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OpenMW/components/detournavigator/navigatorimpl.hpp

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Add Navigator interface
2019-02-16 12:27:02 +00:00
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORIMPL_H
#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORIMPL_H
#include "navigator.hpp"
#include "navmeshmanager.hpp"
Read navmesh tile data from database When tile is not found in memory cache try to find it in the database.
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#include <memory>
Apply clang-format to code base
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#include <set>
Add pathgrid to navmesh as off mesh connection
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Add Navigator interface
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namespace DetourNavigator
{
class NavigatorImpl final : public Navigator
{
public:
/**
* @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
* @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
*/
Read navmesh tile data from database When tile is not found in memory cache try to find it in the database.
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explicit NavigatorImpl(const Settings& settings, std::unique_ptr<NavMeshDb>&& db);
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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std::unique_ptr<const DetourNavigator::UpdateGuard> makeUpdateGuard() override
{
return std::make_unique<const UpdateGuard>(*this);
}
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
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void addAgent(const AgentBounds& agentBounds) override;
Add Navigator interface
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Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
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void removeAgent(const AgentBounds& agentBounds) override;
Add Navigator interface
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CellName is now a RefId, makes more sense that way.
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void setWorldspace(const ESM::RefId& worldspace, const UpdateGuard* guard) override;
Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void updateBounds(const osg::Vec3f& playerPosition, const UpdateGuard* guard) override;
Cull navmesh objects by scene bounds If object is too big iteration over all tiles covering it can take too much time. Limit bounds to a square around a player position to cover only tiles that will be present in navmesh based on max tiles number option. Each object is associated with a set of tiles its present in. Culling can reduce this set but it has to be update when bounds change position. Do this in TileCachedRecastMeshManager::setBounds updating the set and adding/removing objects to the corresponding CachedRecastMeshManagers.
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform,
const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform,
const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform,
const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform,
const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void removeObject(const ObjectId id, const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void addWater(const osg::Vec2i& cellPosition, int cellSize, float level, const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void removeWater(const osg::Vec2i& cellPosition, const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape,
const UpdateGuard* guard) override;
Store heightfields as array of heights instead of triangles To reduce size of RecastMesh and therefore cache size.
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void removeHeightfield(const osg::Vec2i& cellPosition, const UpdateGuard* guard) override;
Store heightfields as array of heights instead of triangles To reduce size of RecastMesh and therefore cache size.
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components/compiler cleanup; also cleaned up related cascading warnings; fixed up final/override issues
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void addPathgrid(const ESM::Cell& cell, const ESM::Pathgrid& pathgrid) override;
Add pathgrid to navmesh as off mesh connection
2020-06-11 21:23:30 +00:00
components/compiler cleanup; also cleaned up related cascading warnings; fixed up final/override issues
2020-10-22 21:57:53 +00:00
void removePathgrid(const ESM::Pathgrid& pathgrid) override;
Add pathgrid to navmesh as off mesh connection
2020-06-11 21:23:30 +00:00
Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void update(const osg::Vec3f& playerPosition, const UpdateGuard* guard) override;
Add Navigator interface
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Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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void wait(WaitConditionType waitConditionType, Loading::Listener* listener) override;
Add Navigator interface
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Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
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SharedNavMeshCacheItem getNavMesh(const AgentBounds& agentBounds) const override;
Add Navigator interface
2019-02-16 12:27:02 +00:00
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
std::map<AgentBounds, SharedNavMeshCacheItem> getNavMeshes() const override;
Add Navigator interface
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Use default objects for NavigatorStub methods result
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const Settings& getSettings() const override;
Add Navigator interface
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Separate reading navigator stats and reporting
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Stats getStats() const override;
Report navigator stats
2019-03-17 17:18:53 +00:00
Render only cached recast mesh To avoid waiting while recast mesh is generating. Remove redundant continue.
2021-10-09 16:36:37 +00:00
RecastMeshTiles getRecastMeshTiles() const override;
Support recast mesh rendering
2019-11-27 22:45:01 +00:00
Build limited path for far destinations When distance between start and end point is greater than max radius of area possibly covered by navmesh there is no way to find path via navmesh. Also if distance is greater than cell size navmesh might not exists withing mentioned area because cell is not loaded therefore navmesh is not generated. So minumum of these values is used to limit max path distance. Assuming that path actually exists it's possible to build path to the edge of a circle. When actor reaches initial edge path is built further. However it will not be optimal.
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float getMaxNavmeshAreaRealRadius() const override;
Add Navigator interface
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private:
Settings mSettings;
NavMeshManager mNavMeshManager;
Trigger navmesh update on moved player only when player tile has been changed
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std::optional<TilePosition> mLastPlayerPosition;
Support different agent collision shape type for pathfinding Actors may have different collision shapes. Currently there are axis-aligned bounding boxes and rotating bounding boxes. With AABB it's required to use bounding cylinder for navmesh agent to avoid providing paths where actor can't pass. But for rotating bounding boxes cylinder with diameter equal to the front face width should be used to not reduce of available paths. For example rats have rotating bounding box as collision shape because of the difference between front and side faces width. * Add agent bounds to navmesh tile db cache key. This is required to distinguish tiles for agents with different bounds. * Increase navmesh version because navmesh tile db cache key and data has changed. * Move navmesh version to the code to avoid misconfiguration by users. * Fix all places where wrong half extents were used for pathfinding.
2022-06-16 22:28:44 +00:00
std::map<AgentBounds, std::size_t> mAgents;
Add Navigator interface
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std::unordered_map<ObjectId, ObjectId> mAvoidIds;
std::unordered_map<ObjectId, ObjectId> mWaterIds;
Apply clang-format to code base
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inline bool addObjectImpl(
const ObjectId id, const ObjectShapes& shapes, const btTransform& transform, const UpdateGuard* guard);
Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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inline void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId, const UpdateGuard* guard);
inline void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids,
const UpdateGuard* guard);
inline void removeUnusedNavMeshes();
friend class UpdateGuard;
};
class UpdateGuard
{
public:
Apply clang-format to code base
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explicit UpdateGuard(NavigatorImpl& navigator)
: mImpl(navigator.mNavMeshManager)
{
}
Lock TileCachedRecastMeshManager once per changing a cell To save time on locking mutex and prevent AsyncNavMeshUpdater to use RecastMesh for a tile in the middle of objects loading.
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private:
NavMeshManager::UpdateGuard mImpl;
friend inline const NavMeshManager::UpdateGuard* getImpl(const UpdateGuard* guard)
{
return guard == nullptr ? nullptr : &guard->mImpl;
}
Add Navigator interface
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};
}
#endif
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