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Fix broken Navigation Obstacle regression #99276

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merged 1 commit into from
Nov 15, 2024
Merged

Fix broken Navigation Obstacle regression #99276

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44 changes: 32 additions & 12 deletions modules/navigation/2d/nav_mesh_generator_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -850,7 +850,7 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
using namespace Clipper2Lib;
PathsD traversable_polygon_paths;
PathsD obstruction_polygon_paths;
int obstruction_polygon_path_size = 0;
bool empty_projected_obstructions = true;
{
RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);

Expand Down Expand Up @@ -886,7 +886,8 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
traversable_polygon_paths.push_back(std::move(subject_path));
}

if (!projected_obstructions.is_empty()) {
empty_projected_obstructions = projected_obstructions.is_empty();
if (!empty_projected_obstructions) {
for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
if (projected_obstruction.carve) {
continue;
Expand All @@ -907,7 +908,6 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
}
}

obstruction_polygon_path_size = obstruction_polygon_paths.size();
for (const Vector<Vector2> &obstruction_outline : obstruction_outlines) {
PathD clip_path;
clip_path.reserve(obstruction_outline.size());
Expand All @@ -919,7 +919,6 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
}

Rect2 baking_rect = p_navigation_mesh->get_baking_rect();
PathsD area_obstruction_polygon_paths;
if (baking_rect.has_area()) {
Vector2 baking_rect_offset = p_navigation_mesh->get_baking_rect_offset();

Expand All @@ -931,27 +930,48 @@ void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<Navigation
RectD clipper_rect = RectD(rect_begin_x, rect_begin_y, rect_end_x, rect_end_y);

traversable_polygon_paths = RectClip(clipper_rect, traversable_polygon_paths);
area_obstruction_polygon_paths = RectClip(clipper_rect, obstruction_polygon_paths);
} else {
area_obstruction_polygon_paths = obstruction_polygon_paths;
obstruction_polygon_paths = RectClip(clipper_rect, obstruction_polygon_paths);
}

// first merge all traversable polygons according to user specified fill rule
PathsD dummy_clip_path;
traversable_polygon_paths = Union(traversable_polygon_paths, dummy_clip_path, FillRule::NonZero);
// merge all obstruction polygons, don't allow holes for what is considered "solid" 2D geometry
area_obstruction_polygon_paths = Union(area_obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);
obstruction_polygon_paths = Union(obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);

PathsD path_solution = Difference(traversable_polygon_paths, area_obstruction_polygon_paths, FillRule::NonZero);
PathsD path_solution = Difference(traversable_polygon_paths, obstruction_polygon_paths, FillRule::NonZero);

real_t agent_radius_offset = p_navigation_mesh->get_agent_radius();
if (agent_radius_offset > 0.0) {
path_solution = InflatePaths(path_solution, -agent_radius_offset, JoinType::Miter, EndType::Polygon);
}

if (obstruction_polygon_path_size > 0) {
obstruction_polygon_paths.resize(obstruction_polygon_path_size);
path_solution = Difference(path_solution, obstruction_polygon_paths, FillRule::NonZero);
// Apply obstructions that are not affected by agent radius, the ones with carve enabled.
if (!empty_projected_obstructions) {
RWLockRead read_lock(p_source_geometry_data->geometry_rwlock);
const Vector<NavigationMeshSourceGeometryData2D::ProjectedObstruction> &projected_obstructions = p_source_geometry_data->_projected_obstructions;
obstruction_polygon_paths.resize(0);
for (const NavigationMeshSourceGeometryData2D::ProjectedObstruction &projected_obstruction : projected_obstructions) {
if (!projected_obstruction.carve) {
continue;
}
if (projected_obstruction.vertices.is_empty() || projected_obstruction.vertices.size() % 2 != 0) {
continue;
}

PathD clip_path;
clip_path.reserve(projected_obstruction.vertices.size() / 2);
for (int i = 0; i < projected_obstruction.vertices.size() / 2; i++) {
clip_path.emplace_back(projected_obstruction.vertices[i * 2], projected_obstruction.vertices[i * 2 + 1]);
}
if (!IsPositive(clip_path)) {
std::reverse(clip_path.begin(), clip_path.end());
}
obstruction_polygon_paths.push_back(std::move(clip_path));
}
if (obstruction_polygon_paths.size() > 0) {
path_solution = Difference(path_solution, obstruction_polygon_paths, FillRule::NonZero);
}
}

//path_solution = RamerDouglasPeucker(path_solution, 0.025); //
Expand Down