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Add multi-threaded NavMesh baking to NavigationServer

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Adds multi-threaded NavMesh baking to NavigationServer.
This commit is contained in:
smix8
2023-07-07 15:59:10 +02:00
parent f2acfb1ffc
commit 8686e84b44
11 changed files with 205 additions and 75 deletions
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34
modules/navigation/godot_navigation_server.cpp
View File

@ -930,7 +930,7 @@ COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers) {
obstacle->set_avoidance_layers(p_layers);
}
void GodotNavigationServer::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
void GodotNavigationServer::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
#ifndef _3D_DISABLED
ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred().");
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
@ -942,26 +942,26 @@ void GodotNavigationServer::parse_source_geometry_data(const Ref<NavigationMesh>
#endif // _3D_DISABLED
}
void GodotNavigationServer::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
void GodotNavigationServer::bake_from_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
#ifndef _3D_DISABLED
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData3D.");
if (!p_source_geometry_data->has_data()) {
p_navigation_mesh->clear();
if (p_callback.is_valid()) {
Callable::CallError ce;
Variant result;
p_callback.callp(nullptr, 0, result, ce);
}
return;
}
ERR_FAIL_NULL(NavMeshGenerator3D::get_singleton());
NavMeshGenerator3D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
#endif // _3D_DISABLED
}
void GodotNavigationServer::bake_from_source_geometry_data_async(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
#ifndef _3D_DISABLED
ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh.");
ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData3D.");
ERR_FAIL_NULL(NavMeshGenerator3D::get_singleton());
NavMeshGenerator3D::get_singleton()->bake_from_source_geometry_data_async(p_navigation_mesh, p_source_geometry_data, p_callback);
#endif // _3D_DISABLED
}
COMMAND_1(free, RID, p_object) {
if (map_owner.owns(p_object)) {
NavMap *map = map_owner.get_or_null(p_object);
@ -1093,6 +1093,16 @@ void GodotNavigationServer::process(real_t p_delta_time) {
return;
}
#ifndef _3D_DISABLED
// Sync finished navmesh bakes before doing NavMap updates.
if (navmesh_generator_3d) {
navmesh_generator_3d->sync();
// Finished bakes emit callbacks and users might have reacted to those.
// Flush queue again so users do not have to wait for the next sync.
flush_queries();
}
#endif // _3D_DISABLED
int _new_pm_region_count = 0;
int _new_pm_agent_count = 0;
int _new_pm_link_count = 0;

5
modules/navigation/godot_navigation_server.h
View File

@ -228,8 +228,9 @@ public:
virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) override;
COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers);
virtual void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
virtual void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data_async(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
COMMAND_1(free, RID, p_object);

125
modules/navigation/nav_mesh_generator_3d.cpp
View File

@ -32,6 +32,7 @@
#include "nav_mesh_generator_3d.h"
#include "core/config/project_settings.h"
#include "core/math/convex_hull.h"
#include "core/os/thread.h"
#include "scene/3d/mesh_instance_3d.h"
@ -62,7 +63,12 @@
NavMeshGenerator3D *NavMeshGenerator3D::singleton = nullptr;
Mutex NavMeshGenerator3D::baking_navmesh_mutex;
Mutex NavMeshGenerator3D::generator_task_mutex;
bool NavMeshGenerator3D::use_threads = true;
bool NavMeshGenerator3D::baking_use_multiple_threads = true;
bool NavMeshGenerator3D::baking_use_high_priority_threads = true;
HashSet<Ref<NavigationMesh>> NavMeshGenerator3D::baking_navmeshes;
HashMap<WorkerThreadPool::TaskID, NavMeshGenerator3D::NavMeshGeneratorTask3D *> NavMeshGenerator3D::generator_tasks;
NavMeshGenerator3D *NavMeshGenerator3D::get_singleton() {
return singleton;
@ -71,15 +77,67 @@ NavMeshGenerator3D *NavMeshGenerator3D::get_singleton() {
NavMeshGenerator3D::NavMeshGenerator3D() {
ERR_FAIL_COND(singleton != nullptr);
singleton = this;
baking_use_multiple_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_multiple_threads");
baking_use_high_priority_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_high_priority_threads");
// Using threads might cause problems on certain exports or with the Editor on certain devices.
// This is the main switch to turn threaded navmesh baking off should the need arise.
use_threads = baking_use_multiple_threads && !Engine::get_singleton()->is_editor_hint();
}
NavMeshGenerator3D::~NavMeshGenerator3D() {
cleanup();
}
void NavMeshGenerator3D::sync() {
if (generator_tasks.size() == 0) {
return;
}
baking_navmesh_mutex.lock();
generator_task_mutex.lock();
LocalVector<WorkerThreadPool::TaskID> finished_task_ids;
for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask3D *> &E : generator_tasks) {
if (WorkerThreadPool::get_singleton()->is_task_completed(E.key)) {
WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
finished_task_ids.push_back(E.key);
NavMeshGeneratorTask3D *generator_task = E.value;
DEV_ASSERT(generator_task->status == NavMeshGeneratorTask3D::TaskStatus::BAKING_FINISHED);
baking_navmeshes.erase(generator_task->navigation_mesh);
if (generator_task->callback.is_valid()) {
generator_emit_callback(generator_task->callback);
}
memdelete(generator_task);
}
}
for (WorkerThreadPool::TaskID finished_task_id : finished_task_ids) {
generator_tasks.erase(finished_task_id);
}
generator_task_mutex.unlock();
baking_navmesh_mutex.unlock();
}
void NavMeshGenerator3D::cleanup() {
baking_navmesh_mutex.lock();
generator_task_mutex.lock();
baking_navmeshes.clear();
for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask3D *> &E : generator_tasks) {
WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
NavMeshGeneratorTask3D *generator_task = E.value;
memdelete(generator_task);
}
generator_tasks.clear();
generator_task_mutex.unlock();
baking_navmesh_mutex.unlock();
}
@ -87,7 +145,7 @@ void NavMeshGenerator3D::finish() {
cleanup();
}
void NavMeshGenerator3D::parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
void NavMeshGenerator3D::parse_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
ERR_FAIL_COND(!Thread::is_main_thread());
ERR_FAIL_COND(!p_navigation_mesh.is_valid());
ERR_FAIL_COND(p_root_node == nullptr);
@ -101,19 +159,25 @@ void NavMeshGenerator3D::parse_source_geometry_data(const Ref<NavigationMesh> &p
}
}
void NavMeshGenerator3D::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback) {
void NavMeshGenerator3D::bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, const Callable &p_callback) {
ERR_FAIL_COND(!p_navigation_mesh.is_valid());
ERR_FAIL_COND(!p_source_geometry_data.is_valid());
ERR_FAIL_COND(!p_source_geometry_data->has_data());
if (!p_source_geometry_data->has_data()) {
p_navigation_mesh->clear();
if (p_callback.is_valid()) {
generator_emit_callback(p_callback);
}
return;
}
baking_navmesh_mutex.lock();
if (baking_navmeshes.has(p_navigation_mesh)) {
baking_navmesh_mutex.unlock();
ERR_FAIL_MSG("NavigationMesh is already baking. Wait for current bake to finish.");
} else {
baking_navmeshes.insert(p_navigation_mesh);
baking_navmesh_mutex.unlock();
}
baking_navmeshes.insert(p_navigation_mesh);
baking_navmesh_mutex.unlock();
generator_bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data);
@ -126,6 +190,51 @@ void NavMeshGenerator3D::bake_from_source_geometry_data(Ref<NavigationMesh> p_na
}
}
void NavMeshGenerator3D::bake_from_source_geometry_data_async(Ref<NavigationMesh> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, const Callable &p_callback) {
ERR_FAIL_COND(!p_navigation_mesh.is_valid());
ERR_FAIL_COND(!p_source_geometry_data.is_valid());
if (!p_source_geometry_data->has_data()) {
p_navigation_mesh->clear();
if (p_callback.is_valid()) {
generator_emit_callback(p_callback);
}
return;
}
if (!use_threads) {
bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
return;
}
baking_navmesh_mutex.lock();
if (baking_navmeshes.has(p_navigation_mesh)) {
baking_navmesh_mutex.unlock();
ERR_FAIL_MSG("NavigationMesh is already baking. Wait for current bake to finish.");
return;
}
baking_navmeshes.insert(p_navigation_mesh);
baking_navmesh_mutex.unlock();
generator_task_mutex.lock();
NavMeshGeneratorTask3D *generator_task = memnew(NavMeshGeneratorTask3D);
generator_task->navigation_mesh = p_navigation_mesh;
generator_task->source_geometry_data = p_source_geometry_data;
generator_task->callback = p_callback;
generator_task->status = NavMeshGeneratorTask3D::TaskStatus::BAKING_STARTED;
generator_task->thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavMeshGenerator3D::generator_thread_bake, generator_task, NavMeshGenerator3D::baking_use_high_priority_threads, SNAME("NavMeshGeneratorBake3D"));
generator_tasks.insert(generator_task->thread_task_id, generator_task);
generator_task_mutex.unlock();
}
void NavMeshGenerator3D::generator_thread_bake(void *p_arg) {
NavMeshGeneratorTask3D *generator_task = static_cast<NavMeshGeneratorTask3D *>(p_arg);
generator_bake_from_source_geometry_data(generator_task->navigation_mesh, generator_task->source_geometry_data);
generator_task->status = NavMeshGeneratorTask3D::TaskStatus::BAKING_FINISHED;
}
void NavMeshGenerator3D::generator_parse_geometry_node(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node, bool p_recurse_children) {
generator_parse_meshinstance3d_node(p_navigation_mesh, p_source_geometry_data, p_node);
generator_parse_multimeshinstance3d_node(p_navigation_mesh, p_source_geometry_data, p_node);
@ -503,8 +612,8 @@ void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<Navigation
return;
}
const Vector<float> vertices = p_source_geometry_data->get_vertices();
const Vector<int> indices = p_source_geometry_data->get_indices();
const Vector<float> &vertices = p_source_geometry_data->get_vertices();
const Vector<int> &indices = p_source_geometry_data->get_indices();
if (vertices.size() < 3 || indices.size() < 3) {
return;

32
modules/navigation/nav_mesh_generator_3d.h
View File

@ -34,6 +34,7 @@
#ifndef _3D_DISABLED
#include "core/object/class_db.h"
#include "core/object/worker_thread_pool.h"
#include "modules/modules_enabled.gen.h" // For csg, gridmap.
class Node;
@ -44,6 +45,31 @@ class NavMeshGenerator3D : public Object {
static NavMeshGenerator3D *singleton;
static Mutex baking_navmesh_mutex;
static Mutex generator_task_mutex;
static bool use_threads;
static bool baking_use_multiple_threads;
static bool baking_use_high_priority_threads;
struct NavMeshGeneratorTask3D {
enum TaskStatus {
BAKING_STARTED,
BAKING_FINISHED,
BAKING_FAILED,
CALLBACK_DISPATCHED,
CALLBACK_FAILED,
};
Ref<NavigationMesh> navigation_mesh;
Ref<NavigationMeshSourceGeometryData3D> source_geometry_data;
Callable callback;
WorkerThreadPool::TaskID thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
NavMeshGeneratorTask3D::TaskStatus status = NavMeshGeneratorTask3D::TaskStatus::BAKING_STARTED;
};
static HashMap<WorkerThreadPool::TaskID, NavMeshGeneratorTask3D *> generator_tasks;
static void generator_thread_bake(void *p_arg);
static HashSet<Ref<NavigationMesh>> baking_navmeshes;
@ -66,11 +92,13 @@ class NavMeshGenerator3D : public Object {
public:
static NavMeshGenerator3D *get_singleton();
static void sync();
static void cleanup();
static void finish();
static void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable());
static void bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable());
static void parse_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable());
static void bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, const Callable &p_callback = Callable());
static void bake_from_source_geometry_data_async(Ref<NavigationMesh> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, const Callable &p_callback = Callable());
NavMeshGenerator3D();
~NavMeshGenerator3D();