Fix navmesh baking, fixes #57148

- improved mesh data calculation from standalone static colliders so that no
  VisualServer calls are performed - and thus no VS mutexes need to
  be locked in case of on-thread baking
- improved the same for GridMap's static colliders

modules/navigation/navigation_mesh_generator.cpp

@@ -126,6 +126,28 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
 	}
 }
 
+void NavigationMeshGenerator::_add_mesh_array(const Array &p_array, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
+	PoolVector<Vector3> mesh_vertices = p_array[Mesh::ARRAY_VERTEX];
+	PoolVector<Vector3>::Read vr = mesh_vertices.read();
+
+	PoolVector<int> mesh_indices = p_array[Mesh::ARRAY_INDEX];
+	PoolVector<int>::Read ir = mesh_indices.read();
+
+	const int face_count = mesh_indices.size() / 3;
+	const int current_vertex_count = p_vertices.size() / 3;
+
+	for (int j = 0; j < mesh_vertices.size(); j++) {
+		_add_vertex(p_xform.xform(vr[j]), p_vertices);
+	}
+
+	for (int j = 0; j < face_count; j++) {
+		// CCW
+		p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
+		p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
+		p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
+	}
+}
+
 void NavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
 	int face_count = p_faces.size() / 3;
 	int current_vertex_count = p_vertices.size() / 3;
@@ -189,43 +211,38 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
 
 					Transform transform = p_navmesh_xform * static_body->get_global_transform() * col_shape->get_transform();
 
-					Ref<Mesh> mesh;
 					Ref<Shape> s = col_shape->get_shape();
 
 					BoxShape *box = Object::cast_to<BoxShape>(*s);
 					if (box) {
-						Ref<CubeMesh> cube_mesh;
-						cube_mesh.instance();
-						cube_mesh->set_size(box->get_extents() * 2.0);
-						mesh = cube_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						CubeMesh::create_mesh_array(arr, box->get_extents() * 2.0);
+						_add_mesh_array(arr, transform, p_vertices, p_indices);
 					}
 
 					CapsuleShape *capsule = Object::cast_to<CapsuleShape>(*s);
 					if (capsule) {
-						Ref<CapsuleMesh> capsule_mesh;
-						capsule_mesh.instance();
-						capsule_mesh->set_radius(capsule->get_radius());
-						capsule_mesh->set_mid_height(capsule->get_height() / 2.0);
-						mesh = capsule_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height() / 2.0);
+						_add_mesh_array(arr, transform, p_vertices, p_indices);
 					}
 
 					CylinderShape *cylinder = Object::cast_to<CylinderShape>(*s);
 					if (cylinder) {
-						Ref<CylinderMesh> cylinder_mesh;
-						cylinder_mesh.instance();
-						cylinder_mesh->set_height(cylinder->get_height());
-						cylinder_mesh->set_bottom_radius(cylinder->get_radius());
-						cylinder_mesh->set_top_radius(cylinder->get_radius());
-						mesh = cylinder_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
+						_add_mesh_array(arr, transform, p_vertices, p_indices);
 					}
 
 					SphereShape *sphere = Object::cast_to<SphereShape>(*s);
 					if (sphere) {
-						Ref<SphereMesh> sphere_mesh;
-						sphere_mesh.instance();
-						sphere_mesh->set_radius(sphere->get_radius());
-						sphere_mesh->set_height(sphere->get_radius() * 2.0);
-						mesh = sphere_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
+						_add_mesh_array(arr, transform, p_vertices, p_indices);
 					}
 
 					ConcavePolygonShape *concave_polygon = Object::cast_to<ConcavePolygonShape>(*s);
@@ -256,10 +273,6 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
 							_add_faces(faces, transform, p_vertices, p_indices);
 						}
 					}
-
-					if (mesh.is_valid()) {
-						_add_mesh(mesh, transform, p_vertices, p_indices);
-					}
 				}
 			}
 		}
@@ -287,44 +300,39 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
 				RID shape = shapes[i + 1];
 				PhysicsServer::ShapeType type = PhysicsServer::get_singleton()->shape_get_type(shape);
 				Variant data = PhysicsServer::get_singleton()->shape_get_data(shape);
-				Ref<Mesh> mesh;
 
 				switch (type) {
 					case PhysicsServer::SHAPE_SPHERE: {
 						real_t radius = data;
-						Ref<SphereMesh> sphere_mesh;
-						sphere_mesh.instance();
-						sphere_mesh->set_radius(radius);
-						sphere_mesh->set_height(radius * 2.0);
-						mesh = sphere_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
+						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
 					} break;
 					case PhysicsServer::SHAPE_BOX: {
 						Vector3 extents = data;
-						Ref<CubeMesh> box_mesh;
-						box_mesh.instance();
-						box_mesh->set_size(2.0 * extents);
-						mesh = box_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						CubeMesh::create_mesh_array(arr, extents * 2.0);
+						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
 					} break;
 					case PhysicsServer::SHAPE_CAPSULE: {
 						Dictionary dict = data;
 						real_t radius = dict["radius"];
 						real_t height = dict["height"];
-						Ref<CapsuleMesh> capsule_mesh;
-						capsule_mesh.instance();
-						capsule_mesh->set_radius(radius);
-						capsule_mesh->set_mid_height(0.5 * height);
-						mesh = capsule_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						CapsuleMesh::create_mesh_array(arr, radius, height * 0.5);
+						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
 					} break;
 					case PhysicsServer::SHAPE_CYLINDER: {
 						Dictionary dict = data;
 						real_t radius = dict["radius"];
 						real_t height = dict["height"];
-						Ref<CylinderMesh> cylinder_mesh;
-						cylinder_mesh.instance();
-						cylinder_mesh->set_height(height);
-						cylinder_mesh->set_bottom_radius(radius);
-						cylinder_mesh->set_top_radius(radius);
-						mesh = cylinder_mesh;
+						Array arr;
+						arr.resize(VS::ARRAY_MAX);
+						CylinderMesh::create_mesh_array(arr, radius, radius, height);
+						_add_mesh_array(arr, shapes[i], p_vertices, p_indices);
 					} break;
 					case PhysicsServer::SHAPE_CONVEX_POLYGON: {
 						PoolVector3Array vertices = data;
@@ -356,10 +364,6 @@ void NavigationMeshGenerator::_parse_geometry(const Transform &p_navmesh_xform,
 						WARN_PRINT("Unsupported collision shape type.");
 					} break;
 				}
-
-				if (mesh.is_valid()) {
-					_add_mesh(mesh, shapes[i], p_vertices, p_indices);
-				}
 			}
 		}
 	}

modules/navigation/navigation_mesh_generator.h

@@ -51,6 +51,7 @@ protected:
 
 	static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices);
 	static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
+	static void _add_mesh_array(const Array &p_array, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
 	static void _add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
 	static void _parse_geometry(const Transform &p_navmesh_xform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, int p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
 

scene/resources/primitive_meshes.cpp

@@ -270,6 +270,10 @@ PrimitiveMesh::~PrimitiveMesh() {
 */
 
 void CapsuleMesh::_create_mesh_array(Array &p_arr) const {
+	create_mesh_array(p_arr, radius, mid_height, radial_segments, rings);
+}
+
+void CapsuleMesh::create_mesh_array(Array &p_arr, const float radius, const float mid_height, const int radial_segments, const int rings) {
 	int i, j, prevrow, thisrow, point;
 	float x, y, z, u, v, w;
 	float onethird = 1.0 / 3.0;
@@ -472,8 +476,8 @@ CapsuleMesh::CapsuleMesh() {
 	// defaults
 	radius = 1.0;
 	mid_height = 1.0;
-	radial_segments = 64;
-	rings = 8;
+	radial_segments = default_radial_segments;
+	rings = default_rings;
 }
 
 /**
@@ -481,6 +485,10 @@ CapsuleMesh::CapsuleMesh() {
 */
 
 void CubeMesh::_create_mesh_array(Array &p_arr) const {
+	create_mesh_array(p_arr, size, subdivide_w, subdivide_h, subdivide_d);
+}
+
+void CubeMesh::create_mesh_array(Array &p_arr, const Vector3 size, const int subdivide_w, const int subdivide_h, const int subdivide_d) {
 	int i, j, prevrow, thisrow, point;
 	float x, y, z;
 	float onethird = 1.0 / 3.0;
@@ -728,9 +736,9 @@ int CubeMesh::get_subdivide_depth() const {
 CubeMesh::CubeMesh() {
 	// defaults
 	size = Vector3(2.0, 2.0, 2.0);
-	subdivide_w = 0;
-	subdivide_h = 0;
-	subdivide_d = 0;
+	subdivide_w = default_subdivide_w;
+	subdivide_h = default_subdivide_h;
+	subdivide_d = default_subdivide_d;
 }
 
 /**
@@ -738,6 +746,10 @@ CubeMesh::CubeMesh() {
 */
 
 void CylinderMesh::_create_mesh_array(Array &p_arr) const {
+	create_mesh_array(p_arr, top_radius, bottom_radius, height, radial_segments, rings);
+}
+
+void CylinderMesh::create_mesh_array(Array &p_arr, float top_radius, float bottom_radius, float height, int radial_segments, int rings) {
 	int i, j, prevrow, thisrow, point;
 	float x, y, z, u, v, radius;
 
@@ -943,8 +955,8 @@ CylinderMesh::CylinderMesh() {
 	top_radius = 1.0;
 	bottom_radius = 1.0;
 	height = 2.0;
-	radial_segments = 64;
-	rings = 4;
+	radial_segments = default_radial_segments;
+	rings = default_rings;
 }
 
 /**
@@ -1453,6 +1465,10 @@ Vector3 QuadMesh::get_center_offset() const {
 */
 
 void SphereMesh::_create_mesh_array(Array &p_arr) const {
+	create_mesh_array(p_arr, radius, height, radial_segments, rings, is_hemisphere);
+}
+
+void SphereMesh::create_mesh_array(Array &p_arr, float radius, float height, int radial_segments, int rings, bool is_hemisphere) {
 	int i, j, prevrow, thisrow, point;
 	float x, y, z;
 
@@ -1595,9 +1611,9 @@ SphereMesh::SphereMesh() {
 	// defaults
 	radius = 1.0;
 	height = 2.0;
-	radial_segments = 64;
-	rings = 32;
-	is_hemisphere = false;
+	radial_segments = default_radial_segments;
+	rings = default_rings;
+	is_hemisphere = default_is_hemisphere;
 }
 
 /**

scene/resources/primitive_meshes.h

@@ -100,6 +100,10 @@ public:
 class CapsuleMesh : public PrimitiveMesh {
 	GDCLASS(CapsuleMesh, PrimitiveMesh);
 
+private:
+	static constexpr int default_radial_segments = 64;
+	static constexpr int default_rings = 8;
+
 private:
 	float radius;
 	float mid_height;
@@ -111,6 +115,8 @@ protected:
 	virtual void _create_mesh_array(Array &p_arr) const;
 
 public:
+	static void create_mesh_array(Array &p_arr, float radius, float mid_height, int radial_segments = default_radial_segments, int rings = default_rings);
+
 	void set_radius(const float p_radius);
 	float get_radius() const;
 
@@ -132,6 +138,11 @@ public:
 class CubeMesh : public PrimitiveMesh {
 	GDCLASS(CubeMesh, PrimitiveMesh);
 
+private:
+	static constexpr int default_subdivide_w = 0;
+	static constexpr int default_subdivide_h = 0;
+	static constexpr int default_subdivide_d = 0;
+
 private:
 	Vector3 size;
 	int subdivide_w;
@@ -143,6 +154,8 @@ protected:
 	virtual void _create_mesh_array(Array &p_arr) const;
 
 public:
+	static void create_mesh_array(Array &p_arr, Vector3 size, int subdivide_w = default_subdivide_w, int subdivide_h = default_subdivide_h, int subdivide_d = default_subdivide_d);
+
 	void set_size(const Vector3 &p_size);
 	Vector3 get_size() const;
 
@@ -165,6 +178,10 @@ public:
 class CylinderMesh : public PrimitiveMesh {
 	GDCLASS(CylinderMesh, PrimitiveMesh);
 
+private:
+	static constexpr int default_radial_segments = 64;
+	static constexpr int default_rings = 4;
+
 private:
 	float top_radius;
 	float bottom_radius;
@@ -177,6 +194,8 @@ protected:
 	virtual void _create_mesh_array(Array &p_arr) const;
 
 public:
+	static void create_mesh_array(Array &p_arr, float top_radius, float bottom_radius, float height, int radial_segments = default_radial_segments, int rings = default_rings);
+
 	void set_top_radius(const float p_radius);
 	float get_top_radius() const;
 
@@ -294,6 +313,11 @@ public:
 class SphereMesh : public PrimitiveMesh {
 	GDCLASS(SphereMesh, PrimitiveMesh);
 
+private:
+	static constexpr int default_radial_segments = 64;
+	static constexpr int default_rings = 32;
+	static constexpr bool default_is_hemisphere = false;
+
 private:
 	float radius;
 	float height;
@@ -306,6 +330,8 @@ protected:
 	virtual void _create_mesh_array(Array &p_arr) const;
 
 public:
+	static void create_mesh_array(Array &p_arr, float radius, float height, int radial_segments = default_radial_segments, int rings = default_rings, bool is_hemisphere = default_is_hemisphere);
+
 	void set_radius(const float p_radius);
 	float get_radius() const;