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#include "Headers/NavMeshLoader.h"

#include "Core/Headers/ParamHandler.h"
#include "Core/Math/Headers/Transform.h"
#include "Managers/Headers/SceneManager.h"
#include "Geometry/Shapes/Headers/Object3D.h"
#include "Environment/Terrain/Headers/Terrain.h"
#include "Environment/Water/Headers/Water.h"

#include <fstream>

namespace Divide {
namespace AI {
namespace Navigation {
    namespace NavigationMeshLoader{
        static vec3<F32> _minVertValue, _maxVertValue;
        static const U32 cubeFaces[6][4] = {{ 0, 4, 6, 2 },
                                            { 0, 2, 3, 1 },
                                            { 0, 1, 5, 4 },
                                            { 3, 2, 6, 7 },
                                            { 7, 6, 4, 5 },
                                            { 3, 7, 5, 1 }};

        char* parseRow(char* buf, char* bufEnd, char* row, I32 len){
            bool cont = false;
            bool start = true;
            bool done = false;
            I32 n = 0;

            while (!done && buf < bufEnd)   {
                char c = *buf;
                buf++;
                // multi row
                switch (c)  {
                    case '\\': cont = true; break; // multi row
                    case '\n': { if (start) break; done = true; } break;
                    case '\r': break;
                    case '\t':
                    case ' ' : if (start) break;
                    default  : {
                        start = false;
                        cont = false;
                        row[n++] = c;
                        if (n >= len-1)	done = true;
                    }break;
                }
            }
            row[n] = '\0';
            return buf;
        }

        I32 parseFace(char* row, I32* data, I32 n, I32 vcnt) {
            I32 j = 0;
            while (*row != '\0')  {
                // Skip initial white space
                while (*row != '\0' && (*row == ' ' || *row == '\t')) row++;
                char* s = row;
                // Find vertex delimiter and terminated the string there for conversion.
                while (*row != '\0' && *row != ' ' && *row != '\t')  {
                    if (*row == '/') *row = '\0';
                    row++;
                }

                if (*s == '\0')	continue;

                I32 vi = atoi(s);
                data[j++] = vi < 0 ? vi+vcnt : vi-1;
                if (j >= n) return j;
            }
            return j;
        }

        bool loadMeshFile(NavModelData& outData, const char* filename) {
            FILE* fp = fopen(filename, "rb");
            if (!fp)
                return false;

            outData.setName(filename);
            fseek(fp, 0, SEEK_END);

            I32 bufSize = ftell(fp);
            fseek(fp, 0, SEEK_SET);

            char* buf = MemoryManager_NEW char[bufSize];
            if (!buf)  {
                fclose(fp);
                return false;
            }

            fread(buf, bufSize, 1, fp);
            fclose(fp);

            char* src = buf;
            char* srcEnd = buf + bufSize;
            char row[512];
            I32 face[32];
            F32 x,y,z;
            I32 nv;
            I32 result;
            while (src < srcEnd)   {
                // Parse one row
                row[0] = '\0';
                src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
                // Skip comments
                if (row[0] == '#') continue;

                if (row[0] == 'v' && row[1] != 'n' && row[1] != 't') {
                    // Vertex pos
                    result = sscanf(row + 1, "%f %f %f", &x, &y, &z);
                    if(result != 0)
                        addVertex(&outData, vec3<F32>(x, y, z));
                }
                if (row[0] == 'f')  {
                    // Faces
                    nv = parseFace(row+1, face, 32, outData._vertexCount);
                    for (I32 i = 2; i < nv; ++i) {
                        const I32 a = face[0];
                        const I32 b = face[i-1];
                        const I32 c = face[i];
                        if (a < 0 || a >= (I32)outData._vertexCount ||
                            b < 0 || b >= (I32)outData._vertexCount ||
                            c < 0 || c >= (I32)outData._vertexCount){
                                continue;
                        }

                        addTriangle(&outData, vec3<U32>(a, b, c));
                    }
                }
            }

            MemoryManager::DELETE_ARRAY( buf );

            // Calculate normals.
            outData._normals = MemoryManager_NEW F32[outData._triangleCount * 3];

            for (I32 i = 0; i < (I32)outData._triangleCount*3; i += 3)   {
                const F32* v0 = &outData._vertices[outData._triangles[i]*3];
                const F32* v1 = &outData._vertices[outData._triangles[i+1]*3];
                const F32* v2 = &outData._vertices[outData._triangles[i+2]*3];

                F32 e0[3], e1[3];
                for (I32 j = 0; j < 3; ++j)  {
                    e0[j] = v1[j] - v0[j];
                    e1[j] = v2[j] - v0[j];
                }

                F32* n = &outData._normals[i];
                n[0] = e0[1]*e1[2] - e0[2]*e1[1];
                n[1] = e0[2]*e1[0] - e0[0]*e1[2];
                n[2] = e0[0]*e1[1] - e0[1]*e1[0];
                F32 d = sqrtf(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]);
                if (d > 0)  {
                    d = 1.0f/d;
                    n[0] *= d;
                    n[1] *= d;
                    n[2] *= d;
                }
            }

            return true;
        }

        bool saveMeshFile(const NavModelData& inData, const char* filename) {
            if(!inData.getVertCount() || !inData.getTriCount())
                return false;

            // Create the file if it doesn't exists
            FILE *fp = nullptr;
            fopen_s(&fp,filename,"w");
            if (fp) fclose(fp);

            std::ofstream myfile;
            myfile.open(filename);
            if(!myfile.is_open())
                return false;

            F32* vstart = inData._vertices;
            I32* tstart = inData._triangles;
            for(U32 i = 0; i < inData.getVertCount(); i++)  {
                F32* vp = vstart + i*3;
                myfile << "v " << (*(vp)) << " " << *(vp+1) << " " << (*(vp+2)) << "\n";
            }
            for(U32 i = 0; i < inData.getTriCount(); i++)  {
                I32* tp = tstart + i*3;
                myfile << "f " << (*(tp) + 1) << " " << (*(tp+1) + 1) << " " << (*(tp+2) + 1) << "\n";
            }

            myfile.close();
            return true;
        }

        NavModelData mergeModels(NavModelData& a,NavModelData& b, bool delOriginals/* = false*/) {
            NavModelData mergedData;
            if(a.getVerts() || b.getVerts())  {
                if(!a.getVerts())         return b;
                else if (! b.getVerts() ) return a;

                mergedData.clear();

                I32 totalVertCt = (a.getVertCount() + b.getVertCount());
                I32 newCap = 8;

                while(newCap < totalVertCt)	newCap *= 2;

                mergedData._vertices = MemoryManager_NEW F32[newCap * 3];
                mergedData._vertexCapacity = newCap;
                mergedData._vertexCount = totalVertCt;

                memcpy(mergedData._vertices,                      a.getVerts(), a.getVertCount()*3*sizeof(F32));
                memcpy(mergedData._vertices + a.getVertCount()*3, b.getVerts(), b.getVertCount()*3*sizeof(F32));

                I32 totalTriCt = (a.getTriCount() + b.getTriCount());
                newCap = 8;

                while(newCap < totalTriCt)	newCap *= 2;

                mergedData._triangles = MemoryManager_NEW I32[newCap * 3];
                mergedData._triangleCapacity = newCap;
                mergedData._triangleCount = totalTriCt;
                I32 aFaceSize = a.getTriCount() * 3;
                memcpy(mergedData._triangles, a.getTris(), aFaceSize*sizeof(I32));

                I32 bFaceSize = b.getTriCount() * 3;
                I32* bFacePt = mergedData._triangles + a.getTriCount() * 3;// i like pointing at faces
                memcpy(bFacePt, b.getTris(), bFaceSize*sizeof(I32));

                for(U32 i = 0; i < (U32)bFaceSize;i++)	*(bFacePt + i) += a.getVertCount();

                if(mergedData._vertexCount > 0) {
                    if(delOriginals)  {
                        a.clear();
                        b.clear();
                    }
                }else mergedData.clear();
            }

            mergedData.setName(a.getName()+"+"+b.getName());
            return mergedData;
        }

        void addVertex(NavModelData* modelData, const vec3<F32>& vertex){
            if (modelData->getVertCount()+1 > modelData->_vertexCapacity)  {
                modelData->_vertexCapacity = ! modelData->_vertexCapacity ? 8 : modelData->_vertexCapacity*2;

                F32* nv = MemoryManager_NEW F32[modelData->_vertexCapacity * 3];

                if ( modelData->getVertCount() ) {
                    memcpy( nv, modelData->getVerts(), modelData->getVertCount() * 3 * sizeof( F32 ) );
                }
                if ( modelData->getVerts() ) {
                    MemoryManager::DELETE_ARRAY( modelData->_vertices );
                }
                modelData->_vertices = nv;
            }

            F32* dst = &modelData->_vertices[modelData->getVertCount()*3];
            *dst++ = vertex.x;
            *dst++ = vertex.y;
            *dst++ = vertex.z;

            modelData->_vertexCount++;
        }

        void addTriangle(NavModelData* modelData, 
                         const vec3<U32>& triangleIndices, 
                         U32 triangleIndexOffset, 
                         const SamplePolyAreas& areaType) {

            if (modelData->getTriCount() + 1 > modelData->_triangleCapacity)  {
                modelData->_triangleCapacity = !modelData->_triangleCapacity ? 8 : modelData->_triangleCapacity*2;
                I32* nv = MemoryManager_NEW I32[modelData->_triangleCapacity * 3];

                if ( modelData->getTriCount() ) {
                    memcpy( nv, modelData->_triangles, modelData->getTriCount() * 3 * sizeof( I32 ) );
                }
                if ( modelData->getTris() ) {
                    MemoryManager::DELETE_ARRAY( modelData->_triangles );
                }
                modelData->_triangles = nv;
            }

            I32* dst = &modelData->_triangles[modelData->getTriCount()*3];

            *dst++ = (I32)(triangleIndices.x + triangleIndexOffset);
            *dst++ = (I32)(triangleIndices.y + triangleIndexOffset);
            *dst++ = (I32)(triangleIndices.z + triangleIndexOffset);

            modelData->getAreaTypes().push_back(areaType);
            modelData->_triangleCount++;
        }

        const vec3<F32> borderOffset(BORDER_PADDING);
        bool parse(const BoundingBox& box, NavModelData& outData, SceneGraphNode* sgn) {
            assert(sgn != nullptr);
            
            //Ignore if specified
            if(sgn->getComponent<NavigationComponent>()->navigationContext() == NavigationComponent::NODE_IGNORE)  goto next;
            //Skip small objects
            if(box.getHeight() < 0.05f)  goto next;

            SceneNode* sn = sgn->getNode();

            SceneNodeType nodeType = sn->getType();
            U32 ignoredNodeType = TYPE_ROOT | 
                                  TYPE_LIGHT | 
                                  TYPE_PARTICLE_EMITTER | 
                                  TYPE_TRIGGER | 
                                  TYPE_SKY | 
                                  TYPE_VEGETATION_GRASS;

            U32 allowedNodeType = TYPE_WATER | 
                                  TYPE_OBJECT3D | 
                                  TYPE_VEGETATION_TREES;

            if(!bitCompare(allowedNodeType, nodeType)){
                if(!bitCompare(ignoredNodeType, nodeType)){
                    PRINT_FN(Locale::get("WARN_NAV_UNSUPPORTED"),sn->getName().c_str());
                    goto next;
                }
            }

            if(nodeType == TYPE_OBJECT3D) {
                U32 ignored3DObjectType = Object3D::MESH | Object3D::TEXT_3D | Object3D::FLYWEIGHT;
                if(bitCompare(ignored3DObjectType, dynamic_cast<Object3D*>(sn)->getObjectType())) goto next;
            }

            MeshDetailLevel level = DETAIL_ABSOLUTE;
            VertexBuffer* geometry = nullptr;
            SamplePolyAreas areType = SAMPLE_AREA_OBSTACLE;

            switch(nodeType){
                case TYPE_WATER    : {
                    if (!sgn->getComponent<NavigationComponent>()->navMeshDetailOverride()) 
                        level = DETAIL_BOUNDINGBOX;
                    areType = SAMPLE_POLYAREA_WATER;
                    }break;
                case TYPE_OBJECT3D : {
                    //Check if we need to override detail level
                    if (!sgn->getComponent<NavigationComponent>()->navMeshDetailOverride() && 
                         sgn->usageContext() == SceneGraphNode::NODE_STATIC){
                        level = DETAIL_BOUNDINGBOX;
                    }
                    if (dynamic_cast<Object3D*>(sn)->getType() == Object3D::TERRAIN) {
                        areType = SAMPLE_POLYAREA_GROUND;
                    }
                    }break;
                default:{
                    assert(false);//we should never reach this due to the bit checks above
                    }break;
            };

            //I should remove this hack - Ionut
            if(nodeType == TYPE_WATER) {
                sgn = sgn->getChildren()["waterPlane"];
            }

            D_PRINT_FN(Locale::get("NAV_MESH_CURRENT_NODE"),sn->getName().c_str(), (U32)level);

            U32 currentTriangleIndexOffset = outData.getVertCount();
            
            if(level == DETAIL_ABSOLUTE){
                if(nodeType == TYPE_OBJECT3D)  {
                    geometry = dynamic_cast<Object3D* >(sn)->getGeometryVB();
                } else /*nodeType == TYPE_WATER*/ {
                    geometry = dynamic_cast<WaterPlane* >(sn)->getQuad()->getGeometryVB();
                }
                assert(geometry != nullptr);

                const vectorImpl<vec3<F32> >& vertices  = geometry->getPosition();
                if(vertices.empty()) {
                    return false;
                }

                dynamic_cast<Object3D* >(sn)->computeTriangleList();
                const vectorImpl<vec3<U32> >& triangles = dynamic_cast<Object3D* >(sn)->getTriangles();
                if(nodeType != TYPE_OBJECT3D || 
                   (nodeType == TYPE_OBJECT3D && dynamic_cast<Object3D* >(sn)->getType() != Object3D::TERRAIN)){
                    mat4<F32> nodeTransform = sgn->getComponent<PhysicsComponent>()->getWorldMatrix();
                    for (U32 i = 0; i < vertices.size(); ++i ){
                        //Apply the node's transform and add the vertex to the NavMesh
                        addVertex(&outData, nodeTransform * (vertices[i]));
                    }
                }else{
                    for (U32 i = 0; i < vertices.size(); ++i ){
                        //Apply the node's transform and add the vertex to the NavMesh
                        addVertex(&outData, (vertices[i]));
                    }
                }

                for (U32 i = 0; i < triangles.size(); ++i){
                    addTriangle(&outData, triangles[i], currentTriangleIndexOffset, areType);
                }
            }else if(level == DETAIL_BOUNDINGBOX ) {
                const vec3<F32>* vertices = box.getPoints();

                for(U32 i = 0; i < 8; i++){
                    addVertex(&outData, (vertices[i]));
                }

                for(U32 f = 0; f < 6; f++){
                   for(U32 v = 2; v < 4; v++){
                       // Note: We reverse the normal on the polygons to prevent things from going inside out
                       addTriangle(&outData, 
                                   vec3<U32>(cubeFaces[f][0], cubeFaces[f][v-1], cubeFaces[f][v]),
                                   currentTriangleIndexOffset, 
                                   areType);
                   }
                }
            }else{
                ERROR_FN(Locale::get("ERROR_RECAST_DETAIL_LEVEL"), level);
            }

            PRINT_FN(Locale::get("NAV_MESH_ADD_NODE"), sn->getName().c_str());

            //although labels are bad, skipping here using them is the easiest solution to follow -Ionut
            next:;
			for (SceneGraphNode::NodeChildren::value_type& it : sgn->getChildren()) {
                if ( !parse( it.second->getBoundingBoxConst(), outData, it.second ) ) {
                    return false;
                }
            }

            return true;
        }
    };
}; //namespace Navigation
}; //namespace AI
}; //namespace Divide

Commits for Divide-Framework/trunk/Source Code/AI/PathFinding/NavMeshes/NavMeshLoader.cpp

Diff revisions: vs.
Revision Author Commited Message
331 Diff Diff IonutCava picture IonutCava Sat 06 Dec, 2014 20:53:45 +0000

[Ionut]
- Limited line length to 132 characters to improve readability and diff-comparisons
- Refactored memory allocation/deallocation functions
- Fixed a few compatibility issues with HashMap.h
- Fixed a bug in GPU Skinning shaders (cast a float to int)

326 Diff Diff IonutCava picture IonutCava Tue 30 Sep, 2014 21:11:32 +0000

[Ionut]
- Fixed more memory leaks
- Simplified Task interface and timing System
- Improved compatibility between Boost, STL and EASTL with random combinations of vectors, strings and maps
- Simplified Light class by removing the “slot” member
- Random optimizations

325 Diff Diff IonutCava picture IonutCava Wed 17 Sep, 2014 20:06:13 +0000

[Ionut]
- Reworked transform system:
— Parent transform chain system moved from Transform class to the PhysicsComponent
— PhysicsComponent now returns all transform values needed both global and local (still needs heavy optimization and caching)

- Reworked SceneGraph node management:
— Proper ref counting of SceneNodes and proper removing of resource (ResourceCache is now empty on destruction, as it should be)
— Removed parent transform tracking as that’s the PhysicsComponent’s responsibility
— Only nodes loaded via the ResourceCache are allowed to be added to the SceneGraph (added proper loaders for Impostors, Sky, etc)

- Optimized some of the math classes (mat4, mat3)

324 Diff Diff IonutCava picture IonutCava Sun 14 Sep, 2014 14:01:39 +0000

[Ionut]
- New memory management system (no custom allocators in this commit)
— Memory tracer to detect memory leaks on shutdown (from: https://www.relisoft.com/book/tech/9new.html)
— SAFE_DELETE_XYZ are now inline template functions not macros
— ASSERTION system now supports logging and message boxes and continue on error configurable for each build type
— Fixed a lot of memory leaks detected by the new system (some still remain)

- Added SRGB support (part 1)
— Albedo textures are loaded as SRGB (make sure resources are SRGB)
— Shaders output gamma corrected colors
— Moved terrain textures back to 2 array system (albedo and normal maps, albedo maps using a SRGB sampler)

- Sky is now loaded via the ResourceCache system
- Added include safeguards in shader atoms

322 Diff Diff IonutCava picture IonutCava Sat 06 Sep, 2014 20:33:47 +0000

[Ionut]
- Refactored most of Boost related code to be C++11 based
— Boost is only used for ThreadPool, Mutex handling, XML parsing and networking (ASIO)
— Function binds, threads, regex, NonCopyable base, Hashing algorithms and more are now using C++11 libraries
- Replaced all FOR_EACH calls with standard, range, “for” calls

318 Diff Diff IonutCava picture IonutCava Sat 30 Aug, 2014 17:35:53 +0000

[Ionut]
- Wrapped the entire code in a “Divide” namespace
- VertexBuffers now call “shrink_to_fit” on all internal data storage
- Improved some vector performance by preferring “emplace_back” instead of “push_back” + proepr usage of reserve / resize
- Wrapped OIS specific types and classes in Divide::Input namespace
- Added the messageBox.layout file (forgot it in the previous few commits)

311 Diff Diff IonutCava picture IonutCava Mon 18 Aug, 2014 21:40:52 +0000

[Ionut]
- Added a basic AESOP implementation
- Moved all AI related classes under the “AI” namespace

308 Diff Diff IonutCava picture IonutCava Sat 16 Aug, 2014 19:49:31 +0000

[Ionut]
- Moved Transform from SceneGraphNode to PhysicsComponent and modified BoundingBox update system based on transform update
- Added PhysicsAsset to PhysicsComponent for interfacing with PshysicsAPIs (e.g. PhysXActor inherits PhysicsAsset)
- PhysicsAsset keeps track of the parent PhysicsComponent to have direct access to a node’s transform
- Rewrote GUIConsole to only print items when visible, and use a single circular buffer for entries.
- Updated GUI input system to match the interface that both Kernel and SceneManager share (should probably abstract all the input methods in a class and have Kernel, SceneManager, Scene and GUI inherit from that. In next commit.)
- Updated CEGUI to probably match the OIS states(mouse, keyboard, etc) and properly inject time inputs.

287 Diff Diff IonutCava picture IonutCava Tue 22 Jul, 2014 16:11:05 +0000

[Ionut]
- Unified matrix transforms and node info and made it a vertex-shader only buffer
- World matrix queries have to be issued from the SceneGraphNode instead of the SGN’s Transform class to allow future interpolation algorithms to be more easily implemented
- Moved all lighting calculations per pixel to save varying and register space (caused compilation issues both on nVidia and AMD)
- Stored GPU buffer info (view, projection, viewport etc) into a special struct to avoid multiple redundant buffer uploads and to remove redundant client side matrix caches
- Some work on shader buffer locking system
- Cleaned up MathClasses.h and Transform.h
- Updated ASSIMP to 3.1.1

279 IonutCava picture IonutCava Sat 28 Jun, 2014 16:20:46 +0000

[Ionut][[BR]]
- Unified draw command system into GenericDrawCommand [[BR]]
- Fixed double VB creation in Object3D [[BR]]
- Reworked triangle data computation (now Object3D’s responsibility) [[BR]]
- VertexArrays can now render using the primitive type specified in the draw command instead of the fixed type specified at creation [[BR]]
- Optimized terrain shader [[BR]]