feat: DotRecast for Bepu physics navigation and nav mesh generation

build/Stride.sln

@@ -340,6 +340,10 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.Importer.3D", "..\so
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.Tests", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.Tests\Stride.BepuPhysics.Tests.csproj", "{7B70C783-4085-4702-B3C6-6570FD85CB8F}"
 EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.DotRecast", "..\sources\engine\Stride.DotRecast\Stride.DotRecast\Stride.DotRecast.csproj", "{BF9881A7-79D2-49C5-8841-DDDE1A691664}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.Navigation", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.Navigation\Stride.BepuPhysics.Navigation.csproj", "{41756CA4-EF28-40DE-A525-51F74398F08C}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -1525,6 +1529,30 @@ Global
 		{7B70C783-4085-4702-B3C6-6570FD85CB8F}.Release|Mixed Platforms.Build.0 = Release|Any CPU
 		{7B70C783-4085-4702-B3C6-6570FD85CB8F}.Release|Win32.ActiveCfg = Release|Any CPU
 		{7B70C783-4085-4702-B3C6-6570FD85CB8F}.Release|Win32.Build.0 = Release|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Debug|Mixed Platforms.ActiveCfg = Debug|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Debug|Win32.Build.0 = Debug|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Release|Any CPU.Build.0 = Release|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Release|Mixed Platforms.Build.0 = Release|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Release|Win32.ActiveCfg = Release|Any CPU
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664}.Release|Win32.Build.0 = Release|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Debug|Mixed Platforms.ActiveCfg = Debug|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Debug|Win32.Build.0 = Debug|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Release|Any CPU.Build.0 = Release|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Release|Mixed Platforms.Build.0 = Release|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Release|Win32.ActiveCfg = Release|Any CPU
+		{41756CA4-EF28-40DE-A525-51F74398F08C}.Release|Win32.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1655,6 +1683,8 @@ Global
 		{7715D094-DF59-4D91-BC9A-9A5118039ECB} = {DE048114-9AE4-467E-A879-188DC0D88A59}
 		{66EFFDE4-24F0-4E57-9618-0F5577E20A1E} = {6F473FA6-4F8B-4FBA-AE33-EE5AF997D50C}
 		{7B70C783-4085-4702-B3C6-6570FD85CB8F} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{BF9881A7-79D2-49C5-8841-DDDE1A691664} = {4C142567-C42B-40F5-B092-798882190209}
+		{41756CA4-EF28-40DE-A525-51F74398F08C} = {DE048114-9AE4-467E-A879-188DC0D88A59}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {FF877973-604D-4EA7-B5F5-A129961F9EF2}

sources/Directory.Packages.props

@@ -9,7 +9,7 @@
     <PackageVersion Include="DotRecast.Core" Version="2024.1.1" />
     <PackageVersion Include="DotRecast.Detour" Version="2024.2.1" />
     <PackageVersion Include="DotRecast.Recast" Version="2024.2.1" />
-    <PackageVersion Include="DotRecast.Recast.Toolset" Version="2024.3.1" />
+    <PackageVersion Include="DotRecast.Recast.Toolset" Version="2024.4.1" />
     <PackageVersion Include="FFmpeg.AutoGen" Version="3.4.0.2" />
     <PackageVersion Include="K4os.Compression.LZ4.Legacy" Version="1.3.6" />
     <PackageVersion Include="Microsoft.Management.Infrastructure" Version="3.0.0-preview.4" />
@@ -144,4 +144,4 @@
     <PackageVersion Include="Microsoft.CodeAnalysis.Analyzers" Version="3.3.4" PrivateAssets="all" />
     <PackageVersion Include="Microsoft.CodeAnalysis.CSharp" Version="4.7.0" PrivateAssets="all" />
   </ItemGroup>
-</Project>
+</Project>

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Components/BepuNavigationBoundingBoxComponent.cs

@@ -8,7 +8,7 @@
 using Stride.Navigation;
 
 namespace Stride.BepuPhysics.Navigation.Components;
-[DefaultEntityComponentProcessor(typeof(RecastDynamicMeshProcessor), ExecutionMode = ExecutionMode.Runtime)]
+//[DefaultEntityComponentProcessor(typeof(RecastDynamicMeshProcessor), ExecutionMode = ExecutionMode.Runtime)]
 [ComponentCategory("Bepu")]
 [DataContract("BepuNavigationBoundingBoxComponent")]
 public class BepuNavigationBoundingBoxComponent : NavigationBoundingBoxComponent

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Components/RecastNavigationComponent.cs

@@ -10,6 +10,12 @@ namespace Stride.BepuPhysics.Navigation.Components;
 [DefaultEntityComponentProcessor(typeof(RecastNavigationProcessor), ExecutionMode = ExecutionMode.Runtime)]
 public class RecastNavigationComponent : StartupScript
 {
+
+    /// <summary>
+    /// The agent's navigation mesh id. Will be used to determine where a path is searched.
+    /// </summary>
+    public int AgentNavMeshId { get; set; }
+
     /// <summary>
     /// The speed at which the agent moves.
     /// </summary>

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Definitions/AsyncMeshInput.cs

@@ -0,0 +1,11 @@
+using Stride.BepuPhysics.Definitions;
+using Stride.Core.Mathematics;
+
+namespace Stride.BepuPhysics.Navigation.Definitions;
+
+internal class AsyncMeshInput
+{
+    public readonly List<BasicMeshBuffers> ShapeData = [];
+    public readonly List<ShapeTransform> TransformsOut = [];
+    public readonly List<(Matrix entity, int count)> Matrices = [];
+}

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Definitions/BepuNavMeshInfo.cs

@@ -0,0 +1,42 @@
+// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
+//  Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
+
+using System.Collections.Concurrent;
+using DotRecast.Core;
+using DotRecast.Detour;
+using DotRecast.Detour.Dynamic;
+using DotRecast.Recast;
+using Stride.Core;
+using Stride.DotRecast.Definitions;
+
+namespace Stride.BepuPhysics.Navigation.Definitions;
+
+[DataContract]
+public class BepuNavMeshInfo
+{
+    public bool IsDynamic { get; set; } = true;
+
+    public BuildSettings BuildSettings { get; set; } = new();
+
+    /// <summary>
+    /// Collision masks that will be included in the navigation mesh build.
+    /// </summary>
+    public CollisionMask CollisionMask { get; set; } = CollisionMask.Everything;
+
+    [DataMemberIgnore]
+    public DtNavMesh NavMesh { get; set; }
+    [DataMemberIgnore]
+    public DtDynamicNavMeshConfig Config;
+    [DataMemberIgnore]
+    public RcContext Context { get; set; }
+    [DataMemberIgnore]
+    public RcBuilder Builder { get; set; }
+    [DataMemberIgnore]
+    public Dictionary<long, DtDynamicTile> Tiles = [];
+    [DataMemberIgnore]
+    public DtNavMeshParams NavMeshParams;
+    [DataMemberIgnore]
+    public Dictionary<int, StaticComponent> StaticComponents = [];
+    [DataMemberIgnore]
+    public BlockingCollection<IDtDaynmicTileJob> UpdateQueue = [];
+}

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Definitions/PathfindingSettings.cs → sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Definitions/NavMeshShapeData.cs

@@ -1,12 +1,13 @@
 // Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
 //  Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 
-using Stride.Core;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
 
 namespace Stride.BepuPhysics.Navigation.Definitions;
-[DataContract()]
-[Display("Pathfinding Settings")]
-public class PathfindingSettings
+public class NavMeshShapeData
 {
-    public int MaxAllowedVisitedTiles { get; set; } = 16;
 }

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Definitions/RecastNavigationConfiguration.cs

@@ -1,18 +1,19 @@
 using Stride.Core;
 using Stride.Core.Threading;
 using Stride.Data;
+using Stride.DotRecast.Definitions;
 
 namespace Stride.BepuPhysics.Navigation.Definitions;
 [DataContract("RecastNavigationConfiguration")]
 [Display("Recast Navigation")]
 public class RecastNavigationConfiguration : Configuration
 {
-    [Display("Build Settings", Expand = ExpandRule.Never)]
-    public BuildSettings BuildSettings { get; set; } = new();
-
     [Display("Pathfinding Settings", Expand = ExpandRule.Never)]
     public PathfindingSettings PathfindingSettings { get; set; } = new();
 
+    [Display("NavMeshes", Expand = ExpandRule.Once)]
+    public List<BepuNavMeshInfo> NavMeshes = [];
+
     /// <summary>
     /// Total thread count to use for pathfinding. Divided by 2 due to noticable stutter if all threads are used.
     /// </summary>

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/GenericBuilder/BepuNavMeshBuilder.cs

@@ -0,0 +1,77 @@
+// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
+//  Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
+
+using System.Runtime.InteropServices;
+using DotRecast.Detour;
+using DotRecast.Recast.Toolset;
+using Stride.BepuPhysics.Definitions;
+using Stride.Core.Mathematics;
+using Stride.BepuPhysics.Navigation.Definitions;
+using Stride.DotRecast;
+using Stride.DotRecast.Definitions;
+
+namespace Stride.BepuPhysics.Navigation.GenericBuilder;
+public class BepuNavMeshBuilder
+{
+
+    /// <summary>
+    /// Used for Bepu specific mesh building.
+    /// </summary>
+    /// <param name="navSettings"></param>
+    /// <param name="input"></param>
+    /// <param name="threads"></param>
+    /// <param name="cancelToken"></param>
+    /// <returns></returns>
+    internal static DtNavMesh CreateBepuNavMesh(RcNavMeshBuildSettings navSettings, AsyncMeshInput input, int threads, CancellationToken cancelToken)
+    {
+        // /!\ THIS IS NOT RUNNING ON THE MAIN THREAD /!\
+
+        var verts = new List<VertexPosition3>();
+        var indices = new List<int>();
+        for (int collidableI = 0, shapeI = 0; collidableI < input.Matrices.Count; collidableI++)
+        {
+            var (collidableMatrix, shapeCount) = input.Matrices[collidableI];
+            collidableMatrix.Decompose(out _, out Matrix worldMatrix, out var translation);
+            worldMatrix.TranslationVector = translation;
+
+            for (int j = 0; j < shapeCount; j++, shapeI++)
+            {
+                var transform = input.TransformsOut[shapeI];
+                Matrix.Transformation(ref transform.Scale, ref transform.RotationLocal, ref transform.PositionLocal, out var localMatrix);
+                var finalMatrix = localMatrix * worldMatrix;
+
+                var shape = input.ShapeData[shapeI];
+                verts.EnsureCapacity(verts.Count + shape.Vertices.Length);
+                indices.EnsureCapacity(indices.Count + shape.Indices.Length);
+
+                int vertexBufferStart = verts.Count;
+
+                for (int i = 0; i < shape.Indices.Length; i += 3)
+                {
+                    var index0 = shape.Indices[i];
+                    var index1 = shape.Indices[i + 1];
+                    var index2 = shape.Indices[i + 2];
+                    indices.Add(vertexBufferStart + index0);
+                    indices.Add(vertexBufferStart + index2);
+                    indices.Add(vertexBufferStart + index1);
+                }
+
+                for (int l = 0; l < shape.Vertices.Length; l++)
+                {
+                    var vertex = shape.Vertices[l].Position;
+                    Vector3.Transform(ref vertex, ref finalMatrix, out Vector3 transformedVertex);
+                    verts.Add(new(transformedVertex));
+                }
+            }
+        }
+
+        // Get the backing array of this list,
+        // get a span to that backing array,
+        var spanToPoints = CollectionsMarshal.AsSpan(verts);
+        // cast the type of span to read it as if it was a series of contiguous floats instead of contiguous vectors
+        var reinterpretedPoints = MemoryMarshal.Cast<VertexPosition3, float>(spanToPoints);
+        SimpleGeomProvider geom = new(reinterpretedPoints.ToArray(), [.. indices]);
+
+        return NavMeshBuilder.CreateNavMeshFromGeometry(navSettings, geom, threads, cancelToken);
+    }
+}

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics.Navigation/Processors/BepuStaticColliderTrackingProcessor.cs

@@ -0,0 +1,25 @@
+// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
+//  Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
+
+using Stride.Engine;
+
+namespace Stride.BepuPhysics.Navigation.Processors;
+public class BepuStaticColliderTrackingProcessor : EntityProcessor<StaticComponent>
+{
+    public delegate void CollectionChangedEventHandler(StaticComponent component);
+
+    public event CollectionChangedEventHandler ColliderAdded;
+    public event CollectionChangedEventHandler ColliderRemoved;
+
+    /// <inheritdoc />
+    protected override void OnEntityComponentAdding(Entity entity, StaticComponent component, StaticComponent data)
+    {
+        ColliderAdded?.Invoke(component);
+    }
+
+    /// <inheritdoc />
+    protected override void OnEntityComponentRemoved(Entity entity, StaticComponent component, StaticComponent data)
+    {
+        ColliderRemoved?.Invoke(component);
+    }
+}