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Remove duplicated vertices after 3D NavigationMesh bake #92181

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May 21, 2024
Merged

Remove duplicated vertices after 3D NavigationMesh bake #92181

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26 changes: 22 additions & 4 deletions modules/navigation/3d/nav_mesh_generator_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -895,9 +895,22 @@ void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<Navigation

Vector<Vector3> nav_vertices;

HashMap<Vector3, int> recast_vertex_to_native_index;
LocalVector<int> recast_index_to_native_index;
recast_index_to_native_index.resize(detail_mesh->nverts);

for (int i = 0; i < detail_mesh->nverts; i++) {
const float *v = &detail_mesh->verts[i * 3];
nav_vertices.push_back(Vector3(v[0], v[1], v[2]));
const Vector3 vertex = Vector3(v[0], v[1], v[2]);
int *existing_index_ptr = recast_vertex_to_native_index.getptr(vertex);
if (!existing_index_ptr) {
int new_index = recast_vertex_to_native_index.size();
recast_index_to_native_index[i] = new_index;
recast_vertex_to_native_index[vertex] = new_index;
nav_vertices.push_back(vertex);
} else {
recast_index_to_native_index[i] = *existing_index_ptr;
}
}
p_navigation_mesh->set_vertices(nav_vertices);
p_navigation_mesh->clear_polygons();
Expand All @@ -912,9 +925,14 @@ void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<Navigation
Vector<int> nav_indices;
nav_indices.resize(3);
// Polygon order in recast is opposite than godot's
nav_indices.write[0] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 0]));
nav_indices.write[1] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 2]));
nav_indices.write[2] = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 1]));
int index1 = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 0]));
int index2 = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 2]));
int index3 = ((int)(detail_mesh_bverts + detail_mesh_tris[j * 4 + 1]));

nav_indices.write[0] = recast_index_to_native_index[index1];
nav_indices.write[1] = recast_index_to_native_index[index2];
nav_indices.write[2] = recast_index_to_native_index[index3];

p_navigation_mesh->add_polygon(nav_indices);
}
}
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