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Fix TileMapLayer navmesh baking #91464

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May 2, 2024
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Fix TileMapLayer navmesh baking #91464

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175 changes: 72 additions & 103 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 @@ -243,7 +243,7 @@ void NavMeshGenerator2D::generator_parse_geometry_node(Ref<NavigationPolygon> p_
generator_parse_multimeshinstance2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_polygon2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_staticbody2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_tilemap_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_tile_map_layer_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_navigationobstacle_node(p_navigation_mesh, p_source_geometry_data, p_node);

generator_rid_rwlock.read_lock();
Expand All @@ -259,6 +259,14 @@ void NavMeshGenerator2D::generator_parse_geometry_node(Ref<NavigationPolygon> p_
for (int i = 0; i < p_node->get_child_count(); i++) {
generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, p_node->get_child(i), p_recurse_children);
}
} else if (Object::cast_to<TileMap>(p_node)) {
// Special case for TileMap, so that internal layer get parsed even if p_recurse_children is false.
for (int i = 0; i < p_node->get_child_count(); i++) {
TileMapLayer *tile_map_layer = Object::cast_to<TileMapLayer>(p_node->get_child(i));
if (tile_map_layer->get_index_in_tile_map() >= 0) {
generator_parse_tile_map_layer_node(p_navigation_mesh, p_source_geometry_data, tile_map_layer);
}
}
}
}

Expand Down Expand Up @@ -580,141 +588,102 @@ void NavMeshGenerator2D::generator_parse_staticbody2d_node(const Ref<NavigationP
}
}

void NavMeshGenerator2D::generator_parse_tilemap_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
TileMap *tilemap = Object::cast_to<TileMap>(p_node);

if (tilemap == nullptr) {
void NavMeshGenerator2D::generator_parse_tile_map_layer_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
TileMapLayer *tile_map_layer = Object::cast_to<TileMapLayer>(p_node);
if (tile_map_layer == nullptr) {
return;
}

NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
uint32_t parsed_collision_mask = p_navigation_mesh->get_parsed_collision_mask();

if (tilemap->get_layers_count() <= 0) {
return;
}

Ref<TileSet> tile_set = tilemap->get_tileset();
Ref<TileSet> tile_set = tile_map_layer->get_tile_set();
if (!tile_set.is_valid()) {
return;
}

int physics_layers_count = tile_set->get_physics_layers_count();
int navigation_layers_count = tile_set->get_navigation_layers_count();

if (physics_layers_count <= 0 && navigation_layers_count <= 0) {
return;
}

HashSet<Vector2i> cells_with_navigation_polygon;
HashSet<Vector2i> cells_with_collision_polygon;
NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
uint32_t parsed_collision_mask = p_navigation_mesh->get_parsed_collision_mask();

const Transform2D tilemap_xform = p_source_geometry_data->root_node_transform * tile_map_layer->get_global_transform();

const Transform2D tilemap_xform = p_source_geometry_data->root_node_transform * tilemap->get_global_transform();
TypedArray<Vector2i> used_cells = tile_map_layer->get_used_cells();
for (int used_cell_index = 0; used_cell_index < used_cells.size(); used_cell_index++) {
const Vector2i &cell = used_cells[used_cell_index];

#ifdef DEBUG_ENABLED
int error_print_counter = 0;
int error_print_max = 10;
#endif // DEBUG_ENABLED
const TileData *tile_data = tile_map_layer->get_cell_tile_data(cell);
if (tile_data == nullptr) {
continue;
}

for (int tilemap_layer = 0; tilemap_layer < tilemap->get_layers_count(); tilemap_layer++) {
TypedArray<Vector2i> used_cells = tilemap->get_used_cells(tilemap_layer);
// Transform flags.
const int alternative_id = tile_map_layer->get_cell_alternative_tile(cell);
bool flip_h = (alternative_id & TileSetAtlasSource::TRANSFORM_FLIP_H);
bool flip_v = (alternative_id & TileSetAtlasSource::TRANSFORM_FLIP_V);
bool transpose = (alternative_id & TileSetAtlasSource::TRANSFORM_TRANSPOSE);

Transform2D tile_transform;
tile_transform.set_origin(tile_map_layer->map_to_local(cell));

const Transform2D tile_transform_offset = tilemap_xform * tile_transform;

// Parse traversable polygons.
for (int navigation_layer = 0; navigation_layer < navigation_layers_count; navigation_layer++) {
Ref<NavigationPolygon> navigation_polygon = tile_data->get_navigation_polygon(navigation_layer, flip_h, flip_v, transpose);
if (navigation_polygon.is_valid()) {
for (int outline_index = 0; outline_index < navigation_polygon->get_outline_count(); outline_index++) {
const Vector<Vector2> &navigation_polygon_outline = navigation_polygon->get_outline(outline_index);
if (navigation_polygon_outline.is_empty()) {
continue;
}

for (int used_cell_index = 0; used_cell_index < used_cells.size(); used_cell_index++) {
const Vector2i &cell = used_cells[used_cell_index];
Vector<Vector2> traversable_outline;
traversable_outline.resize(navigation_polygon_outline.size());

const TileData *tile_data = tilemap->get_cell_tile_data(tilemap_layer, cell, false);
if (tile_data == nullptr) {
continue;
}
const Vector2 *navigation_polygon_outline_ptr = navigation_polygon_outline.ptr();
Vector2 *traversable_outline_ptrw = traversable_outline.ptrw();

// Transform flags.
const int alternative_id = tilemap->get_cell_alternative_tile(tilemap_layer, cell, false);
bool flip_h = (alternative_id & TileSetAtlasSource::TRANSFORM_FLIP_H);
bool flip_v = (alternative_id & TileSetAtlasSource::TRANSFORM_FLIP_V);
bool transpose = (alternative_id & TileSetAtlasSource::TRANSFORM_TRANSPOSE);

Transform2D tile_transform;
tile_transform.set_origin(tilemap->map_to_local(cell));

const Transform2D tile_transform_offset = tilemap_xform * tile_transform;

if (navigation_layers_count > 0) {
Ref<NavigationPolygon> navigation_polygon = tile_data->get_navigation_polygon(tilemap_layer, flip_h, flip_v, transpose);
if (navigation_polygon.is_valid()) {
if (cells_with_navigation_polygon.has(cell)) {
#ifdef DEBUG_ENABLED
error_print_counter++;
if (error_print_counter <= error_print_max) {
WARN_PRINT(vformat("TileMap navigation mesh baking error. The TileMap cell key Vector2i(%s, %s) has navigation mesh from 2 or more different TileMap layers assigned. This can cause unexpected navigation mesh baking results. The duplicated cell data was ignored.", cell.x, cell.y));
}
#endif // DEBUG_ENABLED
} else {
cells_with_navigation_polygon.insert(cell);

for (int outline_index = 0; outline_index < navigation_polygon->get_outline_count(); outline_index++) {
const Vector<Vector2> &navigation_polygon_outline = navigation_polygon->get_outline(outline_index);
if (navigation_polygon_outline.size() == 0) {
continue;
}

Vector<Vector2> traversable_outline;
traversable_outline.resize(navigation_polygon_outline.size());

const Vector2 *navigation_polygon_outline_ptr = navigation_polygon_outline.ptr();
Vector2 *traversable_outline_ptrw = traversable_outline.ptrw();

for (int traversable_outline_index = 0; traversable_outline_index < traversable_outline.size(); traversable_outline_index++) {
traversable_outline_ptrw[traversable_outline_index] = tile_transform_offset.xform(navigation_polygon_outline_ptr[traversable_outline_index]);
}

p_source_geometry_data->_add_traversable_outline(traversable_outline);
}
for (int traversable_outline_index = 0; traversable_outline_index < traversable_outline.size(); traversable_outline_index++) {
traversable_outline_ptrw[traversable_outline_index] = tile_transform_offset.xform(navigation_polygon_outline_ptr[traversable_outline_index]);
}

p_source_geometry_data->_add_traversable_outline(traversable_outline);
}
}
}

if (physics_layers_count > 0 && (parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH) && (tile_set->get_physics_layer_collision_layer(tilemap_layer) & parsed_collision_mask)) {
if (cells_with_collision_polygon.has(cell)) {
#ifdef DEBUG_ENABLED
error_print_counter++;
if (error_print_counter <= error_print_max) {
WARN_PRINT(vformat("TileMap navigation mesh baking error. The cell key Vector2i(%s, %s) has collision polygons from 2 or more different TileMap layers assigned that all match the parsed collision mask. This can cause unexpected navigation mesh baking results. The duplicated cell data was ignored.", cell.x, cell.y));
// Parse obstacles.
for (int physics_layer = 0; physics_layer < physics_layers_count; physics_layer++) {
if ((parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH) &&
(tile_set->get_physics_layer_collision_layer(physics_layer) & parsed_collision_mask)) {
for (int collision_polygon_index = 0; collision_polygon_index < tile_data->get_collision_polygons_count(physics_layer); collision_polygon_index++) {
PackedVector2Array collision_polygon_points = tile_data->get_collision_polygon_points(physics_layer, collision_polygon_index);
if (collision_polygon_points.is_empty()) {
continue;
}
#endif // DEBUG_ENABLED
} else {
cells_with_collision_polygon.insert(cell);

for (int collision_polygon_index = 0; collision_polygon_index < tile_data->get_collision_polygons_count(tilemap_layer); collision_polygon_index++) {
PackedVector2Array collision_polygon_points = tile_data->get_collision_polygon_points(tilemap_layer, collision_polygon_index);
if (collision_polygon_points.size() == 0) {
continue;
}

if (flip_h || flip_v || transpose) {
collision_polygon_points = TileData::get_transformed_vertices(collision_polygon_points, flip_h, flip_v, transpose);
}

Vector<Vector2> obstruction_outline;
obstruction_outline.resize(collision_polygon_points.size());
if (flip_h || flip_v || transpose) {
collision_polygon_points = TileData::get_transformed_vertices(collision_polygon_points, flip_h, flip_v, transpose);
}

const Vector2 *collision_polygon_points_ptr = collision_polygon_points.ptr();
Vector2 *obstruction_outline_ptrw = obstruction_outline.ptrw();
Vector<Vector2> obstruction_outline;
obstruction_outline.resize(collision_polygon_points.size());

for (int obstruction_outline_index = 0; obstruction_outline_index < obstruction_outline.size(); obstruction_outline_index++) {
obstruction_outline_ptrw[obstruction_outline_index] = tile_transform_offset.xform(collision_polygon_points_ptr[obstruction_outline_index]);
}
const Vector2 *collision_polygon_points_ptr = collision_polygon_points.ptr();
Vector2 *obstruction_outline_ptrw = obstruction_outline.ptrw();

p_source_geometry_data->_add_obstruction_outline(obstruction_outline);
for (int obstruction_outline_index = 0; obstruction_outline_index < obstruction_outline.size(); obstruction_outline_index++) {
obstruction_outline_ptrw[obstruction_outline_index] = tile_transform_offset.xform(collision_polygon_points_ptr[obstruction_outline_index]);
}

p_source_geometry_data->_add_obstruction_outline(obstruction_outline);
}
}
}
}
#ifdef DEBUG_ENABLED
if (error_print_counter > error_print_max) {
ERR_PRINT(vformat("TileMap navigation mesh baking error. A total of %s cells with navigation or collision polygons from 2 or more different TileMap layers overlap. This can cause unexpected navigation mesh baking results. The duplicated cell data was ignored.", error_print_counter));
}
#endif // DEBUG_ENABLED
}

void NavMeshGenerator2D::generator_parse_navigationobstacle_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
Expand Down
2 changes: 1 addition & 1 deletion modules/navigation/2d/nav_mesh_generator_2d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ class NavMeshGenerator2D : public Object {
static void generator_parse_multimeshinstance2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node);
static void generator_parse_polygon2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node);
static void generator_parse_staticbody2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node);
static void generator_parse_tilemap_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node);
static void generator_parse_tile_map_layer_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node);
static void generator_parse_navigationobstacle_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node);

static bool generator_emit_callback(const Callable &p_callback);
Expand Down
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