pathfinding tiling work

docs/src/progress/renderertodo.md

@@ -1649,6 +1649,7 @@ Fix blocks not saving to disk when being ejected from cache
 Block chunk memory pooling
 Rename MoveToTree
 Major pathfinding work -- breaking MoteToTree
+Pathfinding tiling work
 
 
 

src/main/java/electrosphere/engine/Globals.java

@@ -84,7 +84,6 @@ import electrosphere.server.datacell.EntityDataCellMapper;
 import electrosphere.server.datacell.RealmManager;
 import electrosphere.server.db.DatabaseController;
 import electrosphere.server.entity.poseactor.PoseModel;
-import electrosphere.server.pathfinding.Pathfinder;
 import electrosphere.server.saves.Save;
 import electrosphere.server.simulation.MacroSimulation;
 import electrosphere.server.simulation.MicroSimulation;
@@ -430,9 +429,6 @@ public class Globals {
     //drag item state
     public static Entity draggedItem = null;
     public static Object dragSourceInventory = null;
-
-    //pathfinder
-    public static Pathfinder pathfinder;
     
     
     
@@ -522,9 +518,6 @@ public class Globals {
         gameConfigCurrent = gameConfigDefault;
         NetConfig.readNetConfig();
 
-        //pathfinder
-        Globals.pathfinder = new Pathfinder();
-
         //
         //Values that depend on the loaded config
         Globals.clientSelectedVoxelType = (VoxelType)gameConfigCurrent.getVoxelData().getTypes().toArray()[1];

src/main/java/electrosphere/server/datacell/gridded/GriddedDataCellManager.java

@@ -40,6 +40,7 @@ import electrosphere.server.datacell.physics.PhysicsDataCell;
 import electrosphere.server.entity.ServerContentManager;
 import electrosphere.server.entity.serialization.ContentSerialization;
 import electrosphere.server.pathfinding.NavMeshConstructor;
+import electrosphere.server.pathfinding.Pathfinder;
 import electrosphere.server.physics.block.manager.ServerBlockManager;
 import electrosphere.server.physics.fluid.manager.ServerFluidChunk;
 import electrosphere.server.physics.fluid.manager.ServerFluidManager;
@@ -158,6 +159,11 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
      * Queue of cells that need to have their physics regenerated (ie on block edits)
      */
     Map<Long,Vector3i> physicsQueue = new HashMap<Long,Vector3i>();
+
+    /**
+     * The pathfinder for the manager
+     */
+    Pathfinder pathfinder;
     
     /**
      * Constructor
@@ -188,6 +194,7 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
             this.serverContentManager + " "
             );
         }
+        this.pathfinder = new Pathfinder();
     }
     
     /**
@@ -369,6 +376,15 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
             if(pathingMeshData == null){
                 throw new Error("Failed to build pathing data from existing vertices!");
             }
+            pathingMeshData.header.x = worldPos.x;
+            pathingMeshData.header.y = worldPos.z;
+            pathingMeshData.header.bmin[0] = worldPos.x;
+            pathingMeshData.header.bmin[1] = worldPos.y;
+            pathingMeshData.header.bmin[2] = worldPos.z;
+            pathingMeshData.header.bmax[0] = worldPos.x + ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+            pathingMeshData.header.bmax[1] = worldPos.y + ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+            pathingMeshData.header.bmax[2] = worldPos.z + ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+            pathfinder.addTile(pathingMeshData);
             trackingData.setNavMeshData(pathingMeshData);
         }
 
@@ -754,7 +770,8 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
         Map<Long, PhysicsDataCell> posPhysicsMap,
         Map<Long, ServerDataCell> groundDataCells,
         Map<ServerDataCell,GriddedDataCellTrackingData> cellTrackingMap,
-        Realm realm
+        Realm realm,
+        Pathfinder pathfinder
     ){
         //get data to generate with
         Vector3d realPos = new Vector3d(
@@ -811,6 +828,15 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
                     if(pathingMeshData == null){
                         throw new Error("Failed to build pathing data from existing vertices!");
                     }
+                    pathingMeshData.header.x = worldPos.x;
+                    pathingMeshData.header.y = worldPos.z;
+                    pathingMeshData.header.bmin[0] = worldPos.x;
+                    pathingMeshData.header.bmin[1] = worldPos.y;
+                    pathingMeshData.header.bmin[2] = worldPos.z;
+                    pathingMeshData.header.bmax[0] = worldPos.x + ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+                    pathingMeshData.header.bmax[1] = worldPos.y + ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+                    pathingMeshData.header.bmax[2] = worldPos.z + ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+                    pathfinder.addTile(pathingMeshData);
                     trackingData.setNavMeshData(pathingMeshData);
                 }
 
@@ -861,7 +887,7 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
         //generates physics for the cell in a dedicated thread then finally registers
         loadedCellsLock.lock();
         PhysicsDataCell cell = posPhysicsMap.get(key);
-        GriddedDataCellManager.runPhysicsGenerationThread(localWorldPos,key,cell,this.posPhysicsMap,this.groundDataCells,this.cellTrackingMap,this.parent);
+        GriddedDataCellManager.runPhysicsGenerationThread(localWorldPos,key,cell,this.posPhysicsMap,this.groundDataCells,this.cellTrackingMap,this.parent,this.pathfinder);
         loadedCellsLock.unlock();
 
 
@@ -1123,7 +1149,7 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
         if(trackingMeshData == null){
             throw new Error("Tracking mesh data is null!");
         }
-        List<Vector3d> points = Globals.pathfinder.solve(trackingMeshData, start, end);
+        List<Vector3d> points = this.pathfinder.solve(trackingMeshData, start, end);
         return points;
     }
 

src/main/java/electrosphere/server/pathfinding/Pathfinder.java

@@ -1,8 +1,11 @@
 package electrosphere.server.pathfinding;
 
+import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.Map;
 import java.util.Objects;
+import java.util.concurrent.locks.ReentrantLock;
 
 import org.joml.Vector3d;
 import org.joml.Vector3f;
@@ -10,6 +13,7 @@ import org.recast4j.detour.DefaultQueryFilter;
 import org.recast4j.detour.FindNearestPolyResult;
 import org.recast4j.detour.MeshData;
 import org.recast4j.detour.NavMesh;
+import org.recast4j.detour.NavMeshParams;
 import org.recast4j.detour.NavMeshQuery;
 import org.recast4j.detour.QueryFilter;
 import org.recast4j.detour.Result;
@@ -27,6 +31,57 @@ public class Pathfinder {
      * Maximum points in a straight path
      */
     static final int MAX_STRAIGHT_PATH_POINTS = 100;
+
+    /**
+     * The root navmesh
+     */
+    NavMesh navMesh;
+
+    /**
+     * The map of ref -> nav tile
+     */
+    Map<MeshData,Long> meshRefMap = new HashMap<MeshData,Long>();
+
+    /**
+     * The lock for thread safety
+     */
+    ReentrantLock lock = new ReentrantLock();
+
+    /**
+     * Creates the pathfinder
+     */
+    public Pathfinder(){
+        NavMeshParams params = new NavMeshParams();
+        params.tileHeight = ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+        params.tileWidth = ServerTerrainChunk.CHUNK_PLACEMENT_OFFSET;
+        params.orig[0] = 0;
+        params.orig[1] = 0;
+        params.orig[2] = 0;
+        params.maxTiles = 1000;
+        params.maxPolys = 100000;
+        this.navMesh = new NavMesh(params, NavMeshConstructor.RECAST_VERTS_PER_POLY);
+    }
+
+    /**
+     * Adds a tile to the pathfinder
+     * @param tile The file
+     */
+    public void addTile(MeshData tile){
+        lock.lock();
+        long ref = this.navMesh.addTile(tile, 0, 0);
+        meshRefMap.put(tile,ref);
+        lock.unlock();
+    }
+
+    /**
+     * Removes a tile from the navmesh
+     * @param tile The tile
+     */
+    public void removeTile(MeshData tile){
+        lock.lock();
+        this.navMesh.removeTile(MAX_STRAIGHT_PATH_POINTS);
+        lock.unlock();
+    }
     
     /**
      * Solves for a path 
@@ -36,6 +91,7 @@ public class Pathfinder {
      * @return The set of points to path along
      */
     public List<Vector3d> solve(MeshData mesh, Vector3d startPos, Vector3d endPos){
+        lock.lock();
         List<Vector3d> rVal = new LinkedList<Vector3d>();
 
         if(mesh == null){
@@ -43,8 +99,7 @@ public class Pathfinder {
         }
 
         //construct objects
-        NavMesh navMesh = new NavMesh(mesh,6,0);
+        NavMeshQuery query = new NavMeshQuery(this.navMesh);
-        NavMeshQuery query = new NavMeshQuery(navMesh);
         QueryFilter filter = new DefaultQueryFilter();
 
         //convert points to correct datatypes
@@ -91,7 +146,7 @@ public class Pathfinder {
                 message = "Failed to solve for path -- invalid param!\n" +
                 "Message: " + pathResult.message + "\n" +
                 "Status: " + pathResult.status + "\n" +
-                Pathfinder.checkInvalidParam(navMesh,startRef,endRef,startArr,endArr) + "\n" +
+                Pathfinder.checkInvalidParam(this.navMesh,startRef,endRef,startArr,endArr) + "\n" +
                 ""
                 ;
             }
@@ -112,6 +167,8 @@ public class Pathfinder {
             rVal.add(new Vector3d(pathItem.getPos()[0],pathItem.getPos()[1],pathItem.getPos()[2]));
         }
 
+        lock.unlock();
+
         return rVal;
     }