bool OgreDetourTileCache::initTileCache()
{
// BUILD TileCache
dtFreeTileCache(m_tileCache);
dtStatus status;
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&m_tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_recast->m_navMesh);
m_recast->m_navMesh = dtAllocNavMesh();
if (!m_recast->m_navMesh)
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not allocate navmesh.");
return false;
}
// Init multi-tile navmesh parameters
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_tcparams.orig); // Set world-space origin of tile grid
params.tileWidth = m_tileSize*m_tcparams.cs;
params.tileHeight = m_tileSize*m_tcparams.cs;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_recast->m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init navmesh.");
return false;
}
// Init recast navmeshquery with created navmesh (in OgreRecast component)
m_recast->m_navQuery = dtAllocNavMeshQuery();
status = m_recast->m_navQuery->init(m_recast->m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CRecastMesh::Build( CMapMesh *pMapMesh )
{
double fStartTime = Plat_FloatTime();
Reset(); // Clean any existing data
BuildContext ctx;
ctx.enableLog( true );
dtStatus status;
V_memset(&m_cfg, 0, sizeof(m_cfg));
// Init cache
rcCalcBounds( pMapMesh->GetVerts(), pMapMesh->GetNumVerts(), m_cfg.bmin, m_cfg.bmax );
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
int gw = 0, gh = 0;
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
int tileBits = rcMin((int)dtIlog2(dtNextPow2(tw*th*EXPECTED_LAYERS_PER_TILE)), 14);
if (tileBits > 14) tileBits = 14;
int polyBits = 22 - tileBits;
m_maxTiles = 1 << tileBits;
m_maxPolysPerTile = 1 << polyBits;
// Generation params.
m_cfg.cs = m_cellSize;
m_cfg.ch = m_cellHeight;
m_cfg.walkableSlopeAngle = m_agentMaxSlope;
m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
m_cfg.maxSimplificationError = m_edgeMaxError;
m_cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
m_cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
m_cfg.tileSize = (int)m_tileSize;
m_cfg.borderSize = m_cfg.walkableRadius + 3; // Reserve enough padding.
m_cfg.width = m_cfg.tileSize + m_cfg.borderSize*2;
m_cfg.height = m_cfg.tileSize + m_cfg.borderSize*2;
m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, m_cfg.bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 2048;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
return false;
}
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_cfg.bmin);
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
status = m_navQuery->init( m_navMesh, RECAST_NAVQUERY_MAXNODES );
if (dtStatusFailed(status))
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
// Preprocess tiles.
ctx.resetTimers();
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(&ctx, pMapMesh, x, y, m_cfg, tiles, MAX_LAYERS);
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(tcparams.width, tcparams.height);
}
}
}
// Build initial meshes
ctx.startTimer(RC_TIMER_TOTAL);
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
ctx.stopTimer(RC_TIMER_TOTAL);
m_cacheBuildTimeMs = ctx.getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
m_cacheBuildMemUsage = ((LinearAllocator *)m_talloc)->high;
const dtNavMesh* nav = m_navMesh;
int navmeshMemUsage = 0;
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (tile->header)
navmeshMemUsage += tile->dataSize;
}
DevMsg( "CRecastMesh: Generated navigation mesh %s in %f seconds\n", m_Name.Get(), Plat_FloatTime() - fStartTime );
return true;
}
bool OgreDetourTileCache::loadAll(Ogre::String filename)
{
FILE* fp = fopen(filename.data(), "rb");
if (!fp) {
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not open file.");
return false;
}
// Read header.
TileCacheSetHeader header;
fread(&header, sizeof(TileCacheSetHeader), 1, fp);
if (header.magic != TILECACHESET_MAGIC)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). File does not appear to contain valid tilecache data.");
return false;
}
if (header.version != TILECACHESET_VERSION)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). File contains a different version of the tilecache data format ("+Ogre::StringConverter::toString(header.version)+" instead of "+Ogre::StringConverter::toString(TILECACHESET_VERSION)+").");
return false;
}
m_recast->m_navMesh = dtAllocNavMesh();
if (!m_recast->m_navMesh)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not allocate navmesh.");
return false;
}
dtStatus status = m_recast->m_navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not init navmesh.");
return false;
}
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not allocate tilecache.");
return false;
}
status = m_tileCache->init(&header.cacheParams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not init tilecache.");
return false;
}
memcpy(&m_cfg, &header.recastConfig, sizeof(rcConfig));
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader;
fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!data) break;
memset(data, 0, tileHeader.dataSize);
fread(data, tileHeader.dataSize, 1, fp);
dtCompressedTileRef tile = 0;
m_tileCache->addTile(data, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
m_tileCache->buildNavMeshTile(tile, m_recast->m_navMesh);
}
fclose(fp);
// Init recast navmeshquery with created navmesh (in OgreRecast component)
m_recast->m_navQuery = dtAllocNavMeshQuery();
m_recast->m_navQuery->init(m_recast->m_navMesh, 2048);
// Config
// TODO handle this nicer, also inputGeom is not inited, making some functions crash
m_cellSize = m_cfg.cs;
m_tileSize = m_cfg.tileSize;
// cache bounding box
const float* bmin = m_cfg.bmin;
const float* bmax = m_cfg.bmax;
// Copy loaded config back to recast module
memcpy(&m_recast->m_cfg, &m_cfg, sizeof(rcConfig));
m_tileSize = m_cfg.tileSize;
m_cellSize = m_cfg.cs;
m_tcparams = header.cacheParams;
// Determine grid size (number of tiles) based on bounding box and grid cell size
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh); // Calculates total size of voxel grid
const int ts = m_tileSize;
const int tw = (gw + ts-1) / ts; // Tile width
const int th = (gh + ts-1) / ts; // Tile height
m_tw = tw;
m_th = th;
Ogre::LogManager::getSingletonPtr()->logMessage("Total Voxels: "+Ogre::StringConverter::toString(gw) + " x " + Ogre::StringConverter::toString(gh));
Ogre::LogManager::getSingletonPtr()->logMessage("Tilesize: "+Ogre::StringConverter::toString(m_tileSize)+" Cellsize: "+Ogre::StringConverter::toString(m_cellSize));
Ogre::LogManager::getSingletonPtr()->logMessage("Tiles: "+Ogre::StringConverter::toString(m_tw)+" x "+Ogre::StringConverter::toString(m_th));
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
int tileBits = rcMin((int)dtIlog2(dtNextPow2(tw*th*EXPECTED_LAYERS_PER_TILE)), 14);
if (tileBits > 14) tileBits = 14;
int polyBits = 22 - tileBits;
m_maxTiles = 1 << tileBits;
m_maxPolysPerTile = 1 << polyBits;
Ogre::LogManager::getSingletonPtr()->logMessage("Max Tiles: " + Ogre::StringConverter::toString(m_maxTiles));
Ogre::LogManager::getSingletonPtr()->logMessage("Max Polys: " + Ogre::StringConverter::toString(m_maxPolysPerTile));
// End config ////
buildInitialNavmesh();
return true;
}
void Sample_TempObstacles::loadAll(const char* path)
{
FILE* fp = fopen(path, "rb");
if (!fp) return;
// Read header.
TileCacheSetHeader header;
fread(&header, sizeof(TileCacheSetHeader), 1, fp);
if (header.magic != TILECACHESET_MAGIC)
{
fclose(fp);
return;
}
if (header.version != TILECACHESET_VERSION)
{
fclose(fp);
return;
}
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
fclose(fp);
return;
}
dtStatus status = m_navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
fclose(fp);
return;
}
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
fclose(fp);
return;
}
status = m_tileCache->init(&header.cacheParams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
fclose(fp);
return;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader;
fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!data) break;
memset(data, 0, tileHeader.dataSize);
fread(data, tileHeader.dataSize, 1, fp);
dtCompressedTileRef tile = 0;
m_tileCache->addTile(data, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
m_tileCache->buildNavMeshTile(tile, m_navMesh);
}
fclose(fp);
}
bool Sample_TempObstacles::handleBuild()
{
dtStatus status;
if (!m_geom || !m_geom->getMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
return false;
}
m_tmproc->init(m_geom);
// Init cache
const float* bmin = m_geom->getNavMeshBoundsMin();
const float* bmax = m_geom->getNavMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Generation params.
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = m_cellSize;
cfg.ch = m_cellHeight;
cfg.walkableSlopeAngle = m_agentMaxSlope;
cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
cfg.maxSimplificationError = m_edgeMaxError;
cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
cfg.tileSize = (int)m_tileSize;
cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 128;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
return false;
}
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, bmin);
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
// Preprocess tiles.
m_ctx->resetTimers();
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(m_ctx, m_geom, x, y, cfg, tiles, MAX_LAYERS);
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(tcparams.width, tcparams.height);
}
}
}
// Build initial meshes
m_ctx->startTimer(RC_TIMER_TOTAL);
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
m_ctx->stopTimer(RC_TIMER_TOTAL);
m_cacheBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
m_cacheBuildMemUsage = m_talloc->high;
const dtNavMesh* nav = m_navMesh;
int navmeshMemUsage = 0;
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (tile->header)
navmeshMemUsage += tile->dataSize;
}
printf("navmeshMemUsage = %.1f kB", navmeshMemUsage/1024.0f);
if (m_tool)
m_tool->init(this);
initToolStates(this);
return true;
}
bool BotLoadNavMesh( const char *filename, NavData_t &nav )
{
char mapname[ MAX_QPATH ];
char filePath[ MAX_QPATH ];
char gameName[ MAX_STRING_CHARS ];
fileHandle_t f = 0;
BotLoadOffMeshConnections( filename, &nav );
Cvar_VariableStringBuffer( "mapname", mapname, sizeof( mapname ) );
Cvar_VariableStringBuffer( "fs_game", gameName, sizeof( gameName ) );
Com_sprintf( filePath, sizeof( filePath ), "maps/%s-%s.navMesh", mapname, filename );
Com_Printf( " loading navigation mesh file '%s'...\n", filePath );
int len = FS_FOpenFileRead( filePath, &f, qtrue );
if ( !f )
{
Com_Printf( S_COLOR_RED "ERROR: Cannot open Navigaton Mesh file\n" );
return false;
}
if ( len < 0 )
{
Com_Printf( S_COLOR_RED "ERROR: Negative Length for Navigation Mesh file\n" );
return false;
}
NavMeshSetHeader header;
FS_Read( &header, sizeof( header ), f );
SwapNavMeshSetHeader( header );
if ( header.magic != NAVMESHSET_MAGIC )
{
Com_Printf( S_COLOR_RED "ERROR: File is wrong magic\n" );
FS_FCloseFile( f );
return false;
}
if ( header.version != NAVMESHSET_VERSION )
{
Com_Printf( S_COLOR_RED "ERROR: File is wrong version found: %d want: %d\n", header.version, NAVMESHSET_VERSION );
FS_FCloseFile( f );
return false;
}
nav.mesh = dtAllocNavMesh();
if ( !nav.mesh )
{
Com_Printf( S_COLOR_RED "ERROR: Unable to allocate nav mesh\n" );
FS_FCloseFile( f );
return false;
}
dtStatus status = nav.mesh->init( &header.params );
if ( dtStatusFailed( status ) )
{
Com_Printf( S_COLOR_RED "ERROR: Could not init navmesh\n" );
dtFreeNavMesh( nav.mesh );
nav.mesh = NULL;
FS_FCloseFile( f );
return false;
}
nav.cache = dtAllocTileCache();
if ( !nav.cache )
{
Com_Printf( S_COLOR_RED "ERROR: Could not allocate tile cache\n" );
dtFreeNavMesh( nav.mesh );
nav.mesh = NULL;
FS_FCloseFile( f );
return false;
}
status = nav.cache->init( &header.cacheParams, &alloc, &comp, &nav.process );
if ( dtStatusFailed( status ) )
{
Com_Printf( S_COLOR_RED "ERROR: Could not init tile cache\n" );
dtFreeNavMesh( nav.mesh );
dtFreeTileCache( nav.cache );
nav.mesh = NULL;
nav.cache = NULL;
FS_FCloseFile( f );
return false;
}
for ( int i = 0; i < header.numTiles; i++ )
{
NavMeshTileHeader tileHeader;
FS_Read( &tileHeader, sizeof( tileHeader ), f );
SwapNavMeshTileHeader( tileHeader );
if ( !tileHeader.tileRef || !tileHeader.dataSize )
{
Com_Printf( S_COLOR_RED "ERROR: NUll Tile in navmesh\n" );
dtFreeNavMesh( nav.mesh );
dtFreeTileCache( nav.cache );
nav.cache = NULL;
nav.mesh = NULL;
FS_FCloseFile( f );
return false;
}
unsigned char *data = ( unsigned char * ) dtAlloc( tileHeader.dataSize, DT_ALLOC_PERM );
if ( !data )
{
Com_Printf( S_COLOR_RED "ERROR: Failed to allocate memory for tile data\n" );
dtFreeNavMesh( nav.mesh );
dtFreeTileCache( nav.cache );
nav.cache = NULL;
nav.mesh = NULL;
FS_FCloseFile( f );
return false;
}
memset( data, 0, tileHeader.dataSize );
FS_Read( data, tileHeader.dataSize, f );
if ( LittleLong( 1 ) != 1 )
{
dtTileCacheHeaderSwapEndian( data, tileHeader.dataSize );
}
dtCompressedTileRef tile = 0;
dtStatus status = nav.cache->addTile( data, tileHeader.dataSize, DT_TILE_FREE_DATA, &tile );
if ( dtStatusFailed( status ) )
{
Com_Printf( S_COLOR_RED "ERROR: Failed to add tile to navmesh\n" );
dtFree( data );
dtFreeTileCache( nav.cache );
dtFreeNavMesh( nav.mesh );
nav.cache = NULL;
nav.mesh = NULL;
FS_FCloseFile( f );
return false;
}
if ( tile )
{
nav.cache->buildNavMeshTile( tile, nav.mesh );
}
}
FS_FCloseFile( f );
return true;
}
bool NavMesh::loadNavMeshFile()
{
auto data = FileUtils::getInstance()->getDataFromFile(_navFilePath);
if (data.isNull()) return false;
// Read header.
unsigned int offset = 0;
TileCacheSetHeader header = *((TileCacheSetHeader*)(data.getBytes() + offset));
offset += sizeof(TileCacheSetHeader);
if (header.magic != TILECACHESET_MAGIC)
{
return false;
}
if (header.version != TILECACHESET_VERSION)
{
return false;
}
_navMesh = dtAllocNavMesh();
if (!_navMesh)
{
return false;
}
dtStatus status = _navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
return false;
}
_tileCache = dtAllocTileCache();
if (!_tileCache)
{
return false;
}
_allocator = new LinearAllocator(32000);
_compressor = new FastLZCompressor;
_meshProcess = new MeshProcess(_geomData);
status = _tileCache->init(&header.cacheParams, _allocator, _compressor, _meshProcess);
if (dtStatusFailed(status))
{
return false;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader = *((TileCacheTileHeader*)(data.getBytes() + offset));
offset += sizeof(TileCacheTileHeader);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* tileData = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!tileData) break;
memcpy(tileData, (data.getBytes() + offset), tileHeader.dataSize);
offset += tileHeader.dataSize;
dtCompressedTileRef tile = 0;
_tileCache->addTile(tileData, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
_tileCache->buildNavMeshTile(tile, _navMesh);
}
//create crowed
_crowed = dtAllocCrowd();
_crowed->init(MAX_AGENTS, header.cacheParams.walkableRadius, _navMesh);
//create NavMeshQuery
_navMeshQuery = dtAllocNavMeshQuery();
_navMeshQuery->init(_navMesh, 2048);
_agentList.assign(MAX_AGENTS, nullptr);
_obstacleList.assign(header.cacheParams.maxObstacles, nullptr);
//duDebugDrawNavMesh(&_debugDraw, *_navMesh, DU_DRAWNAVMESH_OFFMESHCONS);
return true;
}
bool NavMesh::BuildMesh()
{
dtStatus status;
if (!m_geom || !m_geom->getMesh()) return false;
m_tmproc->init(m_geom);
// Init cache
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Generation params.
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = m_cellSize;
cfg.ch = m_cellHeight;
cfg.walkableSlopeAngle = m_agentMaxSlope;
cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
cfg.maxSimplificationError = m_edgeMaxError;
cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
cfg.tileSize = (int)m_tileSize;
cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 128;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache) return false;
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status)) return false;
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh) return false;
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_geom->getMeshBoundsMin());
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status)) return false;
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status)) return false;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int n = rasterizeTileLayers(m_geom, x, y, cfg, tiles, MAX_LAYERS);
for (int i = 0; i < n; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
}
}
}
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
}