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blender/source/gameengine/Ketsji/KX_NavMeshObject.cpp
Benoit Bolsee e6a9b68c79 Recast: upgrade library. 
- Upgrade Recast library to latest portable version
- Implement recast_qsort based on FreeBSD qsort.c to have 
  portable thread safe quick sort for use in conversion routine.
- Better default value for the Build Navigation Mesh operator
2011-09-29 21:38:57 +00:00

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/**
* $Id$
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include "MEM_guardedalloc.h"
#include "BLI_math_vector.h"
#include "KX_NavMeshObject.h"
#include "RAS_MeshObject.h"
#include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h"
extern "C" {
#include "BKE_scene.h"
#include "BKE_customdata.h"
#include "BKE_cdderivedmesh.h"
#include "BKE_DerivedMesh.h"
#include "BKE_navmesh_conversion.h"
}
#include "KX_PythonInit.h"
#include "KX_PyMath.h"
#include "Value.h"
#include "Recast.h"
#include "DetourStatNavMeshBuilder.h"
#include "KX_ObstacleSimulation.h"
static const int MAX_PATH_LEN = 256;
static const float polyPickExt[3] = {2, 4, 2};
static void calcMeshBounds(const float* vert, int nverts, float* bmin, float* bmax)
{
bmin[0] = bmax[0] = vert[0];
bmin[1] = bmax[1] = vert[1];
bmin[2] = bmax[2] = vert[2];
for (int i=1; i<nverts; i++)
{
if (bmin[0]>vert[3*i+0]) bmin[0] = vert[3*i+0];
if (bmin[1]>vert[3*i+1]) bmin[1] = vert[3*i+1];
if (bmin[2]>vert[3*i+2]) bmin[2] = vert[3*i+2];
if (bmax[0]<vert[3*i+0]) bmax[0] = vert[3*i+0];
if (bmax[1]<vert[3*i+1]) bmax[1] = vert[3*i+1];
if (bmax[2]<vert[3*i+2]) bmax[2] = vert[3*i+2];
}
}
inline void flipAxes(float* vec)
{
std::swap(vec[1],vec[2]);
}
KX_NavMeshObject::KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks)
: KX_GameObject(sgReplicationInfo, callbacks)
, m_navMesh(NULL)
{
}
KX_NavMeshObject::~KX_NavMeshObject()
{
if (m_navMesh)
delete m_navMesh;
}
CValue* KX_NavMeshObject::GetReplica()
{
KX_NavMeshObject* replica = new KX_NavMeshObject(*this);
replica->ProcessReplica();
return replica;
}
void KX_NavMeshObject::ProcessReplica()
{
KX_GameObject::ProcessReplica();
BuildNavMesh();
KX_Scene* scene = KX_GetActiveScene();
KX_ObstacleSimulation* obssimulation = scene->GetObstacleSimulation();
if (obssimulation)
obssimulation->AddObstaclesForNavMesh(this);
}
bool KX_NavMeshObject::BuildVertIndArrays(float *&vertices, int& nverts,
unsigned short* &polys, int& npolys, unsigned short *&dmeshes,
float *&dvertices, int &ndvertsuniq, unsigned short *&dtris,
int& ndtris, int &vertsPerPoly)
{
DerivedMesh* dm = mesh_create_derived_no_virtual(KX_GetActiveScene()->GetBlenderScene(), GetBlenderObject(),
NULL, CD_MASK_MESH);
int* recastData = (int*) dm->getFaceDataArray(dm, CD_RECAST);
if (recastData)
{
int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL;
int nAllVerts = 0;
float *allVerts = NULL;
buildNavMeshDataByDerivedMesh(dm, &vertsPerPoly, &nAllVerts, &allVerts, &ndtris, &dtris,
&npolys, &dmeshes, &polys, &dtrisToPolysMap, &dtrisToTrisMap, &trisToFacesMap);
MEM_freeN(dtrisToPolysMap);
MEM_freeN(dtrisToTrisMap);
MEM_freeN(trisToFacesMap);
unsigned short *verticesMap = new unsigned short[nAllVerts];
memset(verticesMap, 0xffff, sizeof(unsigned short)*nAllVerts);
int curIdx = 0;
//vertices - mesh verts
//iterate over all polys and create map for their vertices first...
for (int polyidx=0; polyidx<npolys; polyidx++)
{
unsigned short* poly = &polys[polyidx*vertsPerPoly*2];
for (int i=0; i<vertsPerPoly; i++)
{
unsigned short idx = poly[i];
if (idx==0xffff)
break;
if (verticesMap[idx]==0xffff)
{
verticesMap[idx] = curIdx++;
}
poly[i] = verticesMap[idx];
}
}
nverts = curIdx;
//...then iterate over detailed meshes
//transform indices to local ones (for each navigation polygon)
for (int polyidx=0; polyidx<npolys; polyidx++)
{
unsigned short *poly = &polys[polyidx*vertsPerPoly*2];
int nv = polyNumVerts(poly, vertsPerPoly);
unsigned short *dmesh = &dmeshes[4*polyidx];
unsigned short tribase = dmesh[2];
unsigned short trinum = dmesh[3];
unsigned short vbase = curIdx;
for (int j=0; j<trinum; j++)
{
unsigned short* dtri = &dtris[(tribase+j)*3*2];
for (int k=0; k<3; k++)
{
int newVertexIdx = verticesMap[dtri[k]];
if (newVertexIdx==0xffff)
{
newVertexIdx = curIdx++;
verticesMap[dtri[k]] = newVertexIdx;
}
if (newVertexIdx<nverts)
{
//it's polygon vertex ("shared")
int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx);
if (idxInPoly==-1)
{
printf("Building NavMeshObject: Error! Can't find vertex in polygon\n");
return false;
}
dtri[k] = idxInPoly;
}
else
{
dtri[k] = newVertexIdx - vbase + nv;
}
}
}
dmesh[0] = vbase-nverts; //verts base
dmesh[1] = curIdx-vbase; //verts num
}
vertices = new float[nverts*3];
ndvertsuniq = curIdx - nverts;
if (ndvertsuniq>0)
{
dvertices = new float[ndvertsuniq*3];
}
for (int vi=0; vi<nAllVerts; vi++)
{
int newIdx = verticesMap[vi];
if (newIdx!=0xffff)
{
if (newIdx<nverts)
{
//navigation mesh vertex
memcpy(vertices+3*newIdx, allVerts+3*vi, 3*sizeof(float));
}
else
{
//detailed mesh vertex
memcpy(dvertices+3*(newIdx-nverts), allVerts+3*vi, 3*sizeof(float));
}
}
}
MEM_freeN(allVerts);
}
else
{
//create from RAS_MeshObject (detailed mesh is fake)
RAS_MeshObject* meshobj = GetMesh(0);
vertsPerPoly = 3;
nverts = meshobj->m_sharedvertex_map.size();
if (nverts >= 0xffff)
return false;
//calculate count of tris
int nmeshpolys = meshobj->NumPolygons();
npolys = nmeshpolys;
for (int p=0; p<nmeshpolys; p++)
{
int vertcount = meshobj->GetPolygon(p)->VertexCount();
npolys+=vertcount-3;
}
//create verts
vertices = new float[nverts*3];
float* vert = vertices;
for (int vi=0; vi<nverts; vi++)
{
const float* pos = !meshobj->m_sharedvertex_map[vi].empty() ? meshobj->GetVertexLocation(vi) : NULL;
if (pos)
copy_v3_v3(vert, pos);
else
{
memset(vert, 0, 3*sizeof(float)); //vertex isn't in any poly, set dummy zero coordinates
}
vert+=3;
}
//create tris
polys = new unsigned short[npolys*3*2];
memset(polys, 0xff, sizeof(unsigned short)*3*2*npolys);
unsigned short *poly = polys;
RAS_Polygon* raspoly;
for (int p=0; p<nmeshpolys; p++)
{
raspoly = meshobj->GetPolygon(p);
for (int v=0; v<raspoly->VertexCount()-2; v++)
{
poly[0]= raspoly->GetVertex(0)->getOrigIndex();
for (size_t i=1; i<3; i++)
{
poly[i]= raspoly->GetVertex(v+i)->getOrigIndex();
}
poly += 6;
}
}
dmeshes = NULL;
dvertices = NULL;
ndvertsuniq = 0;
dtris = NULL;
ndtris = npolys;
}
dm->release(dm);
return true;
}
bool KX_NavMeshObject::BuildNavMesh()
{
if (m_navMesh)
{
delete m_navMesh;
m_navMesh = NULL;
}
if (GetMeshCount()==0)
{
printf("Can't find mesh for navmesh object: %s \n", m_name.ReadPtr());
return false;
}
float *vertices = NULL, *dvertices = NULL;
unsigned short *polys = NULL, *dtris = NULL, *dmeshes = NULL;
int nverts = 0, npolys = 0, ndvertsuniq = 0, ndtris = 0;
int vertsPerPoly = 0;
if (!BuildVertIndArrays(vertices, nverts, polys, npolys,
dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly )
|| vertsPerPoly<3)
{
printf("Can't build navigation mesh data for object:%s \n", m_name.ReadPtr());
return false;
}
MT_Point3 pos;
if (dmeshes==NULL)
{
for (int i=0; i<nverts; i++)
{
flipAxes(&vertices[i*3]);
}
for (int i=0; i<ndvertsuniq; i++)
{
flipAxes(&dvertices[i*3]);
}
}
buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly);
float cs = 0.2f;
if (!nverts || !npolys)
return false;
float bmin[3], bmax[3];
calcMeshBounds(vertices, nverts, bmin, bmax);
//quantize vertex pos
unsigned short* vertsi = new unsigned short[3*nverts];
float ics = 1.f/cs;
for (int i=0; i<nverts; i++)
{
vertsi[3*i+0] = static_cast<unsigned short>((vertices[3*i+0]-bmin[0])*ics);
vertsi[3*i+1] = static_cast<unsigned short>((vertices[3*i+1]-bmin[1])*ics);
vertsi[3*i+2] = static_cast<unsigned short>((vertices[3*i+2]-bmin[2])*ics);
}
// Calculate data size
const int headerSize = sizeof(dtStatNavMeshHeader);
const int vertsSize = sizeof(float)*3*nverts;
const int polysSize = sizeof(dtStatPoly)*npolys;
const int nodesSize = sizeof(dtStatBVNode)*npolys*2;
const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys;
const int detailVertsSize = sizeof(float)*3*ndvertsuniq;
const int detailTrisSize = sizeof(unsigned char)*4*ndtris;
const int dataSize = headerSize + vertsSize + polysSize + nodesSize +
detailMeshesSize + detailVertsSize + detailTrisSize;
unsigned char* data = new unsigned char[dataSize];
if (!data)
return false;
memset(data, 0, dataSize);
unsigned char* d = data;
dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize;
float* navVerts = (float*)d; d += vertsSize;
dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize;
dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize;
dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize;
float* navDVerts = (float*)d; d += detailVertsSize;
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
// Store header
header->magic = DT_STAT_NAVMESH_MAGIC;
header->version = DT_STAT_NAVMESH_VERSION;
header->npolys = npolys;
header->nverts = nverts;
header->cs = cs;
header->bmin[0] = bmin[0];
header->bmin[1] = bmin[1];
header->bmin[2] = bmin[2];
header->bmax[0] = bmax[0];
header->bmax[1] = bmax[1];
header->bmax[2] = bmax[2];
header->ndmeshes = npolys;
header->ndverts = ndvertsuniq;
header->ndtris = ndtris;
// Store vertices
for (int i = 0; i < nverts; ++i)
{
const unsigned short* iv = &vertsi[i*3];
float* v = &navVerts[i*3];
v[0] = bmin[0] + iv[0] * cs;
v[1] = bmin[1] + iv[1] * cs;
v[2] = bmin[2] + iv[2] * cs;
}
//memcpy(navVerts, vertices, nverts*3*sizeof(float));
// Store polygons
const unsigned short* src = polys;
for (int i = 0; i < npolys; ++i)
{
dtStatPoly* p = &navPolys[i];
p->nv = 0;
for (int j = 0; j < vertsPerPoly; ++j)
{
if (src[j] == 0xffff) break;
p->v[j] = src[j];
p->n[j] = src[vertsPerPoly+j]+1;
p->nv++;
}
src += vertsPerPoly*2;
}
header->nnodes = createBVTree(vertsi, nverts, polys, npolys, vertsPerPoly,
cs, cs, npolys*2, navNodes);
if (dmeshes==NULL)
{
//create fake detail meshes
for (int i = 0; i < npolys; ++i)
{
dtStatPolyDetail& dtl = navDMeshes[i];
dtl.vbase = 0;
dtl.nverts = 0;
dtl.tbase = i;
dtl.ntris = 1;
}
// setup triangles.
unsigned char* tri = navDTris;
for(size_t i=0; i<ndtris; i++)
{
for (size_t j=0; j<3; j++)
tri[4*i+j] = j;
}
}
else
{
//verts
memcpy(navDVerts, dvertices, ndvertsuniq*3*sizeof(float));
//tris
unsigned char* tri = navDTris;
for(size_t i=0; i<ndtris; i++)
{
for (size_t j=0; j<3; j++)
tri[4*i+j] = dtris[6*i+j];
}
//detailed meshes
for (int i = 0; i < npolys; ++i)
{
dtStatPolyDetail& dtl = navDMeshes[i];
dtl.vbase = dmeshes[i*4+0];
dtl.nverts = dmeshes[i*4+1];
dtl.tbase = dmeshes[i*4+2];
dtl.ntris = dmeshes[i*4+3];
}
}
m_navMesh = new dtStatNavMesh;
m_navMesh->init(data, dataSize, true);
delete [] vertices;
/* navmesh conversion is using C guarded alloc for memory allocaitons */
MEM_freeN(polys);
if (dmeshes) MEM_freeN(dmeshes);
if (dtris) MEM_freeN(dtris);
if (dvertices)
{
delete [] dvertices;
}
return true;
}
dtStatNavMesh* KX_NavMeshObject::GetNavMesh()
{
return m_navMesh;
}
void KX_NavMeshObject::DrawNavMesh(NavMeshRenderMode renderMode)
{
if (!m_navMesh)
return;
MT_Vector3 color(0.f, 0.f, 0.f);
switch (renderMode)
{
case RM_POLYS :
case RM_WALLS :
for (int pi=0; pi<m_navMesh->getPolyCount(); pi++)
{
const dtStatPoly* poly = m_navMesh->getPoly(pi);
for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
{
if (poly->n[j] && renderMode==RM_WALLS)
continue;
const float* vif = m_navMesh->getVertex(poly->v[i]);
const float* vjf = m_navMesh->getVertex(poly->v[j]);
MT_Point3 vi(vif[0], vif[2], vif[1]);
MT_Point3 vj(vjf[0], vjf[2], vjf[1]);
vi = TransformToWorldCoords(vi);
vj = TransformToWorldCoords(vj);
KX_RasterizerDrawDebugLine(vi, vj, color);
}
}
break;
case RM_TRIS :
for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
{
const dtStatPoly* p = m_navMesh->getPoly(i);
const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i);
for (int j = 0; j < pd->ntris; ++j)
{
const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j);
MT_Point3 tri[3];
for (int k = 0; k < 3; ++k)
{
const float* v;
if (t[k] < p->nv)
v = m_navMesh->getVertex(p->v[t[k]]);
else
v = m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv));
float pos[3];
rcVcopy(pos, v);
flipAxes(pos);
tri[k].setValue(pos);
}
for (int k=0; k<3; k++)
tri[k] = TransformToWorldCoords(tri[k]);
for (int k=0; k<3; k++)
KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color);
}
}
break;
default:
/* pass */
break;
}
}
MT_Point3 KX_NavMeshObject::TransformToLocalCoords(const MT_Point3& wpos)
{
MT_Matrix3x3 orientation = NodeGetWorldOrientation();
const MT_Vector3& scaling = NodeGetWorldScaling();
orientation.scale(scaling[0], scaling[1], scaling[2]);
MT_Transform worldtr(NodeGetWorldPosition(), orientation);
MT_Transform invworldtr;
invworldtr.invert(worldtr);
MT_Point3 lpos = invworldtr(wpos);
return lpos;
}
MT_Point3 KX_NavMeshObject::TransformToWorldCoords(const MT_Point3& lpos)
{
MT_Matrix3x3 orientation = NodeGetWorldOrientation();
const MT_Vector3& scaling = NodeGetWorldScaling();
orientation.scale(scaling[0], scaling[1], scaling[2]);
MT_Transform worldtr(NodeGetWorldPosition(), orientation);
MT_Point3 wpos = worldtr(lpos);
return wpos;
}
int KX_NavMeshObject::FindPath(const MT_Point3& from, const MT_Point3& to, float* path, int maxPathLen)
{
if (!m_navMesh)
return 0;
MT_Point3 localfrom = TransformToLocalCoords(from);
MT_Point3 localto = TransformToLocalCoords(to);
float spos[3], epos[3];
localfrom.getValue(spos); flipAxes(spos);
localto.getValue(epos); flipAxes(epos);
dtStatPolyRef sPolyRef = m_navMesh->findNearestPoly(spos, polyPickExt);
dtStatPolyRef ePolyRef = m_navMesh->findNearestPoly(epos, polyPickExt);
int pathLen = 0;
if (sPolyRef && ePolyRef)
{
dtStatPolyRef* polys = new dtStatPolyRef[maxPathLen];
int npolys;
npolys = m_navMesh->findPath(sPolyRef, ePolyRef, spos, epos, polys, maxPathLen);
if (npolys)
{
pathLen = m_navMesh->findStraightPath(spos, epos, polys, npolys, path, maxPathLen);
for (int i=0; i<pathLen; i++)
{
flipAxes(&path[i*3]);
MT_Point3 waypoint(&path[i*3]);
waypoint = TransformToWorldCoords(waypoint);
waypoint.getValue(&path[i*3]);
}
}
}
return pathLen;
}
float KX_NavMeshObject::Raycast(const MT_Point3& from, const MT_Point3& to)
{
if (!m_navMesh)
return 0.f;
MT_Point3 localfrom = TransformToLocalCoords(from);
MT_Point3 localto = TransformToLocalCoords(to);
float spos[3], epos[3];
localfrom.getValue(spos); flipAxes(spos);
localto.getValue(epos); flipAxes(epos);
dtStatPolyRef sPolyRef = m_navMesh->findNearestPoly(spos, polyPickExt);
float t=0;
static dtStatPolyRef polys[MAX_PATH_LEN];
m_navMesh->raycast(sPolyRef, spos, epos, t, polys, MAX_PATH_LEN);
return t;
}
void KX_NavMeshObject::DrawPath(const float *path, int pathLen, const MT_Vector3& color)
{
MT_Vector3 a,b;
for (int i=0; i<pathLen-1; i++)
{
a.setValue(&path[3*i]);
b.setValue(&path[3*(i+1)]);
KX_RasterizerDrawDebugLine(a, b, color);
}
}
#ifndef DISABLE_PYTHON
//----------------------------------------------------------------------------
//Python
PyTypeObject KX_NavMeshObject::Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"KX_NavMeshObject",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_base_repr,
0,
0,
0,
0,0,0,0,0,0,
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
0,0,0,0,0,0,0,
Methods,
0,
0,
&KX_GameObject::Type,
0,0,0,0,0,0,
py_base_new
};
PyAttributeDef KX_NavMeshObject::Attributes[] = {
{ NULL } //Sentinel
};
//KX_PYMETHODTABLE_NOARGS(KX_GameObject, getD),
PyMethodDef KX_NavMeshObject::Methods[] = {
KX_PYMETHODTABLE(KX_NavMeshObject, findPath),
KX_PYMETHODTABLE(KX_NavMeshObject, raycast),
KX_PYMETHODTABLE(KX_NavMeshObject, draw),
KX_PYMETHODTABLE(KX_NavMeshObject, rebuild),
{NULL,NULL} //Sentinel
};
KX_PYMETHODDEF_DOC(KX_NavMeshObject, findPath,
"findPath(start, goal): find path from start to goal points\n"
"Returns a path as list of points)\n")
{
PyObject *ob_from, *ob_to;
if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to))
return NULL;
MT_Point3 from, to;
if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to))
return NULL;
float path[MAX_PATH_LEN*3];
int pathLen = FindPath(from, to, path, MAX_PATH_LEN);
PyObject *pathList = PyList_New( pathLen );
for (int i=0; i<pathLen; i++)
{
MT_Point3 point(&path[3*i]);
PyList_SET_ITEM(pathList, i, PyObjectFrom(point));
}
return pathList;
}
KX_PYMETHODDEF_DOC(KX_NavMeshObject, raycast,
"raycast(start, goal): raycast from start to goal points\n"
"Returns hit factor)\n")
{
PyObject *ob_from, *ob_to;
if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to))
return NULL;
MT_Point3 from, to;
if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to))
return NULL;
float hit = Raycast(from, to);
return PyFloat_FromDouble(hit);
}
KX_PYMETHODDEF_DOC(KX_NavMeshObject, draw,
"draw(mode): navigation mesh debug drawing\n"
"mode: WALLS, POLYS, TRIS\n")
{
int arg;
NavMeshRenderMode renderMode = RM_TRIS;
if (PyArg_ParseTuple(args,"i:rebuild",&arg) && arg>=0 && arg<RM_MAX)
renderMode = (NavMeshRenderMode)arg;
DrawNavMesh(renderMode);
Py_RETURN_NONE;
}
KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, rebuild,
"rebuild(): rebuild navigation mesh\n")
{
BuildNavMesh();
Py_RETURN_NONE;
}
#endif // DISABLE_PYTHON
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