Move Navmesh code away from dPhysics (#701)

CMakeLists.txt

@@ -14,7 +14,7 @@ string(REPLACE "\n" ";" variables ${variables})
 foreach(variable ${variables})
 	# If the string contains a #, skip it
 	if(NOT "${variable}" MATCHES "#")
-	
+
 		# Split the variable into name and value
 		string(REPLACE "=" ";" variable ${variable})
 
@@ -43,7 +43,7 @@ set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT
 message(STATUS "Version: ${PROJECT_VERSION}")
 
 # Compiler flags:
-# Disabled deprecated warnings as the MySQL includes have deprecated code in them. 
+# Disabled deprecated warnings as the MySQL includes have deprecated code in them.
 # Disabled misleading indentation as DL_LinkedList from RakNet has a weird indent.
 # Disabled no-register
 # Disabled unknown pragmas because Linux doesn't understand Windows pragmas.
@@ -118,17 +118,18 @@ endforeach()
 set(INCLUDED_DIRECTORIES
 	"dCommon"
 	"dChatFilter"
-	"dGame" 
+	"dGame"
-	"dGame/dBehaviors" 
+	"dGame/dBehaviors"
-	"dGame/dComponents" 
+	"dGame/dComponents"
-	"dGame/dGameMessages" 
+	"dGame/dGameMessages"
-	"dGame/dInventory" 
+	"dGame/dInventory"
-	"dGame/dMission" 
+	"dGame/dMission"
-	"dGame/dEntity" 
+	"dGame/dEntity"
-	"dGame/dUtilities" 
+	"dGame/dUtilities"
-	"dPhysics" 
+	"dPhysics"
-	"dZoneManager" 
+	"dNavigation"
-	"dDatabase" 
+	"dZoneManager"
+	"dDatabase"
 	"dDatabase/Tables"
 	"dNet"
 	"dScripts"
@@ -192,7 +193,7 @@ file(
 file(
 	GLOB HEADERS_DGAME
 	LIST_DIRECTORIES false
-	${PROJECT_SOURCE_DIR}/dGame/Entity.h 
+	${PROJECT_SOURCE_DIR}/dGame/Entity.h
 	${PROJECT_SOURCE_DIR}/dGame/dGameMessages/GameMessages.h
 	${PROJECT_SOURCE_DIR}/dGame/EntityManager.h
 	${PROJECT_SOURCE_DIR}/dScripts/CppScripts.h
@@ -206,6 +207,7 @@ add_subdirectory(dNet)
 add_subdirectory(dScripts) # Add for dGame to use
 add_subdirectory(dGame)
 add_subdirectory(dZoneManager)
+add_subdirectory(dNavigation)
 add_subdirectory(dPhysics)
 
 # Create a list of common libraries shared between all binaries
@@ -230,18 +232,18 @@ add_subdirectory(dMasterServer) # Add MasterServer last so it can rely on the ot
 
 # Add our precompiled headers
 target_precompile_headers(
-	dGame PRIVATE 
+	dGame PRIVATE
 	${HEADERS_DGAME}
 )
 
 target_precompile_headers(
-	dZoneManager PRIVATE 
+	dZoneManager PRIVATE
 	${HEADERS_DZONEMANAGER}
 )
 
 # Need to specify to use the CXX compiler language here or else we get errors including <string>.
 target_precompile_headers(
-	dDatabase PRIVATE 
+	dDatabase PRIVATE
 	"$<$<COMPILE_LANGUAGE:CXX>:${HEADERS_DDATABASE}>"
 )
 
@@ -253,4 +255,4 @@ target_precompile_headers(
 target_precompile_headers(
 	tinyxml2 PRIVATE
 	"$<$<COMPILE_LANGUAGE:CXX>:${PROJECT_SOURCE_DIR}/thirdparty/tinyxml2/tinyxml2.h>"
-)
+)

dGame/dComponents/BaseCombatAIComponent.cpp

@@ -654,7 +654,7 @@ void BaseCombatAIComponent::Wander() {
 	auto destination = m_StartPosition + delta;
 
 	if (dpWorld::Instance().IsLoaded()) {
-		destination.y = dpWorld::Instance().GetHeightAtPoint(destination);
+		destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(destination);
 	}
 
 	if (Vector3::DistanceSquared(destination, m_MovementAI->GetCurrentPosition()) < 2 * 2) {

dGame/dComponents/MovementAIComponent.cpp

@@ -196,7 +196,7 @@ NiPoint3 MovementAIComponent::ApproximateLocation() const {
 	NiPoint3 approximation = NiPoint3(x, y, z);
 
 	if (dpWorld::Instance().IsLoaded()) {
-		approximation.y = dpWorld::Instance().GetHeightAtPoint(approximation);
+		approximation.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(approximation);
 	}
 
 	return approximation;
@@ -208,7 +208,7 @@ bool MovementAIComponent::Warp(const NiPoint3& point) {
 	NiPoint3 destination = point;
 
 	if (dpWorld::Instance().IsLoaded()) {
-		destination.y = dpWorld::Instance().GetHeightAtPoint(point);
+		destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(point);
 
 		if (std::abs(destination.y - point.y) > 3) {
 			return false;
@@ -387,7 +387,7 @@ void MovementAIComponent::SetDestination(const NiPoint3& value) {
 	std::vector<NiPoint3> computedPath;
 
 	if (dpWorld::Instance().IsLoaded()) {
-		computedPath = dpWorld::Instance().GetPath(GetCurrentPosition(), value, m_Info.wanderSpeed);
+		computedPath = dpWorld::Instance().GetNavMesh()->GetPath(GetCurrentPosition(), value, m_Info.wanderSpeed);
 	} else {
 		// Than take 10 points between the current position and the destination and make that the path
 
@@ -416,7 +416,7 @@ void MovementAIComponent::SetDestination(const NiPoint3& value) {
 	// Simply path
 	for (auto point : computedPath) {
 		if (dpWorld::Instance().IsLoaded()) {
-			point.y = dpWorld::Instance().GetHeightAtPoint(point);
+			point.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(point);
 		}
 
 		m_CurrentPath.push_back(point);

dGame/dComponents/PetComponent.cpp

@@ -267,14 +267,14 @@ void PetComponent::OnUse(Entity* originator) {
 	if (dpWorld::Instance().IsLoaded()) {
 		NiPoint3 attempt = petPosition + forward * interactionDistance;
 
-		float y = dpWorld::Instance().GetHeightAtPoint(attempt);
+		float y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(attempt);
 
 		while (std::abs(y - petPosition.y) > 4 && interactionDistance > 10) {
 			const NiPoint3 forward = m_Parent->GetRotation().GetForwardVector();
 
 			attempt = originatorPosition + forward * interactionDistance;
 
-			y = dpWorld::Instance().GetHeightAtPoint(attempt);
+			y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(attempt);
 
 			interactionDistance -= 0.5f;
 		}
@@ -819,7 +819,7 @@ void PetComponent::Wander() {
 	auto destination = m_StartPosition + delta;
 
 	if (dpWorld::Instance().IsLoaded()) {
-		destination.y = dpWorld::Instance().GetHeightAtPoint(destination);
+		destination.y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(destination);
 	}
 
 	if (Vector3::DistanceSquared(destination, m_MovementAI->GetCurrentPosition()) < 2 * 2) {

dGame/dUtilities/SlashCommandHandler.cpp

@@ -733,7 +733,7 @@ void SlashCommandHandler::HandleChatCommand(const std::u16string& command, Entit
 		auto control = static_cast<ControllablePhysicsComponent*>(entity->GetComponent(COMPONENT_TYPE_CONTROLLABLE_PHYSICS));
 		if (!control) return;
 
-		float y = dpWorld::Instance().GetHeightAtPoint(control->GetPosition());
+		float y = dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(control->GetPosition());
 		std::u16string msg = u"Navmesh height: " + (GeneralUtils::to_u16string(y));
 		ChatPackets::SendSystemMessage(sysAddr, msg);
 	}

dNavigation/CMakeLists.txt

@@ -0,0 +1,4 @@
+set(DNAVIGATION_SOURCES "dNavMesh.cpp")
+
+add_library(dNavigation STATIC ${DNAVIGATION_SOURCES})
+target_link_libraries(dNavigation detour recast)

dNavigation/DetourExtensions.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "Recast.h"
+#include "DetourCommon.h"
+#include "DetourNavMesh.h"
+#include "DetourNavMeshBuilder.h"
+#include "DetourNavMeshQuery.h"
+
+static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // char[4] of 'MSET'
+static const int NAVMESHSET_VERSION = 1;
+
+struct NavMeshSetHeader {
+	int magic;
+	int version;
+	int numTiles;
+	dtNavMeshParams params;
+};
+
+struct NavMeshTileHeader {
+	dtTileRef tileRef;
+	int dataSize;
+};
+
+static const int MAX_POLYS = 256;
+static const int MAX_SMOOTH = 2048;

dNavigation/dNavMesh.cpp

@@ -0,0 +1,228 @@
+#include "dNavMesh.h"
+
+#include "Game.h"
+#include "dLogger.h"
+#include "dPlatforms.h"
+#include "NiPoint3.h"
+#include "BinaryIO.h"
+
+dNavMesh::dNavMesh(uint32_t zoneId) {
+	m_ZoneId = zoneId;
+
+	this->LoadNavmesh();
+
+	if (m_NavMesh) {
+		m_NavQuery = dtAllocNavMeshQuery();
+		m_NavQuery->init(m_NavMesh, 2048);
+
+		Game::logger->Log("dNavMesh", "Navmesh loaded successfully!");
+	} else {
+		Game::logger->Log("dNavMesh", "Navmesh loading failed (This may be intended).");
+	}
+}
+
+dNavMesh::~dNavMesh() {
+	// Clean up Recast information
+
+	rcFreeHeightField(m_Solid);
+	rcFreeCompactHeightfield(m_CHF);
+	rcFreeContourSet(m_CSet);
+	rcFreePolyMesh(m_PMesh);
+	rcFreePolyMeshDetail(m_PMDMesh);
+	dtFreeNavMesh(m_NavMesh);
+	dtFreeNavMeshQuery(m_NavQuery);
+
+	if (m_Ctx) delete m_Ctx;
+	if (m_Triareas) delete[] m_Triareas;
+}
+
+
+void dNavMesh::LoadNavmesh() {
+
+	std::string path = "./res/maps/navmeshes/" + std::to_string(m_ZoneId) + ".bin";
+
+	if (!BinaryIO::DoesFileExist(path)) {
+		return;
+	}
+
+	FILE* fp;
+
+#ifdef _WIN32
+	fopen_s(&fp, path.c_str(), "rb");
+#elif __APPLE__
+	// macOS has 64bit file IO by default
+	fp = fopen(path.c_str(), "rb");
+#else
+	fp = fopen64(path.c_str(), "rb");
+#endif
+
+	if (!fp) {
+		return;
+	}
+
+	// Read header.
+	NavMeshSetHeader header;
+	size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
+	if (readLen != 1) {
+		fclose(fp);
+		return;
+	}
+
+	if (header.magic != NAVMESHSET_MAGIC) {
+		fclose(fp);
+		return;
+	}
+
+	if (header.version != NAVMESHSET_VERSION) {
+		fclose(fp);
+		return;
+	}
+
+	dtNavMesh* mesh = dtAllocNavMesh();
+	if (!mesh) {
+		fclose(fp);
+		return;
+	}
+
+	dtStatus status = mesh->init(&header.params);
+	if (dtStatusFailed(status)) {
+		fclose(fp);
+		return;
+	}
+
+	// Read tiles.
+	for (int i = 0; i < header.numTiles; ++i) {
+		NavMeshTileHeader tileHeader;
+		readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
+		if (readLen != 1) return;
+
+		if (!tileHeader.tileRef || !tileHeader.dataSize)
+			break;
+
+		unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
+		if (!data) break;
+		memset(data, 0, tileHeader.dataSize);
+		readLen = fread(data, tileHeader.dataSize, 1, fp);
+		if (readLen != 1) return;
+
+		mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
+	}
+
+	fclose(fp);
+
+	m_NavMesh = mesh;
+}
+
+float dNavMesh::GetHeightAtPoint(const NiPoint3& location) {
+	if (m_NavMesh == nullptr) {
+		return location.y;
+	}
+
+	float toReturn = 0.0f;
+	float pos[3];
+	pos[0] = location.x;
+	pos[1] = location.y;
+	pos[2] = location.z;
+
+	dtPolyRef nearestRef = 0;
+	float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
+	dtQueryFilter filter{};
+
+	m_NavQuery->findNearestPoly(pos, polyPickExt, &filter, &nearestRef, 0);
+	m_NavQuery->getPolyHeight(nearestRef, pos, &toReturn);
+
+	if (toReturn == 0.0f) {
+		toReturn = location.y;
+	}
+
+	return toReturn;
+}
+
+std::vector<NiPoint3> dNavMesh::GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed) {
+	std::vector<NiPoint3> path;
+
+	// Allows for non-navmesh maps (like new custom maps) to have "basic" enemies.
+	if (m_NavMesh == nullptr) {
+		// How many points to generate between start/end?
+		// Note: not actually 100% accurate due to rounding, but worst case it causes them to go a tiny bit faster
+		// than their speed value would normally allow at the end.
+		int numPoints = startPos.Distance(startPos, endPos) / speed;
+
+		path.push_back(startPos); //insert the start pos
+
+		// Linearly interpolate between these two points:
+		for (int i = 0; i < numPoints; i++) {
+			NiPoint3 newPoint{ startPos };
+
+			newPoint.x += speed;
+			newPoint.y = newPoint.y + (((endPos.y - startPos.y) / (endPos.x - startPos.x)) * (newPoint.x - startPos.x));
+
+			path.push_back(newPoint);
+		}
+
+		path.push_back(endPos); //finally insert our end pos
+
+		return path;
+	}
+
+	float sPos[3];
+	float ePos[3];
+	sPos[0] = startPos.x;
+	sPos[1] = startPos.y;
+	sPos[2] = startPos.z;
+
+	ePos[0] = endPos.x;
+	ePos[1] = endPos.y;
+	ePos[2] = endPos.z;
+
+	dtStatus pathFindStatus;
+	dtPolyRef startRef;
+	dtPolyRef endRef;
+	float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
+	dtQueryFilter filter{};
+
+	//Find our start poly
+	m_NavQuery->findNearestPoly(sPos, polyPickExt, &filter, &startRef, 0);
+
+	//Find our end poly
+	m_NavQuery->findNearestPoly(ePos, polyPickExt, &filter, &endRef, 0);
+
+	pathFindStatus = DT_FAILURE;
+	int m_nstraightPath = 0;
+	int m_npolys = 0;
+	dtPolyRef m_polys[MAX_POLYS];
+	float m_straightPath[MAX_POLYS * 3];
+	unsigned char m_straightPathFlags[MAX_POLYS];
+	dtPolyRef m_straightPathPolys[MAX_POLYS];
+	int m_straightPathOptions = 0;
+
+	if (startRef && endRef) {
+		m_NavQuery->findPath(startRef, endRef, sPos, ePos, &filter, m_polys, &m_npolys, MAX_POLYS);
+
+		if (m_npolys) {
+			// In case of partial path, make sure the end point is clamped to the last polygon.
+			float epos[3];
+			dtVcopy(epos, ePos);
+
+			if (m_polys[m_npolys - 1] != endRef) {
+				m_NavQuery->closestPointOnPoly(m_polys[m_npolys - 1], ePos, epos, 0);
+			}
+
+			m_NavQuery->findStraightPath(sPos, epos, m_polys, m_npolys,
+				m_straightPath, m_straightPathFlags,
+				m_straightPathPolys, &m_nstraightPath, MAX_POLYS, m_straightPathOptions);
+
+			// At this point we have our path. Copy it to the path store
+			int nIndex = 0;
+			for (int nVert = 0; nVert < m_nstraightPath; nVert++) {
+				NiPoint3 newPoint{ m_straightPath[nIndex++], m_straightPath[nIndex++], m_straightPath[nIndex++] };
+				path.push_back(newPoint);
+			}
+		}
+	} else {
+		m_npolys = 0;
+		m_nstraightPath = 0;
+	}
+
+	return path;
+}

dNavigation/dNavMesh.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <cstdint>
+#include <vector>
+#include <map>
+#include <string>
+#include <cstring>
+
+#include "DetourExtensions.h"
+
+class NiPoint3;
+
+class dNavMesh {
+public:
+	dNavMesh(uint32_t zoneId);
+	~dNavMesh();
+
+	float GetHeightAtPoint(const NiPoint3& location);
+	std::vector<NiPoint3> GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed = 10.0f);
+private:
+	void LoadNavmesh();
+
+	uint32_t m_ZoneId;
+
+	uint8_t* m_Triareas = nullptr;
+	rcHeightfield* m_Solid = nullptr;
+	rcCompactHeightfield* m_CHF = nullptr;
+	rcContourSet* m_CSet = nullptr;
+	rcPolyMesh* m_PMesh = nullptr;
+	rcConfig m_Config;
+	rcPolyMeshDetail* m_PMDMesh = nullptr;
+
+	class InputGeom* m_Geometry = nullptr;
+	class dtNavMesh* m_NavMesh = nullptr;
+	class dtNavMeshQuery* m_NavQuery = nullptr;
+	uint8_t m_NavMeshDrawFlags;
+	rcContext* m_Ctx = nullptr;
+};

dPhysics/dpWorld.cpp

@@ -21,12 +21,9 @@ void dpWorld::Initialize(unsigned int zoneID) {
 		m_Grid = new dpGrid(phys_sp_tilecount, phys_sp_tilesize);
 	}
 
-	Game::logger->Log("dpWorld", "Physics world initialized!");
+	m_NavMesh = new dNavMesh(zoneID);
 
-	if (ShouldLoadNavmesh(zoneID)) {
+	Game::logger->Log("dpWorld", "Physics world initialized!");
-		if (LoadNavmeshByZoneID(zoneID)) Game::logger->Log("dpWorld", "Loaded navmesh!");
-		else Game::logger->Log("dpWorld", "Error(s) occurred during navmesh load.");
-	}
 }
 
 dpWorld::~dpWorld() {
@@ -35,7 +32,9 @@ dpWorld::~dpWorld() {
 		m_Grid = nullptr;
 	}
 
-	RecastCleanup();
+	m_NavMesh->~dNavMesh();
+	delete m_NavMesh;
+	m_NavMesh = nullptr;
 }
 
 void dpWorld::StepWorld(float deltaTime) {
@@ -98,256 +97,20 @@ void dpWorld::RemoveEntity(dpEntity* entity) {
 	}
 }
 
-void dpWorld::RecastCleanup() {
-	if (m_triareas) delete[] m_triareas;
-	m_triareas = 0;
-
-	rcFreeHeightField(m_solid);
-	m_solid = 0;
-	rcFreeCompactHeightfield(m_chf);
-	m_chf = 0;
-	rcFreeContourSet(m_cset);
-	m_cset = 0;
-	rcFreePolyMesh(m_pmesh);
-	m_pmesh = 0;
-	rcFreePolyMeshDetail(m_dmesh);
-	m_dmesh = 0;
-	dtFreeNavMesh(m_navMesh);
-	m_navMesh = 0;
-
-	dtFreeNavMeshQuery(m_navQuery);
-	m_navQuery = 0;
-
-	if (m_ctx) delete m_ctx;
-}
-
-bool dpWorld::LoadNavmeshByZoneID(unsigned int zoneID) {
-	std::string path = "./res/maps/navmeshes/" + std::to_string(zoneID) + ".bin";
-	m_navMesh = LoadNavmesh(path.c_str());
-
-	if (m_navMesh) { m_navQuery = dtAllocNavMeshQuery(); m_navQuery->init(m_navMesh, 2048); } else return false;
-
-	return true;
-}
-
-dtNavMesh* dpWorld::LoadNavmesh(const char* path) {
-	FILE* fp;
-
-#ifdef _WIN32
-	fopen_s(&fp, path, "rb");
-#elif __APPLE__
-	// macOS has 64bit file IO by default
-	fp = fopen(path, "rb");
-#else
-	fp = fopen64(path, "rb");
-#endif
-
-	if (!fp) {
-		return 0;
-	}
-
-	// Read header.
-	NavMeshSetHeader header;
-	size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
-	if (readLen != 1) {
-		fclose(fp);
-		return 0;
-	}
-
-	if (header.magic != NAVMESHSET_MAGIC) {
-		fclose(fp);
-		return 0;
-	}
-
-	if (header.version != NAVMESHSET_VERSION) {
-		fclose(fp);
-		return 0;
-	}
-
-	dtNavMesh* mesh = dtAllocNavMesh();
-	if (!mesh) {
-		fclose(fp);
-		return 0;
-	}
-
-	dtStatus status = mesh->init(&header.params);
-	if (dtStatusFailed(status)) {
-		fclose(fp);
-		return 0;
-	}
-
-	// Read tiles.
-	for (int i = 0; i < header.numTiles; ++i) {
-		NavMeshTileHeader tileHeader;
-		readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
-		if (readLen != 1)
-			return 0;
-
-		if (!tileHeader.tileRef || !tileHeader.dataSize)
-			break;
-
-		unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
-		if (!data) break;
-		memset(data, 0, tileHeader.dataSize);
-		readLen = fread(data, tileHeader.dataSize, 1, fp);
-		if (readLen != 1)
-			return 0;
-
-		mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
-	}
-
-	fclose(fp);
-
-	return mesh;
-}
-
-bool dpWorld::ShouldLoadNavmesh(unsigned int zoneID) {
-	return true; //We use default paths now. Might re-tool this function later.
-
-	//TODO: Add to this list as the navmesh folder grows.
-	switch (zoneID) {
-	case 1100:
-	case 1150:
-	case 1151:
-	case 1200:
-	case 1201:
-	case 1300:
-	case 1400:
-	case 1603:
-		return true;
-	}
-
-	return false;
-}
-
 bool dpWorld::ShouldUseSP(unsigned int zoneID) {
-	//TODO: Add to this list as needed. Only large maps should be added as tiling likely makes little difference on small maps.
+	// TODO: Add to this list as needed.
+	// Only large maps should be added as tiling likely makes little difference on small maps.
+
 	switch (zoneID) {
-	case 1100: //Avant Gardens
+		case 1100: // Avant Gardens
-	case 1200: //Nimbus Station
+		case 1200: // Nimbus Station
-	case 1300: //Gnarled Forest
+		case 1300: // Gnarled Forest
-	case 1400: //Forbidden Valley
+		case 1400: // Forbidden Valley
-	case 1800: //Crux Prime
+		case 1800: // Crux Prime
-	case 1900: //Nexus Tower
+		case 1900: // Nexus Tower
-	case 2000: //Ninjago
+		case 2000: // Ninjago
-		return true;
+			return true;
 	}
 
 	return false;
 }
-
-float dpWorld::GetHeightAtPoint(const NiPoint3& location) {
-	if (m_navMesh == nullptr) {
-		return location.y;
-	}
-
-	float toReturn = 0.0f;
-	float pos[3];
-	pos[0] = location.x;
-	pos[1] = location.y;
-	pos[2] = location.z;
-
-	dtPolyRef nearestRef = 0;
-	float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
-	dtQueryFilter filter{};
-
-	m_navQuery->findNearestPoly(pos, polyPickExt, &filter, &nearestRef, 0);
-	m_navQuery->getPolyHeight(nearestRef, pos, &toReturn);
-
-	if (toReturn == 0.0f) {
-		toReturn = location.y;
-	}
-
-	return toReturn;
-}
-
-std::vector<NiPoint3> dpWorld::GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed) {
-	std::vector<NiPoint3> path;
-
-	//allows for non-navmesh maps (like new custom maps) to have "basic" enemies.
-	if (m_navMesh == nullptr) {
-		//how many points to generate between start/end?
-		//note: not actually 100% accurate due to rounding, but worst case it causes them to go a tiny bit faster
-		//than their speed value would normally allow at the end.
-		int numPoints = startPos.Distance(startPos, endPos) / speed;
-
-		path.push_back(startPos); //insert the start pos
-
-		//Linearly interpolate between these two points:
-		for (int i = 0; i < numPoints; i++) {
-			NiPoint3 newPoint{ startPos };
-
-			newPoint.x += speed;
-			newPoint.y = newPoint.y + (((endPos.y - startPos.y) / (endPos.x - startPos.x)) * (newPoint.x - startPos.x));
-
-			path.push_back(newPoint);
-		}
-
-		path.push_back(endPos); //finally insert our end pos
-
-		return path;
-	}
-
-	float sPos[3];
-	float ePos[3];
-	sPos[0] = startPos.x;
-	sPos[1] = startPos.y;
-	sPos[2] = startPos.z;
-
-	ePos[0] = endPos.x;
-	ePos[1] = endPos.y;
-	ePos[2] = endPos.z;
-
-	dtStatus pathFindStatus;
-	dtPolyRef startRef;
-	dtPolyRef endRef;
-	float polyPickExt[3] = { 32.0f, 32.0f, 32.0f };
-	dtQueryFilter filter{};
-
-	//Find our start poly
-	m_navQuery->findNearestPoly(sPos, polyPickExt, &filter, &startRef, 0);
-
-	//Find our end poly
-	m_navQuery->findNearestPoly(ePos, polyPickExt, &filter, &endRef, 0);
-
-	pathFindStatus = DT_FAILURE;
-	int m_nstraightPath = 0;
-	int m_npolys = 0;
-	dtPolyRef m_polys[MAX_POLYS];
-	float m_straightPath[MAX_POLYS * 3];
-	unsigned char m_straightPathFlags[MAX_POLYS];
-	dtPolyRef m_straightPathPolys[MAX_POLYS];
-	int m_straightPathOptions = 0;
-
-	if (startRef && endRef) {
-		m_navQuery->findPath(startRef, endRef, sPos, ePos, &filter, m_polys, &m_npolys, MAX_POLYS);
-
-		if (m_npolys) {
-			// In case of partial path, make sure the end point is clamped to the last polygon.
-			float epos[3];
-			dtVcopy(epos, ePos);
-			if (m_polys[m_npolys - 1] != endRef)
-				m_navQuery->closestPointOnPoly(m_polys[m_npolys - 1], ePos, epos, 0);
-
-			m_navQuery->findStraightPath(sPos, epos, m_polys, m_npolys,
-				m_straightPath, m_straightPathFlags,
-				m_straightPathPolys, &m_nstraightPath, MAX_POLYS, m_straightPathOptions);
-
-			// At this point we have our path.  Copy it to the path store
-			int nIndex = 0;
-			for (int nVert = 0; nVert < m_nstraightPath; nVert++) {
-				/*m_PathStore[nPathSlot].PosX[nVert] = StraightPath[nIndex++];
-				m_PathStore[nPathSlot].PosY[nVert] = StraightPath[nIndex++];
-				m_PathStore[nPathSlot].PosZ[nVert] = StraightPath[nIndex++];*/
-
-				NiPoint3 newPoint{ m_straightPath[nIndex++], m_straightPath[nIndex++], m_straightPath[nIndex++] };
-				path.push_back(newPoint);
-			}
-		}
-	} else {
-		m_npolys = 0;
-		m_nstraightPath = 0;
-	}
-
-	return path;
-}

dPhysics/dpWorld.h

@@ -1,6 +1,6 @@
 #pragma once
+
 #include "Singleton.h"
-#include <vector>
 
 //Navmesh includes:
 #include "Recast.h"
@@ -11,23 +11,7 @@
 #include <vector>
 #include <map>
 
-static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET';
+#include "dNavMesh.h"
-static const int NAVMESHSET_VERSION = 1;
-
-struct NavMeshSetHeader {
-	int magic;
-	int version;
-	int numTiles;
-	dtNavMeshParams params;
-};
-
-struct NavMeshTileHeader {
-	dtTileRef tileRef;
-	int dataSize;
-};
-
-static const int MAX_POLYS = 256;
-static const int MAX_SMOOTH = 2048;
 
 class NiPoint3;
 class dpEntity;
@@ -38,22 +22,17 @@ public:
 	void Initialize(unsigned int zoneID);
 
 	~dpWorld();
-	void RecastCleanup();
 
-	bool LoadNavmeshByZoneID(unsigned int zoneID);
-	dtNavMesh* LoadNavmesh(const char* path);
-	bool ShouldLoadNavmesh(unsigned int zoneID);
 	bool ShouldUseSP(unsigned int zoneID);
-
+	bool IsLoaded() const { return m_NavMesh != nullptr; }
-	float GetHeightAtPoint(const NiPoint3& location);
-	std::vector<NiPoint3> GetPath(const NiPoint3& startPos, const NiPoint3& endPos, float speed = 10.0f);
-	bool IsLoaded() const { return m_navMesh != nullptr; }
 
 	void StepWorld(float deltaTime);
 
 	void AddEntity(dpEntity* entity);
 	void RemoveEntity(dpEntity* entity);
 
+	dNavMesh* GetNavMesh() { return m_NavMesh; }
+
 private:
 	dpGrid* m_Grid;
 	bool phys_spatial_partitioning = 1;
@@ -63,18 +42,5 @@ private:
 	std::vector<dpEntity*> m_StaticEntities;
 	std::vector<dpEntity*> m_DynamicEntites;
 
-	//Navmesh stuffs:
+	dNavMesh* m_NavMesh;
-	unsigned char* m_triareas;
-	rcHeightfield* m_solid;
-	rcCompactHeightfield* m_chf;
-	rcContourSet* m_cset;
-	rcPolyMesh* m_pmesh;
-	rcConfig m_cfg;
-	rcPolyMeshDetail* m_dmesh;
-
-	class InputGeom* m_geom;
-	class dtNavMesh* m_navMesh;
-	class dtNavMeshQuery* m_navQuery;
-	unsigned char m_navMeshDrawFlags;
-	rcContext* m_ctx;
 };

dScripts/BaseEnemyMech.cpp

@@ -17,7 +17,7 @@ void BaseEnemyMech::OnDie(Entity* self, Entity* killer) {
 	ControllablePhysicsComponent* controlPhys = static_cast<ControllablePhysicsComponent*>(self->GetComponent(COMPONENT_TYPE_CONTROLLABLE_PHYSICS));
 	if (!controlPhys) return;
 
-	NiPoint3 newLoc = { controlPhys->GetPosition().x, dpWorld::Instance().GetHeightAtPoint(controlPhys->GetPosition()), controlPhys->GetPosition().z };
+	NiPoint3 newLoc = { controlPhys->GetPosition().x, dpWorld::Instance().GetNavMesh()->GetHeightAtPoint(controlPhys->GetPosition()), controlPhys->GetPosition().z };
 
 	EntityInfo info = EntityInfo();
 	std::vector<LDFBaseData*> cfg;

dWorldServer/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(DWORLDSERVER_SOURCES "ObjectIDManager.cpp"
 		"PerformanceManager.cpp"
 		"WorldServer.cpp")
-	
+
 add_executable(WorldServer ${DWORLDSERVER_SOURCES})
-target_link_libraries(WorldServer ${COMMON_LIBRARIES} dChatFilter dGame dZoneManager dPhysics detour recast tinyxml2)
+target_link_libraries(WorldServer ${COMMON_LIBRARIES} dChatFilter dGame dZoneManager dPhysics detour recast tinyxml2 dNavigation)