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Change navigation region and link updates to an async process

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Changes navigation region and link updates to an async process.
This commit is contained in:
smix8
2025-05-19 00:54:35 +02:00
parent ca1e4785b2
commit 877da269d8
24 changed files with 1077 additions and 466 deletions
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modules/navigation_3d/3d/nav_map_builder_3d.cpp
+118 -96
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@@ -77,26 +77,23 @@ void NavMapBuilder3D::_build_step_gather_region_polygons(NavMapIterationBuild3D
PerformanceData &performance_data = r_build.performance_data;
NavMapIteration3D *map_iteration = r_build.map_iteration;
LocalVector<NavRegionIteration3D> &regions = map_iteration->region_iterations;
HashMap<uint32_t, LocalVector<Edge::Connection>> &region_external_connections = map_iteration->external_region_connections;
const LocalVector<Ref<NavRegionIteration3D>> &regions = map_iteration->region_iterations;
HashMap<const NavBaseIteration3D *, LocalVector<Connection>> &region_external_connections = map_iteration->external_region_connections;
map_iteration->navbases_polygons_external_connections.clear();
// Remove regions connections.
region_external_connections.clear();
for (const NavRegionIteration3D &region : regions) {
region_external_connections[region.id] = LocalVector<Edge::Connection>();
}
// Copy all region polygons in the map.
int polygon_count = 0;
for (NavRegionIteration3D &region : regions) {
if (!region.get_enabled()) {
continue;
}
LocalVector<Polygon> &polygons_source = region.navmesh_polygons;
for (uint32_t n = 0; n < polygons_source.size(); n++) {
polygons_source[n].id = polygon_count;
polygon_count++;
}
for (const Ref<NavRegionIteration3D> &region : regions) {
const uint32_t polygons_size = region->navmesh_polygons.size();
polygon_count += polygons_size;
region_external_connections[region.ptr()] = LocalVector<Connection>();
map_iteration->navbases_polygons_external_connections[region.ptr()] = LocalVector<LocalVector<Connection>>();
map_iteration->navbases_polygons_external_connections[region.ptr()].resize(polygons_size);
}
performance_data.pm_polygon_count = polygon_count;
@@ -107,7 +104,7 @@ void NavMapBuilder3D::_build_step_find_edge_connection_pairs(NavMapIterationBuil
PerformanceData &performance_data = r_build.performance_data;
NavMapIteration3D *map_iteration = r_build.map_iteration;
int polygon_count = r_build.polygon_count;
const Vector3 merge_rasterizer_cell_size = r_build.merge_rasterizer_cell_size;
HashMap<EdgeKey, EdgeConnectionPair, EdgeKey> &connection_pairs_map = r_build.iter_connection_pairs_map;
// Group all edges per key.
@@ -115,41 +112,33 @@ void NavMapBuilder3D::_build_step_find_edge_connection_pairs(NavMapIterationBuil
connection_pairs_map.reserve(polygon_count);
int free_edges_count = 0; // How many ConnectionPairs have only one Connection.
for (NavRegionIteration3D &region : map_iteration->region_iterations) {
if (!region.get_enabled()) {
continue;
}
for (const Ref<NavRegionIteration3D> &region : map_iteration->region_iterations) {
for (const ConnectableEdge &connectable_edge : region->get_external_edges()) {
const EdgeKey &ek = connectable_edge.ek;
for (Polygon &poly : region.navmesh_polygons) {
for (uint32_t p = 0; p < poly.vertices.size(); p++) {
const int next_point = (p + 1) % poly.vertices.size();
const EdgeKey ek(get_point_key(poly.vertices[p], merge_rasterizer_cell_size), get_point_key(poly.vertices[next_point], merge_rasterizer_cell_size));
HashMap<EdgeKey, EdgeConnectionPair, EdgeKey>::Iterator pair_it = connection_pairs_map.find(ek);
if (!pair_it) {
pair_it = connection_pairs_map.insert(ek, EdgeConnectionPair());
performance_data.pm_edge_count += 1;
++free_edges_count;
}
EdgeConnectionPair &pair = pair_it->value;
if (pair.size < 2) {
// Add the polygon/edge tuple to this key.
Connection new_connection;
new_connection.polygon = &region->navmesh_polygons[connectable_edge.polygon_index];
new_connection.pathway_start = connectable_edge.pathway_start;
new_connection.pathway_end = connectable_edge.pathway_end;
HashMap<EdgeKey, EdgeConnectionPair, EdgeKey>::Iterator pair_it = connection_pairs_map.find(ek);
if (!pair_it) {
pair_it = connection_pairs_map.insert(ek, EdgeConnectionPair());
performance_data.pm_edge_count += 1;
++free_edges_count;
pair.connections[pair.size] = new_connection;
++pair.size;
if (pair.size == 2) {
--free_edges_count;
}
EdgeConnectionPair &pair = pair_it->value;
if (pair.size < 2) {
// Add the polygon/edge tuple to this key.
Edge::Connection new_connection;
new_connection.polygon = &poly;
new_connection.edge = p;
new_connection.pathway_start = poly.vertices[p];
new_connection.pathway_end = poly.vertices[next_point];
pair.connections[pair.size] = new_connection;
++pair.size;
if (pair.size == 2) {
--free_edges_count;
}
} else {
// The edge is already connected with another edge, skip.
ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'. If you're certain none of above is the case, change 'navigation/3d/merge_rasterizer_cell_scale' to 0.001.");
}
} else {
// The edge is already connected with another edge, skip.
ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'. If you're certain none of above is the case, change 'navigation/3d/merge_rasterizer_cell_scale' to 0.001.");
}
}
}
@@ -161,23 +150,28 @@ void NavMapBuilder3D::_build_step_merge_edge_connection_pairs(NavMapIterationBui
PerformanceData &performance_data = r_build.performance_data;
HashMap<EdgeKey, EdgeConnectionPair, EdgeKey> &connection_pairs_map = r_build.iter_connection_pairs_map;
LocalVector<Edge::Connection> &free_edges = r_build.iter_free_edges;
LocalVector<Connection> &free_edges = r_build.iter_free_edges;
int free_edges_count = r_build.free_edge_count;
bool use_edge_connections = r_build.use_edge_connections;
free_edges.clear();
free_edges.reserve(free_edges_count);
NavMapIteration3D *map_iteration = r_build.map_iteration;
HashMap<const NavBaseIteration3D *, LocalVector<LocalVector<Nav3D::Connection>>> &navbases_polygons_external_connections = map_iteration->navbases_polygons_external_connections;
for (const KeyValue<EdgeKey, EdgeConnectionPair> &pair_it : connection_pairs_map) {
const EdgeConnectionPair &pair = pair_it.value;
if (pair.size == 2) {
// Connect edge that are shared in different polygons.
const Edge::Connection &c1 = pair.connections[0];
const Edge::Connection &c2 = pair.connections[1];
c1.polygon->edges[c1.edge].connections.push_back(c2);
c2.polygon->edges[c2.edge].connections.push_back(c1);
// Note: The pathway_start/end are full for those connection and do not need to be modified.
performance_data.pm_edge_merge_count += 1;
const Connection &c1 = pair.connections[0];
const Connection &c2 = pair.connections[1];
navbases_polygons_external_connections[c1.polygon->owner][c1.polygon->id].push_back(c2);
navbases_polygons_external_connections[c2.polygon->owner][c2.polygon->id].push_back(c1);
performance_data.pm_edge_connection_count += 1;
} else {
CRASH_COND_MSG(pair.size != 1, vformat("Number of connection != 1. Found: %d", pair.size));
if (use_edge_connections && pair.connections[0].polygon->owner->get_use_edge_connections()) {
@@ -192,8 +186,11 @@ void NavMapBuilder3D::_build_step_edge_connection_margin_connections(NavMapItera
NavMapIteration3D *map_iteration = r_build.map_iteration;
real_t edge_connection_margin = r_build.edge_connection_margin;
LocalVector<Edge::Connection> &free_edges = r_build.iter_free_edges;
HashMap<uint32_t, LocalVector<Edge::Connection>> &region_external_connections = map_iteration->external_region_connections;
LocalVector<Connection> &free_edges = r_build.iter_free_edges;
HashMap<const NavBaseIteration3D *, LocalVector<Connection>> &region_external_connections = map_iteration->external_region_connections;
HashMap<const NavBaseIteration3D *, LocalVector<LocalVector<Nav3D::Connection>>> &navbases_polygons_external_connections = map_iteration->navbases_polygons_external_connections;
// Find the compatible near edges.
//
@@ -207,18 +204,18 @@ void NavMapBuilder3D::_build_step_edge_connection_margin_connections(NavMapItera
const real_t edge_connection_margin_squared = edge_connection_margin * edge_connection_margin;
for (uint32_t i = 0; i < free_edges.size(); i++) {
const Edge::Connection &free_edge = free_edges[i];
Vector3 edge_p1 = free_edge.polygon->vertices[free_edge.edge];
Vector3 edge_p2 = free_edge.polygon->vertices[(free_edge.edge + 1) % free_edge.polygon->vertices.size()];
const Connection &free_edge = free_edges[i];
const Vector3 &edge_p1 = free_edge.pathway_start;
const Vector3 &edge_p2 = free_edge.pathway_end;
for (uint32_t j = 0; j < free_edges.size(); j++) {
const Edge::Connection &other_edge = free_edges[j];
const Connection &other_edge = free_edges[j];
if (i == j || free_edge.polygon->owner == other_edge.polygon->owner) {
continue;
}
Vector3 other_edge_p1 = other_edge.polygon->vertices[other_edge.edge];
Vector3 other_edge_p2 = other_edge.polygon->vertices[(other_edge.edge + 1) % other_edge.polygon->vertices.size()];
const Vector3 &other_edge_p1 = other_edge.pathway_start;
const Vector3 &other_edge_p2 = other_edge.pathway_end;
// Compute the projection of the opposite edge on the current one
Vector3 edge_vector = edge_p2 - edge_p1;
@@ -252,13 +249,14 @@ void NavMapBuilder3D::_build_step_edge_connection_margin_connections(NavMapItera
}
// The edges can now be connected.
Edge::Connection new_connection = other_edge;
Connection new_connection = other_edge;
new_connection.pathway_start = (self1 + other1) / 2.0;
new_connection.pathway_end = (self2 + other2) / 2.0;
free_edge.polygon->edges[free_edge.edge].connections.push_back(new_connection);
//free_edge.polygon->connections.push_back(new_connection);
// Add the connection to the region_connection map.
region_external_connections[(uint32_t)free_edge.polygon->owner->id].push_back(new_connection);
region_external_connections[free_edge.polygon->owner].push_back(new_connection);
navbases_polygons_external_connections[free_edge.polygon->owner][free_edge.polygon->id].push_back(new_connection);
performance_data.pm_edge_connection_count += 1;
}
}
@@ -269,18 +267,28 @@ void NavMapBuilder3D::_build_step_navlink_connections(NavMapIterationBuild3D &r_
real_t link_connection_radius = r_build.link_connection_radius;
LocalVector<NavLinkIteration3D> &links = map_iteration->link_iterations;
const LocalVector<Ref<NavLinkIteration3D>> &links = map_iteration->link_iterations;
int polygon_count = r_build.polygon_count;
real_t link_connection_radius_sqr = link_connection_radius * link_connection_radius;
HashMap<const NavBaseIteration3D *, LocalVector<LocalVector<Nav3D::Connection>>> &navbases_polygons_external_connections = map_iteration->navbases_polygons_external_connections;
LocalVector<Nav3D::Polygon> &navlink_polygons = map_iteration->navlink_polygons;
navlink_polygons.clear();
navlink_polygons.resize(links.size());
uint32_t navlink_index = 0;
// Search for polygons within range of a nav link.
for (NavLinkIteration3D &link : links) {
if (!link.get_enabled()) {
continue;
}
const Vector3 link_start_pos = link.get_start_position();
const Vector3 link_end_pos = link.get_end_position();
for (const Ref<NavLinkIteration3D> &link : links) {
polygon_count++;
Polygon &new_polygon = navlink_polygons[navlink_index++];
new_polygon.id = 0;
new_polygon.owner = link.ptr();
const Vector3 link_start_pos = link->get_start_position();
const Vector3 link_end_pos = link->get_end_position();
Polygon *closest_start_polygon = nullptr;
real_t closest_start_sqr_dist = link_connection_radius_sqr;
@@ -290,16 +298,13 @@ void NavMapBuilder3D::_build_step_navlink_connections(NavMapIterationBuild3D &r_
real_t closest_end_sqr_dist = link_connection_radius_sqr;
Vector3 closest_end_point;
for (NavRegionIteration3D &region : map_iteration->region_iterations) {
if (!region.get_enabled()) {
continue;
}
AABB region_bounds = region.get_bounds().grow(link_connection_radius);
for (const Ref<NavRegionIteration3D> &region : map_iteration->region_iterations) {
AABB region_bounds = region->get_bounds().grow(link_connection_radius);
if (!region_bounds.has_point(link_start_pos) && !region_bounds.has_point(link_end_pos)) {
continue;
}
for (Polygon &polyon : region.navmesh_polygons) {
for (Polygon &polyon : region->navmesh_polygons) {
for (uint32_t point_id = 2; point_id < polyon.vertices.size(); point_id += 1) {
const Face3 face(polyon.vertices[0], polyon.vertices[point_id - 1], polyon.vertices[point_id]);
@@ -332,14 +337,6 @@ void NavMapBuilder3D::_build_step_navlink_connections(NavMapIterationBuild3D &r_
// If we have both a start and end point, then create a synthetic polygon to route through.
if (closest_start_polygon && closest_end_polygon) {
link.navmesh_polygons.clear();
link.navmesh_polygons.resize(1);
Polygon &new_polygon = link.navmesh_polygons[0];
new_polygon.id = polygon_count++;
new_polygon.owner = &link;
new_polygon.edges.clear();
new_polygon.edges.resize(4);
new_polygon.vertices.resize(4);
// Build a set of vertices that create a thin polygon going from the start to the end point.
@@ -350,36 +347,38 @@ void NavMapBuilder3D::_build_step_navlink_connections(NavMapIterationBuild3D &r_
// Setup connections to go forward in the link.
{
Edge::Connection entry_connection;
Connection entry_connection;
entry_connection.polygon = &new_polygon;
entry_connection.edge = -1;
entry_connection.pathway_start = new_polygon.vertices[0];
entry_connection.pathway_end = new_polygon.vertices[1];
closest_start_polygon->edges[0].connections.push_back(entry_connection);
navbases_polygons_external_connections[closest_start_polygon->owner][closest_start_polygon->id].push_back(entry_connection);
Edge::Connection exit_connection;
Connection exit_connection;
exit_connection.polygon = closest_end_polygon;
exit_connection.edge = -1;
exit_connection.pathway_start = new_polygon.vertices[2];
exit_connection.pathway_end = new_polygon.vertices[3];
new_polygon.edges[2].connections.push_back(exit_connection);
navbases_polygons_external_connections[link.ptr()].push_back(LocalVector<Nav3D::Connection>());
navbases_polygons_external_connections[link.ptr()][new_polygon.id].push_back(exit_connection);
}
// If the link is bi-directional, create connections from the end to the start.
if (link.is_bidirectional()) {
Edge::Connection entry_connection;
if (link->is_bidirectional()) {
Connection entry_connection;
entry_connection.polygon = &new_polygon;
entry_connection.edge = -1;
entry_connection.pathway_start = new_polygon.vertices[2];
entry_connection.pathway_end = new_polygon.vertices[3];
closest_end_polygon->edges[0].connections.push_back(entry_connection);
navbases_polygons_external_connections[closest_end_polygon->owner][closest_end_polygon->id].push_back(entry_connection);
Edge::Connection exit_connection;
Connection exit_connection;
exit_connection.polygon = closest_start_polygon;
exit_connection.edge = -1;
exit_connection.pathway_start = new_polygon.vertices[0];
exit_connection.pathway_end = new_polygon.vertices[1];
new_polygon.edges[0].connections.push_back(exit_connection);
navbases_polygons_external_connections[link.ptr()].push_back(LocalVector<Nav3D::Connection>());
navbases_polygons_external_connections[link.ptr()][new_polygon.id].push_back(exit_connection);
}
}
}
@@ -392,12 +391,35 @@ void NavMapBuilder3D::_build_update_map_iteration(NavMapIterationBuild3D &r_buil
map_iteration->navmesh_polygon_count = r_build.polygon_count;
uint32_t navmesh_polygon_count = r_build.polygon_count;
uint32_t total_polygon_count = navmesh_polygon_count;
map_iteration->path_query_slots_mutex.lock();
for (NavMeshQueries3D::PathQuerySlot &p_path_query_slot : map_iteration->path_query_slots) {
p_path_query_slot.traversable_polys.clear();
p_path_query_slot.traversable_polys.reserve(map_iteration->navmesh_polygon_count * 0.25);
p_path_query_slot.traversable_polys.reserve(navmesh_polygon_count * 0.25);
p_path_query_slot.path_corridor.clear();
p_path_query_slot.path_corridor.resize(map_iteration->navmesh_polygon_count);
p_path_query_slot.path_corridor.resize(total_polygon_count);
p_path_query_slot.poly_to_id.clear();
p_path_query_slot.poly_to_id.reserve(total_polygon_count);
int polygon_id = 0;
for (Ref<NavRegionIteration3D> &region : map_iteration->region_iterations) {
for (const Polygon &polygon : region->navmesh_polygons) {
p_path_query_slot.poly_to_id[&polygon] = polygon_id;
polygon_id++;
}
}
for (const Polygon &polygon : map_iteration->navlink_polygons) {
p_path_query_slot.poly_to_id[&polygon] = polygon_id;
polygon_id++;
}
DEV_ASSERT(p_path_query_slot.path_corridor.size() == p_path_query_slot.poly_to_id.size());
}
map_iteration->path_query_slots_mutex.unlock();
}