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nav mesh WIP
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Improved splitting code and fixed some missing polys. Polygons are also merged and tiny polys stripped to reduce the node count. for yabma it makes a few hundred polys above what the recast lib makes (1700 -> 2000).

Outdoor areas with slopes end up looking very messy and have gaps. Using HULL 0 in those cases should help but it might be hard to know when that's possible, and it might not connect to HULL 3 mesh nicely.
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@wootguy
wootguy committed Oct 27, 2023
1 parent 927c051 commit d85f5af
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Showing 8 changed files with 375 additions and 81 deletions.
158 changes: 134 additions & 24 deletions src/editor/BspRenderer.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -872,7 +872,7 @@ void BspRenderer::generateNavMeshBuffer() {

vector<vec3> faceVerts;
for (auto vertIdx : uniqueFaceVerts) {
faceVerts.push_back(mesh.verts[vertIdx].pos.vec3f());
faceVerts.push_back(mesh.verts[vertIdx].pos);
}

faceVerts = getSortedPlanarVerts(faceVerts);
Expand All @@ -884,18 +884,21 @@ void BspRenderer::generateNavMeshBuffer() {

vec3 normal = getNormalFromVerts(faceVerts);

if (dotProduct(face.normal.vec3f(), normal) < 0) {
if (dotProduct(face.normal, normal) < 0) {
reverse(faceVerts.begin(), faceVerts.end());
normal = normal.invert();
}

solidFaces.push_back(new Polygon3D(faceVerts, solidFaces.size()));
Polygon3D* poly = new Polygon3D(faceVerts, solidFaces.size());
poly->removeDuplicateVerts();

solidFaces.push_back(poly);
octree.insertPolygon(solidFaces[solidFaces.size()-1]);
}
}

int debugPoly = 0;
//debugPoly = 2233;
//debugPoly = 601;

int avgInRegion = 0;
int regionChecks = 0;
Expand All @@ -908,20 +911,21 @@ void BspRenderer::generateNavMeshBuffer() {
float startTime = glfwGetTime();
bool doSplit = true;
bool doCull = true;
bool doMerge = true;
bool walkableSurfacesOnly = true;
const int TINY_POLY = 64; // cull faces smaller than this

vector<bool> regionPolys;
regionPolys.resize(cuttingPolys.size());

vector<int> debugSplits;

int didx = 0;
for (int i = 0; i < solidFaces.size(); i++) {
Polygon3D* poly = solidFaces[i];
//if (debugPoly && i != debugPoly && i < cuttingPolys.size()) {
// continue;
//}
if (!poly->isValid || poly->area == 0) {
if (!poly->isValid || poly->area < 4.0f) {
continue;
}
if (walkableSurfacesOnly && poly->plane_z.z < 0.7) {
Expand Down Expand Up @@ -957,21 +961,27 @@ void BspRenderer::generateNavMeshBuffer() {
vector<vector<vec3>> splitPolys = poly->split(*cutPoly);

if (splitPolys.size()) {
anySplits = true;
numSplits++;

Polygon3D* newpoly0 = new Polygon3D(splitPolys[0], solidFaces.size());
Polygon3D* newpoly1 = new Polygon3D(splitPolys[1], solidFaces.size());


if (newpoly0->area < EPSILON || newpoly1->area < EPSILON) {
delete newpoly0;
delete newpoly1;
continue;
}

solidFaces.push_back(newpoly0);
solidFaces.push_back(newpoly1);


anySplits = true;
numSplits++;

float newArea = newpoly0->area + newpoly1->area;
if (newArea < poly->area * 0.9f) {
logf("Poly %d area shrunk by %.1f (%.1f -> %1.f)\n", i, (poly->area - newArea), poly->area, newArea);
}

//logf("Split poly %d by %d\n", i, k);
//logf("Split poly %d by %d into areas %.1f %.1f\n", i, k, newpoly0->area, newpoly1->area);
break;
}
}
Expand All @@ -988,14 +998,106 @@ void BspRenderer::generateNavMeshBuffer() {
logf("Split %d faces into %d (%d splits)\n", presplit, solidFaces.size(), numSplits);
logf("Average of %d in poly regions\n", regionChecks ? (avgInRegion / regionChecks) : 0);
logf("Got %d interior faces\n", interiorFaces.size());

float mergeStart = glfwGetTime();

int preMergePolys = interiorFaces.size();
vector<Polygon3D> mergedFaces = interiorFaces;
int pass = 0;
int maxPass = 10;
for (pass = 0; pass <= maxPass; pass++) {

PolygonOctree mergeOctree(treeMin, treeMax, treedepth);
for (int i = 0; i < mergedFaces.size(); i++) {
mergedFaces[i].idx = i;
//interiorFaces[i].removeColinearVerts();
mergeOctree.insertPolygon(&mergedFaces[i]);
}
regionPolys.resize(mergedFaces.size());

vector<Polygon3D> newMergedFaces;

for (int i = 0; i < mergedFaces.size(); i++) {
Polygon3D& poly = mergedFaces[i];
if (poly.idx == -1)
continue;
//if (pass == 4 && i != 149)
// continue;

mergeOctree.getPolysInRegion(&poly, regionPolys);
regionPolys[poly.idx] = false;

int sz = doMerge ? regionPolys.size() : 0;
bool anyMerges = false;

for (int k = i+1; k < sz; k++) {
if (!regionPolys[k]) {
continue;
}
Polygon3D& mergePoly = mergedFaces[k];
/*
if (pass == 4 && k != 242) {
continue;
}
if (pass == 4) {
logf("debug time\n");
}
*/

//poly.removeColinearVerts();
//mergePoly.removeColinearVerts();
Polygon3D mergedPoly = poly.merge(mergePoly);

if (!mergedPoly.isValid) {
continue;
}

anyMerges = true;

// prevent any further merges on the original polys
mergePoly.idx = -1;
poly.idx = -1;

newMergedFaces.push_back(mergedPoly);
break;
}

if (!anyMerges)
newMergedFaces.push_back(poly);
}

logf("Removed %d polys in pass %d\n", mergedFaces.size() - newMergedFaces.size(), pass+1);

if (mergedFaces.size() == newMergedFaces.size() || pass == maxPass) {
break;
}
else {
mergedFaces = newMergedFaces;
}
}

vector<Polygon3D> finalPolys;
for (int i = 0; i < mergedFaces.size(); i++) {
if (mergedFaces[i].area < TINY_POLY) {
// TODO: only remove if there is at least one unconnected edge,
// otherwise there will be holes
continue;
}
finalPolys.push_back(mergedFaces[i]);
}

logf("Finished merging in %.2fs\n", (float)(glfwGetTime() - mergeStart));
logf("Merged %d polys down to %d in %d passes\n", preMergePolys, finalPolys.size(), pass);
logf("Removed %d tiny polys\n", mergedFaces.size() - finalPolys.size());

debugFaces = finalPolys;
//debugFaces = interiorFaces;

for (int i = 0; i < solidFaces.size(); i++) {
if (solidFaces[i])
delete solidFaces[i];
}

//g_app->debugPoly = interiorFaces[4180];

static COLOR4 hullColors[] = {
COLOR4(255, 255, 255, 128),
COLOR4(96, 255, 255, 128),
Expand All @@ -1008,8 +1110,8 @@ void BspRenderer::generateNavMeshBuffer() {
vector<cVert> wireframeVerts;
vector<FaceMath> faceMaths;

for (int m = 0; m < interiorFaces.size(); m++) {
Polygon3D& poly = interiorFaces[m];
for (int m = 0; m < finalPolys.size(); m++) {
Polygon3D& poly = finalPolys[m];

vec3 normal = poly.plane_z;

Expand Down Expand Up @@ -1116,7 +1218,7 @@ void BspRenderer::generateNavMeshBuffer() {
file << "v " << fixed << std::setprecision(2) << v.x << " " << v.y << " " << v.z << endl;
}
for (int i = 0; i < allVerts.size(); i += 3) {
file << "f " << (i + 3) << " " << (i + 2) << " " << (i + 1) << endl;
file << "f " << (i + 1) << " " << (i + 2) << " " << (i + 3) << endl;
}
logf("Wrote %d verts\n", allVerts.size());
file.close();
Expand Down Expand Up @@ -1180,7 +1282,7 @@ void BspRenderer::generateClipnodeBuffer(int modelIdx) {

vector<vec3> faceVerts;
for (auto vertIdx : uniqueFaceVerts) {
faceVerts.push_back(mesh.verts[vertIdx].pos.vec3f());
faceVerts.push_back(mesh.verts[vertIdx].pos);
}

faceVerts = getSortedPlanarVerts(faceVerts);
Expand All @@ -1192,16 +1294,16 @@ void BspRenderer::generateClipnodeBuffer(int modelIdx) {

vec3 normal = getNormalFromVerts(faceVerts);

if (dotProduct(mesh.faces[i].normal.vec3f(), normal) < 0) {
if (dotProduct(mesh.faces[i].normal, normal) < 0) {
reverse(faceVerts.begin(), faceVerts.end());
normal = normal.invert();
}

// calculations for face picking
{
FaceMath faceMath;
faceMath.normal = mesh.faces[i].normal.vec3f();
faceMath.fdist = getDistAlongAxis(mesh.faces[i].normal.vec3f(), faceVerts[0]);
faceMath.normal = mesh.faces[i].normal;
faceMath.fdist = getDistAlongAxis(mesh.faces[i].normal, faceVerts[0]);

vec3 v0 = faceVerts[0];
vec3 v1;
Expand All @@ -1217,7 +1319,7 @@ void BspRenderer::generateClipnodeBuffer(int modelIdx) {
logf("Failed to find non-duplicate vert for clipnode face\n");
}

vec3 plane_z = mesh.faces[i].normal.vec3f();
vec3 plane_z = mesh.faces[i].normal;
vec3 plane_x = (v1 - v0).normalize();
vec3 plane_y = crossProduct(plane_z, plane_x).normalize();
faceMath.worldToLocal = worldToLocalTransform(plane_x, plane_y, plane_z);
Expand Down Expand Up @@ -1979,8 +2081,16 @@ bool BspRenderer::pickModelPoly(vec3 start, vec3 dir, vec3 offset, int modelIdx,
pickInfo.valid = true;
pickInfo.bestDist = t;
pickInfo.faceIdx = -1;
if (modelIdx == 0) {
logf("Picked hull %d face %d\n", hullIdx, i);
if (modelIdx == 0 && hullIdx == 3) {
static int lastPick = 0;
logf("Picked hull %d, face %d, verts %d, area %.1f\n", hullIdx, i, debugFaces[i].verts.size(), debugFaces[i].area);
g_app->debugPoly = debugFaces[i];

Polygon3D merged = debugFaces[lastPick].merge(debugFaces[i]);
vector<vector<vec3>> split = debugFaces[i].split(debugFaces[lastPick]);
logf("split %d by %d == %d\n", i, lastPick, split.size());

lastPick = i;
}
}
}
Expand Down
2 changes: 2 additions & 0 deletions src/editor/BspRenderer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,8 @@ class BspRenderer {
int numPointEnts;
int numLoadedTextures = 0;

vector<Polygon3D> debugFaces;


Texture** glTextures = NULL;
Texture** glLightmapTextures = NULL;
Expand Down
1 change: 1 addition & 0 deletions src/editor/Renderer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1708,6 +1708,7 @@ float Renderer::drawPolygon2D(Polygon3D poly, vec2 pos, vec2 maxSz, COLOR4 color
drawBox2D(offset + cam*scale, 16, poly.isInside(cam) ? COLOR4(0, 255, 0, 255) : COLOR4(255, 32, 0, 255));
}

drawLine2D(offset + debugCut.start * scale, offset + debugCut.end * scale, color);

return scale;
}
Expand Down
3 changes: 1 addition & 2 deletions src/editor/Renderer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,8 +108,7 @@ class Renderer {

vec3 debugLine0;
vec3 debugLine1;
vec3 debugLine2;
vec3 debugLine3;
Line2D debugCut;
Polygon3D debugPoly;
Polygon3D debugPoly2;

Expand Down
9 changes: 5 additions & 4 deletions src/util/PolyOctree.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,17 +25,18 @@ class PolygonOctree {

~PolygonOctree();

void buildOctree(PolyOctant* node, int currentDepth);

void insertPolygon(Polygon3D* polygon);

void insertPolygon(PolyOctant* node, Polygon3D* polygon, int currentDepth);

void removePolygon(Polygon3D* polygon);

bool isPolygonInOctant(Polygon3D* polygon, PolyOctant* node);

void getPolysInRegion(Polygon3D* poly, vector<bool>& regionPolys);

private:
void buildOctree(PolyOctant* node, int currentDepth);

void getPolysInRegion(PolyOctant* node, Polygon3D* poly, int currentDepth, vector<bool>& regionPolys);

void insertPolygon(PolyOctant* node, Polygon3D* polygon, int currentDepth);
};
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