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Make NavMeshQueries use NavRegionIteration polygons directly

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Removes the duplicated NavMap polygon soup. All navmesh queries now use the NavRegionIteration polygons directly.
This commit is contained in:
smix8
2025-01-02 15:35:29 +01:00
parent 2582793d40
commit 4184884ad1
5 changed files with 407 additions and 230 deletions
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72
modules/navigation/nav_map.cpp
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@@ -166,7 +166,7 @@ void NavMap::query_path(NavMeshQueries3D::NavMeshPathQueryTask3D &p_query_task)
p_query_task.map_up = map_iteration.map_up;
NavMeshQueries3D::query_task_polygons_get_path(p_query_task, map_iteration.navmesh_polygons);
NavMeshQueries3D::query_task_map_iteration_get_path(p_query_task, map_iteration);
map_iteration.path_query_slots_mutex.lock();
uint32_t used_slot_index = p_query_task.path_query_slot->slot_index;
@@ -185,7 +185,7 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
GET_MAP_ITERATION_CONST();
return NavMeshQueries3D::polygons_get_closest_point_to_segment(map_iteration.navmesh_polygons, p_from, p_to, p_use_collision);
return NavMeshQueries3D::map_iteration_get_closest_point_to_segment(map_iteration, p_from, p_to, p_use_collision);
}
Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
@@ -196,7 +196,7 @@ Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
GET_MAP_ITERATION_CONST();
return NavMeshQueries3D::polygons_get_closest_point(map_iteration.navmesh_polygons, p_point);
return NavMeshQueries3D::map_iteration_get_closest_point(map_iteration, p_point);
}
Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
@@ -207,7 +207,7 @@ Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
GET_MAP_ITERATION_CONST();
return NavMeshQueries3D::polygons_get_closest_point_normal(map_iteration.navmesh_polygons, p_point);
return NavMeshQueries3D::map_iteration_get_closest_point_normal(map_iteration, p_point);
}
RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
@@ -218,13 +218,13 @@ RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
GET_MAP_ITERATION_CONST();
return NavMeshQueries3D::polygons_get_closest_point_owner(map_iteration.navmesh_polygons, p_point);
return NavMeshQueries3D::map_iteration_get_closest_point_owner(map_iteration, p_point);
}
gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const {
GET_MAP_ITERATION_CONST();
return NavMeshQueries3D::polygons_get_closest_point_info(map_iteration.navmesh_polygons, p_point);
return NavMeshQueries3D::map_iteration_get_closest_point_info(map_iteration, p_point);
}
void NavMap::add_region(NavRegion *p_region) {
@@ -336,65 +336,7 @@ void NavMap::remove_agent_as_controlled(NavAgent *agent) {
Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
GET_MAP_ITERATION_CONST();
if (map_iteration.region_iterations.is_empty()) {
return Vector3();
}
LocalVector<uint32_t> accessible_regions;
accessible_regions.reserve(map_iteration.region_iterations.size());
for (uint32_t i = 0; i < map_iteration.region_iterations.size(); i++) {
const NavRegionIteration &region = map_iteration.region_iterations[i];
if (!region.enabled || (p_navigation_layers & region.navigation_layers) == 0) {
continue;
}
accessible_regions.push_back(i);
}
if (accessible_regions.is_empty()) {
// All existing region polygons are disabled.
return Vector3();
}
if (p_uniformly) {
real_t accumulated_region_surface_area = 0;
RBMap<real_t, uint32_t> accessible_regions_area_map;
for (uint32_t accessible_region_index = 0; accessible_region_index < accessible_regions.size(); accessible_region_index++) {
const NavRegionIteration &region = map_iteration.region_iterations[accessible_regions[accessible_region_index]];
real_t region_surface_area = region.surface_area;
if (region_surface_area == 0.0f) {
continue;
}
accessible_regions_area_map[accumulated_region_surface_area] = accessible_region_index;
accumulated_region_surface_area += region_surface_area;
}
if (accessible_regions_area_map.is_empty() || accumulated_region_surface_area == 0) {
// All faces have no real surface / no area.
return Vector3();
}
real_t random_accessible_regions_area_map = Math::random(real_t(0), accumulated_region_surface_area);
RBMap<real_t, uint32_t>::Iterator E = accessible_regions_area_map.find_closest(random_accessible_regions_area_map);
ERR_FAIL_COND_V(!E, Vector3());
uint32_t random_region_index = E->value;
ERR_FAIL_UNSIGNED_INDEX_V(random_region_index, accessible_regions.size(), Vector3());
const NavRegionIteration &random_region = map_iteration.region_iterations[accessible_regions[random_region_index]];
return NavMeshQueries3D::polygons_get_random_point(random_region.navmesh_polygons, p_navigation_layers, p_uniformly);
} else {
uint32_t random_region_index = Math::random(int(0), accessible_regions.size() - 1);
const NavRegionIteration &random_region = map_iteration.region_iterations[accessible_regions[random_region_index]];
return NavMeshQueries3D::polygons_get_random_point(random_region.navmesh_polygons, p_navigation_layers, p_uniformly);
}
return NavMeshQueries3D::map_iteration_get_random_point(map_iteration, p_navigation_layers, p_uniformly);
}
void NavMap::_build_iteration() {