3];
dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
if (!ref) continue;
// findNearestPoly may return too optimistic results, further check to make sure.
if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad))
continue;
// Make sure the location is on current mesh.
float* v = &tile->verts[poly->verts[j]*3];
dtVcopy(v, nearestPt);
// Link off-mesh connection to target poly.
unsigned int idx = allocLink(tile);
if (idx != DT_NULL_LINK)
{
dtLink* link = &tile->links[idx];
link->ref = ref;
link->edge = (unsigned char)j;
link->side = 0xff;
link->bmin = link->bmax = 0;
// Add to linked list.
link->next = poly->firstLink;
poly->firstLink = idx;
}
// Start end-point is always connect back to off-mesh connection,
// Destination end-point only if it is bidirectional link.
if (j == 0 || (j == 1 && (con->flags & DT_OFFMESH_CON_BIDIR)))
{
// Link target poly to off-mesh connection.
unsigned int tidx = allocLink(tile);
if (tidx != DT_NULL_LINK)
{
const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
dtPoly* landPoly = &tile->polys[landPolyIdx];
dtLink* link = &tile->links[tidx];
link->ref = base | (dtPolyRef)(con->poly);
link->edge = 0xff;
link->side = 0xff;
link->bmin = link->bmax = 0;
// Add to linked list.
link->next = landPoly->firstLink;
landPoly->firstLink = tidx;
}
}
}
// Start end-point is always connect back to off-mesh connection.
unsigned int tidx = allocLink(tile);
if (tidx != DT_NULL_LINK)
{
const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
dtPoly* landPoly = &tile->polys[landPolyIdx];
dtLink* link = &tile->links[tidx];
link->ref = base | (dtPolyRef)(con->poly);
link->edge = 0xff;
link->side = 0xff;
link->bmin = link->bmax = 0;
// Add to linked list.
link->next = landPoly->firstLink;
landPoly->firstLink = tidx;
}
}
}
@ -880,7 +870,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
tile->flags = flags;
connectIntLinks(tile);
connectIntOffMeshLinks(tile);
baseOffMeshLinks(tile);
// Create connections with neighbour tiles.
static const int MAX_NEIS = 32;
@ -891,9 +881,11 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
nneis = getTilesAt(header->x, header->y, neis, MAX_NEIS);
for (int j = 0; j < nneis; ++j)
{
if (neis[j] == tile) continue;
connectExtLinks(tile, neis[j], -1);
connectExtLinks(neis[j], tile, -1);
if (neis[j] != tile)
{
connectExtLinks(tile, neis[j], -1);
connectExtLinks(neis[j], tile, -1);
}
connectExtOffMeshLinks(tile, neis[j], -1);
connectExtOffMeshLinks(neis[j], tile, -1);
}

46
Detour/Source/DetourNavMeshBuilder.cpp
View File

@ -20,6 +20,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <float.h>
#include "DetourNavMesh.h"
#include "DetourCommon.h"
#include "DetourNavMeshBuilder.h"
@ -237,6 +238,7 @@ static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, co
case ZM: return 6;
case XP|ZM: return 7;
};
return 0xff;
}
@ -274,10 +276,50 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
if (!offMeshConClass)
return false;
// Find tight heigh bounds, used for culling out off-mesh start locations.
float hmin = FLT_MAX;
float hmax = -FLT_MAX;
if (params->detailVerts && params->detailVertsCount)
{
for (int i = 0; i < params->detailVertsCount; ++i)
{
const float h = params->detailVerts[i*3+1];
hmin = dtMin(hmin,h);
hmax = dtMax(hmax,h);
}
}
else
{
for (int i = 0; i < params->vertCount; ++i)
{
const unsigned short* iv = &params->verts[i*3];
const float h = params->bmin[1] + iv[1] * params->ch;
hmin = dtMin(hmin,h);
hmax = dtMax(hmax,h);
}
}
hmin -= params->walkableClimb;
hmax += params->walkableClimb;
float bmin[3], bmax[3];
dtVcopy(bmin, params->bmin);
dtVcopy(bmax, params->bmax);
bmin[1] = hmin;
bmax[1] = hmax;
for (int i = 0; i < params->offMeshConCount; ++i)
{
offMeshConClass[i*2+0] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+0)*3], params->bmin, params->bmax);
offMeshConClass[i*2+1] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+1)*3], params->bmin, params->bmax);
const float* p0 = &params->offMeshConVerts[(i*2+0)*3];
const float* p1 = &params->offMeshConVerts[(i*2+1)*3];
offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax);
offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax);
// Zero out off-mesh start positions which are not even potentially touching the mesh.
if (offMeshConClass[i*2+0] == 0xff)
{
if (p0[1] < bmin[1] || p0[1] > bmax[1])
offMeshConClass[i*2+0] = 0;
}
// Cound how many links should be allocated for off-mesh connections.
if (offMeshConClass[i*2+0] == 0xff)

12
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -519,6 +519,18 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
void dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly,
const float* pos, float* closest) const
{
// Off-mesh connections don't have detail polygons.
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
const float* v0 = &tile->verts[poly->verts[0]*3];
const float* v1 = &tile->verts[poly->verts[1]*3];
const float d0 = dtVdist(pos, v0);
const float d1 = dtVdist(pos, v1);
const float u = d0 / (d0+d1);
dtVlerp(closest, v0, v1, u);
return;
}
const unsigned int ip = (unsigned int)(poly - tile->polys);
const dtPolyDetail* pd = &tile->detailMeshes[ip];

4
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -1053,7 +1053,7 @@ void NavMeshTesterTool::handleRender()
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
col = pathCol;
col = spathCol;
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], col);
dd.vertex(m_straightPath[(i+1)*3], m_straightPath[(i+1)*3+1]+0.4f, m_straightPath[(i+1)*3+2], col);
@ -1070,7 +1070,7 @@ void NavMeshTesterTool::handleRender()
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
col = pathCol;
col = spathCol;
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], spathCol);
}
dd.end();