diff options
| -rw-r--r-- | release/scripts/ui/properties_data_modifier.py | 7 | ||||
| -rw-r--r-- | source/blender/editors/object/object_intern.h | 2 | ||||
| -rw-r--r-- | source/blender/editors/object/object_navmesh.cpp | 147 | ||||
| -rw-r--r-- | source/blender/editors/object/object_ops.c | 2 | ||||
| -rw-r--r-- | source/blender/modifiers/intern/MOD_navmesh.cpp | 498 | ||||
| -rw-r--r-- | source/gameengine/Ketsji/KX_NavMeshObject.cpp | 22 | ||||
| -rw-r--r-- | source/gameengine/Ketsji/KX_NavMeshObject.h | 2 |
7 files changed, 613 insertions, 67 deletions
diff --git a/release/scripts/ui/properties_data_modifier.py b/release/scripts/ui/properties_data_modifier.py index b7b4c8dc64c..29034997754 100644 --- a/release/scripts/ui/properties_data_modifier.py +++ b/release/scripts/ui/properties_data_modifier.py @@ -462,7 +462,12 @@ class DATA_PT_modifiers(DataButtonsPanel): row.label() def NAVMESH(self, layout, ob, md, wide_ui): - layout = self.layout + split = layout.split() + if ob.mode == 'EDIT': + col = split.column() + col.operator("object.assign_navpolygon", text="Assign poly idx") + col = split.column() + col.operator("object.assign_new_navpolygon", text="Assign new poly idx") def PARTICLE_INSTANCE(self, layout, ob, md, wide_ui): layout.prop(md, "object") diff --git a/source/blender/editors/object/object_intern.h b/source/blender/editors/object/object_intern.h index e30a6c555e3..7b2904eed9d 100644 --- a/source/blender/editors/object/object_intern.h +++ b/source/blender/editors/object/object_intern.h @@ -224,6 +224,8 @@ void OBJECT_OT_bake_image(wmOperatorType *ot); /* object_navmesh.cpp */ void OBJECT_OT_create_navmesh(struct wmOperatorType *ot); +void OBJECT_OT_assign_navpolygon(struct wmOperatorType *ot); +void OBJECT_OT_assign_new_navpolygon(struct wmOperatorType *ot); #endif /* ED_OBJECT_INTERN_H */ diff --git a/source/blender/editors/object/object_navmesh.cpp b/source/blender/editors/object/object_navmesh.cpp index a5ff74ae4fd..f7527e2d5d5 100644 --- a/source/blender/editors/object/object_navmesh.cpp +++ b/source/blender/editors/object/object_navmesh.cpp @@ -50,6 +50,8 @@ extern "C" #include "ED_object.h" #include "BLI_math_vector.h" +#include "RNA_access.h" + #include "ED_mesh.h" /*mesh/mesh_intern.h */ @@ -372,7 +374,7 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD //set navigation polygon idx to the custom layer int* polygonIdx = (int*)CustomData_em_get(&em->fdata, newFace->data, CD_PROP_INT); - *polygonIdx = i; + *polygonIdx = i+1; //add 1 to avoid zero idx } EM_free_index_arrays(); @@ -425,7 +427,7 @@ static int create_navmesh_exec(bContext *C, wmOperator *op) void OBJECT_OT_create_navmesh(wmOperatorType *ot) { /* identifiers */ - ot->name= "NavMesh"; + ot->name= "Create navigation mesh"; ot->description= "Create navigation mesh for selected objects"; ot->idname= "OBJECT_OT_create_navmesh"; @@ -435,4 +437,145 @@ void OBJECT_OT_create_navmesh(wmOperatorType *ot) /* flags */ ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; } + +static int assign_navpolygon_poll(bContext *C) +{ + Object *ob= (Object *)CTX_data_pointer_get_type(C, "object", &RNA_Object).data; + if (!ob || !ob->data) + return 0; + return (((Mesh*)ob->data)->edit_mesh != NULL); +} + +static int assign_navpolygon_exec(bContext *C, wmOperator *op) +{ + Object *obedit= CTX_data_edit_object(C); + EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data); + + //do work here + int targetPolyIdx = -1; + EditFace *ef, *efa; + efa = EM_get_actFace(em, 0); + if (efa) + { + if (CustomData_has_layer(&em->fdata, CD_PROP_INT)) + { + targetPolyIdx = *(int*)CustomData_em_get(&em->fdata, efa->data, CD_PROP_INT); + targetPolyIdx = targetPolyIdx>=0? targetPolyIdx : -targetPolyIdx; + if (targetPolyIdx>0) + { + //set target poly idx to other selected faces + ef = (EditFace*)em->faces.last; + while(ef) + { + if((ef->f & SELECT )&& ef!=efa) + { + int* recastDataBlock = (int*)CustomData_em_get(&em->fdata, ef->data, CD_PROP_INT); + *recastDataBlock = targetPolyIdx; + } + ef = ef->prev; + } + } + } + } + + DAG_id_flush_update((ID*)obedit->data, OB_RECALC_DATA); + WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data); + + BKE_mesh_end_editmesh((Mesh*)obedit->data, em); + return OPERATOR_FINISHED; +} + +void OBJECT_OT_assign_navpolygon(struct wmOperatorType *ot) +{ + /* identifiers */ + ot->name= "Assign polygon index "; + ot->description= "Assign polygon index to face by active face"; + ot->idname= "OBJECT_OT_assign_navpolygon"; + + /* api callbacks */ + ot->poll = assign_navpolygon_poll; + ot->exec= assign_navpolygon_exec; + + /* flags */ + ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; +} + +static int compare(const void * a, const void * b){ + return ( *(int*)a - *(int*)b ); +} +static int findFreeNavPolyIndex(EditMesh* em) +{ + //construct vector of indices + int numfaces = em->totface; + int* indices = new int[numfaces]; + EditFace* ef = (EditFace*)em->faces.last; + int idx = 0; + while(ef) + { + int polyIdx = *(int*)CustomData_em_get(&em->fdata, ef->data, CD_PROP_INT); + indices[idx] = polyIdx; + idx++; + ef = ef->prev; + } + qsort(indices, numfaces, sizeof(int), compare); + //search first free index + int freeIdx = 1; + int maxIdx = indices[numfaces-1]; + for (int i=0; i<numfaces; i++) + { + if (indices[i]==freeIdx) + freeIdx++; + else if (indices[i]>freeIdx) + break; + } + delete indices; + return freeIdx; +} + +static int assign_new_navpolygon_exec(bContext *C, wmOperator *op) +{ + Object *obedit= CTX_data_edit_object(C); + EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data); + + EditFace *ef; + if (CustomData_has_layer(&em->fdata, CD_PROP_INT)) + { + int targetPolyIdx = findFreeNavPolyIndex(em); + if (targetPolyIdx>0) + { + //set target poly idx to selected faces + ef = (EditFace*)em->faces.last; + while(ef) + { + if(ef->f & SELECT ) + { + int* recastDataBlock = (int*)CustomData_em_get(&em->fdata, ef->data, CD_PROP_INT); + *recastDataBlock = targetPolyIdx; + } + ef = ef->prev; + } + } + } + + DAG_id_flush_update((ID*)obedit->data, OB_RECALC_DATA); + WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data); + + BKE_mesh_end_editmesh((Mesh*)obedit->data, em); + return OPERATOR_FINISHED; +} + +void OBJECT_OT_assign_new_navpolygon(struct wmOperatorType *ot) +{ + /* identifiers */ + ot->name= "Assign new polygon index "; + ot->description= "Assign new polygon index to face"; + ot->idname= "OBJECT_OT_assign_new_navpolygon"; + + /* api callbacks */ + ot->poll = assign_navpolygon_poll; + ot->exec= assign_new_navpolygon_exec; + + /* flags */ + ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; +} } diff --git a/source/blender/editors/object/object_ops.c b/source/blender/editors/object/object_ops.c index 0a031b8af9c..784818658a6 100644 --- a/source/blender/editors/object/object_ops.c +++ b/source/blender/editors/object/object_ops.c @@ -211,6 +211,8 @@ void ED_operatortypes_object(void) WM_operatortype_append(OBJECT_OT_drop_named_material); WM_operatortype_append(OBJECT_OT_create_navmesh); + WM_operatortype_append(OBJECT_OT_assign_navpolygon); + WM_operatortype_append(OBJECT_OT_assign_new_navpolygon); } void ED_operatormacros_object(void) diff --git a/source/blender/modifiers/intern/MOD_navmesh.cpp b/source/blender/modifiers/intern/MOD_navmesh.cpp index 67f06bcf958..6bf2400b3f6 100644 --- a/source/blender/modifiers/intern/MOD_navmesh.cpp +++ b/source/blender/modifiers/intern/MOD_navmesh.cpp @@ -42,20 +42,11 @@ extern "C"{ #include "GPU_draw.h" #include "UI_resources.h" - -static void initData(ModifierData *md) -{ - NavMeshModifierData *nmmd = (NavMeshModifierData*) md; -} - -static void copyData(ModifierData *md, ModifierData *target) +//service function +inline int abs(int a) { - NavMeshModifierData *nmmd = (NavMeshModifierData*) md; - NavMeshModifierData *tnmmd = (NavMeshModifierData*) target; - - //.todo - deep copy + return a>=0 ? a: -a; } - inline int bit(int a, int b) { return (a & (1 << b)) >> b; @@ -70,6 +61,387 @@ inline void intToCol(int i, float* col) col[1] = 1 - g*63.0f/255.0f; col[2] = 1 - b*63.0f/255.0f; } + +inline float area2(const float* a, const float* b, const float* c) +{ + return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]); +} +inline bool left(const float* a, const float* b, const float* c) +{ + return area2(a, b, c) < 0; +} + +inline int polyNumVerts(const unsigned short* p, const int vertsPerPoly) +{ + int nv = 0; + for (int i=0; i<vertsPerPoly; i++) + { + if (p[i]==0xffff) + break; + nv++; + } + return nv; +} + +inline bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts) +{ + int nv = polyNumVerts(p, vertsPerPoly); + if (nv<3) + return false; + for (int j=0; j<nv; j++) + { + const float* v = &verts[3*p[j]]; + const float* v_next = &verts[3*p[(j+1)%nv]]; + const float* v_prev = &verts[3*p[(nv+j-1)%nv]]; + if (!left(v_prev, v, v_next)) + return false; + + } + return true; +} + +static float distPointToSegmentSq(const float* point, const float* a, const float* b) +{ + float abx[3], dx[3]; + vsub(abx, b,a); + vsub(dx, point,a); + float d = abx[0]*abx[0]+abx[2]*abx[2]; + float t = abx[0]*dx[0]+abx[2]*dx[2]; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + dx[0] = a[0] + t*abx[0] - point[0]; + dx[2] = a[2] + t*abx[2] - point[2]; + return dx[0]*dx[0] + dx[2]*dx[2]; +} + +static bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts, + int &ntris, unsigned short *&tris, int *&trisToFacesMap, + int *&recastData) +{ + nverts = dm->getNumVerts(dm); + verts = new float[3*nverts]; + dm->getVertCos(dm, (float(*)[3])verts); + + //flip coordinates + for (int vi=0; vi<nverts; vi++) + { + SWAP(float, verts[3*vi+1], verts[3*vi+2]); + } + + //calculate number of tris + int nfaces = dm->getNumFaces(dm); + MFace *faces = dm->getFaceArray(dm); + ntris = nfaces; + for (int fi=0; fi<nfaces; fi++) + { + MFace* face = &faces[fi]; + if (face->v4) + ntris++; + } + + //copy and transform to triangles (reorder on the run) + trisToFacesMap = new int[ntris]; + tris = new unsigned short[3*ntris]; + unsigned short* tri = tris; + int triIdx = 0; + for (int fi=0; fi<nfaces; fi++) + { + MFace* face = &faces[fi]; + tri[3*triIdx+0] = face->v1; + tri[3*triIdx+1] = face->v3; + tri[3*triIdx+2] = face->v2; + trisToFacesMap[triIdx++]=fi; + if (face->v4) + { + tri[3*triIdx+0] = face->v1; + tri[3*triIdx+1] = face->v4; + tri[3*triIdx+2] = face->v2; + trisToFacesMap[triIdx++]=fi; + } + } + + //carefully, recast data is just reference to data in derived mesh + recastData = (int*)CustomData_get_layer(&dm->faceData, CD_PROP_INT); + return true; +} + +static bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys, + unsigned short* polys, const unsigned short* dmeshes, + const float* verts, const unsigned short* dtris, + const int* dtrisToPolysMap) +{ + bool res = false; + int capacity = vertsPerPoly; + unsigned short* newPoly = new unsigned short[capacity]; + memset(newPoly, 0xff, sizeof(unsigned short)*capacity); + for (int polyidx=0; polyidx<npolys; polyidx++) + { + int nv = 0; + //search border + int btri = -1; + int bedge = -1; + for (int j=0; j<dmeshes[polyidx*4+3] && btri==-1;j++) + { + int curpolytri = dmeshes[polyidx*4+2]+j; + for (int k=0; k<3; k++) + { + unsigned short neighbortri = dtris[curpolytri*3*2+3+k]; + if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) + { + btri = curpolytri; + bedge = k; + break; + } + } + } + if (btri==-1 || bedge==-1) + { + //can't find triangle with border edge + return false; + } + + newPoly[nv++] = dtris[btri*3*2+bedge]; + + int tri = btri; + int edge = (bedge+1)%3; + while (tri!=btri || edge!=bedge) + { + int neighbortri = dtris[tri*3*2+3+edge]; + if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) + { + if (nv==capacity) + { + capacity += vertsPerPoly; + unsigned short* newPolyBig = new unsigned short[capacity]; + memset(newPolyBig, 0xff, sizeof(unsigned short)*capacity); + memcpy(newPolyBig, newPoly, sizeof(unsigned short)*nv); + delete newPoly; + newPoly = newPolyBig; + } + newPoly[nv++] = dtris[tri*3*2+edge]; + //move to next edge + edge = (edge+1)%3; + } + else + { + //move to next tri + int twinedge = -1; + for (int k=0; k<3; k++) + { + if (dtris[neighbortri*3*2+3+k] == tri) + { + twinedge = k; + break; + } + } + if (twinedge==-1) + { + printf("Converting navmesh: Error! Can't find neighbor edge - invalid adjacency info\n"); + goto returnLabel; + } + tri = neighbortri; + edge = (twinedge+1)%3; + } + } + + unsigned short* adjustedPoly = new unsigned short[nv]; + int adjustedNv = 0; + for (size_t i=0; i<(size_t)nv; i++) + { + unsigned short prev = newPoly[(nv+i-1)%nv]; + unsigned short cur = newPoly[i]; + unsigned short next = newPoly[(i+1)%nv]; + float distSq = distPointToSegmentSq(&verts[3*cur], &verts[3*prev], &verts[3*next]); + static const float tolerance = 0.001f; + if (distSq>tolerance) + adjustedPoly[adjustedNv++] = cur; + } + memcpy(newPoly, adjustedPoly, adjustedNv*sizeof(unsigned short)); + delete adjustedPoly; + nv = adjustedNv; + + if (nv<=vertsPerPoly) + { + for (int i=0; i<nv; i++) + { + polys[polyidx*vertsPerPoly*2+i] = newPoly[i]; + } + } + else + { + int a=0; + } + } + res = true; + +returnLabel: + delete newPoly; + return true; +} + +struct SortContext +{ + const int* recastData; + const int* trisToFacesMap; +}; +static int compareByData(void* data, const void * a, const void * b){ + SortContext* context = (SortContext*)data; + return ( context->recastData[context->trisToFacesMap[*(int*)a]] - + context->recastData[context->trisToFacesMap[*(int*)b]] ); +} + +static bool buildNavMeshData(const int nverts, const float* verts, + const int ntris, const unsigned short *tris, + const int* recastData, const int* trisToFacesMap, + int &ndtris, unsigned short *&dtris, + int &npolys, unsigned short *&dmeshes, unsigned short *&polys, + int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap) + +{ + if (!recastData) + { + printf("Converting navmesh: Error! Can't find recast custom data\n"); + return false; + } + + //sort the triangles by polygon idx + int* trisMapping = new int[ntris]; + for (int i=0; i<ntris; i++) + trisMapping[i]=i; + SortContext context; + context.recastData = recastData; + context.trisToFacesMap = trisToFacesMap; + qsort_s(trisMapping, ntris, sizeof(int), compareByData, &context); + + //search first valid triangle - triangle of convex polygon + int validTriStart = -1; + for (int i=0; i< ntris; i++) + { + if (recastData[trisToFacesMap[trisMapping[i]]]>0) + { + validTriStart = i; + break; + } + } + + if (validTriStart<0) + { + printf("Converting navmesh: Error! No valid polygons in mesh\n"); + delete trisMapping; + return false; + } + + ndtris = ntris-validTriStart; + //fill dtris to faces mapping + dtrisToTrisMap = new int[ndtris]; + memcpy(dtrisToTrisMap, &trisMapping[validTriStart], ndtris*sizeof(int)); + delete trisMapping; trisMapping=NULL; + + //create detailed mesh triangles - copy only valid triangles + //and reserve memory for adjacency info + dtris = new unsigned short[3*2*ndtris]; + memset(dtris, 0xffff, sizeof(unsigned short)*3*2*ndtris); + for (int i=0; i<ndtris; i++) + { + memcpy(dtris+3*2*i, tris+3*dtrisToTrisMap[i], sizeof(unsigned short)*3); + } + //create new recast data corresponded to dtris + dtrisToPolysMap = new int[ndtris]; + for (int i=0; i<ndtris; i++) + { + dtrisToPolysMap[i] = recastData[trisToFacesMap[dtrisToTrisMap[i]]]; + } + + + //build adjacency info for detailed mesh triangles + buildMeshAdjacency(dtris, ntris, nverts, 3); + + //create detailed mesh description for each navigation polygon + npolys = dtrisToPolysMap[ndtris-1]; + dmeshes = new unsigned short[npolys*4]; + memset(dmeshes, 0, npolys*4*sizeof(unsigned short)); + unsigned short *dmesh = NULL; + int prevpolyidx = 0; + for (int i=0; i<ndtris; i++) + { + int curpolyidx = dtrisToPolysMap[i]; + if (curpolyidx!=prevpolyidx) + { + if (curpolyidx!=prevpolyidx+1) + { + printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n"); + return false; + } + dmesh = dmesh==NULL ? dmeshes : dmesh+4; + dmesh[2] = i; //tbase + dmesh[3] = 0; //tnum + prevpolyidx = curpolyidx; + } + dmesh[3]++; + } + + //create navigation polygons + vertsPerPoly = 6; + polys = new unsigned short[npolys*vertsPerPoly*2]; + memset(polys, 0xff, sizeof(unsigned short)*vertsPerPoly*2*npolys); + + buildPolygonsByDetailedMeshes(vertsPerPoly, npolys, polys, dmeshes, verts, dtris, dtrisToPolysMap); + + return true; +} + + +static bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly, + int &nverts, float *&verts, + int &ndtris, unsigned short *&dtris, + int& npolys, unsigned short *&dmeshes, + unsigned short*& polys, int *&dtrisToPolysMap, + int *&dtrisToTrisMap, int *&trisToFacesMap) +{ + bool res = true; + int ntris =0, *recastData=NULL; + unsigned short *tris=NULL; + res = buildRawVertIndicesData(dm, nverts, verts, ntris, tris, trisToFacesMap, recastData); + if (!res) + { + printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n"); + goto exit; + } + + res = buildNavMeshData(nverts, verts, ntris, tris, recastData, trisToFacesMap, + ndtris, dtris, npolys, dmeshes,polys, vertsPerPoly, + dtrisToPolysMap, dtrisToTrisMap); + if (!res) + { + printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n"); + goto exit; + } + +exit: + if (tris) + delete tris; + + return res; +} + + +static void initData(ModifierData *md) +{ + NavMeshModifierData *nmmd = (NavMeshModifierData*) md; +} + +static void copyData(ModifierData *md, ModifierData *target) +{ + NavMeshModifierData *nmmd = (NavMeshModifierData*) md; + NavMeshModifierData *tnmmd = (NavMeshModifierData*) target; + + //.todo - deep copy +} + /* static void (*drawFacesSolid_original)(DerivedMesh *dm, float (*partial_redraw_planes)[4], int fast, int (*setMaterial)(int, void *attribs)) = NULL;*/ @@ -82,6 +454,7 @@ static void drawNavMeshColored(DerivedMesh *dm) int* polygonIdx = (int*)CustomData_get_layer(&dm->faceData, CD_PROP_INT); if (!polygonIdx) return; + const float BLACK_COLOR[3] = {0.f, 0.f, 0.f}; float col[3]; /* //UI_ThemeColor(TH_WIRE); @@ -98,8 +471,11 @@ static void drawNavMeshColored(DerivedMesh *dm) glBegin(glmode = GL_QUADS); for(a = 0; a < dm->numFaceData; a++, mface++) { int new_glmode = mface->v4?GL_QUADS:GL_TRIANGLES; - int* polygonIdx = (int*)CustomData_get(&dm->faceData, a, CD_PROP_INT); - intToCol(*polygonIdx, col); + int polygonIdx = *(int*)CustomData_get(&dm->faceData, a, CD_PROP_INT); + if (polygonIdx<=0) + memcpy(col, BLACK_COLOR, 3*sizeof(float)); + else + intToCol(polygonIdx, col); if(new_glmode != glmode) { glEnd(); @@ -133,7 +509,6 @@ static void navDM_drawFacesSolid(DerivedMesh *dm, static DerivedMesh *createNavMeshForVisualization(NavMeshModifierData *mmd,DerivedMesh *dm) { - int i; DerivedMesh *result; int numVerts, numEdges, numFaces; int maxVerts = dm->getNumVerts(dm); @@ -141,47 +516,66 @@ static DerivedMesh *createNavMeshForVisualization(NavMeshModifierData *mmd,Deriv int maxFaces = dm->getNumFaces(dm); result = CDDM_copy(dm); + int *recastData = (int*)CustomData_get_layer(&dm->faceData, CD_PROP_INT); CustomData_add_layer_named(&result->faceData, CD_PROP_INT, CD_DUPLICATE, - CustomData_get_layer(&dm->faceData, CD_PROP_INT), maxFaces, "recastData"); - - /*result = CDDM_new(maxVerts, maxEdges, maxFaces); - DM_copy_vert_data(dm, result, 0, 0, maxVerts); - DM_copy_edge_data(dm, result, 0, 0, maxEdges); - DM_copy_face_data(dm, result, 0, 0, maxFaces);*/ - - - /* - if (!drawFacesSolid_original) - drawFacesSolid_original= result->drawFacesSolid;*/ + recastData, maxFaces, "recastData"); + recastData = (int*)CustomData_get_layer(&result->faceData, CD_PROP_INT); result->drawFacesTex = navDM_drawFacesTex; result->drawFacesSolid = navDM_drawFacesSolid; -/* - numVerts = numEdges = numFaces = 0; - for(i = 0; i < maxVerts; i++) { - MVert inMV; - MVert *mv = CDDM_get_vert(result, numVerts); - float co[3]; - dm->getVert(dm, i, &inMV); - copy_v3_v3(co, inMV.co); - *mv = inMV; - //mv->co[2] +=.5f; - numVerts++; - } - for(i = 0; i < maxEdges; i++) { - MEdge inMED; - MEdge *med = CDDM_get_edge(result, numEdges); - dm->getEdge(dm, i, &inMED); - *med = inMED; - numEdges++; - } - for(i = 0; i < maxFaces; i++) { - MFace inMF; - MFace *mf = CDDM_get_face(result, numFaces); - dm->getFace(dm, i, &inMF); - *mf = inMF; - numFaces++; - }*/ + + //process mesh + int vertsPerPoly=0, nverts=0, ndtris=0, npolys=0; + float* verts=NULL; + unsigned short *dtris=NULL, *dmeshes=NULL, *polys=NULL; + int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL; + + bool res = buildNavMeshDataByDerivedMesh(dm, vertsPerPoly, nverts, verts, ndtris, dtris, + npolys, dmeshes, polys, dtrisToPolysMap, dtrisToTrisMap, + trisToFacesMap); + if (res) + { + //invalidate concave polygon + for (size_t polyIdx=0; polyIdx<(size_t)npolys; polyIdx++) + { + unsigned short* poly = &polys[polyIdx*2*vertsPerPoly]; + if (!polyIsConvex(poly, vertsPerPoly, verts)) + { + //set negative polygon idx to all faces + unsigned short *dmesh = &dmeshes[4*polyIdx]; + unsigned short tbase = dmesh[2]; + unsigned short tnum = dmesh[3]; + for (unsigned short ti=0; ti<tnum; ti++) + { + unsigned short triidx = dtrisToTrisMap[tbase+ti]; + unsigned short faceidx = trisToFacesMap[triidx]; + if (recastData[triidx]>0) + recastData[triidx] = -recastData[triidx]; + } + } + } + + } + else + { + printf("Error during creation polygon infos\n"); + } + + //clean up + if (verts!=NULL) + delete verts; + if (dtris!=NULL) + delete dtris; + if (dmeshes!=NULL) + delete dmeshes; + if (polys!=NULL) + delete polys; + if (dtrisToPolysMap!=NULL) + delete dtrisToPolysMap; + if (dtrisToTrisMap!=NULL) + delete dtrisToTrisMap; + if (trisToFacesMap!=NULL) + delete trisToFacesMap; return result; } diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.cpp b/source/gameengine/Ketsji/KX_NavMeshObject.cpp index 19e045a2745..3d4dcb928a6 100644 --- a/source/gameengine/Ketsji/KX_NavMeshObject.cpp +++ b/source/gameengine/Ketsji/KX_NavMeshObject.cpp @@ -120,16 +120,11 @@ void KX_NavMeshObject::ProcessReplica() } -bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&vertices, int& nverts, +bool KX_NavMeshObject::BuildVertIndArrays(float *&vertices, int& nverts, unsigned short* &polys, int& npolys, unsigned short *&dmeshes, float *&dvertices, int &ndvertsuniq, unsigned short *&dtris, int& ndtris, int &vertsPerPoly) { - if (!meshobj) - { - return false; - } - DerivedMesh* dm = mesh_create_derived_no_virtual(KX_GetActiveScene()->GetBlenderScene(), GetBlenderObject(), NULL, CD_MASK_MESH); int* recastData = (int*) dm->getFaceDataArray(dm, CD_PROP_INT); @@ -163,7 +158,7 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti //assumption: detailed mesh triangles are sorted by polygon idx - npolys = recastData[numfaces-1] + 1; + npolys = recastData[numfaces-1]/* + 1*/; //stored indices start from 1 dmeshes = new unsigned short[npolys*4]; memset(dmeshes, 0, npolys*4*sizeof(unsigned short)); @@ -177,6 +172,7 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti if (curpolyidx!=prevpolyidx+1) { //error - wrong order of detailed mesh faces + printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n"); return false; } dmesh = dmesh==NULL ? dmeshes : dmesh+4; @@ -386,6 +382,7 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti else { //create from RAS_MeshObject (detailed mesh is fake) + RAS_MeshObject* meshobj = GetMesh(0); vertsPerPoly = 3; nverts = meshobj->m_sharedvertex_map.size(); if (nverts >= 0xffff) @@ -452,20 +449,23 @@ bool KX_NavMeshObject::BuildNavMesh() m_navMesh = NULL; } - if (GetMeshCount()==0) + { + printf("Can't find mesh for navmesh object: %s \n", m_name); return false; - - RAS_MeshObject* meshobj = GetMesh(0); + } float *vertices = NULL, *dvertices = NULL; unsigned short *polys = NULL, *dtris = NULL, *dmeshes = NULL; int nverts = 0, npolys = 0, ndvertsuniq = 0, ndtris = 0; int vertsPerPoly = 0; - if (!BuildVertIndArrays(meshobj, vertices, nverts, polys, npolys, + if (!BuildVertIndArrays(vertices, nverts, polys, npolys, dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly ) || vertsPerPoly<3) + { + printf("Can't build navigation mesh data for object:%s \n", m_name); return false; + } MT_Point3 pos; for (int i=0; i<nverts; i++) diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.h b/source/gameengine/Ketsji/KX_NavMeshObject.h index 5161b723844..a0b91804db1 100644 --- a/source/gameengine/Ketsji/KX_NavMeshObject.h +++ b/source/gameengine/Ketsji/KX_NavMeshObject.h @@ -43,7 +43,7 @@ class KX_NavMeshObject: public KX_GameObject protected: dtStatNavMesh* m_navMesh; - bool BuildVertIndArrays(RAS_MeshObject* meshobj, float *&vertices, int& nverts, + bool BuildVertIndArrays(float *&vertices, int& nverts, unsigned short* &polys, int& npolys, unsigned short *&dmeshes, float *&dvertices, int &ndvertsuniq, unsigned short* &dtris, int& ndtris, int &vertsPerPoly); |