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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"
Add pathgrid to navmesh as off mesh connection
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#include <set>
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>
Add pathgrid to navmesh as off mesh connection
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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);
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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 addAgent(const AgentBounds& agentBounds) override;
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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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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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void setWorldspace(std::string_view worldspace) 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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void updateBounds(const osg::Vec3f& playerPosition) override;
Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
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void addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) override;
Add Navigator interface
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
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void addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) override;
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
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void updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform) override;
Add Navigator interface
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
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void updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform) override;
Add Navigator interface
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
2021-09-18 13:52:03 +00:00
void removeObject(const ObjectId id) override;
Add Navigator interface
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
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void addWater(const osg::Vec2i& cellPosition, int cellSize, float level) override;
Add Navigator interface
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
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void removeWater(const osg::Vec2i& cellPosition) override;
Add Navigator interface
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Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
2021-09-18 13:52:03 +00:00
void addHeightfield(const osg::Vec2i& cellPosition, int cellSize, const HeightfieldShape& shape) override;
Store heightfields as array of heights instead of triangles To reduce size of RecastMesh and therefore cache size.
2021-07-14 18:57:52 +00:00
Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
2021-09-18 13:52:03 +00:00
void removeHeightfield(const osg::Vec2i& cellPosition) override;
Store heightfields as array of heights instead of triangles To reduce size of RecastMesh and therefore cache size.
2021-07-14 18:57:52 +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 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
Add Navigator interface
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void update(const osg::Vec3f& playerPosition) override;
Apply min distance only for not present tiles To avoid waiting when navmesh update is triggered by transformed object for already present tiles.
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void wait(Loading::Listener& listener, WaitConditionType waitConditionType) 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
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
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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;
Do single navigator update per frame Primarily for crossing cell border case. Each Navigator::update call has a cost. Doing it multiple times per frame increased frame duration on cell loading. Call Navigator::wait only when cell has changed but do not use Scene::hasCellChanged because it doesn't always indicates it.
2021-09-18 13:52:03 +00:00
inline bool addObjectImpl(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
Add Navigator interface
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void updateAvoidShapeId(const ObjectId id, const ObjectId avoidId);
void updateWaterShapeId(const ObjectId id, const ObjectId waterId);
void updateId(const ObjectId id, const ObjectId waterId, std::unordered_map<ObjectId, ObjectId>& ids);
Remove unused actors and navmeshes on update When there is only one actor (player) on a scene and it moving to other cell first it will be removed from navigator then added. Remove cause navmesh removing for its half extents. After it is added navmesh for same half extents is created and added. While this all happens there are still jobs for old navmesh are processing. Old navmesh still exists because it is stored by shared pointer. So jobs take tiles from cache and place them into old navmesh. After that other jobs take same tiles from cache (half extents and coordinates are equal) and place them into other navmesh. dtNavMesh changes tile data on add and remove. Adding tile to two dtNavMesh corrupts tile in both nameshes.
2019-03-10 11:36:16 +00:00
void removeUnusedNavMeshes();
Add Navigator interface
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};
}
#endif
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