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navmesh construction fix
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austin 2025-04-16 17:06:29 -04:00
parent f64d360d14
commit 6c06391245
3 changed files with 90 additions and 69 deletions
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1
docs/src/progress/renderertodo.md
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@ -1515,6 +1515,7 @@ Obliterate old navmesh/pathfinding code
Integrate recast4j as pathfinding source
GriddedDataCellManager pathfinding solution
ServerTerrainManager nullcheck fix
Fix nav mesh construction params

8
src/main/java/electrosphere/server/datacell/gridded/GriddedDataCellManager.java
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@ -357,7 +357,9 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
TerrainChunkData terrainMeshData = cell.getTerrainChunkData();
ServerDataCell serverDataCell = this.groundDataCells.get(key);
GriddedDataCellTrackingData trackingData = this.cellTrackingMap.get(serverDataCell);
trackingData.setNavMeshData(NavMeshConstructor.constructNavmesh(terrainMeshData));
if(terrainMeshData.getVertices().length > 0){
trackingData.setNavMeshData(NavMeshConstructor.constructNavmesh(terrainMeshData));
}
loadedCellsLock.lock();
posPhysicsMap.put(key, cell);
@ -778,7 +780,9 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
}
//create pathfinding mesh
trackingData.setNavMeshData(NavMeshConstructor.constructNavmesh(terrainMeshData));
if(terrainMeshData.getVertices().length > 0){
trackingData.setNavMeshData(NavMeshConstructor.constructNavmesh(terrainMeshData));
}
//set ready
dataCell.setReady(true);

150
src/main/java/electrosphere/server/pathfinding/NavMeshConstructor.java
View File

@ -76,75 +76,91 @@ public class NavMeshConstructor {
* @return the MeshData
*/
public static MeshData constructNavmesh(TerrainChunkData terrainChunkData){
RecastConfig recastConfig = new RecastConfig(
PartitionType.MONOTONE,
RECAST_CELL_SIZE,
RECAST_CELL_HEIGHT,
RECAST_AGENT_HEIGHT,
RECAST_AGENT_SIZE,
RECAST_AGENT_MAX_CLIMB,
RECAST_AGENT_MAX_SLOPE,
RECAST_MIN_REGION_SIZE,
RECAST_REGION_MERGE_SIZE,
RECAST_REGION_EDGE_MAX_LEN,
RECAST_REGION_EDGE_MAX_ERROR,
RECAST_VERTS_PER_POLY,
RECAST_DETAIL_SAMPLE_DIST,
RECAST_DETAIL_SAMPLE_MAX_ERROR,
new AreaModification(0)
);
SingleTrimeshInputGeomProvider geomProvider = new SingleTrimeshInputGeomProvider(terrainChunkData.getVertices(), terrainChunkData.getFaceElements());
RecastBuilderConfig recastBuilderConfig = new RecastBuilderConfig(recastConfig, geomProvider.getMeshBoundsMin(), geomProvider.getMeshBoundsMax());
RecastBuilder recastBuilder = new RecastBuilder();
RecastBuilderResult recastBuilderResult = recastBuilder.build(geomProvider, recastBuilderConfig);
PolyMesh polyMesh = recastBuilderResult.getMesh();
for(int i = 0; i < polyMesh.npolys; i++){
polyMesh.flags[i] = 1;
MeshData rVal = null;
try {
RecastConfig recastConfig = new RecastConfig(
PartitionType.WATERSHED,
RECAST_CELL_SIZE,
RECAST_CELL_HEIGHT,
RECAST_AGENT_HEIGHT,
RECAST_AGENT_SIZE,
RECAST_AGENT_MAX_CLIMB,
RECAST_AGENT_MAX_SLOPE,
RECAST_MIN_REGION_SIZE,
RECAST_REGION_MERGE_SIZE,
RECAST_REGION_EDGE_MAX_LEN,
RECAST_REGION_EDGE_MAX_ERROR,
RECAST_VERTS_PER_POLY,
RECAST_DETAIL_SAMPLE_DIST,
RECAST_DETAIL_SAMPLE_MAX_ERROR,
new AreaModification(0)
);
SingleTrimeshInputGeomProvider geomProvider = new SingleTrimeshInputGeomProvider(terrainChunkData.getVertices(), terrainChunkData.getFaceElements());
RecastBuilderConfig recastBuilderConfig = new RecastBuilderConfig(recastConfig, geomProvider.getMeshBoundsMin(), geomProvider.getMeshBoundsMax());
RecastBuilder recastBuilder = new RecastBuilder();
RecastBuilderResult recastBuilderResult = recastBuilder.build(geomProvider, recastBuilderConfig);
PolyMesh polyMesh = recastBuilderResult.getMesh();
for(int i = 0; i < polyMesh.npolys; i++){
polyMesh.flags[i] = 1;
}
PolyMeshDetail polyMeshDetail = recastBuilderResult.getMeshDetail();
if(polyMeshDetail == null){
throw new Error("Poly mesh detail is null");
}
//set params
NavMeshDataCreateParams params = new NavMeshDataCreateParams();
params.verts = polyMesh.verts;
params.vertCount = polyMesh.nverts;
params.polys = polyMesh.polys;
params.polyAreas = polyMesh.areas;
params.polyFlags = polyMesh.flags;
params.polyCount = polyMesh.npolys;
params.nvp = polyMesh.nvp;
params.detailMeshes = polyMeshDetail.meshes;
params.detailVerts = polyMeshDetail.verts;
params.detailVertsCount = polyMeshDetail.nverts;
params.detailTris = polyMeshDetail.tris;
params.detailTriCount = polyMeshDetail.ntris;
params.walkableHeight = RECAST_AGENT_HEIGHT;
params.walkableRadius = RECAST_AGENT_SIZE;
params.walkableClimb = RECAST_AGENT_MAX_CLIMB;
params.bmin = polyMesh.bmin;
params.bmax = polyMesh.bmax;
params.cs = RECAST_CELL_SIZE;
params.ch = RECAST_CELL_HEIGHT;
params.buildBvTree = true;
// params.offMeshConVerts = new float[6];
// params.offMeshConVerts[0] = 0.1f;
// params.offMeshConVerts[1] = 0.2f;
// params.offMeshConVerts[2] = 0.3f;
// params.offMeshConVerts[3] = 0.4f;
// params.offMeshConVerts[4] = 0.5f;
// params.offMeshConVerts[5] = 0.6f;
// params.offMeshConRad = new float[1];
// params.offMeshConRad[0] = 0.1f;
// params.offMeshConDir = new int[1];
// params.offMeshConDir[0] = 1;
// params.offMeshConAreas = new int[1];
// params.offMeshConAreas[0] = 2;
// params.offMeshConFlags = new int[1];
// params.offMeshConFlags[0] = 12;
// params.offMeshConUserID = new int[1];
// params.offMeshConUserID[0] = 0x4567;
// params.offMeshConCount = 1;
//actually build
rVal = NavMeshBuilder.createNavMeshData(params);
} catch (Exception e){
e.printStackTrace();
}
PolyMeshDetail polyMeshDetail = recastBuilderResult.getMeshDetail();
NavMeshDataCreateParams params = new NavMeshDataCreateParams();
params.verts = polyMesh.verts;
params.vertCount = polyMesh.nverts;
params.polys = polyMesh.polys;
params.polyAreas = polyMesh.areas;
params.polyFlags = polyMesh.flags;
params.polyCount = polyMesh.npolys;
params.nvp = polyMesh.nvp;
params.detailMeshes = polyMeshDetail.meshes;
params.detailVerts = polyMeshDetail.verts;
params.detailVertsCount = polyMeshDetail.nverts;
params.detailTris = polyMeshDetail.tris;
params.detailTriCount = polyMeshDetail.ntris;
params.walkableHeight = RECAST_AGENT_HEIGHT;
params.walkableRadius = RECAST_AGENT_SIZE;
params.walkableClimb = RECAST_AGENT_MAX_CLIMB;
params.bmin = polyMesh.bmin;
params.bmax = polyMesh.bmax;
params.cs = RECAST_CELL_SIZE;
params.ch = RECAST_CELL_HEIGHT;
params.buildBvTree = true;
// params.offMeshConVerts = new float[6];
// params.offMeshConVerts[0] = 0.1f;
// params.offMeshConVerts[1] = 0.2f;
// params.offMeshConVerts[2] = 0.3f;
// params.offMeshConVerts[3] = 0.4f;
// params.offMeshConVerts[4] = 0.5f;
// params.offMeshConVerts[5] = 0.6f;
// params.offMeshConRad = new float[1];
// params.offMeshConRad[0] = 0.1f;
// params.offMeshConDir = new int[1];
// params.offMeshConDir[0] = 1;
// params.offMeshConAreas = new int[1];
// params.offMeshConAreas[0] = 2;
// params.offMeshConFlags = new int[1];
// params.offMeshConFlags[0] = 12;
// params.offMeshConUserID = new int[1];
// params.offMeshConUserID[0] = 0x4567;
// params.offMeshConCount = 1;
MeshData meshData = NavMeshBuilder.createNavMeshData(params);
return meshData;
return rVal;
}
}