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Add NavigationMesh baking for HeightMapShape

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Adds HeightMapShape for StaticColliders and GridMap to the NavigationMeshGenerator for baking NavigationMesh.
This commit is contained in:
smix8 2022-08-05 02:52:41 +02:00
parent b1580ea334
commit 5137cd9d87
1 changed files with 89 additions and 0 deletions
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89
modules/navigation/navigation_mesh_generator.cpp
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@ -42,6 +42,7 @@
#include "scene/resources/concave_polygon_shape_3d.h"
#include "scene/resources/convex_polygon_shape_3d.h"
#include "scene/resources/cylinder_shape_3d.h"
#include "scene/resources/height_map_shape_3d.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/shape_3d.h"
#include "scene/resources/sphere_shape_3d.h"
@ -275,6 +276,50 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
_add_faces(faces, transform, p_vertices, p_indices);
}
}
HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s);
if (heightmap_shape) {
int heightmap_depth = heightmap_shape->get_map_depth();
int heightmap_width = heightmap_shape->get_map_width();
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = heightmap_shape->get_map_data();
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width - 1; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
_add_faces(vertex_array, transform, p_vertices, p_indices);
}
}
}
}
}
}
@ -362,6 +407,50 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
PackedVector3Array faces = Variant(dict["faces"]);
_add_faces(faces, shapes[i], p_vertices, p_indices);
} break;
case PhysicsServer3D::SHAPE_HEIGHTMAP: {
Dictionary dict = data;
///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
int heightmap_depth = dict["depth"];
int heightmap_width = dict["width"];
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = dict["heights"];
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width - 1; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
_add_faces(vertex_array, shapes[i], p_vertices, p_indices);
}
}
} break;
default: {
WARN_PRINT("Unsupported collision shape type.");
} break;