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- reworked conversion to dtStatNavMesh in KX_NavMeshObject to support navigation mesh editing

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This commit is contained in:
Nick Samarin
2010-07-28 19:43:05 +00:00
parent af1ca0cfc1
commit 14171324b7
8 changed files with 610 additions and 643 deletions
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406
extern/recastnavigation/BlenderNavMesh/NavMeshConversion.cpp vendored Normal file
View File

@@ -0,0 +1,406 @@
/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include "NavMeshConversion.h"
extern "C"{
#include "BLI_math.h"
}
int polyNumVerts(const unsigned short* p, const int vertsPerPoly)
{
int nv = 0;
for (int i=0; i<vertsPerPoly; i++)
{
if (p[i]==0xffff)
break;
nv++;
}
return nv;
}
bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts)
{
int nv = polyNumVerts(p, vertsPerPoly);
if (nv<3)
return false;
for (int j=0; j<nv; j++)
{
const float* v = &verts[3*p[j]];
const float* v_next = &verts[3*p[(j+1)%nv]];
const float* v_prev = &verts[3*p[(nv+j-1)%nv]];
if (!left(v_prev, v, v_next))
return false;
}
return true;
}
float distPointToSegmentSq(const float* point, const float* a, const float* b)
{
float abx[3], dx[3];
vsub(abx, b,a);
vsub(dx, point,a);
float d = abx[0]*abx[0]+abx[2]*abx[2];
float t = abx[0]*dx[0]+abx[2]*dx[2];
if (d > 0)
t /= d;
if (t < 0)
t = 0;
else if (t > 1)
t = 1;
dx[0] = a[0] + t*abx[0] - point[0];
dx[2] = a[2] + t*abx[2] - point[2];
return dx[0]*dx[0] + dx[2]*dx[2];
}
bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts,
int &ntris, unsigned short *&tris, int *&trisToFacesMap,
int *&recastData)
{
nverts = dm->getNumVerts(dm);
verts = new float[3*nverts];
dm->getVertCos(dm, (float(*)[3])verts);
//flip coordinates
for (int vi=0; vi<nverts; vi++)
{
SWAP(float, verts[3*vi+1], verts[3*vi+2]);
}
//calculate number of tris
int nfaces = dm->getNumFaces(dm);
MFace *faces = dm->getFaceArray(dm);
ntris = nfaces;
for (int fi=0; fi<nfaces; fi++)
{
MFace* face = &faces[fi];
if (face->v4)
ntris++;
}
//copy and transform to triangles (reorder on the run)
trisToFacesMap = new int[ntris];
tris = new unsigned short[3*ntris];
unsigned short* tri = tris;
int triIdx = 0;
for (int fi=0; fi<nfaces; fi++)
{
MFace* face = &faces[fi];
tri[3*triIdx+0] = face->v1;
tri[3*triIdx+1] = face->v3;
tri[3*triIdx+2] = face->v2;
trisToFacesMap[triIdx++]=fi;
if (face->v4)
{
tri[3*triIdx+0] = face->v1;
tri[3*triIdx+1] = face->v4;
tri[3*triIdx+2] = face->v3;
trisToFacesMap[triIdx++]=fi;
}
}
//carefully, recast data is just reference to data in derived mesh
recastData = (int*)CustomData_get_layer(&dm->faceData, CD_PROP_INT);
return true;
}
bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
unsigned short* polys, const unsigned short* dmeshes,
const float* verts, const unsigned short* dtris,
const int* dtrisToPolysMap)
{
bool res = false;
int capacity = vertsPerPoly;
unsigned short* newPoly = new unsigned short[capacity];
memset(newPoly, 0xff, sizeof(unsigned short)*capacity);
for (int polyidx=0; polyidx<npolys; polyidx++)
{
int nv = 0;
//search border
int btri = -1;
int bedge = -1;
for (int j=0; j<dmeshes[polyidx*4+3] && btri==-1;j++)
{
int curpolytri = dmeshes[polyidx*4+2]+j;
for (int k=0; k<3; k++)
{
unsigned short neighbortri = dtris[curpolytri*3*2+3+k];
if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
{
btri = curpolytri;
bedge = k;
break;
}
}
}
if (btri==-1 || bedge==-1)
{
//can't find triangle with border edge
return false;
}
newPoly[nv++] = dtris[btri*3*2+bedge];
int tri = btri;
int edge = (bedge+1)%3;
while (tri!=btri || edge!=bedge)
{
int neighbortri = dtris[tri*3*2+3+edge];
if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
{
if (nv==capacity)
{
capacity += vertsPerPoly;
unsigned short* newPolyBig = new unsigned short[capacity];
memset(newPolyBig, 0xff, sizeof(unsigned short)*capacity);
memcpy(newPolyBig, newPoly, sizeof(unsigned short)*nv);
delete newPoly;
newPoly = newPolyBig;
}
newPoly[nv++] = dtris[tri*3*2+edge];
//move to next edge
edge = (edge+1)%3;
}
else
{
//move to next tri
int twinedge = -1;
for (int k=0; k<3; k++)
{
if (dtris[neighbortri*3*2+3+k] == tri)
{
twinedge = k;
break;
}
}
if (twinedge==-1)
{
printf("Converting navmesh: Error! Can't find neighbor edge - invalid adjacency info\n");
goto returnLabel;
}
tri = neighbortri;
edge = (twinedge+1)%3;
}
}
unsigned short* adjustedPoly = new unsigned short[nv];
int adjustedNv = 0;
for (size_t i=0; i<(size_t)nv; i++)
{
unsigned short prev = newPoly[(nv+i-1)%nv];
unsigned short cur = newPoly[i];
unsigned short next = newPoly[(i+1)%nv];
float distSq = distPointToSegmentSq(&verts[3*cur], &verts[3*prev], &verts[3*next]);
static const float tolerance = 0.001f;
if (distSq>tolerance)
adjustedPoly[adjustedNv++] = cur;
}
memcpy(newPoly, adjustedPoly, adjustedNv*sizeof(unsigned short));
delete adjustedPoly;
nv = adjustedNv;
if (nv<=vertsPerPoly)
{
for (int i=0; i<nv; i++)
{
polys[polyidx*vertsPerPoly*2+i] = newPoly[i];
}
}
else
{
int a=0;
}
}
res = true;
returnLabel:
delete newPoly;
return true;
}
struct SortContext
{
const int* recastData;
const int* trisToFacesMap;
};
static int compareByData(void* data, const void * a, const void * b){
SortContext* context = (SortContext*)data;
return ( context->recastData[context->trisToFacesMap[*(int*)a]] -
context->recastData[context->trisToFacesMap[*(int*)b]] );
}
bool buildNavMeshData(const int nverts, const float* verts,
const int ntris, const unsigned short *tris,
const int* recastData, const int* trisToFacesMap,
int &ndtris, unsigned short *&dtris,
int &npolys, unsigned short *&dmeshes, unsigned short *&polys,
int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap)
{
if (!recastData)
{
printf("Converting navmesh: Error! Can't find recast custom data\n");
return false;
}
//sort the triangles by polygon idx
int* trisMapping = new int[ntris];
for (int i=0; i<ntris; i++)
trisMapping[i]=i;
SortContext context;
context.recastData = recastData;
context.trisToFacesMap = trisToFacesMap;
qsort_s(trisMapping, ntris, sizeof(int), compareByData, &context);
//search first valid triangle - triangle of convex polygon
int validTriStart = -1;
for (int i=0; i< ntris; i++)
{
if (recastData[trisToFacesMap[trisMapping[i]]]>0)
{
validTriStart = i;
break;
}
}
if (validTriStart<0)
{
printf("Converting navmesh: Error! No valid polygons in mesh\n");
delete trisMapping;
return false;
}
ndtris = ntris-validTriStart;
//fill dtris to faces mapping
dtrisToTrisMap = new int[ndtris];
memcpy(dtrisToTrisMap, &trisMapping[validTriStart], ndtris*sizeof(int));
delete trisMapping; trisMapping=NULL;
//create detailed mesh triangles - copy only valid triangles
//and reserve memory for adjacency info
dtris = new unsigned short[3*2*ndtris];
memset(dtris, 0xffff, sizeof(unsigned short)*3*2*ndtris);
for (int i=0; i<ndtris; i++)
{
memcpy(dtris+3*2*i, tris+3*dtrisToTrisMap[i], sizeof(unsigned short)*3);
}
//create new recast data corresponded to dtris
dtrisToPolysMap = new int[ndtris];
for (int i=0; i<ndtris; i++)
{
dtrisToPolysMap[i] = recastData[trisToFacesMap[dtrisToTrisMap[i]]];
}
//build adjacency info for detailed mesh triangles
buildMeshAdjacency(dtris, ntris, nverts, 3);
//create detailed mesh description for each navigation polygon
npolys = dtrisToPolysMap[ndtris-1];
dmeshes = new unsigned short[npolys*4];
memset(dmeshes, 0, npolys*4*sizeof(unsigned short));
unsigned short *dmesh = NULL;
int prevpolyidx = 0;
for (int i=0; i<ndtris; i++)
{
int curpolyidx = dtrisToPolysMap[i];
if (curpolyidx!=prevpolyidx)
{
if (curpolyidx!=prevpolyidx+1)
{
printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n");
return false;
}
dmesh = dmesh==NULL ? dmeshes : dmesh+4;
dmesh[2] = i; //tbase
dmesh[3] = 0; //tnum
prevpolyidx = curpolyidx;
}
dmesh[3]++;
}
//create navigation polygons
vertsPerPoly = 6;
polys = new unsigned short[npolys*vertsPerPoly*2];
memset(polys, 0xff, sizeof(unsigned short)*vertsPerPoly*2*npolys);
buildPolygonsByDetailedMeshes(vertsPerPoly, npolys, polys, dmeshes, verts, dtris, dtrisToPolysMap);
return true;
}
bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly,
int &nverts, float *&verts,
int &ndtris, unsigned short *&dtris,
int& npolys, unsigned short *&dmeshes,
unsigned short*& polys, int *&dtrisToPolysMap,
int *&dtrisToTrisMap, int *&trisToFacesMap)
{
bool res = true;
int ntris =0, *recastData=NULL;
unsigned short *tris=NULL;
res = buildRawVertIndicesData(dm, nverts, verts, ntris, tris, trisToFacesMap, recastData);
if (!res)
{
printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
goto exit;
}
res = buildNavMeshData(nverts, verts, ntris, tris, recastData, trisToFacesMap,
ndtris, dtris, npolys, dmeshes,polys, vertsPerPoly,
dtrisToPolysMap, dtrisToTrisMap);
if (!res)
{
printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
goto exit;
}
exit:
if (tris)
delete tris;
return res;
}
int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx)
{
int res = -1;
for(int i=0; i<vertsPerPoly; i++)
{
if (p[i]==0xffff)
break;
if (p[i]==vertexIdx)
{
res = i;
break;
}
}
return res;
}

98
extern/recastnavigation/BlenderNavMesh/NavMeshConversion.h vendored Normal file
View File

@@ -0,0 +1,98 @@
/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef NAVMESH_CONVERSION_H
#define NAVMESH_CONVERSION_H
#include <math.h>
#include "Recast.h"
extern "C"{
#include "DNA_meshdata_types.h"
#include "BKE_cdderivedmesh.h"
}
bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly,
int &nverts, float *&verts,
int &ndtris, unsigned short *&dtris,
int& npolys, unsigned short *&dmeshes,
unsigned short*& polys, int *&dtrisToPolysMap,
int *&dtrisToTrisMap, int *&trisToFacesMap);
bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts,
int &ntris, unsigned short *&tris, int *&trisToFacesMap,
int *&recastData);
bool buildNavMeshData(const int nverts, const float* verts,
const int ntris, const unsigned short *tris,
const int* recastData, const int* trisToFacesMap,
int &ndtris, unsigned short *&dtris,
int &npolys, unsigned short *&dmeshes, unsigned short *&polys,
int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap);
bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
unsigned short* polys, const unsigned short* dmeshes,
const float* verts, const unsigned short* dtris,
const int* dtrisToPolysMap);
int polyNumVerts(const unsigned short* p, const int vertsPerPoly);
bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts);
int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx);
float distPointToSegmentSq(const float* point, const float* a, const float* b);
inline int abs2(int a)
{
return a>=0 ? a: -a;
}
inline int bit(int a, int b)
{
return (a & (1 << b)) >> b;
}
inline void intToCol(int i, float* col)
{
int r = bit(i, 0) + bit(i, 3) * 2 + 1;
int g = bit(i, 1) + bit(i, 4) * 2 + 1;
int b = bit(i, 2) + bit(i, 5) * 2 + 1;
col[0] = 1 - r*63.0f/255.0f;
col[1] = 1 - g*63.0f/255.0f;
col[2] = 1 - b*63.0f/255.0f;
}
inline float area2(const float* a, const float* b, const float* c)
{
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
}
inline bool left(const float* a, const float* b, const float* c)
{
return area2(a, b, c) < 0;
}
#endif //NAVMESH_CONVERSION_H

22
extern/recastnavigation/make/msvc_9_0/recastnavigation.vcproj vendored
View File

@@ -41,7 +41,7 @@
<Tool
Name="VCCLCompilerTool"
Optimization="0"
AdditionalIncludeDirectories="../../Recast/Include; ../../Detour/Include"
AdditionalIncludeDirectories="../../Recast/Include;../../Detour/Include;../../../../source/blender/makesdna;../../../../source/blender/blenkernel;../../../../source/blender/blenlib"
PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS"
MinimalRebuild="true"
BasicRuntimeChecks="3"
@@ -77,7 +77,7 @@
/>
<Tool
Name="VCPostBuildEventTool"
CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\ MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;&#x0D;&#x0A;XCOPY /Y ..\..\Detour\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;XCOPY /Y ..\..\Recast\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;&#x0D;&#x0A;ECHO Done"
CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\ MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh&#x0D;&#x0A;&#x0D;&#x0A;XCOPY /Y ..\..\Detour\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;XCOPY /Y ..\..\Recast\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;XCOPY /Y ..\..\BlenderNavMesh\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh&#x0D;&#x0A;&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
/>
</Configuration>
<Configuration
@@ -106,8 +106,8 @@
<Tool
Name="VCCLCompilerTool"
Optimization="2"
EnableIntrinsicFunctions="true"
AdditionalIncludeDirectories="../../Recast/Include; ../../Detour/Include"
EnableIntrinsicFunctions="false"
AdditionalIncludeDirectories="../../Recast/Include;../../Detour/Include;../../../../source/blender/makesdna;../../../../source/blender/blenkernel;../../../../source/blender/blenlib"
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS"
RuntimeLibrary="0"
EnableFunctionLevelLinking="true"
@@ -142,7 +142,7 @@
/>
<Tool
Name="VCPostBuildEventTool"
CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\ MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;&#x0D;&#x0A;XCOPY /Y ..\..\Detour\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;XCOPY /Y ..\..\Recast\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;&#x0D;&#x0A;ECHO Done"
CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\ MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh MKDIR ..\..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh&#x0D;&#x0A;&#x0D;&#x0A;XCOPY /Y ..\..\Detour\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include&#x0D;&#x0A;XCOPY /Y ..\..\Recast\Include\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include&#x0D;&#x0A;XCOPY /Y ..\..\BlenderNavMesh\*.h ..\..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh&#x0D;&#x0A;&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
/>
</Configuration>
</Configurations>
@@ -269,6 +269,18 @@
</File>
</Filter>
</Filter>
<Filter
Name="BlenderNavMesh"
>
<File
RelativePath="..\..\BlenderNavMesh\NavMeshConversion.cpp"
>
</File>
<File
RelativePath="..\..\BlenderNavMesh\NavMeshConversion.h"
>
</File>
</Filter>
</Files>
<Globals>
</Globals>