From 62f9cfe034114a2e88db2fd3da82eefe5b56ae14 Mon Sep 17 00:00:00 2001 From: ikpil Date: Tue, 1 Oct 2024 23:27:42 +0900 Subject: [PATCH] Support for saving and loading dynamic nav meshes @ppiastucki [Upstream] from recast4j 506b503 - chore: Support for saving and loading dynamic nav meshes (fixes #200) (#209) --- .../DtDynamicNavMesh.cs | 22 ++++- src/DotRecast.Detour.Dynamic/DtDynamicTile.cs | 5 + .../DynamicNavMeshTest.cs | 99 +++++++++++++++++++ 3 files changed, 124 insertions(+), 2 deletions(-) diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs index 5c5a253..07b5870 100644 --- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs +++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs @@ -23,6 +23,7 @@ using System.Collections.Generic; using System.Linq; using System.Threading.Tasks; using DotRecast.Core; +using DotRecast.Core.Collections; using DotRecast.Detour.Dynamic.Colliders; using DotRecast.Detour.Dynamic.Io; using DotRecast.Recast; @@ -63,7 +64,7 @@ namespace DotRecast.Detour.Dynamic navMeshParams.orig.Y = voxelFile.bounds[1]; navMeshParams.orig.Z = voxelFile.bounds[2]; navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0]; - navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ: voxelFile.bounds[5] - voxelFile.bounds[2]; + navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ : voxelFile.bounds[5] - voxelFile.bounds[2]; navMeshParams.maxTiles = voxelFile.tiles.Count; navMeshParams.maxPolys = 0x8000; foreach (var t in voxelFile.tiles) @@ -230,6 +231,8 @@ namespace DotRecast.Detour.Dynamic { if (_dirty) { + _dirty = false; + DtNavMesh navMesh = new DtNavMesh(); navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY); @@ -239,7 +242,6 @@ namespace DotRecast.Detour.Dynamic } _navMesh = navMesh; - _dirty = false; return true; } @@ -267,5 +269,21 @@ namespace DotRecast.Detour.Dynamic { return _tiles.Values.Select(t => t.recastResult).ToList(); } + + public void NavMesh(DtNavMesh mesh) + { + _tiles.Values.ForEach(t => + { + const int MAX_NEIS = 32; + DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS]; + int nneis = mesh.GetTilesAt(t.voxelTile.tileX, t.voxelTile.tileZ, tiles, MAX_NEIS); + if (0 < nneis) + { + t.SetMeshData(tiles[0].data); + } + }); + _navMesh = mesh; + _dirty = false; + } } } \ No newline at end of file diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs index bf84437..17a1575 100644 --- a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs +++ b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs @@ -189,5 +189,10 @@ namespace DotRecast.Detour.Dynamic id = 0; } } + + public void SetMeshData(DtMeshData data) + { + this.meshData = data; + } } } \ No newline at end of file diff --git a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs index 2f11aee..deb60c3 100644 --- a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs +++ b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs @@ -1,3 +1,4 @@ +using System; using System.Collections.Generic; using System.IO; using System.Threading.Tasks; @@ -6,6 +7,7 @@ using DotRecast.Core.Numerics; using DotRecast.Detour.Dynamic.Colliders; using DotRecast.Detour.Dynamic.Io; using DotRecast.Detour.Dynamic.Test.Io; +using DotRecast.Detour.Io; using NUnit.Framework; namespace DotRecast.Detour.Dynamic.Test; @@ -78,4 +80,101 @@ public class DynamicNavMeshTest // path length should be back to the initial value Assert.That(path.Count, Is.EqualTo(16)); } + + + [Test] + public void ShouldSaveAndLoadDynamicNavMesh() + { + using var writerMs = new MemoryStream(); + using var bw = new BinaryWriter(writerMs); + + + int maxVertsPerPoly = 6; + // load voxels from file + + { + byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels"); + using var readMs = new MemoryStream(bytes); + using var br = new BinaryReader(readMs); + + DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared); + DtVoxelFile f = reader.Read(br); + + // create dynamic navmesh + DtDynamicNavMesh mesh = new DtDynamicNavMesh(f); + + // build navmesh asynchronously using multiple threads + mesh.Build(Task.Factory); + + // Save the resulting nav mesh and re-use it + new DtMeshSetWriter().Write(bw, mesh.NavMesh(), RcByteOrder.LITTLE_ENDIAN, true); + maxVertsPerPoly = mesh.NavMesh().GetMaxVertsPerPoly(); + } + + { + byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels"); + using var readMs = new MemoryStream(bytes); + using var br = new BinaryReader(readMs); + + // load voxels from file + DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared); + DtVoxelFile f = reader.Read(br); + + // create dynamic navmesh + DtDynamicNavMesh mesh = new DtDynamicNavMesh(f); + // use the saved nav mesh instead of building from scratch + DtNavMesh navMesh = new DtMeshSetReader().Read(new RcByteBuffer(writerMs.ToArray()), maxVertsPerPoly); + mesh.NavMesh(navMesh); + + DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh()); + IDtQueryFilter filter = new DtQueryDefaultFilter(); + + // find path + _ = query.FindNearestPoly(START_POS, EXTENT, filter, out var startNearestRef, out var startNearestPos, out var _); + _ = query.FindNearestPoly(END_POS, EXTENT, filter, out var endNearestRef, out var endNearestPos, out var _); + + List path = new List(); + query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle); + + // check path length without any obstacles + Assert.That(path.Count, Is.EqualTo(16)); + + // place obstacle + DtCollider colldier = new DtSphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f); + long colliderId = mesh.AddCollider(colldier); + + // update navmesh asynchronously + mesh.Update(Task.Factory); + + // create new query + query = new DtNavMeshQuery(mesh.NavMesh()); + + // find path again + _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _); + _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _); + + path = new List(); + query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle); + + // check path length with obstacles + Assert.That(path.Count, Is.EqualTo(19)); + + // remove obstacle + mesh.RemoveCollider(colliderId); + // update navmesh asynchronously + mesh.Update(Task.Factory); + + // create new query + query = new DtNavMeshQuery(mesh.NavMesh()); + // find path one more time + _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _); + _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _); + + path = new List(); + query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle); + + // path length should be back to the initial value + Assert.That(path.Count, Is.EqualTo(16)); + } + } } \ No newline at end of file