Fix dynamic mesh bounds calculation #77

recast4j - recast4j/recast4j#203 - recast4j/recast4j#204
ikpil · Sep 20, 2024 · 2d0e2f8 · 2d0e2f8
1 parent e9a0584
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Showing 14 changed files with 98 additions and 40 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -12,6 +12,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
+- Fix dynamic mesh bounds calculation ([@ppiastucki](https://github.com/ppiastucki)) [#77](https://github.com/ikpil/DotRecast/issues/77)
+    - issuer : [@OhJeongrok](https://github.com/OhJeongrok)
 
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`

diff --git a/DotRecast.sln b/DotRecast.sln
@@ -123,18 +123,18 @@ Global
 		{FFE40BBF-843B-41FA-8504-F4ABD166762E} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{38933A87-4568-40A5-A3DA-E2445E8C2B99} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{C19E4BFA-63A0-4815-9815-869A9DC52DBC} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
-		{554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{FA7EF26A-BA47-43FD-86F8-0A33CFDF643F} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{53AF87DA-37F8-4504-B623-B2113F4438CA} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{7BAA69B2-EDC7-4603-B16F-BC7B24353F81} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{023E1E6A-4895-4573-89AE-3D5D8E0B39C8} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{DF987948-8C23-4337-AF83-D87D6407518D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
+		{88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{7BAA69B2-EDC7-4603-B16F-BC7B24353F81} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{D1EFC625-D095-4208-98A2-112B73CB40B0} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 	EndGlobalSection

diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -167,7 +167,7 @@ private bool Rebuild(ICollection<DtDynamicTile> tiles)
         {
             foreach (var tile in tiles)
                 Rebuild(tile);
-            
+
             return UpdateNavMesh();
         }
 
@@ -188,17 +188,17 @@ private ICollection<DtDynamicTile> GetTiles(float[] bounds)
                 return _tiles.Values;
             }
 
-            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
-            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
+            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth) - 1;
+            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight) - 1;
+            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth) + 1;
+            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight) + 1;
             List<DtDynamicTile> tiles = new List<DtDynamicTile>();
             for (int z = minz; z <= maxz; ++z)
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
                     DtDynamicTile tile = GetTileAt(x, z);
-                    if (tile != null)
+                    if (tile != null && IntersectsXZ(tile, bounds))
                     {
                         tiles.Add(tile);
                     }
@@ -208,6 +208,12 @@ private ICollection<DtDynamicTile> GetTiles(float[] bounds)
             return tiles;
         }
 
+        private bool IntersectsXZ(DtDynamicTile tile, float[] bounds)
+        {
+            return tile.voxelTile.boundsMin.X <= bounds[3] && tile.voxelTile.boundsMax.X >= bounds[0] &&
+                   tile.voxelTile.boundsMin.Z <= bounds[5] && tile.voxelTile.boundsMax.Z >= bounds[2];
+        }
+
         private List<DtDynamicTile> GetTilesByCollider(long cid)
         {
             return _tiles.Values.Where(t => t.ContainsCollider(cid)).ToList();

diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
@@ -78,7 +78,7 @@ public RcConfig GetConfig(DtVoxelTile tile, RcAreaModification walkbableAreaMod,
                 walkbableAreaMod, buildMeshDetail);
         }
 
-        public static DtVoxelFile From(RcConfig config, List<RcBuilderResult> results)
+        public static DtVoxelFile From(RcConfig config, IList<RcBuilderResult> results)
         {
             DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
@@ -109,13 +109,14 @@ public static DtVoxelFile From(RcConfig config, List<RcBuilderResult> results)
             };
             foreach (RcBuilderResult r in results)
             {
+                float pad = r.SolidHeightfiled.borderSize * r.SolidHeightfiled.cs;
                 f.tiles.Add(new DtVoxelTile(r.TileX, r.TileZ, r.SolidHeightfiled));
-                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X);
+                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X + pad);
                 f.bounds[1] = Math.Min(f.bounds[1], r.SolidHeightfiled.bmin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X);
+                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X - pad);
                 f.bounds[4] = Math.Max(f.bounds[4], r.SolidHeightfiled.bmax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z - pad);
             }
 
             return f;
@@ -155,12 +156,13 @@ public static DtVoxelFile From(DtDynamicNavMesh mesh)
             {
                 RcHeightfield heightfield = vt.Heightfield();
                 f.tiles.Add(new DtVoxelTile(vt.tileX, vt.tileZ, heightfield));
-                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X);
+                float pad = vt.borderSize * vt.cellSize;
+                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X + pad);
                 f.bounds[1] = Math.Min(f.bounds[1], vt.boundsMin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X);
+                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X - pad);
                 f.bounds[4] = Math.Max(f.bounds[4], vt.boundsMax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z - pad);
             }
 
             return f;

diff --git a/src/DotRecast.Recast.Demo/DemoSample.cs b/src/DotRecast.Recast.Demo/DemoSample.cs
@@ -32,6 +32,7 @@ public class DemoSample
         private DtNavMesh _navMesh;
         private DtNavMeshQuery _navMeshQuery;
         private readonly RcNavMeshBuildSettings _settings;
+        private RcConfig _cfg;
         private IList<RcBuilderResult> _recastResults;
         private bool _changed;
 
@@ -56,6 +57,11 @@ public DemoInputGeomProvider GetInputGeom()
             return _geom;
         }
 
+        public RcConfig GetRecastConfig()
+        {
+            return _cfg;
+        }
+
         public IList<RcBuilderResult> GetRecastResults()
         {
             return _recastResults;
@@ -86,9 +92,10 @@ public void SetChanged(bool changed)
             _changed = changed;
         }
 
-        public void Update(DemoInputGeomProvider geom, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
+        public void Update(DemoInputGeomProvider geom, RcConfig cfg, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
         {
             _geom = geom;
+            _cfg = cfg;
             _recastResults = recastResults;
             _navMesh = navMesh;
             SetQuery(navMesh);

diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs
@@ -320,7 +320,7 @@ private void LoadNavMesh(FileStream file, string filename)
 
             if (null != mesh)
             {
-                _sample.Update(_sample.GetInputGeom(), ImmutableArray<RcBuilderResult>.Empty, mesh);
+                _sample.Update(_sample.GetInputGeom(), _sample.GetRecastConfig(), ImmutableArray<RcBuilderResult>.Empty, mesh);
                 _toolsetView.SetEnabled(true);
             }
         }
@@ -684,7 +684,7 @@ private void OnGeomLoadBegan(GeomLoadBeganEvent args)
     {
         var geom = LoadInputMesh(args.FilePath);
 
-        _sample.Update(geom, ImmutableArray<RcBuilderResult>.Empty, null);
+        _sample.Update(geom, null, ImmutableArray<RcBuilderResult>.Empty, null);
     }
 
     private void OnNavMeshBuildBegan(NavMeshBuildBeganEvent args)
@@ -719,7 +719,7 @@ private void OnNavMeshBuildBegan(NavMeshBuildBeganEvent args)
             return;
         }
 
-        _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+        _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
         _sample.SetChanged(false);
         settingsView.SetBuildTime((RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond);
         //settingsUI.SetBuildTelemetry(buildResult.Item1.Select(x => x.GetTelemetry()).ToList());

diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
@@ -25,6 +25,7 @@ 3. This notice may not be removed or altered from any source distribution.
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic;
+using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
 using DotRecast.Recast.Demo.Draw;
@@ -117,8 +118,16 @@ public void Layout()
         if (mode == RcDynamicUpdateToolMode.BUILD)
         {
             const string loadVoxelPopupStrId = "Load Voxels Popup";
-            
+
             bool isLoadVoxelPopup = true;
+            if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+            {
+                if (ImGui.Button("Import Voxels"))
+                {
+                    Copy();
+                }
+            }
+
             if (ImGui.Button("Load Voxels..."))
             {
                 ImGui.OpenPopup(loadVoxelPopupStrId);
@@ -410,7 +419,7 @@ public void HandleUpdate(float dt)
             {
                 buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
                 var dynaMesh = _tool.GetDynamicNavMesh();
-                _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+                _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
                 _sample.SetChanged(false);
             }
         }
@@ -420,6 +429,15 @@ public void HandleUpdate(float dt)
         }
     }
 
+    private void Copy()
+    {
+        if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+        {
+            var dynaMesh = _tool.Copy(_sample.GetRecastConfig(), _sample.GetRecastResults());
+            UpdateFrom(dynaMesh.config);
+            BuildDynaMesh();
+        }
+    }
 
     private void Load(string filename)
     {
@@ -457,7 +475,7 @@ private void BuildDynaMesh()
         }
 
         buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
-        _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+        _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
     }
 
     private void UpdateTo(DtDynamicNavMeshConfig config)

diff --git a/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
@@ -32,7 +32,7 @@ public void Layout()
             var buildResult = _tool.Build(geom, settings, RcByteOrder.LITTLE_ENDIAN, true);
             if (buildResult.Success)
             {
-                _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+                _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
             }
         }
 

diff --git a/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs b/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
@@ -7,6 +7,7 @@ namespace DotRecast.Recast.Toolset.Builder
     public class NavMeshBuildResult
     {
         public readonly bool Success;
+        public readonly RcConfig Cfg;
         public readonly IList<RcBuilderResult> RecastBuilderResults;
         public readonly DtNavMesh NavMesh;
 
@@ -17,11 +18,22 @@ public NavMeshBuildResult()
             NavMesh = null;
         }
 
-        public NavMeshBuildResult(IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
+        // for solo
+        public NavMeshBuildResult(RcConfig cfg, IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
         {
             Success = true;
+            Cfg = cfg;
             RecastBuilderResults = recastBuilderResults;
             NavMesh = navMesh;
         }
+
+        // for tiles
+        public NavMeshBuildResult(RcConfig cfg, IList<RcBuilderResult> recastBuilderResults)
+        {
+            Success = true;
+            Cfg = cfg;
+            RecastBuilderResults = recastBuilderResults;
+            NavMesh = null;
+        }
     }
 }
diff --git a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
@@ -69,7 +69,7 @@ public NavMeshBuildResult Build(DemoInputGeomProvider geom,
             }
 
             var navMesh = BuildNavMesh(meshData, vertsPerPoly);
-            return new NavMeshBuildResult(RcImmutableArray.Create(rcResult), navMesh);
+            return new NavMeshBuildResult(cfg, RcImmutableArray.Create(rcResult), navMesh);
         }
 
         private DtNavMesh BuildNavMesh(DtMeshData meshData, int vertsPerPoly)

diff --git a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
@@ -58,7 +58,7 @@ public NavMeshBuildResult Build(IInputGeomProvider geom,
             bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
             bool keepInterResults, bool buildAll)
         {
-            List<RcBuilderResult> results = BuildRecastResult(
+            NavMeshBuildResult result = BuildRecastResult(
                 geom,
                 tileSize,
                 partitionType,
@@ -72,12 +72,12 @@ public NavMeshBuildResult Build(IInputGeomProvider geom,
                 keepInterResults, buildAll
             );
 
-            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, results);
+            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result.RecastBuilderResults);
             var tileNavMesh = BuildNavMesh(geom, tileMeshData, cellSize, tileSize, vertsPerPoly);
-            return new NavMeshBuildResult(results, tileNavMesh);
+            return new NavMeshBuildResult(result.Cfg, result.RecastBuilderResults, tileNavMesh);
         }
 
-        public List<RcBuilderResult> BuildRecastResult(IInputGeomProvider geom,
+        public NavMeshBuildResult BuildRecastResult(IInputGeomProvider geom,
             int tileSize,
             RcPartition partitionType,
             float cellSize, float cellHeight,
@@ -102,7 +102,8 @@ public List<RcBuilderResult> BuildRecastResult(IInputGeomProvider geom,
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            var results = rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            return new NavMeshBuildResult(cfg, results);
         }
 
         public DtNavMesh BuildNavMesh(IInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)

diff --git a/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs b/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
@@ -32,7 +32,7 @@ public class RcNavMeshBuildSettings
         public bool tiled = false;
         public int tileSize = 32;
 
-        public bool keepInterResults = false;
+        public bool keepInterResults = true; // full memory
         public bool buildAll = true;
     }
 }
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
@@ -141,6 +141,16 @@ public RcGizmo AddShape(RcDynamicColliderShape colliderShape, RcVec3f p)
             return colliderWithGizmo;
         }
 
+        public DtDynamicNavMesh Copy(RcConfig cfg, IList<RcBuilderResult> results)
+        {
+            var voxelFile = DtVoxelFile.From(cfg, results);
+            dynaMesh = new DtDynamicNavMesh(voxelFile);
+            dynaMesh.config.keepIntermediateResults = true;
+            colliderGizmos.Clear();
+
+            return dynaMesh;
+        }
+
         public DtDynamicNavMesh Load(string filename, IRcCompressor compressor)
         {
             using var fs = new FileStream(filename, FileMode.Open, FileAccess.Read, FileShare.Read);
@@ -184,7 +194,7 @@ public RcGizmo CapsuleCollider(RcVec3f p, float walkableClimb)
                 (1f - 2 * (float)random.NextDouble())
             );
             a = RcVec3f.Normalize(a);
-            
+
             float len = 1f + (float)random.NextDouble() * 20f;
             a.X *= len;
             a.Y *= len;
@@ -235,7 +245,7 @@ public RcGizmo CompositeCollider(RcVec3f p, float walkableClimb)
             RcVec3f baseUp = new RcVec3f(0, 1, 0);
             RcVec3f forward = new RcVec3f((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
             forward = RcVec3f.Normalize(forward);
-            
+
             RcVec3f side = RcVec3f.Cross(forward, baseUp);
             DtBoxCollider @base = new DtBoxCollider(baseCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
                 SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);

diff --git a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
@@ -78,7 +78,7 @@ public NavMeshBuildResult Build(IInputGeomProvider geom, RcNavMeshBuildSettings
                 _tc.BuildNavMeshTile(refs);
             }
 
-            return new NavMeshBuildResult(RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
+            return new NavMeshBuildResult(cfg, RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
         }
 
         public void ClearAllTempObstacles()