workshopsoft/ludic
2
0
Fork 0
Code Issues Pull requests Projects Releases 26 Packages Wiki Activity Actions

feat(nav): 17.3 - a map in square tiles (nav_tiled, nav_tile_build; a tile must be a whole number of cells or its seams never join, and the shim refuses one that is not; 64-bit polygon refs for 16384 tiles), ground as a NavGround with boulders as convex footprints, one save format for one tile or many, and nav_random_near - a reachable point from the caller's seed, bit-identical on the Mac and the PC. 10 tests on both

Browse source 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Orkun ÇAKILKAYA 2026-09-27 15:42:37 +03:00
parent 9b8606483d
commit e6893f58be
16 changed files with 436 additions and 109 deletions
Download patch file Download diff file Expand all files Collapse all files

98
packages/ludic.nav/native/shim/nav_build.inl
View file

@ -1,6 +1,6 @@
// nav_build.inl - a navmesh from triangles: Recast's solo pipeline (rasterize, filter, erode,
// regions, contours, polygons, detail) and one Detour tile. c[] is the configuration:
// cell size, cell height, agent height, agent radius, max climb, max slope (degrees).
// nav_build.inl - Recast's pipeline, shared by a whole mesh and a tile: rasterize the triangles,
// filter, mark what nothing stands in, erode, regions, contours, polygons, detail, Detour's data.
// c[] is the configuration: cell size, cell height, agent height, radius, max climb, max slope.
// cylinders (x, y, z, r, h each) no agent may stand in: trunks, posts, tents
static void nav_mark_cylinders(rcContext &ctx, rcCompactHeightfield &chf, const float *cyl, int nc) {
@ -10,12 +10,21 @@ static void nav_mark_cylinders(rcContext &ctx, rcCompactHeightfield &chf, const
}
}
// v: nv points (x, y, z); t: nt triangles; area: one per triangle, 0 not walkable, 1..62 a kind of
// ground (its cost is the filter's); the slope clears what is too steep whatever its area
NAV_SHIM void *nav_build(const float *v, int nv, const int *t, int nt, const unsigned char *area,
const float *cyl, int nc, const float *c) {
rcContext ctx(false);
rcConfig cfg;
// convex footprints no agent may stand in (a boulder): each is n, n points (x, z), ymin, ymax
static void nav_mark_footprints(rcContext &ctx, rcCompactHeightfield &chf, const float *f, int nf) {
float pts[3 * 64];
int i = 0;
while (i < nf) {
int n = (int)f[i];
if (n < 3 || n > 64 || i + 1 + n * 2 + 2 > nf) return;
float y0 = f[i + 1 + n * 2], y1 = f[i + 2 + n * 2];
for (int k = 0; k < n; ++k) { pts[k * 3] = f[i + 1 + k * 2]; pts[k * 3 + 1] = y0; pts[k * 3 + 2] = f[i + 2 + k * 2]; }
rcMarkConvexPolyArea(&ctx, pts, n, y0, y1, RC_NULL_AREA, chf);
i += 3 + n * 2;
}
}
static void nav_config(rcConfig &cfg, const float *c) {
memset(&cfg, 0, sizeof(cfg));
cfg.cs = c[0];
cfg.ch = c[1];
@ -30,11 +39,18 @@ NAV_SHIM void *nav_build(const float *v, int nv, const int *t, int nt, const uns
cfg.maxVertsPerPoly = 6;
cfg.detailSampleDist = cfg.cs * 6.0f;
cfg.detailSampleMaxError = cfg.ch;
rcCalcBounds(v, nv, cfg.bmin, cfg.bmax);
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
}
std::vector<unsigned char> areas(area, area + nt);
rcClearUnwalkableTriangles(&ctx, cfg.walkableSlopeAngle, v, nv, t, nt, areas.data());
struct NavIn {
const float *v; int nv; const int *t; int nt; const unsigned char *area;
const float *cyl; int nc; const float *foot; int nf; const float *c;
};
// the pipeline over cfg's box; the tile's Detour data into data / size. 0 polygons is not an error
static bool nav_pipeline(rcConfig &cfg, const NavIn &in, int tx, int tz, unsigned char **data, int *size, int *polys) {
rcContext ctx(false);
std::vector<unsigned char> areas(in.area, in.area + in.nt);
rcClearUnwalkableTriangles(&ctx, cfg.walkableSlopeAngle, in.v, in.nv, in.t, in.nt, areas.data());
rcHeightfield *hf = rcAllocHeightfield();
rcCompactHeightfield *chf = rcAllocCompactHeightfield();
rcContourSet *cs = rcAllocContourSet();
@ -42,7 +58,7 @@ NAV_SHIM void *nav_build(const float *v, int nv, const int *t, int nt, const uns
rcPolyMeshDetail *dm = rcAllocPolyMeshDetail();
bool ok = hf && chf && cs && pm && dm &&
rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch) &&
rcRasterizeTriangles(&ctx, v, nv, t, areas.data(), nt, *hf, cfg.walkableClimb);
rcRasterizeTriangles(&ctx, in.v, in.nv, in.t, areas.data(), in.nt, *hf, cfg.walkableClimb);
if (ok) {
rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
@ -50,16 +66,16 @@ NAV_SHIM void *nav_build(const float *v, int nv, const int *t, int nt, const uns
ok = rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf);
}
if (ok) {
nav_mark_cylinders(ctx, *chf, cyl, nc);
nav_mark_cylinders(ctx, *chf, in.cyl, in.nc);
nav_mark_footprints(ctx, *chf, in.foot, in.nf);
ok = rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf) && rcBuildDistanceField(&ctx, *chf) &&
rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea) &&
rcBuildRegions(&ctx, *chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea) &&
rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cs) &&
rcBuildPolyMesh(&ctx, *cs, cfg.maxVertsPerPoly, *pm) &&
rcBuildPolyMeshDetail(&ctx, *pm, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *dm);
}
unsigned char *data = nullptr;
int size = 0;
if (ok) {
*polys = ok ? pm->npolys : 0;
if (ok && pm->npolys > 0) {
for (int i = 0; i < pm->npolys; ++i) pm->flags[i] = pm->areas[i] ? 1 : 0;
dtNavMeshCreateParams p;
memset(&p, 0, sizeof(p));
@ -67,30 +83,28 @@ NAV_SHIM void *nav_build(const float *v, int nv, const int *t, int nt, const uns
p.polyFlags = pm->flags; p.polyCount = pm->npolys; p.nvp = pm->nvp;
p.detailMeshes = dm->meshes; p.detailVerts = dm->verts; p.detailVertsCount = dm->nverts;
p.detailTris = dm->tris; p.detailTriCount = dm->ntris;
p.walkableHeight = c[2]; p.walkableRadius = c[3]; p.walkableClimb = c[4];
p.walkableHeight = in.c[2]; p.walkableRadius = in.c[3]; p.walkableClimb = in.c[4];
p.tileX = tx; p.tileY = tz;
rcVcopy(p.bmin, pm->bmin); rcVcopy(p.bmax, pm->bmax);
p.cs = cfg.cs; p.ch = cfg.ch; p.buildBvTree = true;
ok = dtCreateNavMeshData(&p, &data, &size);
ok = dtCreateNavMeshData(&p, data, size);
}
rcFreeHeightField(hf); rcFreeCompactHeightfield(chf); rcFreeContourSet(cs); rcFreePolyMesh(pm); rcFreePolyMeshDetail(dm);
if (!ok) return nullptr;
return nav_from(data, size);
return ok;
}
// the tile's bytes, to write to a file: first the size (buf null), then the copy
NAV_SHIM int nav_save(void *h, unsigned char *buf, int cap) {
Nav *n = static_cast<Nav *>(h);
if (!buf) return n->size;
if (cap < n->size) return -1;
memcpy(buf, n->data, n->size);
return n->size;
}
// a navmesh from bytes nav_save wrote
NAV_SHIM void *nav_load(const unsigned char *buf, int size) {
unsigned char *data = static_cast<unsigned char *>(dtAlloc(size, DT_ALLOC_PERM));
if (!data) return nullptr;
memcpy(data, buf, size);
// one mesh over all the triangles given: v nv points (x, y, z); t nt triangles; area a byte each,
// 0 not walkable and 1..62 a kind of ground; the slope clears what is too steep whatever its area
NAV_SHIM void *nav_build(const float *v, int nv, const int *t, int nt, const unsigned char *area,
const float *cyl, int nc, const float *foot, int nf, const float *c) {
rcConfig cfg;
nav_config(cfg, c);
rcCalcBounds(v, nv, cfg.bmin, cfg.bmax);
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
NavIn in = {v, nv, t, nt, area, cyl, nc, foot, nf, c};
unsigned char *data = nullptr;
int size = 0, polys = 0;
if (!nav_pipeline(cfg, in, 0, 0, &data, &size, &polys) || polys == 0) return nullptr;
return nav_from(data, size);
}
@ -102,7 +116,13 @@ NAV_SHIM void nav_free(void *h) {
delete n;
}
// every polygon in every tile
NAV_SHIM int nav_polys(void *h) {
const dtMeshTile *t = static_cast<const dtNavMesh *>(static_cast<Nav *>(h)->mesh)->getTile(0);
return t && t->header ? t->header->polyCount : 0;
const dtNavMesh *m = static_cast<Nav *>(h)->mesh;
int total = 0;
for (int i = 0; i < m->getMaxTiles(); ++i) {
const dtMeshTile *t = m->getTile(i);
if (t && t->header) total += t->header->polyCount;
}
return total;
}