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Merge pull request #98957 from kiroxas/NavBakeSourceImprovement

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Improve `NavMeshGenerator2D::generator_bake_from_source_geometry_data` performance
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Thaddeus Crews 2024-11-11 14:17:59 -06:00
commit 95a503437a
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GPG Key ID: 62181B86FE9E5D84
2 changed files with 75 additions and 126 deletions
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199
modules/navigation/2d/nav_mesh_generator_2d.cpp
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@ -760,16 +760,14 @@ void NavMeshGenerator2D::generator_parse_source_geometry_data(Ref<NavigationPoly
static void generator_recursive_process_polytree_items(List<TPPLPoly> &p_tppl_in_polygon, const Clipper2Lib::PolyPathD *p_polypath_item) {
using namespace Clipper2Lib;
Vector<Vector2> polygon_vertices;
for (const PointD &polypath_point : p_polypath_item->Polygon()) {
polygon_vertices.push_back(Vector2(static_cast<real_t>(polypath_point.x), static_cast<real_t>(polypath_point.y)));
}
TPPLPoly tp;
tp.Init(polygon_vertices.size());
for (int j = 0; j < polygon_vertices.size(); j++) {
tp[j] = polygon_vertices[j];
int size = p_polypath_item->Polygon().size();
tp.Init(size);
int j = 0;
for (const PointD &polypath_point : p_polypath_item->Polygon()) {
tp[j] = Vector2(static_cast<real_t>(polypath_point.x), static_cast<real_t>(polypath_point.y));
++j;
}
if (p_polypath_item->IsHole()) {
@ -842,87 +840,79 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
return;
}
if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
return;
}
int outline_count = p_navigation_mesh->get_outline_count();
Vector<Vector<Vector2>> traversable_outlines;
Vector<Vector<Vector2>> obstruction_outlines;
Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> projected_obstructions;
p_source_geometry_data->get_data(
traversable_outlines,
obstruction_outlines,
projected_obstructions);
if (outline_count == 0 && traversable_outlines.size() == 0) {
return;
}
using namespace Clipper2Lib;
PathsD traversable_polygon_paths;
PathsD obstruction_polygon_paths;
int obstruction_polygon_path_size = 0;
{
RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);
traversable_polygon_paths.reserve(outline_count + traversable_outlines.size());
obstruction_polygon_paths.reserve(obstruction_outlines.size());
const Vector<Vector<Vector2>> &traversable_outlines = p_source_geometry_data->traversable_outlines;
int outline_count = p_navigation_mesh->get_outline_count();
for (int i = 0; i < outline_count; i++) {
const Vector<Vector2> &traversable_outline = p_navigation_mesh->get_outline(i);
PathD subject_path;
subject_path.reserve(traversable_outline.size());
for (const Vector2 &traversable_point : traversable_outline) {
const PointD &point = PointD(traversable_point.x, traversable_point.y);
subject_path.push_back(point);
if (outline_count == 0 && (!p_source_geometry_data->has_data() || (traversable_outlines.is_empty()))) {
return;
}
traversable_polygon_paths.push_back(subject_path);
}
for (const Vector<Vector2> &traversable_outline : traversable_outlines) {
PathD subject_path;
subject_path.reserve(traversable_outline.size());
for (const Vector2 &traversable_point : traversable_outline) {
const PointD &point = PointD(traversable_point.x, traversable_point.y);
subject_path.push_back(point);
}
traversable_polygon_paths.push_back(subject_path);
}
const Vector<Vector<Vector2>> &obstruction_outlines = p_source_geometry_data->obstruction_outlines;
const Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> &projected_obstructions = p_source_geometry_data->_projected_obstructions;
for (const Vector<Vector2> &obstruction_outline : obstruction_outlines) {
PathD clip_path;
clip_path.reserve(obstruction_outline.size());
for (const Vector2 &obstruction_point : obstruction_outline) {
const PointD &point = PointD(obstruction_point.x, obstruction_point.y);
clip_path.push_back(point);
}
obstruction_polygon_paths.push_back(clip_path);
}
traversable_polygon_paths.reserve(outline_count + traversable_outlines.size());
obstruction_polygon_paths.reserve(obstruction_outlines.size());
if (!projected_obstructions.is_empty()) {
for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
if (projected_obstruction.carve) {
continue;
}
if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
continue;
for (int i = 0; i < outline_count; i++) {
const Vector<Vector2> &traversable_outline = p_navigation_mesh->get_outline(i);
PathD subject_path;
subject_path.reserve(traversable_outline.size());
for (const Vector2 &traversable_point : traversable_outline) {
subject_path.emplace_back(traversable_point.x, traversable_point.y);
}
traversable_polygon_paths.push_back(std::move(subject_path));
}
for (const Vector<Vector2> &traversable_outline : traversable_outlines) {
PathD subject_path;
subject_path.reserve(traversable_outline.size());
for (const Vector2 &traversable_point : traversable_outline) {
subject_path.emplace_back(traversable_point.x, traversable_point.y);
}
traversable_polygon_paths.push_back(std::move(subject_path));
}
if (!projected_obstructions.is_empty()) {
for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
if (projected_obstruction.carve) {
continue;
}
if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
continue;
}
PathD clip_path;
clip_path.reserve(projected_obstruction.vertices.size() / 2);
for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
clip_path.emplace_back(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
}
if (!IsPositive(clip_path)) {
std::reverse(clip_path.begin(), clip_path.end());
}
obstruction_polygon_paths.push_back(std::move(clip_path));
}
}
obstruction_polygon_path_size = obstruction_polygon_paths.size();
for (const Vector<Vector2> &obstruction_outline : obstruction_outlines) {
PathD clip_path;
clip_path.reserve(projected_obstruction.vertices.size() / 2);
for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
const PointD &point = PointD(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
clip_path.push_back(point);
clip_path.reserve(obstruction_outline.size());
for (const Vector2 &obstruction_point : obstruction_outline) {
clip_path.emplace_back(obstruction_point.x, obstruction_point.y);
}
if (!IsPositive(clip_path)) {
std::reverse(clip_path.begin(), clip_path.end());
}
obstruction_polygon_paths.push_back(clip_path);
obstruction_polygon_paths.push_back(std::move(clip_path));
}
}
Rect2 baking_rect = p_navigation_mesh->get_baking_rect();
PathsD area_obstruction_polygon_paths;
if (baking_rect.has_area()) {
Vector2 baking_rect_offset = p_navigation_mesh->get_baking_rect_offset();
@ -934,48 +924,27 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
RectD clipper_rect = RectD(rect_begin_x, rect_begin_y, rect_end_x, rect_end_y);
traversable_polygon_paths = RectClip(clipper_rect, traversable_polygon_paths);
obstruction_polygon_paths = RectClip(clipper_rect, obstruction_polygon_paths);
area_obstruction_polygon_paths = RectClip(clipper_rect, obstruction_polygon_paths);
} else {
area_obstruction_polygon_paths = obstruction_polygon_paths;
}
PathsD path_solution;
// first merge all traversable polygons according to user specified fill rule
PathsD dummy_clip_path;
traversable_polygon_paths = Union(traversable_polygon_paths, dummy_clip_path, FillRule::NonZero);
// merge all obstruction polygons, don't allow holes for what is considered "solid" 2D geometry
obstruction_polygon_paths = Union(obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);
area_obstruction_polygon_paths = Union(area_obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);
path_solution = Difference(traversable_polygon_paths, obstruction_polygon_paths, FillRule::NonZero);
PathsD path_solution = Difference(traversable_polygon_paths, area_obstruction_polygon_paths, FillRule::NonZero);
real_t agent_radius_offset = p_navigation_mesh->get_agent_radius();
if (agent_radius_offset > 0.0) {
path_solution = InflatePaths(path_solution, -agent_radius_offset, JoinType::Miter, EndType::Polygon);
}
if (!projected_obstructions.is_empty()) {
obstruction_polygon_paths.resize(0);
for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
if (!projected_obstruction.carve) {
continue;
}
if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
continue;
}
PathD clip_path;
clip_path.reserve(projected_obstruction.vertices.size() / 2);
for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
const PointD &point = PointD(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
clip_path.push_back(point);
}
if (!IsPositive(clip_path)) {
std::reverse(clip_path.begin(), clip_path.end());
}
obstruction_polygon_paths.push_back(clip_path);
}
if (obstruction_polygon_paths.size() > 0) {
path_solution = Difference(path_solution, obstruction_polygon_paths, FillRule::NonZero);
}
if (obstruction_polygon_path_size > 0) {
obstruction_polygon_paths.resize(obstruction_polygon_path_size);
path_solution = Difference(path_solution, obstruction_polygon_paths, FillRule::NonZero);
}
//path_solution = RamerDouglasPeucker(path_solution, 0.025); //
@ -994,33 +963,11 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
path_solution = RectClip(clipper_rect, path_solution);
}
Vector<Vector<Vector2>> new_baked_outlines;
for (const PathD &scaled_path : path_solution) {
Vector<Vector2> polypath;
for (const PointD &scaled_point : scaled_path) {
polypath.push_back(Vector2(static_cast<real_t>(scaled_point.x), static_cast<real_t>(scaled_point.y)));
}
new_baked_outlines.push_back(polypath);
}
if (new_baked_outlines.size() == 0) {
if (path_solution.size() == 0) {
p_navigation_mesh->clear();
return;
}
PathsD polygon_paths;
polygon_paths.reserve(new_baked_outlines.size());
for (const Vector<Vector2> &baked_outline : new_baked_outlines) {
PathD polygon_path;
for (const Vector2 &baked_outline_point : baked_outline) {
const PointD &point = PointD(baked_outline_point.x, baked_outline_point.y);
polygon_path.push_back(point);
}
polygon_paths.push_back(polygon_path);
}
ClipType clipper_cliptype = ClipType::Union;
List<TPPLPoly> tppl_in_polygon, tppl_out_polygon;
@ -1028,7 +975,7 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
PolyTreeD polytree;
ClipperD clipper_D;
clipper_D.AddSubject(polygon_paths);
clipper_D.AddSubject(path_solution);
clipper_D.Execute(clipper_cliptype, FillRule::NonZero, polytree);
for (size_t i = 0; i < polytree.Count(); i++) {

2
scene/resources/2d/navigation_mesh_source_geometry_data_2d.h
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@ -36,6 +36,8 @@
#include "scene/resources/2d/navigation_polygon.h"
class NavigationMeshSourceGeometryData2D : public Resource {
friend class NavMeshGenerator2D;
GDCLASS(NavigationMeshSourceGeometryData2D, Resource);
RWLock geometry_rwlock;