initial commit, 4.5 stable

modules/navigation_2d/2d/nav_map_builder_2d.cpp

@@ -0,0 +1,425 @@
+/**************************************************************************/
+/*  nav_map_builder_2d.cpp                                                */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#include "nav_map_builder_2d.h"
+
+#include "../nav_link_2d.h"
+#include "../nav_map_2d.h"
+#include "../nav_region_2d.h"
+#include "../triangle2.h"
+#include "nav_map_iteration_2d.h"
+#include "nav_region_iteration_2d.h"
+
+using namespace Nav2D;
+
+PointKey NavMapBuilder2D::get_point_key(const Vector2 &p_pos, const Vector2 &p_cell_size) {
+	const int x = static_cast<int>(Math::floor(p_pos.x / p_cell_size.x));
+	const int y = static_cast<int>(Math::floor(p_pos.y / p_cell_size.y));
+
+	PointKey p;
+	p.key = 0;
+	p.x = x;
+	p.y = y;
+	return p;
+}
+
+void NavMapBuilder2D::build_navmap_iteration(NavMapIterationBuild2D &r_build) {
+	PerformanceData &performance_data = r_build.performance_data;
+
+	performance_data.pm_polygon_count = 0;
+	performance_data.pm_edge_count = 0;
+	performance_data.pm_edge_merge_count = 0;
+	performance_data.pm_edge_connection_count = 0;
+	performance_data.pm_edge_free_count = 0;
+
+	_build_step_gather_region_polygons(r_build);
+
+	_build_step_find_edge_connection_pairs(r_build);
+
+	_build_step_merge_edge_connection_pairs(r_build);
+
+	_build_step_edge_connection_margin_connections(r_build);
+
+	_build_step_navlink_connections(r_build);
+
+	_build_update_map_iteration(r_build);
+}
+
+void NavMapBuilder2D::_build_step_gather_region_polygons(NavMapIterationBuild2D &r_build) {
+	PerformanceData &performance_data = r_build.performance_data;
+	NavMapIteration2D *map_iteration = r_build.map_iteration;
+
+	const LocalVector<Ref<NavRegionIteration2D>> &regions = map_iteration->region_iterations;
+	HashMap<const NavBaseIteration2D *, LocalVector<Connection>> &region_external_connections = map_iteration->external_region_connections;
+
+	map_iteration->navbases_polygons_external_connections.clear();
+
+	// Remove regions connections.
+	region_external_connections.clear();
+
+	// Copy all region polygons in the map.
+	int polygon_count = 0;
+	for (const Ref<NavRegionIteration2D> &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;
+	r_build.polygon_count = polygon_count;
+}
+
+void NavMapBuilder2D::_build_step_find_edge_connection_pairs(NavMapIterationBuild2D &r_build) {
+	PerformanceData &performance_data = r_build.performance_data;
+	NavMapIteration2D *map_iteration = r_build.map_iteration;
+	int polygon_count = r_build.polygon_count;
+
+	HashMap<EdgeKey, EdgeConnectionPair, EdgeKey> &connection_pairs_map = r_build.iter_connection_pairs_map;
+
+	// Group all edges per key.
+	connection_pairs_map.clear();
+	connection_pairs_map.reserve(polygon_count);
+	int free_edges_count = 0; // How many ConnectionPairs have only one Connection.
+
+	for (const Ref<NavRegionIteration2D> &region : map_iteration->region_iterations) {
+		for (const ConnectableEdge &connectable_edge : region->get_external_edges()) {
+			const EdgeKey &ek = connectable_edge.ek;
+
+			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.edge = connectable_edge.edge;
+				new_connection.pathway_start = connectable_edge.pathway_start;
+				new_connection.pathway_end = connectable_edge.pathway_end;
+
+				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/2d/merge_rasterizer_cell_scale' to 0.001.");
+			}
+		}
+	}
+
+	r_build.free_edge_count = free_edges_count;
+}
+
+void NavMapBuilder2D::_build_step_merge_edge_connection_pairs(NavMapIterationBuild2D &r_build) {
+	PerformanceData &performance_data = r_build.performance_data;
+
+	HashMap<EdgeKey, EdgeConnectionPair, EdgeKey> &connection_pairs_map = r_build.iter_connection_pairs_map;
+	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);
+
+	NavMapIteration2D *map_iteration = r_build.map_iteration;
+
+	HashMap<const NavBaseIteration2D *, LocalVector<LocalVector<Nav2D::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 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()) {
+				free_edges.push_back(pair.connections[0]);
+			}
+		}
+	}
+}
+
+void NavMapBuilder2D::_build_step_edge_connection_margin_connections(NavMapIterationBuild2D &r_build) {
+	PerformanceData &performance_data = r_build.performance_data;
+	NavMapIteration2D *map_iteration = r_build.map_iteration;
+
+	real_t edge_connection_margin = r_build.edge_connection_margin;
+
+	LocalVector<Connection> &free_edges = r_build.iter_free_edges;
+	HashMap<const NavBaseIteration2D *, LocalVector<Connection>> &region_external_connections = map_iteration->external_region_connections;
+
+	HashMap<const NavBaseIteration2D *, LocalVector<LocalVector<Nav2D::Connection>>> &navbases_polygons_external_connections = map_iteration->navbases_polygons_external_connections;
+
+	// Find the compatible near edges.
+	//
+	// Note:
+	// Considering that the edges must be compatible (for obvious reasons)
+	// to be connected, create new polygons to remove that small gap is
+	// not really useful and would result in wasteful computation during
+	// connection, integration and path finding.
+	performance_data.pm_edge_free_count = free_edges.size();
+
+	const real_t edge_connection_margin_squared = edge_connection_margin * edge_connection_margin;
+
+	for (uint32_t i = 0; i < free_edges.size(); i++) {
+		const Connection &free_edge = free_edges[i];
+		const Vector2 &edge_p1 = free_edge.pathway_start;
+		const Vector2 &edge_p2 = free_edge.pathway_end;
+
+		for (uint32_t j = 0; j < free_edges.size(); j++) {
+			const Connection &other_edge = free_edges[j];
+			if (i == j || free_edge.polygon->owner == other_edge.polygon->owner) {
+				continue;
+			}
+
+			const Vector2 &other_edge_p1 = other_edge.pathway_start;
+			const Vector2 &other_edge_p2 = other_edge.pathway_end;
+
+			// Compute the projection of the opposite edge on the current one
+			Vector2 edge_vector = edge_p2 - edge_p1;
+			real_t projected_p1_ratio = edge_vector.dot(other_edge_p1 - edge_p1) / (edge_vector.length_squared());
+			real_t projected_p2_ratio = edge_vector.dot(other_edge_p2 - edge_p1) / (edge_vector.length_squared());
+			if ((projected_p1_ratio < 0.0 && projected_p2_ratio < 0.0) || (projected_p1_ratio > 1.0 && projected_p2_ratio > 1.0)) {
+				continue;
+			}
+
+			// Check if the two edges are close to each other enough and compute a pathway between the two regions.
+			Vector2 self1 = edge_vector * CLAMP(projected_p1_ratio, 0.0, 1.0) + edge_p1;
+			Vector2 other1;
+			if (projected_p1_ratio >= 0.0 && projected_p1_ratio <= 1.0) {
+				other1 = other_edge_p1;
+			} else {
+				other1 = other_edge_p1.lerp(other_edge_p2, (1.0 - projected_p1_ratio) / (projected_p2_ratio - projected_p1_ratio));
+			}
+			if (other1.distance_squared_to(self1) > edge_connection_margin_squared) {
+				continue;
+			}
+
+			Vector2 self2 = edge_vector * CLAMP(projected_p2_ratio, 0.0, 1.0) + edge_p1;
+			Vector2 other2;
+			if (projected_p2_ratio >= 0.0 && projected_p2_ratio <= 1.0) {
+				other2 = other_edge_p2;
+			} else {
+				other2 = other_edge_p1.lerp(other_edge_p2, (0.0 - projected_p1_ratio) / (projected_p2_ratio - projected_p1_ratio));
+			}
+			if (other2.distance_squared_to(self2) > edge_connection_margin_squared) {
+				continue;
+			}
+
+			// The edges can now be connected.
+			Connection new_connection = other_edge;
+			new_connection.pathway_start = (self1 + other1) / 2.0;
+			new_connection.pathway_end = (self2 + other2) / 2.0;
+			//free_edge.polygon->connections.push_back(new_connection);
+
+			// Add the connection to the region_connection map.
+			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;
+		}
+	}
+}
+
+void NavMapBuilder2D::_build_step_navlink_connections(NavMapIterationBuild2D &r_build) {
+	NavMapIteration2D *map_iteration = r_build.map_iteration;
+
+	real_t link_connection_radius = r_build.link_connection_radius;
+
+	const LocalVector<Ref<NavLinkIteration2D>> &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 NavBaseIteration2D *, LocalVector<LocalVector<Nav2D::Connection>>> &navbases_polygons_external_connections = map_iteration->navbases_polygons_external_connections;
+	LocalVector<Nav2D::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 (const Ref<NavLinkIteration2D> &link : links) {
+		polygon_count++;
+		Polygon &new_polygon = navlink_polygons[navlink_index++];
+
+		new_polygon.id = 0;
+		new_polygon.owner = link.ptr();
+
+		const Vector2 link_start_pos = link->get_start_position();
+		const Vector2 link_end_pos = link->get_end_position();
+
+		Polygon *closest_start_polygon = nullptr;
+		real_t closest_start_sqr_dist = link_connection_radius_sqr;
+		Vector2 closest_start_point;
+
+		Polygon *closest_end_polygon = nullptr;
+		real_t closest_end_sqr_dist = link_connection_radius_sqr;
+		Vector2 closest_end_point;
+
+		for (const Ref<NavRegionIteration2D> &region : map_iteration->region_iterations) {
+			Rect2 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 (uint32_t point_id = 2; point_id < polyon.vertices.size(); point_id += 1) {
+					const Triangle2 triangle(polyon.vertices[0], polyon.vertices[point_id - 1], polyon.vertices[point_id]);
+
+					{
+						const Vector2 start_point = triangle.get_closest_point_to(link_start_pos);
+						const real_t sqr_dist = start_point.distance_squared_to(link_start_pos);
+
+						// Pick the polygon that is within our radius and is closer than anything we've seen yet.
+						if (sqr_dist < closest_start_sqr_dist) {
+							closest_start_sqr_dist = sqr_dist;
+							closest_start_point = start_point;
+							closest_start_polygon = &polyon;
+						}
+					}
+
+					{
+						const Vector2 end_point = triangle.get_closest_point_to(link_end_pos);
+						const real_t sqr_dist = end_point.distance_squared_to(link_end_pos);
+
+						// Pick the polygon that is within our radius and is closer than anything we've seen yet.
+						if (sqr_dist < closest_end_sqr_dist) {
+							closest_end_sqr_dist = sqr_dist;
+							closest_end_point = end_point;
+							closest_end_polygon = &polyon;
+						}
+					}
+				}
+			}
+		}
+
+		// If we have both a start and end point, then create a synthetic polygon to route through.
+		if (closest_start_polygon && closest_end_polygon) {
+			new_polygon.vertices.resize(4);
+
+			// Build a set of vertices that create a thin polygon going from the start to the end point.
+			new_polygon.vertices[0] = closest_start_point;
+			new_polygon.vertices[1] = closest_start_point;
+			new_polygon.vertices[2] = closest_end_point;
+			new_polygon.vertices[3] = closest_end_point;
+
+			// Setup connections to go forward in the link.
+			{
+				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];
+				navbases_polygons_external_connections[closest_start_polygon->owner][closest_start_polygon->id].push_back(entry_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];
+				navbases_polygons_external_connections[link.ptr()].push_back(LocalVector<Nav2D::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()) {
+				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];
+				navbases_polygons_external_connections[closest_end_polygon->owner][closest_end_polygon->id].push_back(entry_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];
+				navbases_polygons_external_connections[link.ptr()].push_back(LocalVector<Nav2D::Connection>());
+				navbases_polygons_external_connections[link.ptr()][new_polygon.id].push_back(exit_connection);
+			}
+		}
+	}
+
+	r_build.polygon_count = polygon_count;
+}
+
+void NavMapBuilder2D::_build_update_map_iteration(NavMapIterationBuild2D &r_build) {
+	NavMapIteration2D *map_iteration = r_build.map_iteration;
+
+	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 (NavMeshQueries2D::PathQuerySlot &p_path_query_slot : map_iteration->path_query_slots) {
+		p_path_query_slot.traversable_polys.clear();
+		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(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<NavRegionIteration2D> &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();
+}