Fix navigation merge errors, fixes #56786

- improved `detail/sample_max_error` default value - improved floating point precision handling in cell key calculations - improved `merge error` error message - exposed `cell_height` of `nav_map` to the `Navigation` - fixed cell key `y` calculation
godotengine · Feb 2, 2022 · 6c6e50b · 6c6e50b
1 parent 78f2308
commit 6c6e50b
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Showing 12 changed files with 78 additions and 7 deletions.
diff --git a/doc/classes/Navigation.xml b/doc/classes/Navigation.xml
@@ -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>

diff --git a/doc/classes/NavigationMesh.xml b/doc/classes/NavigationMesh.xml
@@ -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">

diff --git a/doc/classes/NavigationServer.xml b/doc/classes/NavigationServer.xml
@@ -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" />
@@ -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" />

diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
@@ -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);

diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
@@ -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;
 

diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
@@ -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),
@@ -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;
@@ -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.");
  }
  }
  }

diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
@@ -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;
@@ -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;

diff --git a/scene/3d/navigation.cpp b/scene/3d/navigation.cpp
@@ -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);
@@ -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");
 }
 
@@ -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);

diff --git a/scene/3d/navigation.h b/scene/3d/navigation.h
@@ -41,6 +41,7 @@ class Navigation : public Spatial {
 
  Vector3 up;
  real_t cell_size;
+ real_t cell_height;
  real_t edge_connection_margin;
 
 protected:
@@ -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;

diff --git a/scene/resources/navigation_mesh.cpp b/scene/resources/navigation_mesh.cpp
@@ -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;

diff --git a/servers/navigation_server.cpp b/servers/navigation_server.cpp
@@ -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);

diff --git a/servers/navigation_server.h b/servers/navigation_server.h
@@ -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;