Serialization of navmesh and build settings.

External/json/LICENSE.MIT

@@ -0,0 +1,21 @@
+MIT License 
+
+Copyright (c) 2013-2021 Niels Lohmann
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

GiantsTools.sln

@@ -308,6 +308,7 @@ Global
 		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|x86.ActiveCfg = Release|Any CPU
 		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|x86.Build.0 = Release|Any CPU
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|Any CPU.ActiveCfg = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|Any CPU.Build.0 = Debug|Win32
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x64.ActiveCfg = Debug|x64
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x64.Build.0 = Debug|x64
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x86.ActiveCfg = Debug|Win32
@@ -319,6 +320,7 @@ Global
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|x86.ActiveCfg = Debug|Win32
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|x86.Build.0 = Debug|Win32
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|Any CPU.ActiveCfg = Release|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|Any CPU.Build.0 = Release|Win32
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x64.ActiveCfg = Release|x64
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x64.Build.0 = Release|x64
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x86.ActiveCfg = Release|Win32
@@ -330,6 +332,7 @@ Global
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|x86.ActiveCfg = Release|Win32
 		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|x86.Build.0 = Release|Win32
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|Any CPU.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|Any CPU.Build.0 = Debug|Win32
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x64.ActiveCfg = Debug|x64
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x64.Build.0 = Debug|x64
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x86.ActiveCfg = Debug|Win32
@@ -341,6 +344,7 @@ Global
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|x86.ActiveCfg = Debug|Win32
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|x86.Build.0 = Debug|Win32
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|Any CPU.ActiveCfg = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|Any CPU.Build.0 = Release|Win32
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x64.ActiveCfg = Release|x64
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x64.Build.0 = Release|x64
 		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x86.ActiveCfg = Release|Win32

NavMeshGenerator/Main.cpp

@@ -3,10 +3,13 @@
 #include "NavMeshGenerator.h"
 #include "RecastContext.h"
 
+using namespace std::filesystem;
+
 int main(int argc, char** argv)
 {
-    std::filesystem::path inputPath;
+    path inputPath;
-    std::filesystem::path outputPath;
+    path outputPath;
+    path outputPath2;
     bool enableLogging = false;
 
     for (int i = 1; i < argc; ++i)
@@ -19,21 +22,27 @@ int main(int argc, char** argv)
         {
             outputPath = argv[++i];
         }
+        else if (!_stricmp(argv[i], "--output2"))
+        {
+            outputPath2 = argv[++i];
+        }
         else if (!_stricmp(argv[i], "--enableLogging"))
         {
             enableLogging = true;
         }
     }
 
-    InputGeom* geom = new InputGeom();
+    const auto context = std::make_shared<RecastContext>(enableLogging);
-    geom->load(nullptr, inputPath.string());
+
+    auto geom = std::make_shared<InputGeom>();
+    geom->load(context.get(), inputPath.string());
 
     if (outputPath.empty())
     {
         printf("Warning: no output path set, no file will be generated.\n");
     }
 
-    const auto context = std::make_shared<RecastContext>(enableLogging);
+    
     NavMeshGenerator generator(geom, context);
     bool success = generator.BuildNavMesh();
 
@@ -45,5 +54,17 @@ int main(int argc, char** argv)
     if (!outputPath.empty())
     {
         generator.Serialize(outputPath);
+        
+        if (!outputPath2.empty())
+        {
+            try
+            {
+                copy_file(outputPath, outputPath2);
+            }
+            catch (const filesystem_error& ex)
+            {
+                printf("Unable to copy output file to secondary path: %s.\n", ex.what());
+            }
+        }
     }
 }

NavMeshGenerator/NavMeshGenerator.cpp

@@ -5,7 +5,34 @@
 #include "Recast.h"
 #include "RecastContext.h"
 
-NavMeshGenerator::NavMeshGenerator(InputGeom* geom, std::shared_ptr<RecastContext> context)
+using namespace nlohmann;
+using namespace std::filesystem;
+
+inline unsigned int nextPow2(unsigned int v)
+{
+	v--;
+	v |= v >> 1;
+	v |= v >> 2;
+	v |= v >> 4;
+	v |= v >> 8;
+	v |= v >> 16;
+	v++;
+	return v;
+}
+
+inline unsigned int ilog2(unsigned int v)
+{
+	unsigned int r;
+	unsigned int shift;
+	r = (v > 0xffff) << 4; v >>= r;
+	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
+	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
+	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
+	r |= (v >> 1);
+	return r;
+}
+
+NavMeshGenerator::NavMeshGenerator(std::shared_ptr<InputGeom> geom, std::shared_ptr<RecastContext> context)
     : m_geom(geom),
     m_navMeshQuery(dtAllocNavMeshQuery()),
     m_navMesh(dtAllocNavMesh()),
@@ -36,6 +63,8 @@ void NavMeshGenerator::Cleanup()
 
 bool NavMeshGenerator::BuildNavMesh()
 {
+	CalculateTileSize();
+
     dtNavMeshParams params{};
     rcVcopy(params.orig, m_geom->getNavMeshBoundsMin());
     params.tileWidth = m_tileSize * m_cellSize;
@@ -60,6 +89,27 @@ bool NavMeshGenerator::BuildNavMesh()
 	return true;
 }
 
+void NavMeshGenerator::CalculateTileSize()
+{
+	const float* bmin = m_geom->getNavMeshBoundsMin();
+	const float* bmax = m_geom->getNavMeshBoundsMax();
+
+	int gw = 0, gh = 0;
+	rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
+	const int ts = (int)m_tileSize;
+	const int tw = (gw + ts - 1) / ts;
+	const int th = (gh + ts - 1) / ts;
+	const float tcs = m_tileSize * m_cellSize;
+
+	// Max tiles and max polys affect how the tile IDs are caculated.
+	// There are 22 bits available for identifying a tile and a polygon.
+	int tileBits = rcMin((int)ilog2(nextPow2(tw * th)), 14);
+	if (tileBits > 14) tileBits = 14;
+	int polyBits = 22 - tileBits;
+	m_maxTiles = 1 << tileBits;
+	m_maxPolysPerTile = 1 << polyBits;
+}
+
 void NavMeshGenerator::BuildAllTiles()
 {
     const float* bmin = m_geom->getNavMeshBoundsMin();
@@ -485,13 +535,14 @@ unsigned char* NavMeshGenerator::BuildTileMesh(const int tx, const int ty, const
 	return navData;
 }
 
-void NavMeshGenerator::Serialize(const std::filesystem::path& path) const
+bool NavMeshGenerator::Serialize(const std::filesystem::path& path, bool saveStatistics)
 {
-	if (!m_navMesh) return;
+	if (!m_navMesh) 
+		return false;
 
 	FILE* fp = fopen(path.string().c_str(), "wb");
 	if (!fp)
-		return;
+		return false;
 
 	// Store header.
 	NavMeshSetHeader header;
@@ -524,4 +575,49 @@ void NavMeshGenerator::Serialize(const std::filesystem::path& path) const
 	}
 
 	fclose(fp);
+
+	if (saveStatistics)
+	{
+		std::filesystem::path statsPath = path;
+		statsPath = statsPath.replace_extension(".navstats");
+		WriteStatistics(statsPath);
+	}
+
+	return true;
+}
+
+bool NavMeshGenerator::WriteStatistics(const std::filesystem::path& path)
+{
+	std::ofstream outputFile(path);
+	if (!outputFile.is_open())
+		return false;
+
+	njson json;
+	json["m_cellSize"] = m_cellSize;
+	json["m_cellHeight"] = m_cellHeight;
+	json["m_agentHeight"] = m_agentHeight;
+	json["m_agentRadius"] = m_agentRadius;
+	json["m_agentMaxClimb"] = m_agentMaxClimb;
+	json["m_agentMaxSlope"] = m_agentMaxSlope;
+	json["m_regionMinSize"] = m_regionMinSize;
+	json["m_regionMergeSize"] = m_regionMergeSize;
+	json["m_edgeMaxLen"] = m_edgeMaxLen;
+	json["m_edgeMaxError"] = m_edgeMaxError;
+	json["m_vertsPerPoly"] = m_vertsPerPoly;
+	json["m_detailSampleDist"] = m_detailSampleDist;
+	json["m_detailSampleMaxError"] = m_detailSampleMaxError;
+	json["m_partitionType"] = m_partitionType;
+	json["m_filterLowHangingObstacles"] = m_filterLowHangingObstacles;
+	json["m_filterLedgeSpans"] = m_filterLedgeSpans;
+	json["m_filterWalkableLowHeightSpans"] = m_filterWalkableLowHeightSpans;
+	json["m_maxTiles"] = m_maxTiles;
+	json["m_maxPolysPerTile"] = m_maxPolysPerTile;
+	json["m_tileSize"] = m_tileSize;
+	json["m_tileCol"] = m_tileCol;
+	json["m_tileMemUsage"] = m_tileMemUsage;
+	json["m_tileBuildTime"] = m_tileBuildTime;
+	json["m_tileTriCount"] = m_tileTriCount;
+	
+	outputFile << std::setw(4) << json;
+	return true;
 }

NavMeshGenerator/NavMeshGenerator.h

@@ -15,23 +15,24 @@
 class NavMeshGenerator
 {
 public:
-    NavMeshGenerator(InputGeom* geom, std::shared_ptr<RecastContext> context);
+    NavMeshGenerator(std::shared_ptr<InputGeom> geom, std::shared_ptr<RecastContext> context);
     virtual ~NavMeshGenerator();
 
     bool BuildNavMesh();
-    void Serialize(const std::filesystem::path& path) const;
+    bool Serialize(const std::filesystem::path& path, bool saveStatistics = true);
 private:
     void BuildAllTiles();
+    void CalculateTileSize();
     void Cleanup();
+    bool WriteStatistics(const std::filesystem::path& path);
 
     unsigned char* BuildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize);
 
-    std::unique_ptr<InputGeom> m_geom;
+    std::shared_ptr<InputGeom> m_geom;
     std::unique_ptr<dtNavMesh, NavMeshDeleter> m_navMesh;
     std::unique_ptr<dtNavMeshQuery, NavMeshQueryDeleter> m_navMeshQuery;
     std::shared_ptr<rcContext> m_ctx;
    
-
     unsigned char* m_triareas{};
     rcHeightfield* m_solid{};
     rcCompactHeightfield* m_chf{};
@@ -46,7 +47,7 @@ private:
     float m_agentHeight = 2.0f;
     float m_agentRadius = 0.6f;
     float m_agentMaxClimb = 0.9f;
-    float m_agentMaxSlope = 50.0f; //45.0f;
+    float m_agentMaxSlope = 60.0f; // Sample: 45.0f
     float m_regionMinSize = 8;
     float m_regionMergeSize = 20;
     float m_edgeMaxLen = 12.0f;
@@ -65,7 +66,7 @@ private:
     // Tile configuration
     int m_maxTiles = 0;
     int m_maxPolysPerTile = 0;
-    float m_tileSize = 32;
+    float m_tileSize = 96; //Sample: 32
 
     unsigned int m_tileCol{};
     float m_lastBuiltTileBmin[3]{};

NavMeshGenerator/NavMeshGenerator.vcxproj.filters

@@ -1,18 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
-    </Filter>
     <Filter Include="Recast">
       <UniqueIdentifier>{82f0fd75-bb9d-4e6c-849a-71f66d5a8f0a}</UniqueIdentifier>
     </Filter>
@@ -52,7 +40,7 @@
     <Filter Include="Recast\Recast\Include">
       <UniqueIdentifier>{54fffb89-f106-45f9-9a78-119f59e17fed}</UniqueIdentifier>
     </Filter>
-    <Filter Include="Source Files\Framework">
+    <Filter Include="Framework">
       <UniqueIdentifier>{c5ca75e6-1ec9-4c06-a733-4323f130f5c4}</UniqueIdentifier>
     </Filter>
   </ItemGroup>
@@ -129,30 +117,22 @@
     <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastRegion.cpp">
       <Filter>Recast\Recast\Source</Filter>
     </ClCompile>
-    <ClCompile Include="Main.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="NavMeshGenerator.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="pch.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="RecastContext.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="Framework\ChunkyTriMesh.cpp">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClCompile>
     <ClCompile Include="Framework\InputGeom.cpp">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClCompile>
     <ClCompile Include="Framework\MeshLoaderObj.cpp">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClCompile>
     <ClCompile Include="Framework\PerfTimer.cpp">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClCompile>
+    <ClCompile Include="Main.cpp" />
+    <ClCompile Include="NavMeshGenerator.cpp" />
+    <ClCompile Include="pch.cpp" />
+    <ClCompile Include="RecastContext.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\DebugDraw.h">
@@ -209,35 +189,27 @@
     <ClInclude Include="..\External\recastnavigation\Recast\Include\RecastAssert.h">
       <Filter>Recast\Recast\Include</Filter>
     </ClInclude>
-    <ClInclude Include="NavMeshGenerator.h">
-      <Filter>Source Files</Filter>
-    </ClInclude>
-    <ClInclude Include="pch.h">
-      <Filter>Source Files</Filter>
-    </ClInclude>
-    <ClInclude Include="NavMeshUtil.h">
-      <Filter>Source Files</Filter>
-    </ClInclude>
-    <ClInclude Include="RecastContext.h">
-      <Filter>Source Files</Filter>
-    </ClInclude>
     <ClInclude Include="Framework\ChunkyTriMesh.h">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClInclude>
     <ClInclude Include="Framework\InputGeom.h">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClInclude>
     <ClInclude Include="Framework\MeshLoaderObj.h">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClInclude>
     <ClInclude Include="Framework\PerfTimer.h">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClInclude>
     <ClInclude Include="Framework\Sample.h">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClInclude>
     <ClInclude Include="Framework\SampleInterfaces.h">
-      <Filter>Source Files\Framework</Filter>
+      <Filter>Framework</Filter>
     </ClInclude>
+    <ClInclude Include="NavMeshGenerator.h" />
+    <ClInclude Include="NavMeshUtil.h" />
+    <ClInclude Include="pch.h" />
+    <ClInclude Include="RecastContext.h" />
   </ItemGroup>
 </Project>

NavMeshGenerator/NavMeshUtil.h

@@ -23,6 +23,7 @@ struct NavMeshQueryDeleter
 
 //////////////////////////////////////////////////////////
 // Serialization logic
+// Note: identical to Recast's demo app so it can be loaded by it
 struct NavMeshSetHeader
 {
     int magic;

NavMeshGenerator/pch.h

@@ -1,3 +1,10 @@
 #pragma once
 
-#include <filesystem>
+// STL
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+
+// External libraries
+#include "../External/json/json.hpp"
+using njson = nlohmann::json;