[breaking] - NavMeshSettings refactor

examples/motion_viewer.py

@@ -584,10 +584,10 @@ def navmesh_config_and_recompute(self) -> None:
         self.navmesh_settings = habitat_sim.NavMeshSettings()
         self.navmesh_settings.set_defaults()
         self.navmesh_settings.agent_radius = 0.30
+        self.navmesh_settings.include_static_objects = True
         self.sim.recompute_navmesh(
             self.sim.pathfinder,
             self.navmesh_settings,
-            include_static_objects=True,
         )
 
         # Set all articulated objects back to original motion_type

examples/tutorials/colabs/ECCV_2020_Interactivity.ipynb

@@ -1063,9 +1063,8 @@
     "# recompute the NavMesh with STATIC objects\n",
     "navmesh_settings = habitat_sim.NavMeshSettings()\n",
     "navmesh_settings.set_defaults()\n",
-    "navmesh_success = sim.recompute_navmesh(\n",
-    "    sim.pathfinder, navmesh_settings, include_static_objects=True\n",
-    ")\n",
+    "navmesh_settings.include_static_objects = True\n",
+    "navmesh_success = sim.recompute_navmesh(sim.pathfinder, navmesh_settings)\n",
     "\n",
     "# simulate and collect observations\n",
     "example_type = \"clutter generation\"\n",

examples/tutorials/colabs/ECCV_2020_Navigation.ipynb

@@ -1011,9 +1011,12 @@
     "    # default = 1.0\n",
     "    # fmt: on\n",
     "\n",
-    "navmesh_success = sim.recompute_navmesh(\n",
-    "    sim.pathfinder, navmesh_settings, include_static_objects=False\n",
-    ")\n",
+    "    # @markdown **Include STATIC Objects**:\n",
+    "    # @markdown Optionally include all instanced RigidObjects with STATIC MotionType as NavMesh constraints.\n",
+    "    navmesh_settings.include_static_objects = True  # @param {type:\"boolean\"}\n",
+    "    # default = False\n",
+    "\n",
+    "navmesh_success = sim.recompute_navmesh(sim.pathfinder, navmesh_settings)\n",
     "\n",
     "if not navmesh_success:\n",
     "    print(\"Failed to build the navmesh! Try different parameters?\")\n",

examples/tutorials/nb_python/ECCV_2020_Interactivity.py

@@ -948,9 +948,8 @@ def build_widget_ui(obj_attr_mgr, prim_attr_mgr):
 # recompute the NavMesh with STATIC objects
 navmesh_settings = habitat_sim.NavMeshSettings()
 navmesh_settings.set_defaults()
-navmesh_success = sim.recompute_navmesh(
-    sim.pathfinder, navmesh_settings, include_static_objects=True
-)
+navmesh_settings.include_static_objects = True
+navmesh_success = sim.recompute_navmesh(sim.pathfinder, navmesh_settings)
 
 # simulate and collect observations
 example_type = "clutter generation"

examples/tutorials/nb_python/ECCV_2020_Navigation.py

@@ -838,9 +838,12 @@ def display_map(topdown_map, key_points=None):
     # default = 1.0
     # fmt: on
 
-navmesh_success = sim.recompute_navmesh(
-    sim.pathfinder, navmesh_settings, include_static_objects=False
-)
+    # @markdown **Include STATIC Objects**:
+    # @markdown Optionally include all instanced RigidObjects with STATIC MotionType as NavMesh constraints.
+    navmesh_settings.include_static_objects = True  # @param {type:"boolean"}
+    # default = False
+
+navmesh_success = sim.recompute_navmesh(sim.pathfinder, navmesh_settings)
 
 if not navmesh_success:
     print("Failed to build the navmesh! Try different parameters?")

examples/viewer.py

@@ -882,11 +882,10 @@ def navmesh_config_and_recompute(self) -> None:
         self.navmesh_settings.set_defaults()
         self.navmesh_settings.agent_height = self.cfg.agents[self.agent_id].height
         self.navmesh_settings.agent_radius = self.cfg.agents[self.agent_id].radius
-
+        self.navmesh_settings.include_static_objects = True
         self.sim.recompute_navmesh(
             self.sim.pathfinder,
             self.navmesh_settings,
-            include_static_objects=True,
         )
 
     def exit_event(self, event: Application.ExitEvent):

src/esp/bindings/ShortestPathBindings.cpp

@@ -125,6 +125,9 @@ void initShortestPathBindings(py::module& m) {
           "filter_walkable_low_height_spans",
           &NavMeshSettings::filterWalkableLowHeightSpans,
           R"(Marks navigable spans as non-navigable if the clearence above the span is less than the specified height. Allows the formation of navigable regions that will flow over low lying objects such as curbs, and up structures such as stairways. Default True.)")
+      .def_readwrite(
+          "include_static_objects", &NavMeshSettings::includeStaticObjects,
+          R"(Whether or not to include STATIC RigidObjects as NavMesh constraints. Note: Used in Simulator recomputeNavMesh pre-process. Default False.)")
       .def("set_defaults", &NavMeshSettings::setDefaults)
       .def("read_from_json", &NavMeshSettings::readFromJSON,
            R"(Overwrite these settings with values from a JSON file.)")
@@ -249,7 +252,7 @@ void initShortestPathBindings(py::module& m) {
            "pt"_a, "max_y_delta"_a = 0.5)
       .def_property_readonly("nav_mesh_settings",
                              &PathFinder::getNavMeshSettings,
-                             R"(The  settings for the current nav mesh)");
+                             R"(The settings for the current NavMesh.)");
 
   // this enum is used by GreedyGeodesicFollowerImpl so it needs to be defined
   // before it

src/esp/bindings/SimBindings.cpp

@@ -96,6 +96,9 @@ void initSimBindings(py::module& m) {
       .def_readwrite(
           "requires_textures", &SimulatorConfiguration::requiresTextures,
           R"(Whether or not to load textures for the meshes. This MUST be true for RGB rendering.)")
+      .def_readwrite(
+          "navmesh_settings", &SimulatorConfiguration::navMeshSettings,
+          R"(Optionally provide a pre-configured NavMeshSettings. If provided, the NavMesh will be recomputed with the provided settings if: A. no NavMesh was loaded, or B. the loaded NavMesh's settings differ from the configured settings. If not provided, no NavMesh recompute will be done automatically.)")
       .def_readwrite(
           "PBR_image_based_lighting",
           &SimulatorConfiguration::pbrImageBasedLighting,
@@ -269,8 +272,8 @@ void initSimBindings(py::module& m) {
            R"(Enable or disable bounding box visualization for an object.)")
       .def(
           "recompute_navmesh", &Simulator::recomputeNavMesh, "pathfinder"_a,
-          "navmesh_settings"_a, "include_static_objects"_a = false,
-          R"(Recompute the NavMesh for a given PathFinder instance using configured NavMeshSettings. Optionally include all MotionType::STATIC objects in the navigability constraints.)")
+          "navmesh_settings"_a,
+          R"(Recompute the NavMesh for a given PathFinder instance using configured NavMeshSettings.)")
 #ifdef ESP_BUILD_WITH_VHACD
       .def(
           "apply_convex_hull_decomposition",

src/esp/nav/PathFinder.cpp

@@ -54,7 +54,7 @@ bool operator==(const NavMeshSettings& a, const NavMeshSettings& b) {
          CLOSE(edgeMaxError) && CLOSE(vertsPerPoly) &&
          CLOSE(detailSampleDist) && CLOSE(detailSampleMaxError) &&
          EQ(filterLowHangingObstacles) && EQ(filterLedgeSpans) &&
-         EQ(filterWalkableLowHeightSpans);
+         EQ(filterWalkableLowHeightSpans) && EQ(includeStaticObjects);
 
 #undef CLOSE
 #undef EQ

src/esp/nav/PathFinder.h

@@ -257,6 +257,12 @@ struct NavMeshSettings {
    */
   bool filterWalkableLowHeightSpans{};
 
+  /**
+   * @brief Whether or not to include STATIC RigidObjects as NavMesh
+   * constraints. Note: Used in Simulator recomputeNavMesh pre-process.
+   */
+  bool includeStaticObjects{};
+
   void setDefaults() {
     cellSize = 0.05f;
     cellHeight = 0.2f;
@@ -274,6 +280,7 @@ struct NavMeshSettings {
     filterLowHangingObstacles = true;
     filterLedgeSpans = true;
     filterWalkableLowHeightSpans = true;
+    includeStaticObjects = false;
   }
 
   //! Load the settings from a JSON file

src/esp/sim/Simulator.cpp

@@ -141,14 +141,15 @@ void Simulator::reconfigure(const SimulatorConfiguration& cfg) {
     sceneManager_ = scene::SceneManager::create_unique();
   }
 
+  // This is a check to make sure that pathfinder_ is not null after
+  // a reconfigure. We check to see if it's null so that an existing
+  // one isn't overwritten.
+  if (!pathfinder_) {
+    pathfinder_ = nav::PathFinder::create();
+  }
+
   // if configuration is unchanged, just reset and return
   if (cfg == config_) {
-    // This is a check to make sure that pathfinder_ is not null after
-    // a reconfigure. We check to see if it's null so that an existing
-    // one isn't overwritten.
-    if (!pathfinder_) {
-      pathfinder_ = nav::PathFinder::create();
-    }
     reset();
     return;
   }
@@ -209,6 +210,18 @@ void Simulator::reconfigure(const SimulatorConfiguration& cfg) {
               << "for active scene name :" << config_.activeSceneName
               << (config_.createRenderer ? " with" : " without") << "renderer.";
 
+  // Handle the NavMesh configuration
+  if (config_.navMeshSettings != nullptr &&
+      Cr::Utility::String::lowercase(config_.activeSceneName) != "none") {
+    // If the NavMesh is unloaded or does not match the requested configuration
+    // then recompute it.
+    if (!pathfinder_->isLoaded() ||
+        (pathfinder_->getNavMeshSettings() != *config_.navMeshSettings)) {
+      ESP_DEBUG() << "NavMesh recompute was necessary.";
+      recomputeNavMesh(*pathfinder_, *config_.navMeshSettings);
+    }
+  }
+
 }  // Simulator::reconfigure
 
 bool Simulator::createSceneInstance(const std::string& activeSceneName) {
@@ -896,9 +909,9 @@ double Simulator::getPhysicsTimeStep() {
 }
 
 bool Simulator::recomputeNavMesh(nav::PathFinder& pathfinder,
-                                 const nav::NavMeshSettings& navMeshSettings,
-                                 const bool includeStaticObjects) {
-  assets::MeshData::ptr joinedMesh = getJoinedMesh(includeStaticObjects);
+                                 const nav::NavMeshSettings& navMeshSettings) {
+  assets::MeshData::ptr joinedMesh =
+      getJoinedMesh(navMeshSettings.includeStaticObjects);
 
   if (!pathfinder.build(navMeshSettings, *joinedMesh)) {
     ESP_ERROR() << "Failed to build navmesh";

src/esp/sim/Simulator.h

@@ -590,8 +590,7 @@ class Simulator {
    * @return Whether or not the navmesh recomputation succeeded.
    */
   bool recomputeNavMesh(nav::PathFinder& pathfinder,
-                        const nav::NavMeshSettings& navMeshSettings,
-                        bool includeStaticObjects = false);
+                        const nav::NavMeshSettings& navMeshSettings);
 
   /**
    * @brief Get the joined mesh data for all objects in the scene

src/esp/sim/SimulatorConfiguration.cpp

@@ -26,7 +26,8 @@ bool operator==(const SimulatorConfiguration& a,
          a.sceneDatasetConfigFile == b.sceneDatasetConfigFile &&
          a.physicsConfigFile == b.physicsConfigFile &&
          a.overrideSceneLightDefaults == b.overrideSceneLightDefaults &&
-         a.sceneLightSetupKey == b.sceneLightSetupKey;
+         a.sceneLightSetupKey == b.sceneLightSetupKey &&
+         a.navMeshSettings == b.navMeshSettings;
 }
 
 bool operator!=(const SimulatorConfiguration& a,

src/esp/sim/SimulatorConfiguration.h

@@ -5,11 +5,15 @@
 #ifndef ESP_SIM_SIMULATORCONFIGURATION_H_
 #define ESP_SIM_SIMULATORCONFIGURATION_H_
 
+#include <Corrade/Containers/Optional.h>
 #include <string>
 
 #include "esp/core/Esp.h"
+#include "esp/nav/PathFinder.h"
 #include "esp/physics/configure.h"
 
+namespace Cr = Corrade;
+
 namespace esp {
 
 namespace sim {
@@ -92,6 +96,14 @@ struct SimulatorConfiguration {
    */
   bool useSemanticTexturesIfFound = true;
 
+  /**
+   * @brief Optionally provide a pre-configured NavMeshSettings. If provided,
+   * the NavMesh will be recomputed with the provided settings if A. no NavMesh
+   * was loaded, or B. the loaded NavMesh's settings differ from the configured
+   * settings. If not provided, no NavMesh recompute will be done automatically.
+   */
+  nav::NavMeshSettings::ptr navMeshSettings = nullptr;
+
   ESP_SMART_POINTERS(SimulatorConfiguration)
 };
 bool operator==(const SimulatorConfiguration& a,

src/tests/SimTest.cpp

@@ -474,13 +474,15 @@ void SimTest::recomputeNavmeshWithStaticObjects() {
       simulator->getPathFinder()->isNavigable({randomNavPoint}, 0.1));
 
   // recompute with object
+  navMeshSettings.includeStaticObjects = true;
   simulator->recomputeNavMesh(*simulator->getPathFinder().get(),
-                              navMeshSettings, true);
+                              navMeshSettings);
   CORRADE_VERIFY(!simulator->getPathFinder()->isNavigable(randomNavPoint, 0.1));
 
   // recompute without again
+  navMeshSettings.includeStaticObjects = false;
   simulator->recomputeNavMesh(*simulator->getPathFinder().get(),
-                              navMeshSettings, false);
+                              navMeshSettings);
   CORRADE_VERIFY(simulator->getPathFinder()->isNavigable(randomNavPoint, 0.1));
 
   rigidObjMgr->removePhysObjectByHandle(obj->getHandle());
@@ -499,8 +501,9 @@ void SimTest::recomputeNavmeshWithStaticObjects() {
   CORRADE_VERIFY(
       simulator->getPathFinder()->isNavigable(randomNavPoint + offset, 0.2));
   // recompute with object
+  navMeshSettings.includeStaticObjects = true;
   simulator->recomputeNavMesh(*simulator->getPathFinder().get(),
-                              navMeshSettings, true);
+                              navMeshSettings);
   CORRADE_VERIFY(!simulator->getPathFinder()->isNavigable(randomNavPoint, 0.1));
   CORRADE_VERIFY(
       simulator->getPathFinder()->isNavigable(randomNavPoint + offset, 0.2));

src/utils/viewer/viewer.cpp

@@ -1126,8 +1126,9 @@ void Viewer::initSimPostReconfigure() {
     esp::nav::NavMeshSettings navMeshSettings;
     navMeshSettings.agentHeight = agentConfig_.height;
     navMeshSettings.agentRadius = agentConfig_.radius;
+    navMeshSettings.includeStaticObjects = true;
     simulator_->recomputeNavMesh(*simulator_->getPathFinder().get(),
-                                 navMeshSettings, true);
+                                 navMeshSettings);
   } else if (!navmeshFilename_.empty()) {
     std::string navmeshFile = Cr::Utility::Path::join(
         *Corrade::Utility::Path::currentDirectory(), navmeshFilename_);

src_python/habitat_sim/simulator.py

@@ -7,7 +7,6 @@
 import time
 from collections import OrderedDict
 from collections.abc import MutableMapping
-from os import path as osp
 from typing import Any, Dict, List
 from typing import MutableMapping as MutableMapping_T
 from typing import Optional, Union, cast, overload
@@ -31,7 +30,7 @@
 from habitat_sim.bindings import cuda_enabled
 from habitat_sim.logging import LoggingContext, logger
 from habitat_sim.metadata import MetadataMediator
-from habitat_sim.nav import GreedyGeodesicFollower, NavMeshSettings
+from habitat_sim.nav import GreedyGeodesicFollower
 from habitat_sim.sensor import SensorSpec, SensorType
 from habitat_sim.sensors.noise_models import make_sensor_noise_model
 from habitat_sim.sim import SimulatorBackend, SimulatorConfiguration
@@ -210,52 +209,11 @@ def _config_agents(self, config: Configuration) -> None:
         ]
 
     def _config_pathfinder(self, config: Configuration) -> None:
-        scene_basename = osp.basename(config.sim_cfg.scene_id)
-        # "mesh.ply" is identified as a replica model, whose navmesh
-        # is named as "mesh_semantic.navmesh" and is placed in the
-        # subfolder called "habitat" (a level deeper than the "mesh.ply")
-        if scene_basename == "mesh.ply":
-            scene_dir = osp.dirname(config.sim_cfg.scene_id)
-            navmesh_filename = osp.join(scene_dir, "habitat", "mesh_semantic.navmesh")
-        else:
-            navmesh_filename = osp.splitext(config.sim_cfg.scene_id)[0] + ".navmesh"
-
-        if osp.exists(navmesh_filename) and not self.pathfinder.is_loaded:
-            self.pathfinder.load_nav_mesh(navmesh_filename)
-            logger.info(f"Loaded navmesh {navmesh_filename}")
-
-        # NOTE: this recomputed NavMesh does not include STATIC objects.
-        needed_settings = NavMeshSettings()
-        default_agent_config = config.agents[config.sim_cfg.default_agent_id]
-        needed_settings.agent_radius = default_agent_config.radius
-        needed_settings.agent_height = default_agent_config.height
-        if (
-            # If we loaded a navmesh and we need one with different settings,
-            # always try and recompute
-            (
-                self.pathfinder.is_loaded
-                and self.pathfinder.nav_mesh_settings != needed_settings
-            )
-            # If we didn't load a navmesh, only try to recompute one if we can.
-            # This allows for use cases where we just want to view a single
-            # object or similar.
-            or (
-                not self.pathfinder.is_loaded
-                and config.sim_cfg.scene_id.lower() != "none"
-            )
-        ):
-            logger.info(
-                f"Recomputing navmesh for agent's height {default_agent_config.height} and radius"
-                f" {default_agent_config.radius}."
-            )
-            self.recompute_navmesh(self.pathfinder, needed_settings)
-
         self.pathfinder.seed(config.sim_cfg.random_seed)
 
-        if not self.pathfinder.is_loaded:
+        if self.pathfinder is None or not self.pathfinder.is_loaded:
             logger.warning(
-                "Could not find a navmesh nor could one be computed, "
-                "no collision checking will be done"
+                "Navmesh not loaded or computed, no collision checking will be done."
             )
 
     def reconfigure(self, config: Configuration) -> None: