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[3.x] Fix navigation merge errors on too small triangles #56879

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Feb 3, 2022
Merged

[3.x] Fix navigation merge errors on too small triangles #56879

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3 changes: 3 additions & 0 deletions doc/classes/Navigation.xml
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Expand Up @@ -57,6 +57,9 @@
</method>
</methods>
<members>
<member name="cell_height" type="float" setter="set_cell_height" getter="get_cell_height" default="0.2">
The cell height to use for fields.
</member>
<member name="cell_size" type="float" setter="set_cell_size" getter="get_cell_size" default="0.3">
The XZ plane cell size to use for fields.
</member>
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2 changes: 1 addition & 1 deletion doc/classes/NavigationMesh.xml
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Expand Up @@ -98,7 +98,7 @@
<member name="detail/sample_distance" type="float" setter="set_detail_sample_distance" getter="get_detail_sample_distance" default="6.0">
The sampling distance to use when generating the detail mesh, in cell unit.
</member>
<member name="detail/sample_max_error" type="float" setter="set_detail_sample_max_error" getter="get_detail_sample_max_error" default="1.0">
<member name="detail/sample_max_error" type="float" setter="set_detail_sample_max_error" getter="get_detail_sample_max_error" default="5.0">
The maximum distance the detail mesh surface should deviate from heightfield, in cell unit.
</member>
<member name="edge/max_error" type="float" setter="set_edge_max_error" getter="get_edge_max_error" default="1.3">
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15 changes: 15 additions & 0 deletions doc/classes/NavigationServer.xml
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Expand Up @@ -122,6 +122,13 @@
Create a new map.
</description>
</method>
<method name="map_get_cell_height" qualifiers="const">
<return type="float" />
<argument index="0" name="map" type="RID" />
<description>
Returns the map cell height.
</description>
</method>
<method name="map_get_cell_size" qualifiers="const">
<return type="float" />
<argument index="0" name="map" type="RID" />
Expand Down Expand Up @@ -202,6 +209,14 @@
Sets the map active.
</description>
</method>
<method name="map_set_cell_height" qualifiers="const">
<return type="void" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="cell_height" type="float" />
<description>
Set the map cell height used to weld the navigation mesh polygons.
</description>
</method>
<method name="map_set_cell_size" qualifiers="const">
<return type="void" />
<argument index="0" name="map" type="RID" />
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14 changes: 14 additions & 0 deletions modules/navigation/godot_navigation_server.cpp
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Expand Up @@ -187,6 +187,20 @@ real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
return map->get_cell_size();
}

COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height) {
NavMap *map = map_owner.get(p_map);
ERR_FAIL_COND(map == nullptr);

map->set_cell_height(p_cell_height);
}

real_t GodotNavigationServer::map_get_cell_height(RID p_map) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);

return map->get_cell_height();
}

COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
NavMap *map = map_owner.get(p_map);
ERR_FAIL_COND(map == nullptr);
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3 changes: 3 additions & 0 deletions modules/navigation/godot_navigation_server.h
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Expand Up @@ -95,6 +95,9 @@ class GodotNavigationServer : public NavigationServer {
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
virtual real_t map_get_cell_size(RID p_map) const;

COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height);
virtual real_t map_get_cell_height(RID p_map) const;

COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
virtual real_t map_get_edge_connection_margin(RID p_map) const;

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14 changes: 10 additions & 4 deletions modules/navigation/nav_map.cpp
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Expand Up @@ -44,6 +44,7 @@
NavMap::NavMap() :
up(0, 1, 0),
cell_size(0.3),
cell_height(0.2),
edge_connection_margin(5.0),
regenerate_polygons(true),
regenerate_links(true),
Expand All @@ -61,15 +62,20 @@ void NavMap::set_cell_size(float p_cell_size) {
regenerate_polygons = true;
}

void NavMap::set_cell_height(float p_cell_height) {
cell_height = p_cell_height;
regenerate_polygons = true;
}

void NavMap::set_edge_connection_margin(float p_edge_connection_margin) {
edge_connection_margin = p_edge_connection_margin;
regenerate_links = true;
}

gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
const int x = int(Math::floor(p_pos.x / cell_size));
const int y = int(Math::floor(p_pos.y / cell_size));
const int z = int(Math::floor(p_pos.z / cell_size));
const int x = static_cast<int>(Math::round(p_pos.x / cell_size));
const int y = static_cast<int>(Math::round(p_pos.y / cell_height));
const int z = static_cast<int>(Math::round(p_pos.z / cell_size));

gd::PointKey p;
p.key = 0;
Expand Down Expand Up @@ -640,7 +646,7 @@ void NavMap::sync() {
connection->get().B->edges[connection->get().B_edge].other_edge = connection->get().A_edge;
} else {
// The edge is already connected with another edge, skip.
ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the Navigation's `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem.");
ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. Either the Navigation's `cell_size` is different from the one used to generate the navigation mesh or `detail/sample_max_error` is too small. This will cause navigation problem.");
}
}
}
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8 changes: 7 additions & 1 deletion modules/navigation/nav_map.h
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Expand Up @@ -50,8 +50,9 @@ class NavMap : public NavRid {
Vector3 up;

/// To find the polygons edges the vertices are displaced in a grid where
/// each cell has the following cell_size.
/// each cell has the following cell_size and cell_height.
real_t cell_size;
real_t cell_height;

/// This value is used to detect the near edges to connect.
real_t edge_connection_margin;
Expand Down Expand Up @@ -95,6 +96,11 @@ class NavMap : public NavRid {
return cell_size;
}

void set_cell_height(float p_cell_height);
float get_cell_height() const {
return cell_height;
}

void set_edge_connection_margin(float p_edge_connection_margin);
float get_edge_connection_margin() const {
return edge_connection_margin;
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10 changes: 10 additions & 0 deletions scene/3d/navigation.cpp
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Expand Up @@ -66,6 +66,11 @@ void Navigation::set_cell_size(float p_cell_size) {
NavigationServer::get_singleton()->map_set_cell_size(map, cell_size);
}

void Navigation::set_cell_height(float p_cell_height) {
cell_height = p_cell_height;
NavigationServer::get_singleton()->map_set_cell_height(map, cell_height);
}

void Navigation::set_edge_connection_margin(float p_edge_connection_margin) {
edge_connection_margin = p_edge_connection_margin;
NavigationServer::get_singleton()->map_set_edge_connection_margin(map, edge_connection_margin);
Expand All @@ -86,11 +91,15 @@ void Navigation::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &Navigation::set_cell_size);
ClassDB::bind_method(D_METHOD("get_cell_size"), &Navigation::get_cell_size);

ClassDB::bind_method(D_METHOD("set_cell_height", "cell_height"), &Navigation::set_cell_height);
ClassDB::bind_method(D_METHOD("get_cell_height"), &Navigation::get_cell_height);

ClassDB::bind_method(D_METHOD("set_edge_connection_margin", "margin"), &Navigation::set_edge_connection_margin);
ClassDB::bind_method(D_METHOD("get_edge_connection_margin"), &Navigation::get_edge_connection_margin);

ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_vector"), "set_up_vector", "get_up_vector");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "cell_size"), "set_cell_size", "get_cell_size");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "cell_height"), "set_cell_height", "get_cell_height");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "edge_connection_margin"), "set_edge_connection_margin", "get_edge_connection_margin");
}

Expand All @@ -109,6 +118,7 @@ Navigation::Navigation() {
map = NavigationServer::get_singleton()->map_create();

set_cell_size(0.3);
set_cell_height(0.2);
set_edge_connection_margin(5.0); // Five meters, depends alot on the agents radius

up = Vector3(0, 1, 0);
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6 changes: 6 additions & 0 deletions scene/3d/navigation.h
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Expand Up @@ -41,6 +41,7 @@ class Navigation : public Spatial {

Vector3 up;
real_t cell_size;
real_t cell_height;
real_t edge_connection_margin;

protected:
Expand All @@ -60,6 +61,11 @@ class Navigation : public Spatial {
return cell_size;
}

void set_cell_height(float p_cell_height);
float get_cell_height() const {
return cell_height;
}

void set_edge_connection_margin(float p_edge_connection_margin);
float get_edge_connection_margin() const {
return edge_connection_margin;
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2 changes: 1 addition & 1 deletion scene/resources/navigation_mesh.cpp
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Expand Up @@ -542,7 +542,7 @@ NavigationMesh::NavigationMesh() {
edge_max_error = 1.3f;
verts_per_poly = 6.0f;
detail_sample_distance = 6.0f;
detail_sample_max_error = 1.0f;
detail_sample_max_error = 5.0f;

partition_type = SAMPLE_PARTITION_WATERSHED;
parsed_geometry_type = PARSED_GEOMETRY_MESH_INSTANCES;
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2 changes: 2 additions & 0 deletions servers/navigation_server.cpp
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Expand Up @@ -44,6 +44,8 @@ void NavigationServer::_bind_methods() {
ClassDB::bind_method(D_METHOD("map_get_up", "map"), &NavigationServer::map_get_up);
ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer::map_set_cell_size);
ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer::map_get_cell_size);
ClassDB::bind_method(D_METHOD("map_set_cell_height", "map", "cell_height"), &NavigationServer::map_set_cell_height);
ClassDB::bind_method(D_METHOD("map_get_cell_height", "map"), &NavigationServer::map_get_cell_height);
ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer::map_set_edge_connection_margin);
ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer::map_get_edge_connection_margin);
ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize"), &NavigationServer::map_get_path);
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6 changes: 6 additions & 0 deletions servers/navigation_server.h
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Expand Up @@ -81,6 +81,12 @@ class NavigationServer : public Object {
/// Returns the map cell size.
virtual real_t map_get_cell_size(RID p_map) const = 0;

/// Set the map cell height used to weld the navigation mesh polygons.
virtual void map_set_cell_height(RID p_map, real_t p_cell_height) const = 0;

/// Returns the map cell height.
virtual real_t map_get_cell_height(RID p_map) const = 0;

/// Set the map edge connection margin used to weld the compatible region edges.
virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) const = 0;

Expand Down