Cppcheck report - Godot - branch: master, commit: 216b3302f318c32a5dcf250293d90e47e712e8e9 (2024-12-22): modules/navigation/3d/nav_map_builder_3d.cpp

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/*  nav_map_builder_3d.cpp                                                */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#ifndef _3D_DISABLED

#include "nav_map_builder_3d.h"

#include "../nav_link.h"
#include "../nav_map.h"
#include "../nav_region.h"
#include "nav_map_iteration_3d.h"
#include "nav_region_iteration_3d.h"

gd::PointKey NavMapBuilder3D::get_point_key(const Vector3 &p_pos, const Vector3 &p_cell_size) {
	const int x = static_cast<int>(Math::floor(p_pos.x / p_cell_size.x));
	const int y = static_cast<int>(Math::floor(p_pos.y / p_cell_size.y));
	const int z = static_cast<int>(Math::floor(p_pos.z / p_cell_size.z));

	gd::PointKey p;
	p.key = 0;
	p.x = x;
	p.y = y;
	p.z = z;
	return p;
}

void NavMapBuilder3D::build_navmap_iteration(NavMapIterationBuild &r_build) {
	_build_step_gather_region_polygons(r_build);

	_build_step_find_edge_connection_pairs(r_build);

	_build_step_merge_edge_connection_pairs(r_build);

	_build_step_edge_connection_margin_connections(r_build);

	_build_step_navlink_connections(r_build);

	_build_update_map_iteration(r_build);
}

void NavMapBuilder3D::_build_step_gather_region_polygons(NavMapIterationBuild &r_build) {
	NavMapIteration *map_iteration = r_build.map_iteration;
	gd::PerformanceData &performance_data = r_build.performance_data;
	int polygon_count = r_build.polygon_count;<--- polygon_count is initialized
	int navmesh_polygon_count = r_build.navmesh_polygon_count;<--- navmesh_polygon_count is initialized

	// Remove regions connections.
	map_iteration->external_region_connections.clear();
	for (const NavRegionIteration &region : map_iteration->region_iterations) {
		map_iteration->external_region_connections[region.id] = LocalVector<gd::Edge::Connection>();
	}

	polygon_count = 0;<--- polygon_count is overwritten
	navmesh_polygon_count = 0;<--- navmesh_polygon_count is overwritten
	for (NavRegionIteration &region : map_iteration->region_iterations) {
		for (gd::Polygon &region_polygon : region.navmesh_polygons) {
			region_polygon.id = polygon_count;
			region_polygon.owner = &region;

			polygon_count++;
			navmesh_polygon_count++;
		}
	}

	performance_data.pm_polygon_count = polygon_count;
	r_build.polygon_count = polygon_count;
	r_build.navmesh_polygon_count = navmesh_polygon_count;
}

void NavMapBuilder3D::_build_step_find_edge_connection_pairs(NavMapIterationBuild &r_build) {
	NavMapIteration *map_iteration = r_build.map_iteration;
	HashMap<gd::EdgeKey, gd::EdgeConnectionPair, gd::EdgeKey> &iter_connection_pairs_map = r_build.iter_connection_pairs_map;
	gd::PerformanceData &performance_data = r_build.performance_data;
	int free_edge_count = r_build.free_edge_count;

	iter_connection_pairs_map.clear();
	iter_connection_pairs_map.reserve(map_iteration->region_iterations.size());

	for (NavRegionIteration &region : map_iteration->region_iterations) {
		for (gd::Polygon &region_polygon : region.navmesh_polygons) {
			for (uint32_t p = 0; p < region_polygon.points.size(); p++) {
				const int next_point = (p + 1) % region_polygon.points.size();
				const gd::EdgeKey ek(region_polygon.points[p].key, region_polygon.points[next_point].key);

				HashMap<gd::EdgeKey, gd::EdgeConnectionPair, gd::EdgeKey>::Iterator pair_it = iter_connection_pairs_map.find(ek);
				if (!pair_it) {
					pair_it = iter_connection_pairs_map.insert(ek, gd::EdgeConnectionPair());
					performance_data.pm_edge_count += 1;
					++free_edge_count;
				}
				gd::EdgeConnectionPair &pair = pair_it->value;
				if (pair.size < 2) {
					pair.connections[pair.size].polygon = &region_polygon;
					pair.connections[pair.size].edge = p;
					pair.connections[pair.size].pathway_start = region_polygon.points[p].pos;
					pair.connections[pair.size].pathway_end = region_polygon.points[next_point].pos;
					++pair.size;
					if (pair.size == 2) {
						--free_edge_count;
					}

				} else {
					// The edge is already connected with another edge, skip.
					ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'. If you're certain none of above is the case, change 'navigation/3d/merge_rasterizer_cell_scale' to 0.001.");
				}
			}
		}
	}
	r_build.free_edge_count = free_edge_count;
}

void NavMapBuilder3D::_build_step_merge_edge_connection_pairs(NavMapIterationBuild &r_build) {
	HashMap<gd::EdgeKey, gd::EdgeConnectionPair, gd::EdgeKey> &iter_connection_pairs_map = r_build.iter_connection_pairs_map;<--- Variable 'iter_connection_pairs_map' can be declared with const
	LocalVector<gd::Edge::Connection> &iter_free_edges = r_build.iter_free_edges;
	bool use_edge_connections = r_build.use_edge_connections;
	gd::PerformanceData &performance_data = r_build.performance_data;

	iter_free_edges.clear();
	iter_free_edges.resize(r_build.free_edge_count);
	uint32_t iter_free_edge_index = 0;

	for (const KeyValue<gd::EdgeKey, gd::EdgeConnectionPair> &pair_it : iter_connection_pairs_map) {
		const gd::EdgeConnectionPair &pair = pair_it.value;

		if (pair.size == 2) {
			// Connect edge that are shared in different polygons.
			const gd::Edge::Connection &c1 = pair.connections[0];
			const gd::Edge::Connection &c2 = pair.connections[1];
			c1.polygon->edges[c1.edge].connections.push_back(c2);
			c2.polygon->edges[c2.edge].connections.push_back(c1);
			// Note: The pathway_start/end are full for those connection and do not need to be modified.
			performance_data.pm_edge_merge_count += 1;
		} else {
			CRASH_COND_MSG(pair.size != 1, vformat("Number of connection != 1. Found: %d", pair.size));
			if (use_edge_connections && pair.connections[0].polygon->owner->owner_use_edge_connections) {
				iter_free_edges[iter_free_edge_index++] = pair.connections[0];
			}
		}
	}

	iter_free_edges.resize(iter_free_edge_index);
}

void NavMapBuilder3D::_build_step_edge_connection_margin_connections(NavMapIterationBuild &r_build) {
	NavMapIteration *map_iteration = r_build.map_iteration;
	const LocalVector<gd::Edge::Connection> &iter_free_edges = r_build.iter_free_edges;
	bool use_edge_connections = r_build.use_edge_connections;
	gd::PerformanceData &performance_data = r_build.performance_data;
	const real_t edge_connection_margin = r_build.edge_connection_margin;
	// Find the compatible near edges.
	//
	// Note:
	// Considering that the edges must be compatible (for obvious reasons)
	// to be connected, create new polygons to remove that small gap is
	// not really useful and would result in wasteful computation during
	// connection, integration and path finding.

	performance_data.pm_edge_free_count = iter_free_edges.size();

	if (!use_edge_connections) {
		return;
	}

	const real_t edge_connection_margin_squared = edge_connection_margin * edge_connection_margin;

	for (uint32_t i = 0; i < iter_free_edges.size(); i++) {
		const gd::Edge::Connection &free_edge = iter_free_edges[i];

		Vector3 edge_p1 = free_edge.polygon->points[free_edge.edge].pos;
		Vector3 edge_p2 = free_edge.polygon->points[(free_edge.edge + 1) % free_edge.polygon->points.size()].pos;

		Vector3 edge_vector = edge_p2 - edge_p1;
		real_t edge_vector_length_squared = edge_vector.length_squared();

		for (uint32_t j = 0; j < iter_free_edges.size(); j++) {
			const gd::Edge::Connection &other_edge = iter_free_edges[j];
			if (i == j || free_edge.polygon->owner == other_edge.polygon->owner) {
				continue;
			}

			Vector3 other_edge_p1 = other_edge.polygon->points[other_edge.edge].pos;
			Vector3 other_edge_p2 = other_edge.polygon->points[(other_edge.edge + 1) % other_edge.polygon->points.size()].pos;

			// Compute the projection of the opposite edge on the current one
			real_t projected_p1_ratio = edge_vector.dot(other_edge_p1 - edge_p1) / (edge_vector_length_squared);
			real_t projected_p2_ratio = edge_vector.dot(other_edge_p2 - edge_p1) / (edge_vector_length_squared);
			if ((projected_p1_ratio < 0.0 && projected_p2_ratio < 0.0) || (projected_p1_ratio > 1.0 && projected_p2_ratio > 1.0)) {
				continue;
			}

			// Check if the two edges are close to each other enough and compute a pathway between the two regions.
			Vector3 self1 = edge_vector * CLAMP(projected_p1_ratio, 0.0, 1.0) + edge_p1;
			Vector3 other1;
			if (projected_p1_ratio >= 0.0 && projected_p1_ratio <= 1.0) {
				other1 = other_edge_p1;
			} else {
				other1 = other_edge_p1.lerp(other_edge_p2, (1.0 - projected_p1_ratio) / (projected_p2_ratio - projected_p1_ratio));
			}
			if (other1.distance_squared_to(self1) > edge_connection_margin_squared) {
				continue;
			}

			Vector3 self2 = edge_vector * CLAMP(projected_p2_ratio, 0.0, 1.0) + edge_p1;
			Vector3 other2;
			if (projected_p2_ratio >= 0.0 && projected_p2_ratio <= 1.0) {
				other2 = other_edge_p2;
			} else {
				other2 = other_edge_p1.lerp(other_edge_p2, (0.0 - projected_p1_ratio) / (projected_p2_ratio - projected_p1_ratio));
			}
			if (other2.distance_squared_to(self2) > edge_connection_margin_squared) {
				continue;
			}

			// The edges can now be connected.
			gd::Edge::Connection new_connection = other_edge;
			new_connection.pathway_start = (self1 + other1) / 2.0;
			new_connection.pathway_end = (self2 + other2) / 2.0;
			free_edge.polygon->edges[free_edge.edge].connections.push_back(new_connection);

			// Add the connection to the region_connection map.
			map_iteration->external_region_connections[(uint32_t)free_edge.polygon->owner->id].push_back(new_connection);
			performance_data.pm_edge_connection_count += 1;
		}
	}
}

void NavMapBuilder3D::_build_step_navlink_connections(NavMapIterationBuild &r_build) {
	NavMapIteration *map_iteration = r_build.map_iteration;
	const Vector3 &merge_rasterizer_cell_size = r_build.merge_rasterizer_cell_size;
	real_t link_connection_radius = r_build.link_connection_radius;
	real_t link_connection_radius_sqr = link_connection_radius * link_connection_radius;
	int polygon_count = r_build.polygon_count;
	int link_polygon_count = r_build.link_polygon_count;

	// Search for polygons within range of a nav link.
	for (NavLinkIteration &link : map_iteration->link_iterations) {
		if (!link.enabled) {
			continue;
		}
		const Vector3 link_start_pos = link.start_position;
		const Vector3 link_end_pos = link.end_position;

		gd::Polygon *closest_start_polygon = nullptr;
		real_t closest_start_sqr_dist = link_connection_radius_sqr;
		Vector3 closest_start_point;

		gd::Polygon *closest_end_polygon = nullptr;
		real_t closest_end_sqr_dist = link_connection_radius_sqr;
		Vector3 closest_end_point;

		for (NavRegionIteration &region : map_iteration->region_iterations) {
			AABB region_bounds = region.bounds.grow(link_connection_radius);
			if (!region_bounds.has_point(link_start_pos) && !region_bounds.has_point(link_end_pos)) {
				continue;
			}
			for (gd::Polygon &polyon : region.navmesh_polygons) {
				for (uint32_t point_id = 2; point_id < polyon.points.size(); point_id += 1) {
					const Face3 face(polyon.points[0].pos, polyon.points[point_id - 1].pos, polyon.points[point_id].pos);

					{
						const Vector3 start_point = face.get_closest_point_to(link_start_pos);
						const real_t sqr_dist = start_point.distance_squared_to(link_start_pos);

						// Pick the polygon that is within our radius and is closer than anything we've seen yet.
						if (sqr_dist < closest_start_sqr_dist) {
							closest_start_sqr_dist = sqr_dist;
							closest_start_point = start_point;
							closest_start_polygon = &polyon;
						}
					}

					{
						const Vector3 end_point = face.get_closest_point_to(link_end_pos);
						const real_t sqr_dist = end_point.distance_squared_to(link_end_pos);

						// Pick the polygon that is within our radius and is closer than anything we've seen yet.
						if (sqr_dist < closest_end_sqr_dist) {
							closest_end_sqr_dist = sqr_dist;
							closest_end_point = end_point;
							closest_end_polygon = &polyon;
						}
					}
				}
			}
		}

		// If we have both a start and end point, then create a synthetic polygon to route through.
		if (closest_start_polygon && closest_end_polygon) {
			link.navmesh_polygons.resize(1);
			gd::Polygon &new_polygon = link.navmesh_polygons[0];
			new_polygon.id = polygon_count++;
			new_polygon.owner = &link;

			link_polygon_count++;

			new_polygon.edges.clear();
			new_polygon.edges.resize(4);
			new_polygon.points.resize(4);

			// Build a set of vertices that create a thin polygon going from the start to the end point.
			new_polygon.points[0] = { closest_start_point, get_point_key(closest_start_point, merge_rasterizer_cell_size) };
			new_polygon.points[1] = { closest_start_point, get_point_key(closest_start_point, merge_rasterizer_cell_size) };
			new_polygon.points[2] = { closest_end_point, get_point_key(closest_end_point, merge_rasterizer_cell_size) };
			new_polygon.points[3] = { closest_end_point, get_point_key(closest_end_point, merge_rasterizer_cell_size) };

			// Setup connections to go forward in the link.
			{
				gd::Edge::Connection entry_connection;
				entry_connection.polygon = &new_polygon;
				entry_connection.edge = -1;
				entry_connection.pathway_start = new_polygon.points[0].pos;
				entry_connection.pathway_end = new_polygon.points[1].pos;
				closest_start_polygon->edges[0].connections.push_back(entry_connection);

				gd::Edge::Connection exit_connection;
				exit_connection.polygon = closest_end_polygon;
				exit_connection.edge = -1;
				exit_connection.pathway_start = new_polygon.points[2].pos;
				exit_connection.pathway_end = new_polygon.points[3].pos;
				new_polygon.edges[2].connections.push_back(exit_connection);
			}

			// If the link is bi-directional, create connections from the end to the start.
			if (link.bidirectional) {
				gd::Edge::Connection entry_connection;
				entry_connection.polygon = &new_polygon;
				entry_connection.edge = -1;
				entry_connection.pathway_start = new_polygon.points[2].pos;
				entry_connection.pathway_end = new_polygon.points[3].pos;
				closest_end_polygon->edges[0].connections.push_back(entry_connection);

				gd::Edge::Connection exit_connection;
				exit_connection.polygon = closest_start_polygon;
				exit_connection.edge = -1;
				exit_connection.pathway_start = new_polygon.points[0].pos;
				exit_connection.pathway_end = new_polygon.points[1].pos;
				new_polygon.edges[0].connections.push_back(exit_connection);
			}
		}
	}

	r_build.polygon_count = polygon_count;
	r_build.link_polygon_count = link_polygon_count;
}

void NavMapBuilder3D::_build_update_map_iteration(NavMapIterationBuild &r_build) {
	NavMapIteration *map_iteration = r_build.map_iteration;

	map_iteration->navmesh_polygon_count = r_build.navmesh_polygon_count;
	map_iteration->link_polygon_count = r_build.link_polygon_count;

	// TODO: This copying is for compatibility with legacy functions that expect a big polygon soup array.
	// Those functions should be changed to work hierarchical with the region iteration polygons directly.
	map_iteration->navmesh_polygons.resize(map_iteration->navmesh_polygon_count);
	uint32_t polygon_index = 0;
	for (NavRegionIteration &region : map_iteration->region_iterations) {
		for (gd::Polygon &region_polygon : region.navmesh_polygons) {
			map_iteration->navmesh_polygons[polygon_index++] = region_polygon;
		}
	}

	map_iteration->path_query_slots_mutex.lock();
	for (NavMeshQueries3D::PathQuerySlot &p_path_query_slot : map_iteration->path_query_slots) {
		p_path_query_slot.path_corridor.clear();
		p_path_query_slot.path_corridor.resize(map_iteration->navmesh_polygon_count + map_iteration->link_polygon_count);
		p_path_query_slot.traversable_polys.clear();
		p_path_query_slot.traversable_polys.reserve(map_iteration->navmesh_polygon_count * 0.25);
	}
	map_iteration->path_query_slots_mutex.unlock();
}

#endif // _3D_DISABLED