leaf nav mesh pathfinding and octree speedup

roughly 100x faster generation using the octree. Pathfinding needs to work to avoid sending the player into areas that are impossible to reach normally. Either that or the walkable nav mesh should be used instead, which has the opposite problem of not reaching enough areas.

CMakeLists.txt

@@ -32,14 +32,15 @@ set(SOURCE_FILES
 	src/util/mat4x4.h		src/util/mat4x4.cpp
 	src/util/Polygon3D.h	src/util/Polygon3D.cpp
 	src/util/Line2D.h		src/util/Line2D.cpp
-	src/util/PolyOctree.h	src/util/PolyOctree.cpp
 	src/globals.h			src/globals.cpp
 
 	# Navigation meshes
 	src/nav/NavMesh.h				src/nav/NavMesh.cpp
 	src/nav/NavMeshGenerator.h		src/nav/NavMeshGenerator.cpp
 	src/nav/LeafNavMeshGenerator.h	src/nav/LeafNavMeshGenerator.cpp
 	src/nav/LeafNavMesh.h			src/nav/LeafNavMesh.cpp
+	src/nav/PolyOctree.h			src/nav/PolyOctree.cpp
+	src/nav/LeafOctree.h			src/nav/LeafOctree.cpp
 
 	# OpenGL rendering
 	src/gl/shaders.h			src/gl/shaders.cpp
@@ -182,25 +183,27 @@ if(MSVC)
 												src/util/vectors.h
 												src/util/Polygon3D.h
 												src/util/Line2D.h
-												src/util/PolyOctree.h
 												src/util/mat4x4.h)
 
 	source_group("Source Files\\util" FILES		src/util/util.cpp
 												src/util/vectors.cpp
 												src/util/Polygon3D.cpp
 												src/util/Line2D.cpp
-												src/util/PolyOctree.cpp
 												src/util/mat4x4.cpp)
 
 	source_group("Header Files\\nav" FILES		src/nav/NavMesh.h
 												src/nav/NavMeshGenerator.h
 												src/nav/LeafNavMeshGenerator.h
-												src/nav/LeafNavMesh.h)
+												src/nav/LeafNavMesh.h
+												src/nav/PolyOctree.h
+												src/nav/LeafOctree.h)
 
 	source_group("Source Files\\nav" FILES		src/nav/NavMesh.cpp
 												src/nav/NavMeshGenerator.cpp
 												src/nav/LeafNavMeshGenerator.cpp
-												src/nav/LeafNavMesh.cpp)
+												src/nav/LeafNavMesh.cpp
+												src/nav/PolyOctree.cpp
+												src/nav/LeafOctree.cpp)
 
 	source_group("Header Files\\util\\lib" FILES	src/util/lodepng.h)
 

src/bsp/Entity.cpp

@@ -3,6 +3,7 @@
 #include <set>
 #include <algorithm>
 #include <sstream>
+#include "Bsp.h"
 
 using namespace std;
 
@@ -149,6 +150,21 @@ vec3 Entity::getOrigin() {
 	return hasKey("origin") ? parseVector(keyvalues["origin"]) : vec3(0, 0, 0);
 }
 
+vec3 Entity::getHullOrigin(Bsp* map) {
+	vec3 ori = getOrigin();
+	int modelIdx = getBspModelIdx();
+
+	if (modelIdx != -1) {
+		BSPMODEL& model = map->models[modelIdx];
+
+		vec3 mins, maxs;
+		map->get_model_vertex_bounds(modelIdx, mins, maxs);
+		ori += (maxs + mins) * 0.5f;
+	}
+
+	return ori;
+}
+
 // TODO: maybe store this in a text file or something
 #define TOTAL_TARGETNAME_KEYS 134
 const char* potential_tergetname_keys[TOTAL_TARGETNAME_KEYS] = {

src/bsp/Entity.h

@@ -4,6 +4,8 @@
 #include <map>
 #include <vector>
 
+class Bsp;
+
 class Entity
 {
 public:
@@ -34,6 +36,8 @@ class Entity
 
 	vec3 getOrigin();
 
+	vec3 getHullOrigin(Bsp* map);
+
 	bool hasKey(const std::string& key);
 
 	vector<string> getTargets();

src/editor/BspRenderer.cpp

@@ -1940,8 +1940,7 @@ bool BspRenderer::pickModelPoly(vec3 start, vec3 dir, vec3 offset, int modelIdx,
 				pickInfo.faceIdx = -1;
 
 				// Nav mesh WIP code
-				/*
-				if (modelIdx == 0 && hullIdx == 3) {
+				if (g_app->debugNavMesh && modelIdx == 0 && hullIdx == 3) {
 					static int lastPick = 0;
 
 					g_app->debugPoly = debugFaces[i];
@@ -1956,7 +1955,6 @@ bool BspRenderer::pickModelPoly(vec3 start, vec3 dir, vec3 offset, int modelIdx,
 					lastPick = i;
 					logf("Picked hull %d, face %d, verts %d, area %.1f\nNav links %d\n", hullIdx, i, debugFaces[i].verts.size(), debugFaces[i].area, node.numLinks());
 				}
-				*/
 			}
 		}
 	}

src/editor/Renderer.cpp

@@ -457,45 +457,86 @@ void Renderer::renderLoop() {
 			if (debugLeafNavMesh) {
 				glLineWidth(1);
 
-				int leafIdx = mapRenderers[0]->map->get_leaf(cameraOrigin, 3);
+				Bsp* map = mapRenderers[0]->map;
+				int leafIdx = map->get_leaf(cameraOrigin, 3);
 				int leafNavIdx = MAX_NAV_LEAVES;
 
 				if (leafIdx >= 0 && leafIdx < MAX_MAP_CLIPNODE_LEAVES) {
 					leafNavIdx = debugLeafNavMesh->leafMap[leafIdx];
 				}
 
 				if (leafNavIdx < MAX_NAV_LEAVES) {
-					LeafNavNode& node = debugLeafNavMesh->nodes[leafNavIdx];
-					LeafMesh& leaf = debugLeafNavMesh->leaves[leafNavIdx];
 
-					drawBox(leaf.center, 2, COLOR4(0, 255, 0, 255));
+					if (pickInfo.valid && pickInfo.ent && pickInfo.entIdx != 0) {
+						glDisable(GL_DEPTH_TEST);
+
+						int endNode = debugLeafNavMesh->getNodeIdx(map, pickInfo.ent);
+						vector<int> route = debugLeafNavMesh->AStarRoute(map, leafNavIdx, endNode);
+
+						if (route.size()) {
+							LeafMesh& firstNode = debugLeafNavMesh->leaves[route[route.size() - 1]];
+
+							vec3 lastPos = firstNode.center;
+							drawBox(firstNode.center, 2, COLOR4(0, 255, 255, 255));
+
+							for (int i = route.size() - 2; i >= 0; i--) {
+								LeafNavNode& node = debugLeafNavMesh->nodes[route[i]];
+								LeafMesh& mesh = debugLeafNavMesh->leaves[route[i]];
+
+								vec3 nodeCenter = mesh.center;
+
+								for (int k = 0; k < MAX_NAV_LEAF_LINKS; k++) {
+									LeafNavLink& link = node.links[k];
 
-					std::string linkStr;
+									if (link.node == route[i + 1]) {
+										vec3 linkPoint = link.linkArea.center;
 
-					for (int i = 0; i < MAX_NAV_LEAF_LINKS; i++) {
-						LeafNavLink& link = node.links[i];
-						if (link.node == -1) {
-							break;
+										drawLine(lastPos, linkPoint, COLOR4(0, 255, 255, 255));
+										drawLine(linkPoint, mesh.center, COLOR4(0, 255, 255, 255));
+										drawBox(nodeCenter, 2, COLOR4(0, 255, 255, 255));
+										lastPos = nodeCenter;
+										break;
+									}
+								}
+							}
+
+							drawLine(lastPos, pickInfo.ent->getHullOrigin(map), COLOR4(0, 255, 255, 255));
 						}
-						LeafMesh& linkLeaf = debugLeafNavMesh->leaves[link.node];
-						Polygon3D& linkArea = link.linkArea;
+					}
+					else {
+						LeafNavNode& node = debugLeafNavMesh->nodes[leafNavIdx];
+						LeafMesh& leaf = debugLeafNavMesh->leaves[leafNavIdx];
 
-						drawLine(leaf.center, linkArea.center, COLOR4(0, 255, 255, 255));
-						drawLine(linkArea.center, linkLeaf.center, COLOR4(0, 255, 255, 255));
+						drawBox(leaf.center, 2, COLOR4(0, 255, 0, 255));
 
-						for (int k = 0; k < linkArea.verts.size(); k++) {
-							drawBox(linkArea.verts[k], 1, COLOR4(255, 255, 0, 255));
+						std::string linkStr;
+
+						for (int i = 0; i < MAX_NAV_LEAF_LINKS; i++) {
+							LeafNavLink& link = node.links[i];
+							if (link.node == -1) {
+								break;
+							}
+							LeafMesh& linkLeaf = debugLeafNavMesh->leaves[link.node];
+							Polygon3D& linkArea = link.linkArea;
+
+							drawLine(leaf.center, linkArea.center, COLOR4(0, 255, 255, 255));
+							drawLine(linkArea.center, linkLeaf.center, COLOR4(0, 255, 255, 255));
+
+							for (int k = 0; k < linkArea.verts.size(); k++) {
+								drawBox(linkArea.verts[k], 1, COLOR4(255, 255, 0, 255));
+							}
+							drawBox(linkArea.center, 1, COLOR4(0, 255, 0, 255));
+							drawBox(linkLeaf.center, 2, COLOR4(0, 255, 255, 255));
+							linkStr += to_string(link.node) + " (" + to_string(linkArea.verts.size()) + "v), ";
 						}
-						drawBox(linkArea.center, 1, COLOR4(0, 255, 0, 255));
-						drawBox(linkLeaf.center, 2, COLOR4(0, 255, 255, 255));
-						linkStr += to_string(link.node) + " (" + to_string(linkArea.verts.size()) + "v), ";
+
+						//logf("Leaf node idx: %d, links: %s\n", leafNavIdx, linkStr.c_str());
 					}
 
-					//logf("Leaf node idx: %d, links: %s\n", leafNavIdx, linkStr.c_str());
 				}
 
 				glDisable(GL_DEPTH_TEST);
-
+				/*
 				colorShader->pushMatrix(MAT_PROJECTION);
 				colorShader->pushMatrix(MAT_VIEW);
 				projection.ortho(0, windowWidth, windowHeight, 0, -1.0f, 1.0f);
@@ -505,18 +546,9 @@ void Renderer::renderLoop() {
 				Line2D edge(vec2(1000, 400), vec2(1400, 630));
 				drawLine2D(edge.start, edge.end, COLOR4(255, 0, 0, 255));
 
-				/*
-				double xpos, ypos;
-				glfwGetCursorPos(window, &xpos, &ypos);
-				vec2 mousepos = vec2(xpos, ypos);
-				drawBox2D(mousepos, 8, COLOR4(255, 0, 0, 255));
-				drawBox2D(edge.project(mousepos), 8, COLOR4(255, 0, 0, 255));
-				float dist = edge.distance(mousepos);
-				logf("dist: %f\n", edge.distance(mousepos));
-				*/
-
 				colorShader->popMatrix(MAT_PROJECTION);
 				colorShader->popMatrix(MAT_VIEW);
+				*/
 			}
 
 			if (debugPoly.isValid) {

src/editor/Renderer.h

@@ -62,6 +62,7 @@ class Renderer {
 	friend class FixSurfaceExtentsCommand;
 	friend class DeduplicateModelsCommand;
 	friend class MoveMapCommand;
+	friend class LeafNavMesh;
 
 public:
 	vector<BspRenderer*> mapRenderers;

src/gl/primitives.h

@@ -39,6 +39,7 @@ struct cVert
 	cVert() {}
 	cVert(float x, float y, float z, COLOR4 c) : c(c), x(x), y(y), z(z) {}
 	cVert(vec3 p, COLOR4 c) : c(c), x(p.x), y(p.y), z(p.z) {}
+	vec3 pos() { return vec3(x, y, z); }
 };
 
 struct tTri