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Fix hole in heightmap navigation mesh baking #83783

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merged 1 commit into from
Oct 23, 2023
Merged

Fix hole in heightmap navigation mesh baking #83783

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76 changes: 28 additions & 48 deletions modules/navigation/nav_mesh_generator_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -384,33 +384,23 @@ void NavMeshGenerator3D::generator_parse_staticbody3d_node(const Ref<NavigationM
const Vector<real_t> &map_data = heightmap_shape->get_map_data();

Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;

Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;

for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];

Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);

vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
Vector3 *vertex_array_ptrw = vertex_array.ptrw();
const real_t *map_data_ptr = map_data.ptr();
int vertex_index = 0;

for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width - 1; w++) {
vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
vertex_index += 6;
}
}
if (vertex_array.size() > 0) {
Expand Down Expand Up @@ -540,33 +530,23 @@ void NavMeshGenerator3D::generator_parse_gridmap_node(const Ref<NavigationMesh>
const Vector<real_t> &map_data = dict["heights"];

Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;

Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;

for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];

Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);

vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
Vector3 *vertex_array_ptrw = vertex_array.ptrw();
const real_t *map_data_ptr = map_data.ptr();
int vertex_index = 0;

for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width - 1; w++) {
vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
vertex_index += 6;
}
}
if (vertex_array.size() > 0) {
Expand Down
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