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Fix navmesh baking, fixes #57148

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- improved mesh data calculation from standalone static colliders so that no
  VisualServer calls are performed - and thus no VS mutexes need to
  be locked in case of on-thread baking
- improved the same for GridMap's static colliders
This commit is contained in:
Pawel Lampe
2022-01-29 18:36:16 +01:00
parent fa9b77dbe3
commit 3035b9c44c
4 changed files with 107 additions and 60 deletions
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104
modules/navigation/navigation_mesh_generator.cpp
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@@ -126,6 +126,28 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
}
}
void NavigationMeshGenerator::_add_mesh_array(const Array &p_array, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
PoolVector<Vector3> mesh_vertices = p_array[Mesh::ARRAY_VERTEX];
PoolVector<Vector3>::Read vr = mesh_vertices.read();
PoolVector<int> mesh_indices = p_array[Mesh::ARRAY_INDEX];
PoolVector<int>::Read ir = mesh_indices.read();
const int face_count = mesh_indices.size() / 3;
const int current_vertex_count = p_vertices.size() / 3;
for (int j = 0; j < mesh_vertices.size(); j++) {
_add_vertex(p_xform.xform(vr[j]), p_vertices);
}
for (int j = 0; j < face_count; j++) {
// CCW
p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
}
}
void NavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
int face_count = p_faces.size() / 3;
int current_vertex_count = p_vertices.size() / 3;
@@ -189,43 +211,38 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
Transform transform = p_navmesh_xform * static_body->get_global_transform() * col_shape->get_transform();
Ref<Mesh> mesh;
Ref<Shape> s = col_shape->get_shape();
BoxShape *box = Object::cast_to<BoxShape>(*s);
if (box) {
Ref<CubeMesh> cube_mesh;
cube_mesh.instance();
cube_mesh->set_size(box->get_extents() * 2.0);
mesh = cube_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
CubeMesh::create_mesh_array(arr, box->get_extents() * 2.0);
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
CapsuleShape *capsule = Object::cast_to<CapsuleShape>(*s);
if (capsule) {
Ref<CapsuleMesh> capsule_mesh;
capsule_mesh.instance();
capsule_mesh->set_radius(capsule->get_radius());
capsule_mesh->set_mid_height(capsule->get_height() / 2.0);
mesh = capsule_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height() / 2.0);
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
CylinderShape *cylinder = Object::cast_to<CylinderShape>(*s);
if (cylinder) {
Ref<CylinderMesh> cylinder_mesh;
cylinder_mesh.instance();
cylinder_mesh->set_height(cylinder->get_height());
cylinder_mesh->set_bottom_radius(cylinder->get_radius());
cylinder_mesh->set_top_radius(cylinder->get_radius());
mesh = cylinder_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
SphereShape *sphere = Object::cast_to<SphereShape>(*s);
if (sphere) {
Ref<SphereMesh> sphere_mesh;
sphere_mesh.instance();
sphere_mesh->set_radius(sphere->get_radius());
sphere_mesh->set_height(sphere->get_radius() * 2.0);
mesh = sphere_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
_add_mesh_array(arr, transform, p_vertices, p_indices);
}
ConcavePolygonShape *concave_polygon = Object::cast_to<ConcavePolygonShape>(*s);
@@ -256,10 +273,6 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
_add_faces(faces, transform, p_vertices, p_indices);
}
}
if (mesh.is_valid()) {
_add_mesh(mesh, transform, p_vertices, p_indices);
}
}
}
}
@@ -287,44 +300,39 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
RID shape = shapes[i + 1];
PhysicsServer::ShapeType type = PhysicsServer::get_singleton()->shape_get_type(shape);
Variant data = PhysicsServer::get_singleton()->shape_get_data(shape);
Ref<Mesh> mesh;
switch (type) {
case PhysicsServer::SHAPE_SPHERE: {
real_t radius = data;
Ref<SphereMesh> sphere_mesh;
sphere_mesh.instance();
sphere_mesh->set_radius(radius);
sphere_mesh->set_height(radius * 2.0);
mesh = sphere_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer::SHAPE_BOX: {
Vector3 extents = data;
Ref<CubeMesh> box_mesh;
box_mesh.instance();
box_mesh->set_size(2.0 * extents);
mesh = box_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
CubeMesh::create_mesh_array(arr, extents * 2.0);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer::SHAPE_CAPSULE: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Ref<CapsuleMesh> capsule_mesh;
capsule_mesh.instance();
capsule_mesh->set_radius(radius);
capsule_mesh->set_mid_height(0.5 * height);
mesh = capsule_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, radius, height * 0.5);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer::SHAPE_CYLINDER: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Ref<CylinderMesh> cylinder_mesh;
cylinder_mesh.instance();
cylinder_mesh->set_height(height);
cylinder_mesh->set_bottom_radius(radius);
cylinder_mesh->set_top_radius(radius);
mesh = cylinder_mesh;
Array arr;
arr.resize(VS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, radius, radius, height);
_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer::SHAPE_CONVEX_POLYGON: {
PoolVector3Array vertices = data;
@@ -356,10 +364,6 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
WARN_PRINT("Unsupported collision shape type.");
} break;
}
if (mesh.is_valid()) {
_add_mesh(mesh, shapes[i], p_vertices, p_indices);
}
}
}
}