Added multiple z layer airg generation

Author: dbierek

CMakeLists.txt

@@ -12,7 +12,7 @@ endif()
 
 project(
   NavKit 
-  VERSION 0.8.0
+  VERSION 0.9.0
   DESCRIPTION "An app to create NAVP and AIRG files for use with Hitman"
   LANGUAGES CXX)
 

include/NavKit/NavKitConfig.h

@@ -1,3 +1,3 @@
 #define NavKit_VERSION_MAJOR "0"
-#define NavKit_VERSION_MINOR "8"
+#define NavKit_VERSION_MINOR "9"
 #define NavKit_VERSION_PATCH "0"

include/NavKit/Navp.h

@@ -30,6 +30,13 @@ class Navp {
 	float bBoxSizeY;
 	float bBoxSizeZ;
 
+	float lastBBoxPosX;
+	float lastBBoxPosY;
+	float lastBBoxPosZ;
+	float lastBBoxSizeX;
+	float lastBBoxSizeY;
+	float lastBBoxSizeZ;
+
 	bool stairsCheckboxValue;
 
 	void setLastLoadFileName(const char* fileName);

include/NavKit/ReasoningGrid.h

@@ -2,14 +2,17 @@
 
 #include <string>
 #include <vector>
+#include <set>
 #include <iostream>
 #include <filesystem>
 #include <fstream>
 #include <stdlib.h>
 #include "..\NavWeakness\NavPower.h"
 #include "..\RecastDemo\SampleInterfaces.h"
 #include "..\..\extern\simdjson\simdjson.h"
+#include "NavKit.h"
 
+class NavKit;
 class Vec4 {
 public:
 	float x;
@@ -65,5 +68,5 @@ class ReasoningGrid {
 
 	const void writeJson(std::ostream& f);
 	void readJson(const char* p_AirgPath);
-	void build(NavPower::NavMesh* navMesh, BuildContext* ctx);
+	static void build(ReasoningGrid* airg, NavPower::NavMesh* navMesh, NavKit* ctx);
 };

src/Airg.cpp

@@ -89,12 +89,14 @@ void Airg::drawMenu() {
 			navKit->log(RC_LOG_PROGRESS, msg.data());
 			if (extension == "JSON") {
 				saveAirg(fileName);
+				navKit->log(RC_LOG_PROGRESS, ("Finished saving Airg to " + std::string{ fileName } + ".").c_str());
 			}
 			else if (extension == "AIRG") {
 				std::string tempJsonFile = fileName;
 				tempJsonFile += ".temp.json";
 				saveAirg(tempJsonFile);
 				airgResourceGenerator->FromJsonFileToResourceFile(tempJsonFile.data(), fileName, false);
+				navKit->log(RC_LOG_PROGRESS, ("Finished saving Airg to " + std::string{ fileName } + ".").c_str());
 				std::filesystem::remove(tempJsonFile);
 			}
 		}
@@ -106,8 +108,8 @@ void Airg::drawMenu() {
 		reasoningGrid = new ReasoningGrid();
 		std::string msg = "Building Airg from Navp";
 		navKit->log(RC_LOG_PROGRESS, msg.data());
-		reasoningGrid->build(navKit->navp->navMesh, &navKit->ctx);
-		airgLoaded = true;
+		std::thread buildAirgThread(&ReasoningGrid::build, reasoningGrid, navKit->navp->navMesh, navKit);
+		buildAirgThread.detach();
 	}
 	imguiEndScrollArea();
 }
@@ -164,7 +166,6 @@ void Airg::saveAirg(std::string fileName) {
 	std::ofstream fileOutputStream(s_OutputFileName);
 	reasoningGrid->writeJson(fileOutputStream);
 	fileOutputStream.close();
-	navKit->log(RC_LOG_PROGRESS, ("Finished saving Airg to " + std::string{fileName} + ".").c_str());
 }
 
 void Airg::loadAirg(Airg* airg, char* fileName, bool isFromJson) {

src/Navp.cpp

@@ -17,6 +17,12 @@ Navp::Navp(NavKit* navKit): navKit(navKit) {
 	bBoxSizeX = 100.0;
 	bBoxSizeY = 100.0;
 	bBoxSizeZ = 100.0;
+	lastBBoxPosX = 0.0;
+	lastBBoxPosY = 0.0;
+	lastBBoxPosZ = 0.0;
+	lastBBoxSizeX = 100.0;
+	lastBBoxSizeY = 100.0;
+	lastBBoxSizeZ = 100.0;
 
 	stairsCheckboxValue = false;
 	loading = false;
@@ -267,12 +273,42 @@ void Navp::drawMenu() {
 	navKit->sample->handleCommonSettings();
 
 	bool bboxChanged = false;
-	bboxChanged |= imguiSlider("Bounding Box Origin X", &bBoxPosX, -300.0f, 300.0f, 1.0f);
-	bboxChanged |= imguiSlider("Bounding Box Origin Y", &bBoxPosY, -300.0f, 300.0f, 1.0f);
-	bboxChanged |= imguiSlider("Bounding Box Origin Z", &bBoxPosZ, -300.0f, 300.0f, 1.0f);
-	bboxChanged |= imguiSlider("Bounding Box Size X", &bBoxSizeX, 1.0f, 600.0f, 1.0f);
-	bboxChanged |= imguiSlider("Bounding Box Size Y", &bBoxSizeY, 1.0f, 600.0f, 1.0f);
-	bboxChanged |= imguiSlider("Bounding Box Size Z", &bBoxSizeZ, 1.0f, 600.0f, 1.0f);
+	if (imguiSlider("Bounding Box Origin X", &bBoxPosX, -300.0f, 300.0f, 1.0f)) {
+		if (lastBBoxPosX != bBoxPosX) {
+			bboxChanged = true;
+			lastBBoxPosX = bBoxPosX;
+		}
+	}
+	if (imguiSlider("Bounding Box Origin Y", &bBoxPosY, -300.0f, 300.0f, 1.0f)) {
+		if (lastBBoxPosY != bBoxPosY) {
+			bboxChanged = true;
+			lastBBoxPosY = bBoxPosY;
+		}
+	}
+	if (imguiSlider("Bounding Box Origin Z", &bBoxPosZ, -300.0f, 300.0f, 1.0f)) {
+		if (lastBBoxPosZ != bBoxPosZ) {
+			bboxChanged = true;
+			lastBBoxPosZ = bBoxPosZ;
+		}
+	}
+	if (imguiSlider("Bounding Box Size X", &bBoxSizeX, 1.0f, 600.0f, 1.0f)) {
+		if (lastBBoxSizeX != bBoxSizeX) {
+			bboxChanged = true;
+			lastBBoxSizeX = bBoxSizeX;
+		}
+	}
+	if (imguiSlider("Bounding Box Size Y", &bBoxSizeY, 1.0f, 600.0f, 1.0f)) {
+		if (lastBBoxSizeY != bBoxSizeY) {
+			bboxChanged = true;
+			lastBBoxSizeY = bBoxSizeY;
+		}
+	}
+	if (imguiSlider("Bounding Box Size Z", &bBoxSizeZ, 1.0f, 600.0f, 1.0f)) {
+		if (lastBBoxSizeZ != bBoxSizeZ) {
+			bboxChanged = true;
+			lastBBoxSizeZ = bBoxSizeZ;
+		}
+	}
 
 	if (bboxChanged) 
 	{

src/ReasoningGrid.cpp

@@ -236,9 +236,20 @@ int pnpoly(int nvert, float* vertx, float* verty, float testx, float testy)
 	return c;
 }
 
-void ReasoningGrid::build(NavPower::NavMesh* navMesh, BuildContext* ctx) {
-	ctx->log(RC_LOG_PROGRESS, "Started building Airg.");
+float calcZ(Vec3 p1, Vec3 p2, Vec3 p3, float x, float y) {
+	float dx1 = x - p1.X;
+	float dy1 = y - p1.Y;
+	float dx2 = p2.X - p1.X;
+	float dy2 = p2.Y - p1.Y;
+	float dx3 = p3.X - p1.X;
+	float dy3 = p3.Y - p1.Y;
+	return p1.Z + ((dy1 * dx3 - dx1 * dy3) * (p2.Z - p1.Z) + (dx1 * dy2 - dy1 * dx2) * (p3.Z - p1.Z)) / (dx3 * dy2 - dx2 * dy3);
+}
+
+void ReasoningGrid::build(ReasoningGrid* airg, NavPower::NavMesh* navMesh, NavKit* navKit) {
+	navKit->log(RC_LOG_PROGRESS, "Started building Airg.");
 	double spacing = 2;
+	double zSpacing = 1;
 	// grid is set up in this order: Z[Y[X[]]]
 	std::vector<std::vector<std::vector<int>>> grid;
 	Vec3 min = navMesh->m_graphHdr->m_bbox.m_min;
@@ -247,39 +258,78 @@ void ReasoningGrid::build(NavPower::NavMesh* navMesh, BuildContext* ctx) {
 	Vec3 max = navMesh->m_graphHdr->m_bbox.m_max;
 	int gridXSize = std::ceil((max.X - min.X) / spacing);
 	int gridYSize = std::ceil((max.Y - min.Y) / spacing);
-	int gridZSize = 1;
-	m_Properties.fGridSpacing = spacing;
-	m_Properties.nGridWidth = gridYSize;
-	m_Properties.vMin.x = min.X;
-	m_Properties.vMin.y = min.Y;
-	m_Properties.vMin.z = min.Z;
-	m_Properties.vMin.w = 1;
-	m_Properties.vMax.x = max.X;
-	m_Properties.vMax.y = max.Y;
-	m_Properties.vMax.z = max.Z;
-	m_Properties.vMax.w = 1;
+	int gridZSize = std::ceil((max.Z - min.Z) / zSpacing);
+	gridZSize = gridZSize > 0 ? gridZSize : 1;
+	airg->m_Properties.fGridSpacing = spacing;
+	airg->m_Properties.nGridWidth = gridYSize;
+	airg->m_Properties.vMin.x = min.X;
+	airg->m_Properties.vMin.y = min.Y;
+	airg->m_Properties.vMin.z = min.Z;
+	airg->m_Properties.vMin.w = 1;
+	airg->m_Properties.vMax.x = max.X;
+	airg->m_Properties.vMax.y = max.Y;
+	airg->m_Properties.vMax.z = max.Z;
+	airg->m_Properties.vMax.w = 1;
+
+	std::vector<double> areaZMins;
+	std::vector<double> areaZMaxes;
+
+	for (auto area : navMesh->m_areas) {
+		const int areaPointCount = area.m_edges.size();
+		double areaMinZ = 1000;
+		double areaMaxZ = -1000;
+		double pointZ = 0;
+		for (int i = 0; i < areaPointCount; i++) {
+			pointZ = area.m_edges[i]->m_pos.Z;
+			areaMinZ = areaMinZ < pointZ ? areaMinZ : pointZ;
+			areaMaxZ = areaMaxZ > pointZ ? areaMaxZ : pointZ;
+		}
+		areaZMins.push_back(areaMinZ);
+		areaZMaxes.push_back(areaMaxZ);
+	}
+	std::vector<std::vector<int>> areasByZLevel;
+	for (int zi = 0; zi < gridZSize; zi++) {
+		std::vector<int> areasForZLevel;
+		for (int areaIndex = 0; areaIndex < navMesh->m_areas.size(); areaIndex++) {
+			double minZ = min.Z + zi * zSpacing;
+			double maxZ = min.Z + (zi + 1) * zSpacing;
+			if ((areaZMins[areaIndex] >= minZ && areaZMins[areaIndex] <= maxZ) ||
+				(areaZMaxes[areaIndex] >= minZ && areaZMaxes[areaIndex] <= maxZ) ||
+				(areaZMins[areaIndex] <= minZ && areaZMaxes[areaIndex] >= maxZ)) {
+				areasForZLevel.push_back(areaIndex);
+			}
+		}
+		areasByZLevel.push_back(areasForZLevel);
+	}
 
 	int wayPointIndex = 0;
 	for (int zi = 0; zi < gridZSize; zi++) {
 		std::vector<std::vector<int>> yRow;
+		navKit->log(rcLogCategory::RC_LOG_PROGRESS, ("Adding waypoints for Z level: " + std::to_string(zi) + " at Z: " + std::to_string(min.Z + zi * zSpacing)).c_str());
+		double minZ = min.Z + zi * zSpacing;
+		double maxZ = min.Z + (zi + 1) * zSpacing;
 		for (int yi = 0; yi < gridYSize; yi++) {
 			std::vector<int> xRow;
 			for (int xi = 0; xi < gridXSize; xi++) {
-				bool pointInArea = false;
 				double x = min.X + xi * spacing;
 				double y = min.Y + yi * spacing;
-				double z = min.Z + zi * spacing;
-				for (auto area : navMesh->m_areas) {
+				double z = min.Z + zi * zSpacing;
+				bool pointInArea = false;
+				for (int areaIndex : areasByZLevel[zi]) {
+					auto area = navMesh->m_areas[areaIndex];
 					const int areaPointCount = area.m_edges.size();
-					float areaXCoords[10];
-					float areaYCoords[10];
-					for (int i = 0; i < areaPointCount; i++) {
-						areaXCoords[i] = area.m_edges[i]->m_pos.X;
-						areaYCoords[i] = area.m_edges[i]->m_pos.Y;
-					}
-					pointInArea = pnpoly(areaPointCount, areaXCoords, areaYCoords, x, y);
-					if (pointInArea) {
-						break;
+					z = calcZ(area.m_edges[0]->m_pos, area.m_edges[1]->m_pos, area.m_edges[2]->m_pos, x, y) + 0.1;
+					if (z > (minZ - zSpacing * .8) && z < (maxZ + zSpacing * .8)) {
+						float areaXCoords[10];
+						float areaYCoords[10];
+						for (int i = 0; i < areaPointCount; i++) {
+							areaXCoords[i] = area.m_edges[i]->m_pos.X;
+							areaYCoords[i] = area.m_edges[i]->m_pos.Y;
+						}
+						pointInArea = pnpoly(areaPointCount, areaXCoords, areaYCoords, x, y);
+						if (pointInArea) {
+							break;
+						}
 					}
 				}
 				xRow.push_back(pointInArea ? wayPointIndex++ : 65535);
@@ -291,16 +341,16 @@ void ReasoningGrid::build(NavPower::NavMesh* navMesh, BuildContext* ctx) {
 					waypoint.vPos.w = 1.0;
 					waypoint.nVisionDataOffset = 0;
 					waypoint.nLayerIndex = 0;
-					m_WaypointList.push_back(waypoint);
+					airg->m_WaypointList.push_back(waypoint);
 				}
 			}
 			yRow.push_back(xRow);
 		}
 		grid.push_back(yRow);
 	}
 
-	m_nNodeCount = m_WaypointList.size();
-	m_deadEndData.m_nSize = m_nNodeCount;
+	airg->m_nNodeCount = airg->m_WaypointList.size();
+	airg->m_deadEndData.m_nSize = airg->m_nNodeCount;
 	// Neighbors: South is 0, increases CCW
 	std::pair<int, int> gridIndexDiff[8]{
 		std::pair(0, -1),
@@ -326,12 +376,14 @@ void ReasoningGrid::build(NavPower::NavMesh* navMesh, BuildContext* ctx) {
 							nyi >= 0 && nyi < gridYSize) {
 							neighborWaypointIndex = grid[zi][nyi][nxi];
 						}
-						m_WaypointList[waypointIndex].nNeighbors.push_back(neighborWaypointIndex);
+						airg->m_WaypointList[waypointIndex].nNeighbors.push_back(neighborWaypointIndex);
 					}
 				}
 			}
 		}
 	}
-	std::vector<uint32_t> visibilityData(m_nNodeCount * 1001);
-	m_pVisibilityData = visibilityData;
+	std::vector<uint32_t> visibilityData(airg->m_nNodeCount * 1001);
+	airg->m_pVisibilityData = visibilityData;
+	navKit->log(RC_LOG_PROGRESS, "Done building Airg.");
+	navKit->airg->airgLoaded = true;
 }

src/RecastDemo/Sample.cpp

@@ -188,7 +188,7 @@ void Sample::resetCommonSettings()
 	m_regionMergeSize = 30;
 	m_edgeMaxLen = 500.0f;
 	m_edgeMaxError = 1.4f;
-	m_vertsPerPoly = 6.0f;
+	m_vertsPerPoly = 3.0f;
 	m_detailSampleDist = 1.5f;
 	m_detailSampleMaxError = 1.4f;
 	m_partitionType = SAMPLE_PARTITION_WATERSHED;